Fda5000c Eng v2.3 - 2
Fda5000c Eng v2.3 - 2
Fda5000c Eng v2.3 - 2
AC Servo Drive
FDA5000C Series
Ver 2.3 (Soft. Ver. 8.02 ~)
FDA5000C Series
Servo Drive User Manual
< CAUTION >
1. Check Motor ID certainly. ( P1-01 )
Amp Type 0 1 2 5 6 7 11 12 13 14 15
5. Parameter Setting
5.1 Parameter Summary ----------------------------------------------------------- 5-1
5.2 Motor and System Parameters (Motor Parameters: P1--) ----------- 5-7
5.3 Control Parameter (Control Mode: P2--) -------------------------------- 5-10
5.4 Speed control parameter (Speed Mode : P3--) ------------------------- 5-16
5.5 Position control parameter (Position Mode: P4--) --------------------- 5-18
5.6 Position Command Parameter(POS Command Mode : P5--) -------- 5-20
5.7 Jog/Original Mode Parameter (Jog/Origin Mode : P6-- ) ------------ 5-22
5.8 Mechanical Parameter (Mechanical Mode : P7--) ---------------------- 5-23
5.9 Operational Mode Parameter (Operation Mode : P8--) --------------- 5-25
5.10 Description of servo status (Status Window: St--) ---------------------- 5-30
5.11 Alarm Status Display (Alarm Status : ALS--) --------------------------- 5-32
Contents
8. Troubleshooting
8.1 Servo Motor --------------------------------------------------------------------- 8-1
8.2 Servo driver --------------------------------------------------------------------- 8-2
9. External View
9.1 External Dimensions of AC Servo Driver -------------------------------- 9-1
9.2 External Dimensions of AC Servo Motor --------------------------------- 9-2
Thank you for purchasing HIGEN AC Servo Drive. 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 drive according to the instructions given in this manual.
HIGEN
* 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.
1-1
Chapter 1. Checking and Handling
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
y Do not connect commercial power supply (AC 220V) directly to the motor.
Direct connection induces flow of over current leading to the deterioration of the magnetic effect.
Always use specified servo driver.
1.2.2 Wiring
y Connect 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).
y Always 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.
y Connecting 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.
y Connect standard regenerated resistance to the P and B terminals of the driver.
1-2
Chapter 1. Checking and Handling
1.2.3 Operation
y Use 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.
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.
y The regenerated resistance and the servo motor remain hot for a while after power is turned off.
Touching them may cause burns.
y Conducting megger test on the driver may cause damage to the driver. Do not perform megger
test.
1.3 Installation
y Operating environment
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.
1-3
Chapter 1. Checking and Handling
y Operating environment
Check 4 places in turn. The difference between maximum and minimum should be 0.03 or lower.
1-4
Chapter 1. Checking and Handling
1-5
Chapter 1. Checking and Handling
y Impact resistance
y Vibration resistance
y Vibration grade
The vibration grade of the AC servo motor is V15 at the rated rpm.
y Direction of installation
y Cable disconnection
1-6
Chapter 1. Checking and Handling
FMA
AC servo motor Oil Seal Symbol Item
type 0 None
1 Oil seal attached
Series
Symbol Use
CN,CK High-speed, low torque type Brake Symbol Item
KF,KN Medium-speed, standard type 0 None
TF,TN Medium-speed, high torque type 1 Brake Type
LF,LN Low-speed, large torque type 2 130Flange 24V application
08 750/800 44 4400
E 6000
F 2048
09 850/900 50 5000
G 2048 Absolute 11/13bit
10 1000 55 5500
12 1200 75 7500
13 1300
FDA 50 Symbol
None
Encoder type
Incremental
Encoder A Absolute
AC servo driver Type
5000 Series Rated Power Type
1-7
Chapter 1. Checking and Handling
Drive FDA- FDA- FDA- FDA- FDA- FDA- FDA- FDA- FDA- FDA- FDA-
Motor Flange Model 5001C 5002C 5004C 5005C 5010C 5012C 5015C 5020C 5030C 5045C 5075C
CK CKZ5 ◎
Series 40
CK01 ◎
3000
/5000 CK02 ◎
60
(r/min) CK04 ◎
CN01 ◎
CN02 ◎
60 CN03 ◎
CN04 ◎
CN05 ◎
CN04A ◎
CN CN06 ◎
Series 80
CN08 ◎
3000
CN10 ◎
/5000
CN09 ◎
(r/min)
CN15 ◎
130
CN22 ◎
CN30 ◎
CN30A ◎
180 CN50A ◎
CN70 ◎
KN03 ◎
KN05 ◎
80
KN06 ◎
KN KN07 ◎
Series KN06A ◎
KN11 ◎
130
2000 KN16 ◎
/3000 KN22 ◎
(r/min) KN22A ◎
KN35 ◎ ◎
180
KN55
KN70
TN05 ◎
TN09 ◎
TN 130
TN13 ◎
Series TN17 ◎
1500 TN20 ◎
/3000 TN30 ◎ ◎
(r/min) 180 TN44
TN55
TN75 ◎
1-8
Chapter 1. Checking and Handling
Drive FDA- FDA- FDA- FDA- FDA- FDA- FDA- FDA- FDA- FDA- FDA-
Motor Flange Model 5001C 5002C 5004C 5005C 5010C 5012C 5015C 5020C 5030C 5045C 5075C
LN03 ◎
LN LN06 ◎
130
Series LN09 ◎
1000 LN12 ◎
LN12A ◎
/2000
LN20 ◎
(r/min) 180
LN30 ◎ ◎
LN40 ◎
KF08 ◎
KF KF10 ◎
Series 130
KF15 ◎
2000
KF22 ◎
/3000
180 KF35 ◎
(r/min) KF50 ◎
TF05 ◎
TF
130 TF09 ◎
Series
1500 TF13 ◎
/3000 TF20 ◎
180 TF30 ◎
(r/min)
TF44 ◎
LF03 ◎
LF
130 LF06 ◎
Series
1000 LF09 ◎
/2000 LF12 ◎
180 LF20 ◎
(r/min)
LF30 ◎
1-9
Chapter 2. Ratings and Specifications
(Note 1) The model name of the servo driver which uses absolute value encoder is FDA-5000CA.
(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.
2-1
Chapter 2. Ratings and Specifications
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
Maximum ( N·m ) 0.96 1.92 2.88 3.81 4.77 3.81 5.3 6.85 9.53
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
Rotor 2
( gf·cm·s ) 0.061 0.095 0.126 0.160 0.204 1.1 1.5 1.77 2.11
inertia 2 -4
2
( = GD /4 ) (kg·m ⅹ10 ) 0.06 0.093 0.129 0.163 0.208 1.08 1.47 1.74 2.07
Allowable load inertia
Not exceeding 30 times Not exceeding 20 times
Ratio(Versus rotor)
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
1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000
Speed (r/min ) Speed (r/min ) Speed (r/min ) Speed (r/min ) Speed (r/min )
1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000
1000 2000 3000 4000 5000
Speed (r/min ) Speed (r/min ) Speed (r/min )
Speed (r/min )
2-2
Chapter 2. Ratings and Specifications
Model Motor CN09 CN15 CN22 CN30 CN30A CN50A KN03 KN05 KN06 KN07
Spec. Driver 5010C 5015C 5020C 5030C 5030C 5045C 5004C 5004C 5005C 5010C
1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000
Speed (r/min ) Speed (r/min ) Speed (r/min ) Speed (r/min ) Speed (r/min )
2-3
Chapter 2. Ratings and Specifications
1000 2000 3000 1000 2000 3000 1000 2000 3000 1000 2000 3000
Speed (r/min ) Speed (r/min ) Speed (r/min ) Speed (r/min )
2-4
Chapter 2. Ratings and Specifications
Model Motor TN05 TN09 TN13 TN17 TN20 TN30 TN44 TN75
Spec. Driver 5005C 5010C 5015C 5020C 5020C 5030C 5045C 5075C
1000 2000 3000 1000 2000 3000 1000 2000 3000 1000 2000 3000
Speed (r/min ) Speed (r/min ) Speed (r/min ) Speed (r/min )
2-5
Chapter 2. Ratings and Specifications
Model Motor LN03 LN06 LN09 LN12 LN12A LN20 LN30 LN40
Spec. Driver 5004C 5005C 5010C 5012C 5012C 5020C 5030C 5045C
LN03
LN06 LN09 LN12
Torque(N·m )
10 Torque(N·m ) Torque(N·m ) Torque(N·m )
25 40
8
B 16 20 32
6 B B
12 24
B 15
4
8 10 16
2 A
4 A 5 A 8 A
500 1000 1500 2000
Speed (r/min ) 500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000
Speed (r/min ) Speed (r/min ) Speed (r/min )
2-6
Chapter 2. Ratings and Specifications
2-7
Chapter 2. Ratings and Specifications
2-8
Chapter 2. Ratings and Specifications
2-9
Chapter 3. Wiring and Signals
MCCB1 MC1 P B
R
전원AC
Power Supply U U
AC200 ~ 230 V
200-230V NF S
V
50/60HZ Hz
50/60
T V Motor
서보 모터
(주1) FDA-5000C W W
(Note 1.)
r E
(주2)
(Note 2.)
t
CN1
(Note 2.) CN2
CN1
(Input) 검출기Encoder
(입력)
+24VIN 49
24V
위치지령선택0 COMSEL 0 18 CN1
Position Command Select 0 (Output)
위치지령선택1 COMSEL 1 43
Position Command Select 1 CN1
위치지령선택2
Position Command Select 2 COMSEL 2 17
(출력) 3 MONIT1
위치지령선택3
Position Command Select 3 COMSEL 3 42 모니터 출력
위치지령선택4/MPG
Position Command ENABLE
Select 4/ MPG Enable COMSEL 4/MPGEN 16 2 MONIT2 (0Monitor
~ 5V)Output
Operation Start
운전시작명령 START 41 8 GND
서보 ENABLEEnable
Servo
SVONEN 15
CW disable/CW조그
정회전금지/정회전 Jog 7 PAO
CCW disable/CCW Jog CCWLIM/JOG 40
역회전금지/역회전조그 CWLIM/JOG 14 32 /PAO
Origin DOG Switch 라인 드라이버
원점 Origin
DOG스위치Command ORG-DOG 39 6 PBO
31 /PBO 펄스분주출력
Line Driver Pulse Division Pulse
ALARM 원점지령RESET/Motor stop ORG-COM 13
ALARM RESET/모터정지 (분주설정
(1/1, 1/2, 1/3, 1/4,….1/16)
ALMRST/STOP 38 5 PZO
1/1,1/2,1/3,...,1/16)
30 /PZO
8 GND
Note 1) NF is an abbreviation for Noise Filter. Use this to prevent infiltration of noise from
external sources.
Note 2) For FDA-5005C-75C type, connect single-phase AC220 [V] to the r and t terminals of the
spare power supply.FDA-5001C-4C type is not provided with r and t terminals.
Note 3) Use CN1 earth cable to ground the F.G. (Frame Ground) terminals.
3-1
Chapter 3. Wiring and Signals
Main power ON
Main power OFF 1MC
MCCB1 1MC P B
Voltage AC R
U U
200~230V NF S
50/60Hz V V Servo
T
W motor
(Note1) FDA-5000 W
r E
(Note2)
t
CN2
Detector
CN1
(Input)
1Ry
ALARM 20
24V CN1
1Diode (Output)
GND24 24
Note 1) NF is an abbreviation for Noise Filter. Use this to prevent infiltration of noise from
external sources.
Note 2 For FDA-5005C-75C type, connect single-phase AC220[V] to the r and t terminals of
spare power supply.
FDA-5001C-4C type is not provided with the r and t terminals.
Open the main circuit terminal board cover to see the terminal board. Terminal names
R
are located on the right side of the terminal board. (See figure on the right side.)
S
T
r r t U V W
t
P
B
U
V
R S T P B
W
3-2
Chapter 3. Wiring and Signals
43±1
78±0.5
500±20 90±1
6
3-3
Chapter 3. Wiring and Signals
1) The R, S and T terminals are used to connect main power supply of 3-phase AC 200 ~ 230[V] to
the power circuits.
*
(Note) Single-phase AC 220V may also be used; however, output may be lower than the rated
value. Install over current breaker on the main power supply input unit. Also, install noise filter on
the power supply input terminal to shut off noise coming from the power lines.
The terminals of fan power are S,T in FDA5020C~FDA5045C and r,t in FDA5075C.
2) The R and T terminals are for the auxiliary power supply of the power circuit. Connect single
phase AC 200 ~ 230 [V] to these terminals.
3) Connect regenerated resistance between P and B terminals. The standard regenerated
resistance (See Table 3.1) is a standard item. (Install it on the electric panel.)
4) Connect the U, V and W phases of the servo motor to the U, V and W terminals.
5) Ground the terminal. Also connect the servo motor earth cable to this terminal.
equivalent
ABS33b ABS33b
ABS53b
(5A) ABS33b (10A) (20A) ABS33b (30A)
Breaker (50A)
or or equivalent or or equivalent
or equivalent
equivalent equivalent
NFS- NFS- NFZ- NFZ- NFZ-
Noise Filter NFS-315
310 320 4030SG 4040SG 4050SG
Standard 150W 50Ω 250W 25Ω 250W 25Ω
250W 25Ω
regenerated
4 units in
resistance (for (L1=172, L2=188, W=42, H=20) (L1=220, 2 units in parallel
parallel
P and B L2=239, (same as left)
terminals) W=60,H=30)
3-4
Chapter 3. Wiring and Signals
L2
L1
length:300 M4
∮4.3
3-5
Chapter 3. Wiring and Signals
As the main circuit of the servo driver is designed in condenser input type, high charging current
(charging time approximately 03-0.5 seconds) flows when main power is connected. If the main
power supply is turned ON/OFF frequently, the main circuit element may be deteriorated leading to
an error. Use SVONEN (CN1-15) terminal and Stop (CN1-38) terminal to start or stop the motor.
(Caution!)
1) It takes approximately 1-2 seconds before Alarm signal is activated after power is connected.
Press power switch for at least 2 seconds or longer.
2) If the main power is connected immediately after power is shut off, Power Fail (AL-04) alarm may
occur. Connect power at least 10 seconds after the power is turned off.
3) The above wiring diagram shows that only the main power is turned off when alarm occurs and
you can check the details of the alarm.
Power is supplied to the control circuit if single-phase power is connected to the r and t terminals.
Servo becomes RDY after maximum 3s, the time required to initialize the inside of the drive system;
and if the servo drive signal is turned on, operation starts 25 ms later.
Max. 1s
Single & 3-Phase power
(r,t) & (R,S,T)
50ms
Control powerset
(5V)
300ms
Control program
initialization
Max. 3s
Power Good
100ms
Alarm
Nomal ON
Servo RDY
SVON
DB reset
PWM
(Motor rotation) 25ms 1ms
3-6
Chapter 3. Wiring and Signals
If Alarm occurs on the drive system, PWM is shut off and the motor stops.
(Caution!) Check and remove causes of Alarm and turn off the servo motor drive command
(SVONEN) before resetting Alarm.
Max. 1s
Power Good
Alarm
Servo RDY
SVON
400ms
1ms
DB reset
PWM
25ms
(Motor rotation)
25ms Concord
RESET
100ms
Power Good
Servo RDY
SVONEN
Origin operation
PWM
(Motor rotation)
10ms
START
Min. 10ms
Movement of motor
3-7
Chapter 3. Wiring and Signals
3-8
Chapter 3. Wiring and Signals
To use the driver in position MPG mode, input the position command pulse by using the open
collector input, line drive input, and pulse output of the MPG (Manual Pulse Generator) or PLC
position control card using external power supply of 5 [V] and 24 [V]. The types of pulses that can
be used are "direction + pulse", "forward pulse + reverse pulse", and "LEAD pulse + LAG pulse".
Select the type of pulse from the [Pulse Logic (P4-14)] menu of the front operation panel [Position
Mode (P4--)] menu
Photo coupler has been used in the pulse input circuit to insulate the internal control unit of the drive
system from the external pulse signal. However, if 5 [V] is used as the open collector input, connect
1/2W 150Ω resistance, or 1/2W 1.5kΩ resistance if 24 [V] is used.
PPFIN PPFIN
PPRIN PFIN
Driver
5V PFIN Driver PPRIN
(24V) PRIN PRIN
(SN75174)
* In case of open collector input * In case of line driver input
3-9
Chapter 3. Wiring and Signals
command input (CN1-27) runs the motor at a speed determined from the [10V Speed [RPM] (P3-
13)] menu of [Speed Mode (P3-13)]. The motor runs at a maximum speed in the forward direction if
+10 [V] is loaded, and in the reverse direction if -10 [V] is loaded. Analog torque limit (CN1-28) is
activated when the analog torque limit function (CN1-14) terminal is turned on.
If the analog torque limit function is not selected, the function can be used up to the torque set at
[TRQ LMT (+) (P2-05)], [TRQ LMT (-) (P2-06)]. To wire analog signals, connect GND wire with the
signal wire by twisting them using twist pair wire in order to minimize noise. Functions of each
analog signal are as follows.
Pin Name SPDIN ( 27 ) TRQIN ( 28 ) MONIT1 ( 3 ) MONIT2 ( 2 )
* * *
Speed command 1 Torque limit 1, 3
Signal Monitor output 1 Monitor output 2
Speed limit *2 Torque command *2
function -5∼+5 [V] output -5∼+5 [V] output
-10∼+10 [V] input -10∼+10 [V] input
Analog signal is based on GND signal, and produces ±12 [V] power just in case speed commands,
speed limits, torque limits and torque commands are applied through the use of variable
resistance. The output capacity of this power supply is 30 [mA] at maximum. Do not exceed the
maximum capacity. The power supply pin array is shown on the following table.
Pin Name + 12 V ( 35 ) - 12 V ( 37 ) GND (1,8,26,33,34,36)
Signal function + 12 [ V ] - 12 [ V ] 0[V]
The encoder signal is produced based on 0 [V] (GND) of control power supply. Connect 0 [V]
terminal of the circuit which receives this signal from the upper control system to the GND terminal
of CN1. Encoder signal is produced in line driver system after the AC servo motor encoder signal
received from CN2 is divided according to the frequency dividing ratio set by the sub-menu [Pulse
Out Rate (P2-07)] of the main menu [Control Mode (P2-)]. Functions of each signal is as follows.
3-10
Chapter 3. Wiring and Signals
Driver Controller
PAO
PA
/PAO
GND
BRAKE This is the output signal intended to drive internal brake of motor
BRAKE 47
Drive Output * See [Break SPD(P2-08)], [Brake time (P2-09)
3-11
Chapter 3. Wiring and Signals
READY
RDY 22 This is No Alarm, Power Good status when power is turned ON..
State Output
Position decision
INPOS/ Display approachment position CMD_Position [0-30] in position
completion 46
OP0 completion signal in case of absolute position operation
/Position 0
Position 1 OP1 20 Display position decision completion signal(INPOS) output in
Position 2 OP2 45 case of relative position/sequence operation
Position 3 OP3 19 [In Position Type(P8-08)]=0 : OP0~OP4Output
Position 4 OP4 44 1 : INPOS Output
Alarm state ALARM 21 Turn OFF if alarm is detected (Turn ON during normal operation)
Origin reach
ORGOUT 48 Turn ON when reach origin,
completion
FRAME GROUND FG 50 Connects earth cable of CN1.
Encoder Output PAO 7
/PAO 32
Outputs the encoder signal of motor in line drive system after
PBO 6
/PBO 31 driving it according to the frequency dividing ratio set by the
PZO 5 parameter [Pulse out rate(P2-06)]
/PZO 30
Analog
If we input speed command in analog voltage of the ratio set by
Speed Command SPDIN 27
(Override) parameter[10V Speed(P3-14)], speed override function operates.
3-12
Chapter 3. Wiring and Signals
3.3.3 Absolutist axis duty mode CN1 (Based on the soldered side of the user connector)
wiring
3-13
Chapter 3. Wiring and Signals
CN1
CN1 Input
(입력)
+24VIN 49
24V
위치지령선택0 COMSEL 0 18
Position Command Selection 0
위치지령선택1 COMSEL 1 43 CN1
Position Command Selection 0 CN1
위치지령선택2 COMSEL 2 17
Position Command Selection 0 (출력)
위치지령선택3 COMSEL 3 42 Out 3 MONIT1 모니터 출력
Position Command Selection 0
위치지령선택4/MPG ENABLE COMSEL4/MPGEN 16 2 MONIT2 (0 ~ Output
Monitor 5V) (0~+-5v)
Operation운전시작명령
START Command START 41 8 GND
서보 ENABLE
Servo Enable SVONEN 15
정회전금지/정회전조그
CW Disable/CW Jog CCWLIM/CCWJOG 40 7 PAO
역회전금지/역회전조그
CCW Disable/CCW Jog CWLIM/CWJOG 14 32 /PAO
원점 DOG스위치
Origin DOG switch 6 PBO 라인 드라이버
ORG-DOG 39
Origin Command
원점지령 31 /PBO 펄스분주출력
Line Driver Pulse Frequency
ORG-COM 13
ALARM Reset/Motor Stop
ALARM RESET/모터정지 5 PZO (분주설정
Division Output (1/1, 1/2, 1/3, 1/4….1/16)
ALMRST/STOP 38
1/1,1/2,1/3,...,1/16)
30 /PZO
8 GND
FG 50
F.G
※ F.G단자는
* F, CN1 Connect
G terminal 케이블의 GND접지선과 연결하여
of CN1 주십시오
cable
SPDIN 27
아날로그 속도지령
Analog Speed Command
(속도 (Speed
OVERRIDE) 10V 1
OVERRIDE) GND 33
24 +24V GND
GND24
25
FG 50
F.G
3-14
Chapter 3. Wiring and Signals
※
* F,F.G단자는 CN1 connect
G terminal 케이블의GND접지선과 연결하여
of CN1 cable주십시오
3.4 Description of CN2 Wiring and Signals
Wiring of CN2 and the FMA-CN series AC servo motor's incremental encoder is shown on the
following table.
(Caution!) When absolute value encoder is used, refer to Chapter 14. Interface and Use of
Absolute Value Encoder.
3-15
Chapter 3. Wiring and Signals
1 PW 11 P
2 /PW 12 R
3 PV 9 M
4 /PV 10 N
5 PU 7 K
6 /PU 8 L
7
8
9 GND 14 G
10
11 /PZ 6 F
12 F.G. 15 J
13 /PB 4 D
14 PZ 5 E
15 /PA 2 B
16 PB 3 C
17
18 PA 1 A
19 Vcc( DC 5V ) 13 H
20
(Caution!) Connect the earth cable of the encoder wiring to F.G.
(Caution!) Cable specifications: - AWG24 x 9 pair twist, shield cable (maximum length: 20 m)
- COVV(LS Cable) or equivalent
[Example of wiring between motor side (□60, 80 series) and FDA 5000C CN2 when
incremental encoder is used]
3-16
Chapter 3. Wiring and Signals
1-33
1-34
15 0V
2-12 1-50
3-17
Chapter 3. Wiring and Signals
[Example of wiring between motor side (□130, 180 series) and FDA 5000C CN2 when
incremental encoder is used]
1-33
1-34
J 0V
2-12 1-50
(Note ) CN2 connector is an option item. (Based on the soldered side of the user
connector)
∗ Maker: 3M
3-18
Chapter 3. Wiring and Signals
Wiring between CN2 and the FMA-series AC servo motor absolute value encoder is shown on the
following table.
3-19
Chapter 3. Wiring and Signals
[Example of wiring between motor side (□60, 80 series) and FDA 5000CA CN2 when absolute
value encoder is used]
1-8
1-33
1-34
8 0V
2-12 1-50
3-20
Chapter 3. Wiring and Signals
[Example of wiring between motor side (□130, 180 series) and FDA 5000CA CN2 when
absolute value encoder is used]
1-8
1-33
1-34
N 0V
2-12 1-50
3-21
Chapter 4. Digital Loader Operation
Prior to connecting power and turning ON the servo, check the parameters [Motor parameters
(P1--)] related to the motor at the digital loader. In order for the servo system to operate
satisfactorily based on the information on the motor connected to the servo, accurate value must
be set.
Next, monitor [Status Window (St--)] and verify that all commands and limit values are properly
set.
For initial operation, verify certain degree of stability through autotuning and trial operation (jog,
simulation). Autotuning can be achieved through on-line system, but it is not necessary to use this
function in case stabilized control gain is acquired through off-line system.
2 lines 32 characters
4-1
Chapter 4. Digital Loader Operation
MODE Moves from main menu to main menu or from sub-menu to main menu
PROG
Status Window CMD Position Current Position I/O Status
St-- St-01 100 St-02 100 Push PROG Key
MODE
MODE
PROG
MotorParameter Motor ID JM [gfcms2] Parameter Lock
P1-- P1-01 11 P1-02 0.06 P1-13 0
MODE
MODE
PROG
Control Mode PC P Gain SC LOOP Gain Conform ON/OFF
P2-- P2-01 50 P2-02 200 conform on
MODE
MODE
PROG
Speed Mode GroupSPD0 [RPM] GroupSPD1 [RPM] Clamp VOLT[mV]
P3-- P3-01 +3000.0 P3-02 +1500.0 P3-16 0
MODE
MODE
PROG
Position Mode Feedforward [%] In Position Backlash[PULSE]
P4-- P4-01 00 0 P4-02 0.1 P4-07 0
MODE
MODE
PROG
POS CMD Mode Position CMD0 Position CMD1 Position CMD31
P5-- P5-01 10 P5-02 20 P5-31 310
MODE
MODE
PROG
Jog/Origin Mode Origin SPD0 Origin SPD1 INC Jog Value1
P6-- P6-01 P6-02 P6-08
MODE
MODE
PROG
Alarm Window Alarm Display Alarm Reset Alarm Reset All
ALS-- ALS01 ALS02 ALS04
MODE
4-2
Chapter 4. Digital Loader Operation
PROG
Motor ID Motor ID
P1-01 11 Cursor indicates changable position
P1-01 11
ENTER
4-3
5. Parameter Setting
5. Parameter Setting
Menus can be set by the digital loader and mount loader. See Chapter 4 and 5 for information on
how to use the digital loader and mount loader.
Abbreviations used in this manual and their meanings are as follows.
Digital loader displays menus along with menu names, but the mount loader shows only menus.
5-1
5. Parameter Setting
5-2
5. Parameter Setting
(Note 1) Initial value of SC Loop gain by capacity - FDA-5001C-4C: 500, FDA-5005C-75C: 200
(Note 2) Initial value of SC TC[ms] by capacity - FDA-5001C-4C: 20, FDA-5005C-75C: 50
(Note 3) Initial value of Powerfail Mode by capacity - FDA-5001C-4C: 20, FDA-5005C-75C: 50
(Caution !) Menus marked with "*" cannot be corrected during Servo-ON.
5-3
5. Parameter Setting
5-4
5. Parameter Setting
Init.
Menu Menu title Description unit Range
value
*P8-01 Run Mode Operation Mode 0~7 1
Continuous operation
P8-02 Stop Time [ms] msec 0 ~ 10000 10
stop time
*P8-03 Limit Select Limit↔Jog 0~1 0
Automatic Origin
*P8-04 Auto Origin 0~1 0
Operation
5-5
5. Parameter Setting
Origin execution
*P8-05 Origin Rule 0 ~ 20 2
Method
*P8-06 MPG Select Select MPG 0~1 0
Set origin of absolute
*P8-07 ABS ORG SET 0~1 0
type encoder
IN POSITION IN POS Complete
*P8-08 0~1 1
TYPE Signal output type
*P8-09 Stop select Stop Fuction selection 0,1,2 0
*P8-11 Ias Offset Save Offset value 99.999~-99.999
*P8-12 Ics Offset Save Offset value 99.999~-99.999
Command abs Multi-Turn Data 100000~
*P8-13
data On cmd position -100000
Multi-Turn Data 100000~
*P8-14 Current abs data
On cur position -100000
*P8-15 ABS Counter2 Abs encoder Data 99999~-99999
*P8-16 ABS Counter1 Abs encoder Data 99999~-99999
*P8-17 ABS Counter0 Abs encoder Data 99999~-99999
5-6
5. Parameter Setting
These parameters are used to set the motor and the system. User must set parameters to suit the
motor and the system prior to use.
Initial
Menu Menu title Description Unit Setting range Mode
value
*P1-01 Motor ID Motor ID 0 ~ 99 0 SPT
If the motor used is in the above table, input motor ID to [Motor ID(P1-01)].
In such case, [JM (P1-02)], [KT (P1-03)], [Ls(Phase) (P1-04)], [Rs(Phase) (P1-05)], [Is(Rated)
(P1-06)], [SPD(Max) (P1-07)], [SPD(Rated) (P1-08)], [Pole Number (P1-09)] among the set
values are automatically set, and individual editing is not allowed.
If the motor used is not shown on the above table, or if it is desired to change one or more of
the set values related to the motor, input 0 to [Motor ID (P1-01)]..
5-7
5. Parameter Setting
Convert the motor inertia moment in [gf-cm-sec2] and input the data.
In this mode, input the inertia of the motor which does not include load inertia.
For information on how to input load inertia, see section [Inertia Ratio (P2-22)].
Procedure of converting general unit to that of [gf-cm-sec2] is as follows.
1[kg-cm2] → 1.02 [gf-cm-sec2]
1[kg-m2] → 1.02 × 104[gf-cm-sec2]
Convert the motor torque constant in [kgf-cm/A] and input the data.
Torque constant is defined in the torque level corresponding to 1[A, rms].
Procedure of converting MKS unit to that of [kgf-cm/A] is as follows.
1[N-m/A] → 10.2[kgf-cm/A]
Convert the motor phase inductance in [mH] and input the data.
Convert the motor phase resistance in [Ω] and input the data.
Convert the motor rated current in [A] and input the data.
5-8
5. Parameter Setting
5-9
5. Parameter Setting
5-10
5. Parameter Setting
Feedback pulse
1 freq. division
2 freq. division
3 freq. division
..........
16 freq. division
Motor speed may have periodic ripple due to the effects of the servo current offset. If this
happens, use the current offset function.
"1" = Automatically offsets current offset during Servo-On.
5-11
5. Parameter Setting
This function, in case viewing is difficult because the analog output value is small, enables
viewing by multiplying the parameter by appropriate multiples. For example, if 3 is input, the
size of the parameter is enlarged by 3 times.
Basic magnification: speed, speed command (maximum speed /4[V])
Torque (3 x rated torque /4[V])
5-12
5. Parameter Setting
Input the band width of resonant frequency and resonant frequency band in [Hz].
Torque output
0.707
Torque output
frequency
Resonant
Resonant freq.
frequency
bant width
[SC LOOP Gain (P2 − 03)]
Use resonant frequency greater than [Hz]
6
The system inertia is the sum of motor inertia and load inertia. This item sets the ratio of
system inertia to motor inertia in terms of [times].
5-13
5. Parameter Setting
Enables quick motor control during servo operation by turning off SVONEN terminal and
forming DB control circuit while the gating motion is turned off when the motor stops.
However, if the DB control status is continuously maintained while the motor remains
stopped, it is not easy to achieve free-run of the motor in case the user so desires. This
menu therefore helps the user to achieve free-run of the motor by turning off the SVONEN
terminal to create DB control circuit when controlling the motor and by opening the DB
control circuit when the motor comes to a stop.
0: The DB control circuit is activated only during motor control by turning off the SVONEN
terminal of the motor, and free-run is activated only below the (P3-11) Zero Speed set
value after the motor stops.
1: DB control always operates even when the motor servo is turned off.
5-14
5. Parameter Setting
If set value of [Display Select(P2-27)] is eleven, when power is ON, initial screen is
displayed in parameter position CMD0[P5-01]. If we change the set value, position
transportation quantity is also changed.
(It must be appointed in position CMD0 by input contact COMSEL0-4)
5-15
5. Parameter Setting
[Group DEC] inputs deceleration time in terms of 10[ms] from the rated speed to the
stopped status. If 10 is loaded, speed is decelerated for 100 [ms] from the rated speed to
the stopped status. To increase the deceleration time to the maximum, input 0.
Input deceleration/acceleration time of position CMD[0-07] to [Group ACC0],[Group DEC0]
Input deceleration/acceleration time of position CMD[8-15] to [Group ACC1],[Group DEC1]
Input deceleration/acceleration time of position CMD[16-23] to [Group ACC2],[Group DEC2]
Input deceleration/acceleration time of position CMD[24-30] to [Group ACC3],[Group DEC3]
Rated speed
Time
Acceleration Deceleration
time time
- Rated speed
5-16
5. Parameter Setting
If vibration and noise happens to the motor, after the motor speed detection value passes
through the primary delay filter, input the delay time constant in [msec]. In case noise occurs
on the motor shaft during feeding due to vibration, adjust the delay time constant value to
reduce noise level. If the value is adjusted too much at a time, problem may occur on speed
control. Gradually increase the [FDELAY (P-37)] set value from 0.
Recommended maximum set value = [SCITC (P2-04) set value]
(Example) If P2-04 is 20 [msec], the maximum FDELAY set value is 20, and the speed
feedback delay time is 20 [msec].
200
0 10 전압[V]
5[V]입력시
Command Command
voltage voltage
Command
voltage
Zero Clamp Zero Clamp
voltage voltage
5-17
5. Parameter Setting
Input the Feedforward rate of the position command speed in [%]. The delay element of the
position controller can be reduced if the value of this item is increased. However, if the value
is increased excessively, overshoot may occur on the position system, or performance of
the position controller is deteriorated. Select appropriate value. If this value is 0, the position
controller becomes a simple position proportional controller.
Refer to the following MAX [Feedforward] value for each K=[SC LOOP Gain]/[PC P Gain]
value.
5-18
5. Parameter Setting
PF
A phase
Negative logic
0
PR +B phase
PF CCW pulse
1 + CW pulse
PR
PF
2 Direction
PR L H + pulse
PF
Positive logic
3 A phase
PR +B phase
CCW pulse
PF
4 + CW pulse
PR
PF
5 Direction
PR H L + pulse
Input the primary filter time constant of the position command speed Feedforward in [msec].
The loaded position command is differentiated and passes through the primary filter before
it is used as the Feedforward input. The time constant of this filter can be adjusted. Increase
this value in applications where the position command is rapidly changed, and decrease this
value in applications where the position command is slowly changed. Input 0 in case it is not
needed to use this filter.
5-19
5. Parameter Setting
5-20
5. Parameter Setting
5-21
5. Parameter Setting
Initial
Menu Menu title Description Unit Range
value
P6-03 Origin Torque[%] Damper origin torque % 0.0-300.0 50
[Origin Torque] is used to discern the collision machinery part with Damper when operation in
Damper Origin. If this value is 100[%], torque is rated, discern that it collided the damper, start
rotation in opposite direction
5-22
5. Parameter Setting
5-23
5. Parameter Setting
Initial
Menu Menu title Description Unit Range
value
*P7-07 Angle Division Stop angle division in JOG operation User 0-1000 0
When using turret operation mode, as in the case of stopping in JOG operation, Set the
ordinary rate of the angle that is stopped.
Ex) If set value=30
When operating in JOG Mode, as in the case of inputting the stop command in optional
angle only stop the multiples of 30 degree which is set
(Danger !) RUN_MODE[P8-01]: Only applied in zero turret operation Digital Loader
As in the case of IJOG transportation by Digital Loader and stop by input contact
point STOP. Angle-division-stop doesn’t operate
5-24
5. Parameter Setting
1: Relative position STEP Manual operation (Roll Feeder STEP Manual operation)
Can choose the relative position in COMSEL0-4, display the position completed signal by
INPOS position
2: Relative position AUTO Manual operation (Roll Feeder AUTO Manual operation)
Can choose the relative position in COMSEL0-4, if START signal is putted on time, it’s
position transports stop time during continuous transportation is set by STOP_TIME(P8-02),
if approached the position, display the position completed signal by INPOS position
3: Absolute sequence STEP Manual operation, whenever put the START Signal the
sequenced set value 4Point(Position CMD 0,8,16,24) about absolute position, position is
transported, if approaches the position.
Danger!) After RUN_MODE changes, it is necessary that we use after origin operation.
It may cause an accident.
5-25
5. Parameter Setting
Danger!) After RUN_MODE changes, it is necessary that we use after origin operation.
It may cause an accident.
5-26
5. Parameter Setting
(reference !) A detailed contact reference that follows chapter six origin point operation
method.
(Caution !) Origin point operation method of absolute value encoder reference the
menu P8-07[ABS_ORG_SET]
5-27
5. Parameter Setting
0 : When position decision ,Selected Position CMD0~30 Output via OP0 ~ OP4
5-28
5. Parameter Setting
5-29
5. Parameter Setting
The status of input contact recognized within the system is indicated with either "0" or "1". Therefore,
if the status input from the external sources is different from the displayed information, it indicates
problem on the input system. As each signal carries different meaning, explanation is provided
through examples below.
(Example of display)
IN : 0 0 0 1 0 1 1 0 0 0 0 1
IN : ALIMRST ORGCOM ORG CWLIM CCWLIM SVONNE START COMSEL[ 4,3,2,1,0]
5-30
5. Parameter Setting
The above examples are based on the current status of each signal. System operates in
reverse if signals are in opposite status
5-31
5. Parameter Setting
The above examples are based on the current status of each signal. System operates in
reverse if signals are in opposite status
AL-07 OVER SPEED Gain excessive, menu set value error, excessive gravity load
Rapid deceleration/acceleration, gain set value error,
AL-08 FOLLOW ERR command pulse frequency excessive (greater than 300
kpps), miswiring, mechanical overload
5-32
5. Parameter Setting
5-33
Chapter 6. Operation Mode and How to use
Before servo operating, surely check and set the items below.
*** Set error can damage to servo and machines.
a) How to autotunning
Autotuning only use in case of rotating motor over a fifty times make OFF after set during normal
operation.
6-1
Chapter 6. Operation Mode and How to use
Æ If SC Loop Gain is too low, vibration happens and if SC Loop Gain is high, response becomes
more fast, but SC Loop Gain is to high, vibration happens. In case that happens noise by vibration
in motor, tune FDELAY(P3-13). If FDELAY increase, noise is lessen, but it is stable that is used
within SCITC value.
Æ If motor is unstable in above course, inquire technique department. That records parameter
tunned is good
6-2
Chapter 6. Operation Mode and How to use
Y axis
X axis
6-3
Chapter 6. Operation Mode and How to use
6-4
Chapter 6. Operation Mode and How to use
Start Stop
INPOS Output
6-5
Chapter 6. Operation Mode and How to use
Start Stop
INPOS Output
ex) Application to two axes Robot (Incase of simple coordinates movement operation)
6-6
Chapter 6. Operation Mode and How to use
Y axis
X axis
6-7
Chapter 6. Operation Mode and How to use
6-8
Chapter 6. Operation Mode and How to use
Origin mode[P8-05]
Origin Operation
No. Origin
(0) Not Not using Origin Operation
CW Limit Z Pulse
←ORG Speed 0[P6-01]
(1) (2) (1)
Using CW Limit
(2)
← ORG Speed 1[P6-02]
ORG Offset[P6-04]
Using CCW
(7) ORG Speed 0[P6-01] → ORG Error↘
direction and origin
(8) ORG Speed 1[P6-02] →
DOG
(8) (7)
ORG Offset[P6-04]
6-9
Chapter 6. Operation Mode and How to use
Origin Mode[P8-05]
Origin operation
No. Origin Mode
CW Damper Z Pulse
←ORG Speed 0[P6-01]
(13) (14) (13)
Using CW Damper
(14)
← ORG Speed 1[P6-02]
ORG Offset[P6-04]
Z Pulse CCW Damper
ORG Speed 0[P6-01] →
(15) Using CCW (15) (16)
(16) Damper
ORG Speed 1[P6-02] →
ORG Offset[P6-04]
Z Pulse CW direction
←ORG Speed 1[P6-02]
(17) Using CW rotation (17) (18)
(18) Z Pulse
ORG Offset[P6-04]
CCW direction Z Pulse
ORG Speed 1[P6-02] →
Using CCW
(19) (20) (19)
rotation
(20)
Z Pulse
ORG Offset[P6-04]
Note1) Can use origin speed of two for exact and quick origin execution(ORG Speed o[P6-01],
ORG Speed 0[P6-02])
Note2) Can specify origin equivalent to the position which z phase position fixed distance by using
ORG Offset[P6-04]
Note3) In case of using Damper(13-16) set torque in ratings torque ratio(%) for recognition in
collision with damper.
Note4) When servo in ON, in case that do origin execution, set automatic origin operation[P8-04]
6-10
Chapter 6. Operation Mode and How to use
Close no change of
current position PROG Set number of rotation [P6-07]
order value
CW(increase coordinates value)
IJOG State0
CCW (decrease coordinates value)
6-11
Chapter 6. Operation Mode and How to use
6-12
Chapter 6. Operation Mode and How to use
(1) In case of [Monitor 1 ABS (P2-12)] = 0 (2) In case of [Monitor 1 ABS (P2-12)] = 1
[Monitor1 ABS] = 1
6-13
Chapter 7. Maintenance and Inspection
7.1 Caution
1. When checking motor voltage: As the voltage applied to the motor from the servo amplifier is
PWM controlled, wave form of pulse phase is displayed. There may be significant difference in
indicator value depending on types of meters. Always use rectifier type voltmeter to obtain
accurate measurement.
2. When checking motor current: The pulse wave form is smoothed to sine wave to a certain
degree by the motor reactance. Connect and use a moving-iron type ampere meter.
4. Other meters: Use oscilloscopes or digital voltmeter without letting them make contact with the
ground. Use meters with input current of 1 mA or less.
(Caution !!) Charged voltage may remain in the smoothing condenser creating an element of
danger when inspecting the driver. Turn off power and wait for approximately 10
minutes before starting, inspection.
1. Check the inside of the machine for cable chips, dust or other debris and clean it up.
2. Check the terminal screws for looseness. Tighten them if necessary.
3. Check parts for defects (discoloration caused by heat, damage or disconnection).
4. Use high resistance range of the tester to test the conductivity of the control circuit.
Do not use mugger or buzzer.
5. Check the cooling fan for normal operation.
6. Check for abnormal noise (motor bearing, brakes)
7. Check cables for signs of damage or defects (particularly the detector cables). Check
periodically during operation.
8. Check the load connection axis for center deviation, and make necessary adjustment.
7-1
Chapter 7. Maintenance and Inspection
The following parts undergo aging process as time passes due to mechanical friction or the
characteristics of the material used, leading to the deterioration of equipment performance or
breakdown. Check the parts periodically and replace them, if necessary.
1. Smoothing condenser: The characteristics become aged due to the effects of ripple current.
The operating life of the condenser varies significantly depending on ambient temperature and
operating conditions. When used continuously in normal environment, its standard life span is
10 years. The condenser becomes aged fast during a specific period. Inspect it at least once a
year (it is desirable to conduct inspection semi-annually in case the life span is nearing the
exhaustion point).
2. Relays: Inadequate contact may occur due to contact wear resulting from switching current.
The relay wear condition is affected by the power capacity. The standard life span is 100,000
accumulated switching (switching life) operations.
3. Motor bearing: Replace bearing when it is used for 20,000-30,000 hours under rated speed
and rated load. The motor bearing condition is dependent upon the operating conditions.
Replace the bearing if abnormal noise or vibration is discovered.
Standard replacement
Parts How to replace
period
Replace with new parts (Decide after
Smoothing condenser 7-8 years
check)
Relays - Decide after check
Fuses 10 year Replace with new ones
Motor bearing - Decide after check
Aluminium electrolytic Replace with new PCB (Decide after
5 years
condenser on PCB check)
7-2
Chapter 7. Maintenance and Inspection
7.4 Maintenance
7.4.1 Motor
2) If the motor is stored outside or in a place with humidity, cover it with an appropriate type
of cover to prevent infiltration of rain or dust.
3) If the motor is to be stored for a long period of time after use, apply rust-proof agent
on the shaft or on slideways to prevent rust.
It is not desirable to leave the servo driver unused for a long period of time. If the servo driver is not
used immediately, store it in the following manner.
2) As the driver is in open structure, exercise caution not to allow dust to be accumulated.
7-3
Chapter 8. Troubleshooting
8. Troubleshooting
In case an error occurs during operation, take the following steps. If taking such steps does not
correct errors, contact our service center.
8-1
Chapter8. Troubleshooting
If an alarm occurs, error signal output contact (Alarm) is turned OFF, and the motor stops by the
action of dynamic brake.
AL-04 Main power shut off during Servo Check the 3-phase main power
POWER FAIL ON status. supply (R, S, T) input status.
Motor and encoder set value
Check motor and encoder wiring and
AL-05 error, motor and encoder
set values.
LINE FAIL miswiring, defective encoder,
Remove excessive load.
mechanical overload.
Improve heat-shield system condition
AL-06 Ambient temperature increased.
(ambient temperature to be less than
OVER HEAT Continuous overload operation.
50℃). Check load condition.
8-2
Chapter 8. Troubleshooting
AL-14 When 5~8 origin rule search, meet Reset and Origin search to meet
ORG ERROR limit signal in out of Dog portion. Limit signal in Dog portion.
Input of parameters, which cannot Turn OFF the servo and change the
Parameter Err 1 be changed, is attempted during set value. Reset parameter locking
Servo ON. Parameters locked. menu (P1-13).
Parameter Err 2 Set value input error. Input values within the set range.
[Overload characteristic curves of Servo Driver]
10000
1000 value
100 ∞
120 ∞
100
150 300 1500 760
250 20 40 30
10
300 6 15 7
8-3
Chapter 9. External View
9. External View
9.1 External Dimensions of AC Servo Driver
9-1
Chapter 9. External View
Brake Type
9-2
Chapter 9. External View
Standard type
Brake type
9-3
Chapter 9. External View
9-4
Chapter 9. External View
<KEY TYPE>
*) Figures in ( ) indicate brake-attached type. *) Use DC 90V for brake input power supply. *)In case of Taper shaft, shaft length is shorted
9.2mm.
9-5
Chapter 10. Specifications of options
10-1
Chapter 10. Specifications of options
10-2
Chapter 10. Specifications of options
10-3
Chapter 10. Specifications of options
4-φ 6
80
95
110
10-4
Chapter 10. Specifications of options
10-5
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