Higen FDA5000 Series User manual

OPERATION MANUAL
AC Servo Drive
FDA5000 Series
Ver 3.3 (Soft. Ver. 6.02 ~)
FDA5000 Series
ServoDriveUser Manual

< CAUTION >
1. Check Motor ID certainly. ( P1-01 )
2. Check Drive Amp-Type certainly. ( P1-10 )
Model 5001 5002 5004 5005 5010 5012 5015 5020 5030 5045 5075
Amp Type 0 1 2 5 6 7 11 12 13 14 15
3. Check Encoder Pulse certainly. ( P1-12 )
Example)
Encoder Type
4. Operate servo system after autotuning is off. ( P2-24 )
5. Avoid impacting to the Motor in connecting. Especially, avoid
impacting to the Encoder in connecting coupling to the Motor shaft or
operating.
6. Recommended specifications in Encoder wiring.
Check Encoder Type and use authorized shield cable.
Encoder Type Reference Page
Incremental Encoder 3-17
Absolute Encoder 3-20
7. Treatment of the servo motor attached holding brake .
: The brake built in the servo motor is a normal closed type brake.
Which is used only to hold and can not be used for braking. Use the
holding brake only to hold a stopped servo motor.
Symbol Pulse Type
A 2000
B 2500
C 3000
D 5000
E 6000
F 2048
Incremental
15 wires
G 2048 Absolute 11/13bit
FMALN09-AA00

Table of Contents
1. Checking and Handling --------------------------------------------- 1-1
1-1 Handling(Connection of main circuit and motor) --------------------- 1-1
1-2 Caution during Use ---------------------------------------------------------- 1-2
1-3 Installation --------------------------------------------------------------------- 1-3
1-4 Order Specifications --------------------------------------------------------- 1-7
1-5 Functions that facilitate starting ------------------------------------------- 1-10
2. Ratings and Specifications ---------------------------------------- 2-1
2-1 Ratings and Specifications for AC Servo driver
FDA-5000 series ------------------------------------------------------------- 2-1
2-2 AC Servo Motor Ratings and Specifications -------------------------- 2-2
3. Wiring and Signals --------------------------------------------------- 3-1
3-1 Representative wiring ------------------------------------------------------ 3-1
3-2 Internal Configuration ------------------------------------------------------ 3-2
3-3 Main Circuit Terminal Board Wiring ------------------------------------- 3-3
3-4 CN1 Wiring and Signal ----------------------------------------------------- 3-9
3-5 Description of CN2 Wiring and Signals -------------------------------- 3-17
4. Digital Loader Operation ------------------------------------------- 4-1
4-1 Displays after power is connected -------------------------------------- 4-3
4-2 Sub-menu Group ------------------------------------------------------------ 4-5
4-3 Operation Monitoring Menu ----------------------------------------------- 4-5
4-4 Changing Parameters ------------------------------------------------------ 4-8
4-5 Test Mode (Test Mode:P6--) ---------------------------------------------- 4-9
5. Mount Loader Operation ------------------------------------------- 5-1
5-1 Initial screen after power is connected --------------------------------- 5-3
5-2 Sub-menu Group ------------------------------------------------------------- 5-4
5-3 Operation Monitoring Menu ------------------------------------------------ 5-5
5-4 Changing Parameters ------------------------------------------------------- 5-9
5-5 Test Mode (P6--) -------------------------------------------------------------- 5-10
6. Parameter Setting ---------------------------------------------------- 6-1
6-1 Parameter Summary -------------------------------------------------------- 6-2

Table of Contents
6-2 Description of servo status (Status Window: ST--) ------------------ 6-6
6-3 Motor and System Parameters (Motor Parameters: P1--) --------- 6-10
6-4 Common Parameters Related to Control (Control Mode: P2--) -- 6-13
6-5 Speed control parameters (Speed Mode: P3--) ---------------------- 6-21
6-6 Position control parameters (Position Mode: P4--) ------------------ 6-24
6-7 Torque control parameters (Torque Mode: P5--) --------------------- 6-27
6-8 Test Mode parameters (Test Mode: P6--) ------------------------------ 6-28
6-9 Alarm status display (Alarm Status: ALS--) ---------------------------- 6-30
7. How to Use Speed Servo ------------------------------------------ 7-1
7-1 Power Supply Wiring ------------------------------------------------------- 7-1
7-2 CN1 Wiring -------------------------------------------------------------------- 7-1
7-3 CN2 Wiring -------------------------------------------------------------------- 7-3
7-4 Setting Parameters Related to Motor and Servo -------------------- 7-4
7-5 Limiting Output Torque ----------------------------------------------------- 7-6
7-6 Inputting Speed Command ------------------------------------------------ 7-7
7-7 Setting Motor Deceleration/Acceleration Characteristics ---------- 7-10
7-8 Using Monitor ----------------------------------------------------------------- 7-11
7-9 De-resonance Frequency Operation ------------------------------------ 7-13
7-10 Other Set Values ----------------------------------------------------------- 7-13
8. How To Use Position Servo ---------------------------------------- 8-1
8-1 Power Suuply Wiring ------------------------------------------------------- 8-1
8-2 CN1 Wiring -------------------------------------------------------------------- 8-1
8-3 CN2 Wiring -------------------------------------------------------------------- 8-3
8-4 Setting Parameters Related to Motor and Servo -------------------- 8-4
8-5 Limiting Output Torque ----------------------------------------------------- 8-6
8-6 Inputting Position Commands -------------------------------------------- 8-7
8-7 Using Monitor ----------------------------------------------------------------- 8-9
8-8 De-resonance Frequency Operation ------------------------------------ 8-9
9. How To Use Torque Servo ------------------------------------------- 9-1
9-1 Power Supply Wiring ------------------------------------------------------- 9-1
9-2 CN1 Wiring -------------------------------------------------------------------- 9-1
9-3 CN2 Wiring -------------------------------------------------------------------- 9-3
9-4 Setting Parameters Related to Motor and Servo -------------------- 9-4

Table of Contents
9-5 Speed Limiting --------------------------------------------------------------- 9-4
9-6 Inputting Torque Command ----------------------------------------------- 9-5
9-7 Using Monitor ----------------------------------------------------------------- 9-6
9-8 Other Set Values ----------------------------------------------------------- 9-6
10. How to Use Speed/Position Servo ------------------------------ 10-1
10-1 Power Supply Wiring ------------------------------------------------------- 10-1
10-2 CN1 Wiring -------------------------------------------------------------------- 10-1
10-3 CN2 Wiring -------------------------------------------------------------------- 10-3
10-4 How To Use Speed/Position Servo -------------------------------------- 10-4
11. How to Use Speed/Torque Servo -------------------------------- 11-1
11-1 Power Supply Wiring ------------------------------------------------------- 11-1
11-2 CN1 Wiring -------------------------------------------------------------------- 11-1
11-3 CN2 Wiring -------------------------------------------------------------------- 11-3
11-4 How To Use Speed/Torque Servo --------------------------------------- 11-4
12. How to Use Position/Torque Servo ----------------------------- 12-1
12-1 Power Supply Wiring ------------------------------------------------------- 12-1
12-2 CN1 Wiring -------------------------------------------------------------------- 12-1
12-3 CN2 Wiring -------------------------------------------------------------------- 12-4
12-4 How To Use Position/Torque Servo ------------------------------------- 12-4
13. Examples of Operation Flow and PLC Wiring -------------- 13-1
13-1 Generating Speed Command (speed control) ------------------------- 13-1
13-2 Generating Speed Command (position control) ----------------------- 13-1
13-3 Generating Speed Command (position/speed control) -------------- 13-2
13-4 Generating Speed Command (torque control) ------------------------- 13-2
13-5 Example of positioning Unit K7F-POSP connection between FDA-5000,
the AC servo driver of HIGEN and PLC MASTER-K ----------- 13-3
13-6 Example of positioning Unit MD71 connection between FDA-5000,
the AC servo driver of HIGEN and PLC GOLDSEC-M ------------ 13-4
13-7 Example of positioning Unit G3F-POAA connection between FDA-5000,
the AC servo driver of HIGEN and PLC GLOPAPLC -------------- 13-5
13-8 Example of positioning Unit G4F-POPA connection between FDA-5000,
the AC servo driver of HIGEN and PLC GLOFAPLC -------------- 13-6

Table of Contents
13-9 Example of positioning Unit G3F-POPA connection between FDA-5000,
the AC servo driver of HIGEN, and PLC GLOFAPLC -------------- 13-7
14. Maintenance and Inspection -------------------------------------- 14-1
14-1 Caution ------------------------------------------------------------------------- 14-1
14-2 Inspection Items ------------------------------------------------------------- 14-1
14-3 Replacing Parts -------------------------------------------------------------- 14-2
14-4 Maintenance ------------------------------------------------------------------ 14-3
15. Troubleshooting ------------------------------------------------------ 15-1
15-1 Servo Motor ------------------------------------------------------------------- 15-1
15-2 Servo Driver ------------------------------------------------------------------- 15-2
16. External View ---------------------------------------------------------- 16-1
16-1 External Dimensions of AC Servo Driver ------------------------------ 16-1
16-2 External Dimensions of AC Servo Motor ------------------------------ 16-2
17. Specifications of Options ------------------------------------------ 17-1
17-1 AC servo motor cable specifications ----------------------------------- 17-1
17-2 AC servo driver -------------------------------------------------------------- 17-3

Chapter 1. Checking and Handling
1-1
1. Checking and Handling
1.1 Handling (Connection of main circuit and motor)
Thank you for purchasing HIGEN AC Servo Driver. Incorrect handling of the driver may lead to
unsatisfactory operation or, in some cases, to the rapid reduction of its life, or damage to the servo.
Handle and operate the driver according to the instructions given in this manual.
distance. (Caution) Use hi
g
her than class-3 earth
* Power Supply : Use power supply within specification
(3-phase AC200~230V)
(Caution!) If the power voltage is AC 440V,use a
transformer to change AC 440V to AC 220V
* Install magnetic contactors
Do not use magnetic contactor to start or stop the servo
as it may reduce its life.
* No Fuse Circuit Breaker or Auto Breaker : Large level
of current flows when power is applied to the servo
For selection of breakers, refer to Table 3.1, chapter3.3
* Installation place : The operating life of the servo is
affected by ambient temperature.
Maintain ambient temperature at a level below 50℃
* Wiring : Improper wiring may damage to the servo. The control
signal line must be sufficiently away from the main
circuit wiring so that the line is not affected by
noises.
* Connection with output terminals : Do not connector condensers
,radios or noise filters during operation as it may
cause damage to the equipment.
* Grounding : To prevent electric shock and effectively control
noise,ground the motor and driver at the shortest
* Motor system : Do not strike the motor shaft and detecter with
a hammer.
(Caution) Impact may cause damage th the encoder inside the motor
* Noise Filter : Use noise filters to eliminate external
noise that comes with the commercial power supply
For selection of noise filters, refer to Table3.1, Chapter3.3
HIGEN
GND

Chapter 1. Checking and Handling
1-2
1.2 Caution during Use
Improper handling of the driver may lead to unexpected accident or damage. The following are
important points in operating the driver.
1.2.1 Handling
yAvoid impact to the encoder, the motor detector.
Striking the shaft with a hammer may cause the motor to drop leading to unexpected damage.
yDo not connect commercial power supply (AC 220V) directly to the motor.
Direct connection induces flow of overcurrent leading to the deterioration of the magnetic effect.
Always use specified servo driver.
1.2.2 Wiring
yConnect the driver and the motor earth terminals in the direction of the driver, and ground the
terminals at the shortest distance in one operation. To prevent electric shock and improper
operation, use class-3 earth (Less than 100 Ω).
yAlways match the U, V ,W and FG terminals of the motor with those of the driver. You cannot
change the direction of rotation by changing 2 wires as in the case of widely used common
motors.
yConnecting commercial power supply to the U, V, W and FG terminals of the driver may cause
damage.
(Apply 200V power supply to R, S and T terminals)
Use a transformer in case power supply is other than 200V.
yConnect standard regenerated resistance to the P and B terminals of the driver.

Chapter 1. Checking and Handling
1-3
1.2.3 Operation
yUse the magnetic brake of the motor only for emergency and maintenance (preservation).
The brake is designed for maintenance (preservation) during power outage. If used to reduce
speed, the brake wears out fast.
yInstall brakes and magnetic contactors on power supply terminals R, S and T.
In case an error occurs or abnormal current flows, shut off the circuit to prevent secondary fire.
1.2.4 Maintenance and inspection
y"High voltage" still remains inside the driver for a while even after power supply is shut off.
(Danger!)
To prevent electric-shock, carry out wiring work or inspection at least l0 minutes after the power
is cut off and the charge lamp is turned off.
yThe regenerated resistance and the servo motor remain hot for a while after power is turned off.
Touching them may cause burns.
yConducting megger test on the driver may cause damage to the driver. Do not perform megger
test.
yThe motor detector is not detachable. Never remove the cover.
1.3 Installation
1.3.1 Installation of servo driver
yOperating environment
Ambient temperature 0-50℃(There should be no freezing) Note)
Ambient humidity 90% RH or lower (There should be no steam)
Note) Inside panel temperature specifications: To ensure maximum operating life and reliability
of the driver, maintain the average panel temperature at 40℃or lower.
If the driver is installed in a place within arm’s reach, install the fan to maintain the
temperature of driver at 70℃or lower.

Chapter 1. Checking and Handling
1-4
yInstallation direction and intervals
- Install the servo driver in such a way that FDA-5000 can be seen from the front.
- If the drivers are installed in a closed panel, maintain an interval of more than 10 mm
between drivers and more than 40 mm between top and bottom. If multiple number of panels
are installed in parallel, about 100 mm space is required on the upper side. Avoid heat by
installing fans.
- Install heat sources, such as regenerated resistance, away from the driver.
yPrevention of ingress of foreign matter
- Exercise caution when drilling control panels to prevent chips produced by drilling from
getting into the driver.
- Take appropriate measures to prevent oils, water and metal powder from getting into the
driver from openings in the control panels and the fan installed on the ceiling.
- If the driver is used in a place with large amount of toxic gases and dust, protect the driver
with an air purge.
1.3.2 Servo motor installation
yOperating environment
Ambient temperature 0-40℃(There should be no freezing)
Ambient humidity 80% RH or lower (There should be no steam)
External vibration X, Y = 19.6 m/s2 (2G)
yCaution when assembling load system (Prevent impact on shaft)
It is important to accurately match the motor shaft with the shaft center of the connecting
machine. Unmatched shaft center causes vibration, and may cause damage to the bearing. Use
a rubber hammer to install couplings to prevent excessive force from being applied to the shaft
and bearing.
Check 4 places in turn. The difference between maximum and minimum should be 0.03 or lower.
Load tolerance on shaft
- Use flexible couplings, and maintain the shaft center deviations within the specified tolerance.
- Use pulleys and sprockets that can accomodate the allowable load.

Chapter 1. Checking and Handling
1-5
MOTOR MODEL RADIAL LOAD AXIAL LOAD
Series Type N Kgf N kgf REFERENCE DIAGRAM
CN01~CN05 196 20 68 7
CN06~CN08 245 25 98 10
CN09~CN15 490 50 196 20
CN20~CN30 686 70 343 35
CN
CN30A~CN50A 1470 150 490 50
KN03~KN07 245 25 98 10
KF08~KN11 490 50 196 20
KF15~KN22 686 70 343 35
KN
KN22A~KN55 1470 150 490 50
TN05~TN09 490 50 196 20
TN13~TN17 686 70 343 35
TN
TN20~TN75 1470 150 490 50
LN03~LN06 490 50 196 20
LN09~LN12 686 70 343 35
LN
LN12A~LN40 1470 150 490 50
KF08~KF10 490 50 196 20
KF15 686 70 343 35
KF
KF22~KF50 1470 150 490 50
TF05~TF09 490 50 196 20
TF13 686 70 343 35
TF
TF20~TF44 1470 150 490 50
LF03~LF06 490 50 196 20
LF09 686 70 343 35
LF
LF12~LF30 1470 150 490 50
Radial
Load
A
xial
Load
yAccuracy of attachments
The accuracies of the output shaft and attachments of the AC servo motor are shown on the
following table.
Item Accuracy
(T.I.R.) Reference Diagram
Perpendicularity of flange attachment plane and
output shaft (A) 0.04mm
Eccentricity of flange fitting outer diameter (B) 0.04mm
Vibration of output shaft end (C) 0.02mm
(Note) T.I.R : Total Indicator Reading

Chapter 1. Checking and Handling
1-6
yImpact resistance
The driver withstands an acceleration of 10G and two times of
impacts when up-and-down impacts are applied after setting the
motor shaft horizontally.
However, a precision detector is attached to the end of the shaft on
the opposite side of the load. Take caution not to apply impact
directly to
this end.
yVibration resistance
The driver withstands a vibration acceleration of 2.0G when
vibration is applied in up and down, left and right, and front
and back directions after setting the motor shaft horizontally.
yVibration grade
The vibration grade of the AC servo motor is V15 at the rated rpm.
yDirection of installation
- Motor can be installed horizontally or at the top
or bottom of the shaft.
- Keep the motor cable downward.
- If the motor is installed vertically, install a cable trap so that oils or water do not flow into the
motor.
yCable disconnection
- Take caution not to cause stress or damage to the cables.
- If the motor is used as a mobile motor, use movable cables.

Chapter 1. Checking and Handling
1-7
1.4 Order Specifications
Prior to installing the product, check the ratings plate to see if the related specifications match with
those of the order.
1.4.1 Servo motor model marking
1.4.2 Servo driver model marking
♦Rated Power (Watt)
Symbol Rated Output (W) Symbol Rated Output (W)
01 100 15 1500
02 200 16 1600
03 300 20 2000
04 400 22 2200
05 450/500 30 3000
06 550/600 35 3500
07 650 40 4000
08 750/800 44 4400
09 850/900 50 5000
10 1000 55 5500
12 1200 75 7500
13 1300
♦AC Servo Motor
♦Series
Symbol Use
CN,CK High-speed, Low torque type
KF,KN Medium-speed, Standard type
TF,TN Medium-speed, High torque type
LF,LN Low-speed, High torque type
♦Encoder Type
Symbol Pulse Type
A 2000
B 2500
C 3000
D 5000
E 6000
F 2048
G 2048 Absolute 11/13 bit
Incremental 15 line
FMA
♦Shaft Type
Symbol Item
A Straight & No Key
B Straight & Key
C Tapper & Key
♦Break Installed
Symbol Item
0 None
1 Oil seal attached
2 130 Flange ( Brake for 24V )
♦Seal Type
Symbol Item
0 None
1 Oil seal attached
♦AC Servo Drive
♦Rated Power (Watt)
Symbol Power (W) Symbol Power (W) Symbol Power (W)
01 100 10 1000 30 3000
02 200 12 1200 45 4500
04 400 15 1500 75 7500
05 500 20 2000
50
FDA
♦FDA5000 Series
♦Encoder Type
Symbol Encoder Type
None Incremental
A Absolute
♦Type
Symbol Encoder Type
None Standard type
M Standard type + M/Loader
C Position decision type

Chapter 1. Checking and Handling
1-8
1.4.3 AC Servo application table
Drive
Motor Flange Model FDA-
5001 FDA- 5002 FDA- 5004 FDA- 5005 FDA- 5010 FDA- 5012 FDA- 5015 FDA- 5020 FDA- 5030 FDA- 5045 FDA- 5075
CKZ5 ◎
40 CK01 ◎
CK02 ◎
CK
Series
3000
/5000
(r/min) 60 CK04
◎
CN01 ◎
CN02 ◎
CN03 ◎
CN04 ◎
60
CN05 ◎
C
N04
A
◎
CN06
◎
CN08
◎
80
CN10
◎
CN09
◎
CN15 ◎
CN22
◎
130
CN30
◎
C
N30
A
◎
C
N50
A
◎
CN
Series
3000
/5000
(r/min)
180 CN70 ◎
KN03 ◎
KN05 ◎
KN06
◎
80
KN07
◎
KN06
A
◎
KN11
◎
KN16 ◎
130
KN22
◎
KN22
A
◎
KN35
◎◎
KN55
KN
Series
2000
/3000
(r/min)
180
KN70
TN05
◎
TN09
◎
TN13 ◎
130
TN17
◎
TN20
◎
TN30
◎◎
TN44
TN55
TN
Series
1500
/3000
(r/min) 180
TN75 ◎

Chapter 1. Checking and Handling
1-9
Drive
Motor Flange Model FDA-
5001 FDA- 5002 FDA- 5004 FDA- 5005 FDA- 5010 FDA- 5012 FDA- 5015 FDA- 5020 FDA- 5030 FDA- 5045 FDA- 5075
LN03 ◎
LN06 ◎
LN09 ◎
130
LN12 ◎
L
N12
A
◎
LN20
◎
LN30
◎◎
LN
Series
1000
/2000
(r/min) 180
LN40
◎
KF08 ◎
KF10 ◎
130 KF15 ◎
KF22
◎
KF35
◎
KF
Series
2000
/3000
(r/min) 180 KF50
◎
TF05 ◎
TF09 ◎
130 TF13 ◎
TF20
◎
TF30
◎
TF
Series
1500
/3000
(r/min) 180 TF44
◎
LF03 ◎
LF06 ◎
130 LF09 ◎
LF12 ◎
LF20
◎
LF
Series
1000
/2000
(r/min) 180 LF30
◎

Chapter 1. Checking and Handling
1-10
1.5 Functions that facilitate starting
The following are the functions that help diagnosing and starting of the control panel and the
machine.
Major function Description
Autotuning
This function automatically calculates the load's inertia moment by
detecting the current and speed at the time of starting. Adjusting of
the machine, which so far has been carried out based on experience
and senses (six senses and intuition), can easily be performed.
[Refer to Control Mode, P2-23, 24]
Test operation
carried out without
external instructions
(Jog operation)
Motor can be run with only the servo driver loader without positioning
system or separate operation panel. Motor speed can also be
selected freely, and machine operation can be tested easily.
[Refer to Test Mode, P6]
Motorless operation
(Simulation
operation)
This test mode operation function can operate the servo amplifier
without the motor. The control panel can independently check
functions or sequences.
[Refer to Test Mode, P6]
Abundant status
display functions
With abundant status displays, such as command speed, rpm, load
ratio, pulse error and I/O status, the digital servo enables simplified
diagnosis of operations.
[Refer to Status Window, St--]

Chapter 2. Ratings and Specifications
2-1
2. Ratings and Specifications
2.1 Ratings and specifications for AC servo driver FDA-5000 series
Model
Item FDA-
5001 FDA- 5002 FDA- 5004 FDA- 5005 FDA- 5010 FDA- 5012 FDA- 5015 FDA- 5020 FDA- 5030 FDA- 5045 FDA- 5075
Power supply voltage
*(Note 1) 3 phase AC200~230V +10/-15%, 50/60Hz
Input power
supply Power capacity [kVA] 0.5 0.8 1.3 1.5 2.1 2.5 3.1 4.1 6.0 8.0 12.0
Voltage type 3-phase sine wave drive AC servo motor
Continuous output
current [A] 1.25 2.1 3.2 4.2 6.9 9.8 11 16 21 32 50
Applicable
motor Maximum output
current [A] 3.8 6.3 9.6 12.6 19.2 29 33 48 63 96 132
Detector model Standard: Incremental 2000 [p/rev] 15-wire type
Output signal type Differential line driver output
Detector accuracy 1000-10000 [p/rev] (Not to exceed 400 [kp/sec])
Detector
Detector power supply Not to exceed DC 5 [V], 0.3 [A]
Drive system 3-phase voltage type PWM drive (IPM used)
Speed control range 1:5000
Frequency response
characteristics 250 Hz
Speed command input DC -10 ∼+10 [V], maximum speed (can be adjusted on loader)
Internal digital command (operation can be set in 7 steps)
Speed fluctuation rate Not exceeding ±0.01% (Rated load: 0-100%)
Not exceeding ±0.01% (Rated power supply: ±10% )
Not exceeding ±0.1% (Temperature fluctuation : 25 ±25℃)
Speed control
specifications
Acceleration/deceleration
time Can be accelerated/decelerated in straight line or in "S" shape (0-100 [sec] in unit of 0.01 sec)
Position input frequency 300 [kpps]
Position input type Direction + pulse, forward run pulse + reverse run pulse
2-phase pulse (A phase + B phase)
Position
control
specifications
Position input type Open collector, line driver system
Torque command input DC -10 ∼+10 [V], Maximum command (can be adjusted on loader)
Torque linearity Not exceeding 4 [%]
Torque control
specifications Limit speed command DC -10 ∼+10 [V], Maximum speed (can be adjusted on loader)
Protective functions Overcurrent, regenerated overvoltage, overload, motor miswiring, drive overheat,
encoder error, voltage shortage, overspeed and excessive error.
Regenerated resistance Standard separately attached type
Load inertia(GD²) See motor specifications table
Monitor output Speed, torque (-4 ∼+4 [V])
Dynamic brake built in
Built-in
functions
Additional functions Testing function (jog and motorless operation), alarm history, forward and backward
run, encoder signal frequency division output
Power cable, encoder cable, CN1 connector, CN2 connector
Option Loader: Mount Loader Digital Loader D/Loader
Operating ambient
temperature 0-50 [℃]
Ambient humidity Not to exceed 90 [%] (Should be free of dewing)
Storage temperature -20 ~ +80 [℃]
Environmental
specifications
Insulating resistance To be greater than DC 500 [V] 10 [MΩ]
Structure Book Type
(Note 1) The model name of the servo driver which uses absolute value encoder is FDA-5000A.
(Note 2) Single-phase AC 220V can also be used. However, as output may become lower
than the rated value, increase the servo driver capacity by 1 step if possible.

Chapter 2. Ratings and Specifications
2-2
2.2 AC Servo Motor Ratings and Specifications
Motor CN01 CN02 CN03 CN04 CN05 CN04A CN06 CN08 CN10
Model
Spec. Driver 5001 5002 5004 5005 5010
Flange size ( □) 60 80
Rated output ( W ) 100 200 300 400 500 400 600 800 1000
( N·m ) 0.32 0.64 0.96 1.27 1.59 1.27 1.91 2.54 3.18
Rated torque ( kgf·cm ) 3.25 6.5 9.75 13.0 16.2 13.0 19.5 26.0 32.5
( N·m ) 0.96 1.92 2.88 3.81 4.77 3.81 5.3 6.85 9.53
Maximum
instantaneous
torque ( kgf·cm ) 9.75 19.5 29.3 39.0 48.7 39.0 54.5 70.2 97.5
Rated rpm ( r/min ) 3000
Maximum rpm ( r/min ) 5000
( gf·cm·s2) 0.061 0.095 0.126 0.160 0.204 1.1 1.5 1.77 2.11
Rotor
inertia
( = GD2/4 ) (kg·m2ⅹ10-4) 0.06 0.093 0.129 0.163 0.208 1.08 1.47 1.74 2.07
Allowable load inertia
Ratio(Versus rotor) Not exceeding 30 times Not exceeding 20 times
Rated power rate ( kW/s ) 17.0 43.6 73.9 103.5 126.1 15.0 24.8 37.4 49.0
Standard Incremental 2000
Detector type Option Absolute 11/13bit 2048P/rev
Weight (kg) 0.85 1.14 1.43 1.73 2.03 2.1 2.55 3.1 3.7
■Speed and Torque Characteristics
A : Continuous duty zone & B : Intermittent duty zone
1000 2000 3000 4000 5000
Speed (r/min )
0.2
Torque(N · m )
1.0
0.8
0.6
0.4
CN01
1000 2000 3000 4000 5000
Speed (r/min )
0.4
Torque(N · m )
2.0
1.6
1.2
0.8
CN02
1000 2000 3000 4000 5000
Speed (r/min )
0.6
Torque(N · m )
3.0
2.4
1.8
1.2
CN03
1000 2000 3000 4000 5000
Speed (r/min )
0.8
Torque(N · m )
4.0
3.2
2.4
1.6
CN04
1000 2000 3000 4000 5000
Speed (r/min )
1.0
Torque(N · m )
5.0
4.0
3.0
2.0
CN05
1000 2000 3000 4000 5000
Speed (r/min )
0.8
Torque(N · m )
4.0
3.2
2.4
1.6
CN04A
1000 2000 3000 4000 5000
Speed (r/min )
1.1
Torque(N · m )
5.5
4.4
3.3
2.2
CN06
1000 2000 3000 4000 5000
Speed (r/min )
2
Torque(N · m )
10
8
6
4
CN10CN08
1000 2000 3000 4000 5000
Speed (r/min )
7.0
1.4
Torque(N · m )
5.6
4.2
2.8
A
B
A
B
A
B
A
B
A
B
A
B
A
B
A
B
B
A

Chapter 2. Ratings and Specifications
2-3
Motor CN09 CN15 CN22 CN30 CN30A CN50A KN03 KN05 KN06 KN07
Model
Spec. Driver 5010 5015 5020 5030 5030 5045 5004 5004 5005 5010
Flange size ( □) 130 180 80
Rated output
( W ) 900 1500 2200 3000 3000 5000 300 450 550 650
( N·m ) 2.86 4.77 7.0 9.54 9.54 15.9 1.43 2.15 2.57 3.04
Rated
torque ( kgf·cm ) 29.2 48.7 71.4 97.4 97.4 162.3 14.6 21.9 26.2 31
( N·m ) 8.6 14.3 21 28.6 23.9 39.8 4.29 6.45 7.42 9.12
Maximum
instantaneo
us torque ( kgf·cm ) 87.6 146 214 292 243.5 405.8 43.8 65.7 72.7 93
Rated rpm ( r/min ) 3000 2000
Maximum rpm ( r/min ) 5000 4500 3000
( gf·cm·s2) 4.12 7.63 11.12 14.63 26.1 43.8 1.1 1.5 1.77 2.11
Rotor
inertia
( = GD2/4 ) (kg·m2ⅹ10-4)4.04 7.48 10.9 14.34 25.6 42.9 1.08 1.47 1.74 2.07
Allowable load inertia
Ratio(Versus rotor) Not exceeding 10 times Not exceeding 20 times
Rated power rate
( kW/s ) 20.4 30.6 45.1 63.9 35.7 58.9 18.9 31.3 38.0 44.6
Standard Incremental 2000
Detector
type Option Absolute 11/13bit 2048P/rev
Weight
( kg ) 5.5 7.0 8.5 10.0 12.9 18.2 2.1 2.55 3.1 3.7
■Speed and Torque Characteristics
A : Continuous duty zone & B : Intermittent duty zone
1000 2000 3000 4000 5000
Speed (r/min )
2
Torque(N · m )
10
8
6
4
CN09
A
B
1000 2000 3000 4000 5000
Speed (r/min )
3
Torque(N · m )
15
12
9
6
CN15
A
B
1000 2000 3000 4000 5000
Speed (r/min )
6
Torque(N · m )
30
24
18
12
CN30
A
B
1000 2000 3000 4000 5000
Speed (r/min )
5
Torque(N · m )
25
20
15
10
CN22
A
B
1000 2000 3000
Speed (r/min )
1
Torque(N · m )
5
4
3
2
KN03
A
B
1000 2000 3000
Speed (r/min )
1.3
Torque(N · m )
6.5
5.2
3.9
2.6
KN05
A
B
1000 2000 3000
Speed (r/min )
1.5
Torque(N · m )
7.5
6.0
4.5
3.0
KN06
A
B
1000 2000 3000 4000 5000
Speed (r/min )
2
Torque(N · m )
10
8
6
4
CN50A
A
B
Torque(N · m )
2
10
8
6
4
1000 2000 3000 4000 5000
Speed (r/min )
CN30A
A
B
1000 2000 3000
Speed (r/min )
2
Torque(N · m )
10
8
6
4
KN07
A
B

Chapter 2. Ratings and Specifications
2-4
Motor KN06A KN11 KN16 KN22 KN22A KN35 KN55
Model
Spec. Driver 5005 5010 5015 5020 5020 5030 5045
Flange size ( □) 130 180
Rated output ( W ) 600 1100 1600 2200 2200 3500 5500
( N·m ) 2.86 5.25 7.64 10.5 10.49 16.67 26.18
Rated torque ( kgf·cm ) 29.2 53.6 77.9 107 107 170 267
( N·m ) 8.6 14.2 22.5 28.6 26.2 41.7 65.4
Maximum
instantaneous
torque ( kgf·cm ) 87.6 145 230 292 267.5 425.0 667.5
Rated rpm ( r/min ) 2000
Maximum rpm ( r/min ) 3000
( gf·cm·s2) 4.12 7.63 11.12 14.63 26.1 43.8 67.8
Rotor
inertia
( = GD2/4 ) (kg·m2ⅹ10-4) 4.04 7.48 10.9 14.34 25.6 42.9 66.4
Allowable load inertia
Ratio(Versus rotor) Not exceeding 10 times
Rated power rate ( kW/s ) 20.4 30.6 53.5 76.7 43.0 64.7 103.0
Standard Incremental 2000
Detector type Option Absolute 11/13bit 2048P/rev
Weight ( kg ) 5.5 7.0 8.5 10.0 12.9 18.2 26.8
■Speed and Torque Characteristics
A : Continuous duty zone & B : Intermittent duty zone
1000 2000 3000
Speed (r/min )
3
Torque(N · m )
15
12
9
6
KN11
A
B
1000 2000 3000
Speed (r/min )
5
Torque(N · m )
25
20
15
10
KN16
A
B
1000 2000 3000
Speed (r/min )
6
Torque(N · m )
30
24
18
12
KN22
A
B
1000 2000 3000
Speed (r/min )
Torque(N · m )
KN35
10
50
40
30
20
1000 2000 3000
Speed (r/min )
Torque(N · m )
KN55
15
75
60
45
30
1000 2000 3000
Speed (r/min )
Torque(N · m )
KN22A
A
B
6
30
24
18
12
A
B
A
B
1000 2000 3000
Speed (r/min )
2
Torque(N · m )
10
8
6
4
KN06A
A
B