Higen FDA7000 Series Operation Manual Download

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Summary of Contents for FDA7000 Series

Page 1: ...OPERATION MANUAL AC Servo Drive FDA7000 FDA7000 H Series Ver 1 5 Soft Ver 2 40 FDA7000EX Series Ver 1 5 Soft Ver 3 29 FDA7000 Series Servo Drive User Manual...

Page 2: ...l the autotuning during normal operation after gain setting using autotuning E Motor handling Avoid impacting to the encoder in connecting coupling to the Motor shaft or operating F Recommended specif...

Page 3: ...or 1 5 1 3 3 Explosion proof series servo drive and motor 1 6 1 4 Rated specification of servo motor 1 7 1 4 1 AC220V series servo motor 1 7 1 4 2 AC380V series servo motor 1 16 1 4 3 Explosion proof...

Page 4: ...tal encoder 2 25 2 6 2 9line Incremental encoder 2 26 2 6 3 11bit absolute encoder 2 27 2 6 4 17bit absolute incremental encoder 2 28 2 6 5 17bit absolute encoder data transmission 2 29 2 6 6 Wiring o...

Page 5: ...am for torque control servo 4 16 4 3 2 Gain adjustment of torque servo 4 17 4 4 Auto tuning 4 18 4 4 1 System response setting 4 18 4 4 2 Auto tuning setting sequence 4 19 4 4 3 Precaution during Auto...

Page 6: ...em application I 1 Position control application 2 I 2 Example of other application 4 Appendix Noise control II 1 Wiring Precautions 1 II 2 Wiring for noise control 1 Appendix All parameters table III...

Page 7: ...2 Servo motor model classification 1 1 1 2 Servo drive specification 1 2 1 2 1 Power specification of AC 220V Series 1 2 1 2 2 Power specification of AC 380V Series 1 2 1 2 3 Common specifications 1 3...

Page 8: ...d 130 180 220 Fr DC24 V Symbol Input voltage F AC 220V H AC 380V 440V Note2 Symbol pulse Type A 2000 B 2500 C 3000 D 5000 E 6000 F 2048 Incremental 15line P 131072 Absolute Incremental 17 33bit K 2048...

Page 9: ...y range that guarantee the rated motor output and rated speed There is no guarantee in case of voltage drop Note2 Regenerative resistor applied to FDA7075 FDA7150 is an optional product please purchas...

Page 10: ...ion pulse Forward pulse reverse pulse 2 phase pulse A phase B phase Input method Open Collector Line Driver Torque control specification Torque command Analog torque Command DC 10 10 V Digital torque...

Page 11: ...ies 1500 3000 rpm LF Series 1000 2000 rpm 001 CJZ5 CN01 CJ01 002 CN02 CJ02 004 004B CN03 CN04 CJ04 CN04A CN05 KN03 KN05 LN03 LF03 005 CN06 CN08 KN06 KN06A TN05 LN06 TF05 LF06 010 CN09 CN10 KN07 KN11 T...

Page 12: ...0 3000 rpm TN Series 1500 3000 rpm LN Series 1000 2000 rpm 020 H CN09 CN10 CN15 CN22 KN11 KN16 KN22 TN09 TN13 TN20 LN12 LN20 LN22 030 H CN30 KN35 TN30 LN30 045 H CN40 CN50 TN44 TN55 LN40 LN44 LN55 075...

Page 13: ...3000 5000 rpm EK Series 2000 3000 rpm ET Series 1500 3000 rpm EL Series 1000 2000 rpm 002EX FMAEX02 004EX 004BEX FMAEK05 005EX FMAEC06 FMAEC08 FMAEK06 010EX FMAEL09 015EX 015BEX FMAEK16 FMAET13 020EX...

Page 14: ...gf cm s 2 0 049 0 081 0 251 0 449 kg m 2 10 4 0 048 0 079 0 246 0 440 Allowable load inertia ratio versus rotor 15 times or below Rated Power Rate kW s 5 3 12 8 16 5 36 8 Encoder Standard Incremental...

Page 15: ...3 15 0 24 8 37 4 49 0 Encoder Standard Incremental 2000 6000 P rev Option Absolute incremental 17 33bit 131072 P rev Weight kg 0 85 1 14 1 43 1 73 2 03 2 1 2 55 3 1 3 7 Torque Speed characteristics 1...

Page 16: ...d Power Rate kW s 20 4 30 6 45 1 63 9 35 7 58 9 18 9 31 3 38 0 44 6 Encoder Standard Incremental 2000 6000 P rev Option Absolute incremental 17 33bit 131072 P rev Weight kg 5 5 7 0 8 5 10 0 12 9 18 2...

Page 17: ...oad inertia ratio versus rotor 10 times or below Rated Power Rate kW s 20 4 30 6 47 3 63 9 43 0 64 7 103 0 113 7 Encoder Standard Incremental 2000 6000 P rev Option Absolute incremental 17 33bit 13107...

Page 18: ...wer Rate kW s 20 5 43 3 68 2 91 7 51 5 80 8 117 4 124 8 183 8 236 301 Encoder Standard Incremental 2000 6000 P rev Option Absolute incremental 17 33bit 131072 P rev Weight kg 5 5 7 0 8 5 10 0 12 9 18...

Page 19: ...r 10 times or below Rated Power Rate kW s 20 5 43 3 68 2 91 7 51 4 84 9 123 4 148 6 226 9 Encoder Standard Incremental 2000 6000 P rev Option Absolute incremental 17 33bit 131072 P rev Weight kg 5 5 7...

Page 20: ...10 3 15 2 24 8 64 0 98 5 156 Allowable load inertia ratio versus rotor 5 times or below Rated Power Rate kW s 12 3 15 0 20 7 17 2 28 2 36 4 Encoder Standard Incremental 2000 6000 P rev Option Absolute...

Page 21: ...15 2 24 8 64 0 98 5 156 Allowable load inertia ratio versus rotor 5 times or below Rated Power Rate kW s 7 85 19 1 28 0 20 5 35 2 50 0 Encoder Standard Incremental 2000 6000 P rev Option Absolute inc...

Page 22: ...98 5 156 Allowable load inertia ratio versus rotor 5 times or below Rated Power Rate kW s 7 85 21 3 30 0 20 5 37 0 51 8 Encoder Standard Incremental 2000 6000 P rev Option Absolute incremental 17 33b...

Page 23: ...ad inertia ratio versus rotor 10 times or below Rated Power Rate kW s 20 44 48 14 30 33 44 94 63 62 35 54 58 9 Encoder Standard Incremental 2000 6000 P rev Option Absolute incremental 17 33bit 131072...

Page 24: ...30 25 6 42 9 66 4 98 1 Allowable load inertia ratio versus rotor 10 times or below Rated Power Rate kW s 37 16 53 53 77 07 43 05 64 98 103 34 113 67 Encoder Standard Incremental 2000 6000 P rev Optio...

Page 25: ...195 00 Allowable load inertia ratio versus rotor 10 times or below Rated Power Rate kW s 92 45 85 00 123 14 175 7 226 9 1072 97 1075 83 1313 23 Encoder Standard Incremental 2000 6000 P rev Absolute in...

Page 26: ...7 48 25 1 42 9 66 4 98 1 124 197 5 308 2 Allowable load inertia ratio versus rotor 10 times or below Rated Power Rate kW s 39 1 51 5 80 8 117 4 124 8 184 3 236 0 295 1 Encoder Standard Incremental 20...

Page 27: ...7 88 2238 90 kg m 2 10 4 404 7 464 6 608 5 1125 22 1194 00 2195 00 Allowable load inertia ratio versus rotor 10 times or below Rated Power Rate kW s 484 1 784 9 915 726 64 1025 55 1036 16 Encoder Stan...

Page 28: ...ed Torque N m 0 64 1 91 2 54 7 0 12 7 2 15 2 57 kgf cm 6 5 19 5 26 0 71 4 129 54 21 9 26 2 Instantaneous Max Torque N m 1 92 5 3 6 85 21 31 8 6 45 7 42 kgf cm 1 95 54 5 70 2 214 324 36 65 7 72 7 Rated...

Page 29: ...4 gf cm s 2 11 12 22 44 11 12 11 12 26 1 kg m 2 10 4 10 9 22 10 9 10 9 25 1 Allowable load inertia ratio versus rotor 10 times or below Rated Power Rate kW s 53 5 92 6 68 2 62 8 51 5 Encoder Standard...

Page 30: ...r Inertia GD 2 4 gf cm s 2 11 12 14 63 11 12 26 1 22 4 22 4 kg m 2 10 4 10 9 14 34 10 9 25 1 22 22 Allowable load inertia ratio versus rotor 10 times or below Rated Power Rate kW s 62 8 53 5 45 1 51 5...

Page 31: ...rol panels are installed in parallel about 100 mm space is required on the upper side In case of installing fans avoid heat Regenerative resistor heating source away from the drive 3 Prevention of ing...

Page 32: ...ations within the specified tolerance Use pulleys and sprockets with the allowable load MOTOR MODEL RADIAL LOAD AXIAL LOAD REFERENCE DIAGRAM Series Type N Kgf N kgf CN CN01 CN05 EX02 196 20 68 7 Radia...

Page 33: ...ft end C 0 02mm Note T I R Total Indicator Reading 5 Impact resistance The AC servo motor withstands two times of impacts with an acceleration of 10G when up and down impacts are applied after setting...

Page 34: ...r is used as a mobile motor use flexible cables 1 6 Handling 1 6 1 Handling precaution Mishandling can lead to unexpected accidents or damage The key items are listed as follows Reference the related...

Page 35: ...e standard regenerated resistance to the P and B terminal of the drive 3 Operation The brake of the motor is intended to hold when the motor is powered off If the brake is operated while the motor is...

Page 36: ...ence of use This change updates the year and month of the user s manual and is issued as a revision When ordering the instruction manual due to damage or loss please contact our distributor or our nea...

Page 37: ...hock and product malfunction Wiring and inspection should be done by a qualified technician Install the product before wiring It may cause electric shock or injury Do not touch the servo drive with we...

Page 38: ...e injury Do not stack the servo drive above the limit Install the product where it can withstand weight Do not install or operate a servo drive that is damaged or missing parts Do not lift the surface...

Page 39: ...may not work Do not install a phase advance capacitor surge absorber or radio noise filter on the servo drive output side Connect the output side terminal U V W FG correctly The motor may malfunction...

Page 40: ...set is performed while the operation signal is input the motor will suddenly rotate so check that the operation signal is off and then reset the alarm In case of operating the servo drive after long t...

Page 41: ...dary accidents caused by malfunctions Please contact our sales team Do not perform a mega test insulation resistance measurement on the servo drive It may cause failure 7 Waste disposal Caution Dispos...

Page 42: ...1 Model check and handling 1 35...

Page 43: ...rive 2 8 2 3 Connection terminal of AC380V series servo drive 2 10 2 3 1 Large type servo drive 2 10 2 3 2 Extra large type servo drive 2 12 2 4 Power handling 2 15 2 4 1 Wiring 2 15 2 4 2 Timing char...

Page 44: ...coder 2 28 2 6 5 17bit absolute encoder data transmission 2 29 2 6 6 Wiring of FDA7000EX Explosion proof 2 32 2 7 COM CN3 wiring and signal explanation 2 34 2 7 1 COM CN3 wiring 2 34 2 7 2 Wiring of R...

Page 45: ...protect electric shock and mis operation use at least class 3 ground 100 max The wiring work and checking work must be executed by specialized technician The wiring must be done after the main unit i...

Page 46: ...ise Magnetic contactor It turns on off the servo power Do not start or stop the servo with this magnetic contactor It can reduce the life of the servo Motor power wiring The U V W and F G terminal of...

Page 47: ...owable value be sure to use a power transformer FDA7000 H0 AC 380V FDA7000 H1 AC 440V Use the brake power supply independently When used with input output contact input power it causes malfunction of...

Page 48: ...W terminal connect the U V and W phase of the servo motor 4 Ground the FG terminal Connect the grounding wire of the servo motor with this terminal 5 When main power is DC voltage supply DC280 325 V b...

Page 49: ...he FG terminal Connect the grounding wire of the servo motor with this terminal 6 When main power is DC voltage supply DC280 325 V between P and N 7 Don t supply AC power between P and N AC SERVO Oper...

Page 50: ...e the wire as is after removing the coating for safety purposes put a ferrule end to press with the crimping tool for ferrules insulated Open the terminal plug wire inserting hole with the lever as sh...

Page 51: ...15B 7030B are as follows 1 As the main power of the power circuit connect the R S and T terminal to 3 phase AC200 230 V 2 As the auxiliary power of the power circuit connect the r and t terminal to si...

Page 52: ...BS63b 60A ABS103b 100A Noise filter NFZ 4030SG 30A NFZ4040 SG 40A FT3RE 4060 60A FT3RE 4080 80A External regenerated resistance 250W 25 Drawing A 250W 25 parallel 2 units Drawing A 250W 25 parallel 4...

Page 53: ...1 Large type servo drive FDA7020 H FDA7045 H Terminal a Main Circuit Terminal b Control Circuit Terminal FDA7075 H FDA7150 H Terminal The usage and wiring method of FDA7020 H FDA7150 H are as follows...

Page 54: ...7075 H FDA7110 H FDA7150 H Wire thickness AWG 12 3 5mm 2 AWG 11 4 2mm 2 AWG 8 8mm 2 AWG 6 14mm 2 AWG 4 22mm 2 Open close device GMC 12 13A GMC 40 35A MC 40 40A MC 50 50A Breaker ABS33b 10A ABS33b 20A...

Page 55: ...Code FDA600010S FDA7110 1600W 4 FDA600011S FDA7150 2000W 3 2 3 2 Extra large type servo drive a Main Circuit Terminal b Control Circuit Terminal FDA7220 H Terminal a Main Circuit Terminal b Control C...

Page 56: ...t the U V and W phase of the servo motor 6 Ground the FG terminal Connect the grounding wire of the servo motor with this terminal AC SERVO operating device FDA7220 H FDA7300 H FDA7370 H FDA7450 H FDA...

Page 57: ...2 Wiring and connection 2 14 Drawing C Order Code Please contact our sales office...

Page 58: ...r t P B CN1 INPUT 24V U V W FG SM Brake Power Input U V W FG PG ENC CN2 COM CN3 NF FDA7000 Series AC 200 230V FDA7000 H Series AC 380 440V 50 60Hz NFB MC1 Regenerative resistance PC Loader RS232C Netw...

Page 59: ...regenerative resistance is sold separately Note4 Be sure to ground the ground wire of CN1 cable to FG Frame Ground terminal 2 4 2 Timing chart of power The timing of servo drive operation can be chec...

Page 60: ...o the alarm status If an alarm has occurred reset the alarm after turning off the SVONEN input contact and removing the cause of the alarm Alarm Reset Signal Servo RDY Alarm OUTPUT Normal Close Dynami...

Page 61: ...1 GND 3 MONIT1 5 PZO 7 PAO 9 PPRIN 11 PPFIN 13 STOP 15 CCWLIM PTQLIM 17 SPD2 GEAR2 19 A_CODE1 21 RDY 23 OPC_ZO 27 SPDIN 29 OPCFIN 31 PBO 33 GND 35 12V 37 12V 39 ESTOP 41 PI P 43 SPD1 GEAR1 45 A_CODE0...

Page 62: ...4 25 8 26 24 25 24V ESTOP SPD1 GEAR1 SPD2 GEAR2 SPD3 DIR STOP SVONEN ALMRST SPDLIM TLIM PI P CWLIM NTQLIM CCWLIM PTQLIM PPFIN PFIN PPRIN PRIN OPCFIN OPCRIN 24V GND PFIN PRIN FG MONIT1 MONIT2 GND INSPD...

Page 63: ...n and usage explanation Servo drive Enable SVONEN 18 It decides whether the servo motor can be operated or not ON Enable OFF not Enable Speed selection 1 Electronic gear selection 1 SPD1 GEAR1 43 Inte...

Page 64: ...Not use Brake operation BRAKE 48 This is the output signal to operate the external brake When on the brake power is supplied to enable motor operation Servo ready RDY 21 No alarm power good condition...

Page 65: ...through the DA converter Monitor selection 0 Speed 1 Speed command 2 Torque 3 Torque command 4 Pulse 5 Command pulse Encoder output PAO PAO PBO PBO PZO PZO 7 32 6 31 5 30 After dividing the motor enc...

Page 66: ...the absolute value of the voltage so it is the same as the operation at 10 V even at 10 V When wiring analog signals twist the GND and signal lines using twisted pair wires to minimize the influence o...

Page 67: ...r of the servo drive This connector is used for connecting the servo drive and the encoder of the servo motor The PIN arrangement shown from the connector in the user s point of view is as follows The...

Page 68: ...me Drive MOTOR 60 80series side Connector pin No for encoder MOTOR 130 180series side Connector pin No for encoder 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...

Page 69: ...PIN No Drive Signal name Drive MOTOR 60 80series side Connector pin No for encoder MOTOR 130 180series side Connector pin No for encoder 1 2 3 4 5 6 7 8 9 GND 8 G 10 Vcc DC 5V 7 H 11 PZ 6 F 12 Shield...

Page 70: ...ve MOTOR 60 80 series side Connector pin no for encoder MOTOR 130 180 series side Connector pin no for encoder 1 RX 11 P 2 RX 12 R 3 4 5 6 7 BAT 9 K 8 BAT 10 L 9 GND 14 G 10 11 PZ 6 F 12 F G 8 N Shiel...

Page 71: ...er ENC PIN No Drive Signal name Drive MOTOR 60 80 series side Connector pin no for Encoder MOTOR 130 180 series side Connector pin no for encoder 1 SD 1 P 2 SD 2 R 3 4 5 6 7 BAT 3 K 8 BAT 4 L 9 GND 6...

Page 72: ...LINE DRIVER T I SN75174 1 1 2 1 50 1 indicates the TWIST PAIR Line P 2 T I TEXAS INSTRUMENT Inc 1 Division circuit Serial Data Pulse Conv 3 4 5 6 7 FG 1 29 1 4 AC SERVO MOTOR 60 80 8 Applied cable spe...

Page 73: ...te 9600 bps Start bit 1 bit Stop bit 1 bit Parity Excellent Character Code ASCII Code 7 bit Data Format 8 Character Outputted revolution in line 5 Absolute data content Serial data This indicates wher...

Page 74: ...encoder revolution Value with division ratio P01 14 applied Absolute data transmission sequence Maintain the ABS_REQ signal to H Level After 50ms it switches to standby condition to receive the seria...

Page 75: ...der Refer to the table below to wire correctly Please contact the Servo Sales Team for further details Drive side MOTOR side TYPE 15line Incremental Encoder 17bit Serial Encoder Wiring of shield and F...

Page 76: ...onnector PIN No Signal MOTOR 150 Series Encoder Connector PIN No 1 PW 11 SD 1 2 PW 12 SD 2 3 PV 9 4 PV 10 5 PU 7 6 PU 8 7 BATT 3 8 BATT 4 9 GND 14 GND 6 10 11 PZ 6 12 Shield 15 Shield 7 8 13 PB 4 14 P...

Page 77: ...GND 5V 2 4 12V 6 GND 8 10 1 3 12V 5 5V 7 9 12 14 16 NC 18 NC 20 11 13 15 5V 17 19 User Connector side PXD 485 NXD 485 TXD 232 RXD 232 GND 5V Rt The connector for COM CN3 is optional Manufacturer 3M CA...

Page 78: ...ervo Drive COM CN3 Connector The servo drive has a built in terminating resistor 120 You can connect terminal resistor by shorting Rt No 19 terminal and P No 7 terminal When connecting several servo d...

Page 79: ...point is OFF Chapter 3 Parameter setting 3 1 Status display parameter StE 3 2 3 2 Motor and operating device setting P01 3 5 3 3 General control parameter setting P02 3 11 3 4 Speed control parameter...

Page 80: ...nym Meaning PC Position Controller CC Current Controller SC Speed Controller LMT Limit ENB Enable INIT Initialize PROG Program CMD Command ACCEL Acceleration DECEL Deceleration SPD Speed POS Position...

Page 81: ...ufactured default Speed position control StE 03 Motor Speed Unit rpm Setting range 9999 9 9999 9 Manufactured default Speed Torque Position control StE 04 CCW Speed Limit Unit rpm Setting range 0 0 99...

Page 82: ...Unit Setting range 0 999999 Manufactured default Speed Torque Position control For internal mount loader CN1 38 CN1 13 CN1 39 CN1 14 CN1 40 CN1 15 CN1 41 CN1 16 CN1 42 CN1 17 CN1 43 CN1 18 CN1 44 CN1...

Page 83: ...ayed as dgree StE 20 Warning Status Unit Setting range 0 1023 Manufactured default Speed Torque Position control Combination of current warnings on the servo drive is displayed in hexadecimal E g 0000...

Page 84: ...meter masked Motor ID applicable to FDA7000 series AC 220V Standard Series ID Model ID Model ID Model ID Model ID Model 00 Manual 20 TF05 40 LF03 60 KN03 80 LN03 01 21 TF09 41 LF06 61 KN05 81 LN06 02...

Page 85: ...108 EK16 111 ET20 Explosion proof models other than FDA7002EX are equipped with motor ID auto loading function so there is no need to set motor ID separately Motor ID applicable to FDA7000EX H AC 380...

Page 86: ...5 010 015 015B 020 020B 030 030B 045 075 750 P01 11 Drive ID 1 2 4 5 10 15 20 30 45 Unchanged P01 12 Encoder ID Unit Setting range Enc 0 R Manufactured default Enc A Speed Torque Position control Enco...

Page 87: ...tor becomes the maximum speed P01 14 setting value Maximum Speed RPM 131072 3000 78624 5000 P01 15 COM Baud Rate Unit Setting range 0 15 Manufactured default 0 Speed Torque Position control Select the...

Page 88: ...ck Unit Setting range ON OFF Manufactured default OFF Speed Torque Position control P01 20 Absolute Origin Unit Setting range ON OFF Manufactured default OFF Speed Torque Position control When applyin...

Page 89: ...gle turn data 0 P01 24 Parameter RAM Save Unit Setting range 0 3 Manufactured default 0 Speed Torque Position control You can change the storage area of specific parameters Parameters stored in the RA...

Page 90: ...mode 0 Torque control mode 1 Speed control mode 2 Position control mode 3 ON Speed control mode OFF Torque control mode 4 ON Speed control mode OFF Position control mode 5 ON Position control mode OFF...

Page 91: ...t Maximum value of applied motor Speed Torque Position control P02 06 CW Speed Limit Unit rpm Setting range 6000 0 0 0 Manufactured default Maximum value of applied motor Speed Torque Position control...

Page 92: ...Filter 1 Unit Setting range 0 2 Manufactured default 0 Speed Torque Position control The operation of the notch filter is set to operate the notch filter to reduce the resonance of the machinery Set...

Page 93: ...trol Set the filter time constant for the torque command inside the servo drive If vibration occurs in the machine due to noise etc the vibration may be suppressed by adjusting the filter time constan...

Page 94: ...0 105 0 10 0 0 5 13 105 0 130 0 105 0 10 0 130 0 8 0 0 4 14 130 0 160 0 130 0 8 0 160 0 6 0 0 25 15 160 0 200 0 160 0 6 0 200 0 5 4 0 2 16 200 0 240 0 200 0 5 4 240 0 5 0 0 15 17 240 0 300 0 240 0 5 0...

Page 95: ...Torque Position control P02 23 Gain ADJ TRQ 2 Unit Setting range 0 0 300 0 Manufactured default 50 0 Speed Torque Position control When executing the control gain conversion by operating torque of the...

Page 96: ...alue the stop operation is converted P02 26 Emergency Stop Unit Setting range ON OFF Manufactured default OFF Speed Torque Position control As the emergency stop it sets the operation of the set input...

Page 97: ...Speed Torque Position control As the CW Limit function it sets the operation type of the set input contact point Depending on the menu value the CW Limit operation is converted P02 32 CCW Limit Unit...

Page 98: ...the setting value of P02 34 When the multi turn data rotates in the forward direction at the setting value of P02 34 the multi turn data changes to zero For P02 34 set the value of Multiple desired ro...

Page 99: ...Possible Possible If you set P02 37 1 you can check the alarm status by reading the current alarm number through serial communication P02 38 Reverse Rotation Mode Unit Setting range ON OFF Manufacture...

Page 100: ...detection time of the encoder can be set If P02 40 0 the count error alarm function is disabled When using FDA7000EX Explosion Proof Series P02 40 Motor OVER TEMP Unit Setting range ON OFF Manufactur...

Page 101: ...03 02 PI IP Control Unit Setting range 0 0 100 0 Manufactured default 100 0 Speed position control P03 03 Friction COMPEN Unit Setting range 0 0 100 0 Manufactured default 0 0 Speed position control W...

Page 102: ...default 0 0 Speed control P03 12 S Mode TC Unit ms Setting range 0 0 9000 0 Manufactured default 0 0 Speed control P03 13 In Speed Range Unit rpm Setting range 0 0 9999 9 Manufactured default 10 0 Sp...

Page 103: ...supply the zero speed voltage to the speed input pin of CN1 connector And then set P03 17 on and adjust the offset voltage automatically so that it can detect the connected voltage to zero speed When...

Page 104: ...Setting range 0 0 2000 0 Manufactured default 0 0 Speed control P03 23 Zero SPD VIB REJ Unit rpm Setting range 0 0 1000 0 Manufactured default 0 1 Speed position control P03 24 Feedforward TRQ Unit S...

Page 105: ...nufactured default 100 0 Speed Torque control P04 03 Speed 3 Digital input speed 3 Unit rpm Setting range 9999 9 9999 9 Manufactured default 200 0 Speed Torque control P04 04 Speed 4 Digital input spe...

Page 106: ...range 1 5 Manufactured default 1 Position control When the servo drive is set to position control mode this parameter sets the position control gain type Set value Operation explanation 1 Use the posi...

Page 107: ...e CW pulse Direction Pulse P05 03 Position control Speed Mode Unit Setting range ON OFF Manufactured default OFF Position speed control If the servo drive is set to position control mode set P05 03 on...

Page 108: ...1 99999 Manufactured default 1 Position control P05 13 ELCTR Gear DEN 1 Unit Setting range 1 99999 Manufactured default 1 Position control P05 14 ELCTR Gear NUM 2 Unit Setting range 1 99999 Manufactur...

Page 109: ...or movement occurs in the servo off state It s possible 3 7 Torque control parameter setting P06 P06 01 Analog TRQ TC Unit ms Setting range 0 0 2000 0 Manufactured default 0 0 Torque control When the...

Page 110: ...ufactured default 100 0 Speed Torque control This sets the command torque range applicable to the 10 V analog voltage in speed or torque control mode of the servo drive P06 08 Auto Offset Unit Setting...

Page 111: ...6 Digital INPUT 5 Unit Setting range 0 20 Manufactured default 3 Speed Torque Position control P07 06 CN1_41 Digital INPUT 6 Unit Setting range 0 20 Manufactured default 4 Speed Torque Position contro...

Page 112: ...put contact point Speed Position control 13 CCWLIM PTQLIM CCW revolution limit input contact point Speed Position control CCW torque generation limit input contact point Torque control 14 CWLIM NTQLIM...

Page 113: ...ontrol mode Parameter Input pin Function number Function acronym Function explanation P07 01 CN1 18 1 SVONEN Servo on off operation input contact point P07 02 CN1 43 15 STOP Temporary stop input conta...

Page 114: ...nt GND24V CN1 24 25 24V common input EXT24V CN1 49 24V external input Position control mode internal setting function table When P7 01 is set to 27 Position control mode Parameter Input pin Function n...

Page 115: ...input contact point Torque control Torque limit use input contact point Speed position control GND24V CN1 24 25 24V common input EXT24V CN1 49 24V external input Speed position multi control mode inte...

Page 116: ...put contact point Torque control P07 08 CN1 40 2 TYPE When the control mode is set to multi mode control mode conversion input contact point P07 09 CN1 14 18 PLSCLR Position command pulse clear input...

Page 117: ...e P08 01 menu to use the pin setting by control mode and the menu of P08 01 P08 10 will automatically be reset with the pin setting of the applicable mode For more details please refer to the Output c...

Page 118: ...t from the menu If you duplicate the output contact point function setting you can have the same output signal from different pins Output contact point function table Function number Function acronym...

Page 119: ...Output status of STOP input This function applies only to the FDA7000EX model 23 EXT DB External DB Control Signal Output P02 09 DB mode setting P02 39 output type selection 25 SETUP1 Use torque cont...

Page 120: ...h output P08 10 CN1 44 0 Do not use output function GND24V CN1 24 25 24V common input EXT24V CN1 49 24V external input Speed control mode internal setting function table Output function setting table...

Page 121: ...on P08 10 CN1 44 0 Do not use the output function GND24V CN1 24 25 24V common input EXT24V CN1 49 24V external input Speed torque multi control mode internal setting function table Output function set...

Page 122: ...8 10 CN1 44 0 Do not use the output function GND24V CN1 24 25 24V common input EXT24V CN1 49 24V external input Position torque multi control mode internal setting function table Output function setti...

Page 123: ...external controller connect as follows CN1_24 25 CN1_23 48 22 47 21 46 20 45 19 44 FDA7000 24VGND 24V 24VGND 24V CN1_49 Controller When output contact of FDA7000 series is combined with open collector...

Page 124: ...mmand speed rpm Actual torque Command torque Feedback pulse pulse Command pulse pulse When the monitoring scale value is 1 the maximum speed output is 5 V and Instantaneous Max Torque is 5 V P09 02 Mo...

Page 125: ...etting range 9999 9 9999 9 Manufactured default 100 0 Speed Torque Position control This sets the operation speed of the key jog mode JOG 03 Auto Jog Mode Unit Setting range 0 2 Manufactured default 0...

Page 126: ...G 12 Jog Speed 5 Unit rpm Setting range 9999 9 9999 9 Manufactured default 400 0 Speed Torque Position control JOG 13 Jog Time5 REV5 Unit sec rev Setting range 0 00 5000 00 Manufactured default 1 00 S...

Page 127: ...Speed Servo ON 0 JOG 05 JOG 07 JOG 09 JOG 11 JOG 13 JOG 04 JOG 06 JOG 12 JOG 10 JOG 08 sec Auto jog mode 1 Speed time Time sec OFF ON Speed Servo ON 0 JOG 04 JOG 06 JOG 08 Rev Position 0 JOG 05 JOG 07...

Page 128: ...alarm 0 0 0 1 08 OUTPUT NC Output NC alarm 1 0 0 1 09 PPR ERROR Encoder pulse rate setting alarm 0 1 0 1 10 ABS DATA Absolute encoder data error alarm 1 1 0 1 11 ABS BATT Absolute encoder battery low...

Page 129: ...This is the parameter that the occurrend alarm history resets and initializes ALS 03 ALS 12 Alarm History 1 Alarm History 10 Unit Indicated range 0 32 Manufactured default 0 Speed Torque Position cont...

Page 130: ...3 Parameter setting 3 51...

Page 131: ...4 7 4 2 1 CN1 wiring diagram for position control servo 4 8 4 2 2 Position servo gain adjustment 4 9 4 3 Gain adjustment method for torque control mode 4 15 4 3 1 CN1 wiring diagram for torque contro...

Page 132: ...OFF Stop command STOP ON OFF GND 1 Revolution direction DIR Acceleration deceleration process Acceleration time P03 10 Deceleration time P03 11 S mode operation S moed operation TC P03 12 Override mo...

Page 133: ...3K 3 3K 3 3K 3 3K 3 3K 3 3K 3 3K 3 3K 3 3K LPF LPF 23 Note5 Note6 1 33 34 36 24 25 8 26 24 25 24V ESTOP SPD1 GEAR1 SPD2 GEAR2 SPD3 DIR STOP SVONEN ALMRST SPDLIM TLIM PI P CWLIM NTQLIM CCWLIM PTQLIM S...

Page 134: ...1 This sets the speed control mode gain P03 01 Speed Gain Mode Unit Setting range 1 5 Manufactured default 1 Speed control When the servo drive set to speed control mode this sets the speed control ga...

Page 135: ...SC TC SC TI_SC 4 This sets the inertia ratio P02 19 Inertia Ratio Unit Setting range 1 0 50 0 Manufactured default 2 0 Speed Torque Position control inertia Motor inertia Load inertia Motor inertia Sy...

Page 136: ...gain adjustment torque 1 and 2 P02 22 Gain ADJ TRQ1 Unit Setting range 0 0 300 0 Manufactured default 150 0 Speed Torque Position control P02 23 Gain ADJ TRQ1 Unit Setting range 0 0 300 0 Manufactured...

Page 137: ...6 P03 08 SC TC 8 This sets the mixture rate of the PI IP controller P03 02 PI IP Control Unit Setting range 0 0 100 0 Manufactured default 100 0 Speed control Characteristics of individual controller...

Page 138: ...OFF ON ON OFF ON 1st filter Command pulse TC P05 10 Internal position command Position Differentiation 1st filter Feed forward TC P05 11 PC P gain P05 05 P05 06 Position error In position P05 08 Foll...

Page 139: ...25 8 26 24 25 24V ESTOP SPD1 GEAR1 SPD2 GEAR2 DIR STOP SVONEN ALMRST SPDLIM TLIM CWLIM NTQLIM CCWLIM PTQLIM PPFIN PFIN PPRIN PRIN OPCFIN OPCRIN GND24 PFIN PRIN FG MONIT1 MONIT2 GND INSPD INPOS INTRQ...

Page 140: ...od Note8 Apply the Z phase pulse when outputting by open collector method Note9 Be sure to connect GND24 CN1 24 25 and GND CN1 1 8 26 33 34 36 separately In case of common connection malfunction or da...

Page 141: ...cording to set torque P02 22 P02 23 for the position controller gain 5 Select gain 1 P05 05 or gain 2 P05 06 by the external contact point signal for the position controller gain 2 This sets the PC P...

Page 142: ...rpm Setting range 10 0 500 0 Manufactured default 100 0 Speed Torque Position control Speed P02 20 P02 21 Gain Command speed Actual speed P05 06 P05 05 4 When P05 01 4 the variable gain is applied ba...

Page 143: ...ntrol gain conversion contact point At this time the conversion time of the control gain is decided P02 24 Contact Gain TC Unit ms Setting range 0 0 10000 0 Manufactured default 100 0 Speed Torque Pos...

Page 144: ...osition loop gain Max_Value Feedforward 5 70 or below 7 80 or below 10 85 or below 20 90 or below P05 11 FF TC Unit ms Setting range 0 0 2000 0 Manufactured default 0 0 Position control Enter the 1st...

Page 145: ...speed mode P05 03 to ON It permits the acceleration deceleration P03 10 P03 11 and S mode operation P03 12 set in user menu P03 of speed command The smoothing operation is advantageous when reaching...

Page 146: ...ON OFF Speed detection Encoder Speed limit operation Internal current command 10V Torque P06 07 1000 Rated torque Speed limit 0 1 10V Speed P03 15 10 1 1000 Offset voltage setting P03 18 TRQIN Contact...

Page 147: ...24 25 24V ESTOP TRQ1 TRQ2 SVONEN ALMRST SPDLIM TLIM DIR CWLIM NTQLIM CCWLIM PTQLIM SPDIN GND TRQIN GND FG MONIT1 MONIT2 GND INSPD INPOS INTRQ BRAKE RDY ZTRQ SPDOUT TRQOUT ALARM GND24 PAO PAO PBO PBO...

Page 148: ...ine drive method Note6 Apply the Z phase pulse when outputting by open collector method Note7 Be sure to connect GND24 CN1 24 25 and GND CN1 1 8 26 33 34 36 separately In case of common connection mal...

Page 149: ...uted with the target of manually set value P02 18 System response setting P05 05 Position loop gain 1 P05 06 Position loop gain 2 P03 05 Speed control loop gain 1 P03 06 SC TC 1 P03 07 Speed control l...

Page 150: ...18 Test operation with basic setting Repeated acceleration deceleration operation 500rmp or above Operation OK Does load inertia change Turn ON on line tuning mode P02 17 No Yes No Operation OK Yes No...

Page 151: ...h the following important points for this operation 1 Important points when in speed control mode Speed control proportional gain P03 05 gradually increases the motor machine to a value that does not...

Page 152: ...in the motor stop area while the speed gain switching method requires high precision machining which requires high gain at low speed and low gain at high speed This can be used for machines Gain switc...

Page 153: ...is aimed at setting low gain in the motor stop area while the speed gain switching method requires high precision machining which requires high gain at low speed and low gain at high speed This can be...

Page 154: ...s whether there is a back up battery 4 6 1 Battery handling The battery supplies the back up power to store the position information of the Absolute encoder even when the drive power is turned off 1 R...

Page 155: ...power is connected to the servo drive If the servo drive control power is ON and the battery voltage is dropped the alarm will not be generated Battery replacement method Replace the battery when the...

Page 156: ...hod 17bit serial absolute value encoder When it sets the origin by itself set the parameter P01 20 to ON and it will change to ON OFF to initialize the current position Multi Turn data reset When the...

Page 157: ...servo parameter and display the status Chapter 5 Servo operating 5 1 Basics of loader 5 1 5 2 Operation of internal mount loader 5 2 5 2 1 Display flow 5 2 5 2 2 Parameter change 5 3 5 2 3 Alarm rela...

Page 158: ...ation verify the stability to some extent through autotuning test operation Jog Auto Jog Auto tuning operation is available online but it is not necessary to use it when the gain of stable control sys...

Page 159: ...tical axis Up and Down button and horizontal axis Right and Left button The following diagram shows an overview aspect for loader menu Status Display Motor and operating device parameter General contr...

Page 160: ...eter change 1 Parameter change UP Positive direction mode change increase in blinking value DOWN Negative direction mode change decrease in blinking value LEFT Move blinking value to left RIGHT Move b...

Page 161: ...R Current Warning Number Warning Code ENTER Display 1st Alarm Warning Display Next Alarm Warning Display No Alarm Warning ENTER In case of normal condition after removing alarm cause and resetting Cur...

Page 162: ...menu RIGHT Move menu ENTER Start and end of parameter change Current alarm cancel function operation ENTER ENTER UP ENTER Return to OFF after resetting As the function to reset the alarm generated in...

Page 163: ...ing that the over current 01 alarm is generated after the encoder mis wiring 05 alarm is generated during servo operation Emergency stop alarm emc_stop is not saved in the alarm record and each alarm...

Page 164: ...ink to left when entering key jog speed JOG 02 RIGHT Command positive direction revolution move blink to left when entering key jog speed JOG 02 ENTER Indicates parameter value start and end of parame...

Page 165: ...3 7 setting ENTER ENTER LEFT LEFT UP RIGHT Auto jog mode supports 8 steps repeated pattern operations and the 1 st auto jog mode that sets the revolution speed rpm and revolution time sec and 2nd auto...

Page 166: ...to 01 SVONEN input function ENTER UP UP ENTER CN1_18 pin is changed to 03 DIR input function 2 Output contact point function setting P08 mode ENTER ENTER UP LEFT UP ENTER CN1_23 pin is changed to 02 T...

Page 167: ...5 Servo operating 5 10...

Page 168: ...ck for the issues that can occur during servo operation Chapter 6 Troubleshooting and check 6 1 Troubleshooting 6 1 6 1 1 Servo motor 6 1 6 1 2 Servo drive 6 2 6 2 Precautions 6 5 6 3 Check 6 6 6 4 Pa...

Page 169: ...eplace the encoder Request for repair Motor revolution is unstable Wiring connection defectiveness Check the connection of the motor lead terminal Correct the wiring Low input voltage Check the drive...

Page 170: ...Servo drive output terminal U V W short circuit output over current Check output terminal wiring re operate after resetting replace drive when O C continues Ano 02 OVER VOLT AC link over voltage Input...

Page 171: ...12 ABS MDER ABS encoder multi turn data transmission error ABS encoder multi turn data transmission error Re transmit the absolute value encoder data after resetting Ano 13 Output EC Output U V W Mis...

Page 172: ...or Poor encoder cable signal connection bad FG wiring Encoder failure Encoder cable signal line and FG wiring check encoder cable replacement encoder replacement Wan 01 ABS LOW BATT Battery LOW Voltag...

Page 173: ...to the motor is PWM controlled so the waveform of pulse phase is output Since the indicated value can vary greatly depending on the type of instrument be sure to use a rectified voltmeter for accurate...

Page 174: ...st particles accumulated inside and clean appropriately Check whether the screw of the terminal is loose and check whether they are tightened Check if there are problems of parts discoloration damage...

Page 175: ...over a period of time so the inspection period should be checked at least once a year less than half a year when it is close to life As an external judgment standard of inspection matter a Condition o...

Page 176: ...t method others Smoothing condenser 7 8 years Replacement with new boards decision after inspection Relays decision after inspection Fuse 10 years Replacement with new boards Motor bearing decision af...

Page 177: ...e machine s moving surfaces such as shafts to prevent rust 6 5 2 Servo Drive It is not recommended to store it for a long time without using it 1 Keep in a clean and dry place Storage temperature Stor...

Page 178: ...r 7 Connection with host controller Chapter 7 shows the example of connection with representative host controller Chapter 7 Connection with host controller 7 1 Example of connection with host controll...

Page 179: ...M NTQLIM ESTOP GND24 24 25 11 10 9 12 1Ry ALARM PG 30 5 HOME COM DR INP MPG A 2 3 4 38 Manual PULSE DC 5V MPG A MPG B MPG B 5V A B 0V FP RP 22 DOG 28 OV 25 OV 26 STOP 27 1 2W 1 5K 1 2W 1 5K 5V VTP COM...

Page 180: ...GND24 24 25 12 11 10 9 1Ry ALARM PG 30 5 HOME COM DR INP MPG A 2 3 4 38 Manual PULSE DC 5V MPG A MPG B MPG B 5V A B 0V FP RP 22 DOG 28 OV 25 OV 26 STOP 27 5V VTP COM 29 32 40 P COM 24V 39 24VIN 20 No...

Page 181: ...CCWLIM PTQLIM SVONEN CWLIM NTQLIM ESTOP GND24 24 25 11 10 9 12 14 1Ry ALARM PG 1 2W 1 5K 24 COM 30 5 ZCOM 24V Manual PULSE DC 5 12V MPGA MPGA C MPGB MPGB C 8 16 7 15 1 2W 1 5K 20 24VIN Note After conn...

Page 182: ...TQLIM ESTOP GND24 24 25 11 10 9 12 1Ry ALARM PG 30 5 HOME COM DRVIN MPG A 2 3 4 38 Manual PULSE DC 5V MPG A MPG B MPG B 5V A B 0V FP RP 22 OV 25 OV 26 STOP 27 VTP 29 1 2W 1 5K 1 2W 1 5K 20 24VIN Note...

Page 183: ...NEN CWLIM NTQLIM ESTOP GND24 24 25 10 11 12 9 1Ry ALARM PG 30 5 HOME COM DRVIN MPG A 2 3 4 38 Manual PULSE DC 5V MPG A MPG B MPG B A A B B FP RP 22 OV 25 OV 26 STOP 27 VTP 29 20 24VIN Note After conne...

Page 184: ...Y STOP DOG 24V 18 13 49 38 17 GND24 CCWLIM PTQLIM SVONEN CWLIM NTQLIM ESTOP GND24 24 25 11 10 9 12 14 1Ry 1Ry ALARM CLEAR COM COM 5 30 20 24VIN Note After connecting the power it takes about 1 2 secon...

Page 185: ...5 1Ry 1Ry ALARM 2 3 CONT SERVO ENC0 2 4 SVONEN 3 SPDIN GND 27 1 33 24V 18 SV ON PULSE B 4 PULSE C 5 7 8 11 10 3 6 9 7 32 6 31 30 5 8 PAO PAO PBO PBO PZO PZO 20 Note After connecting the power it takes...

Page 186: ...rnal view of the servo drive Explosion proof servo drives have the same external dimensions as the FDA7000 and FDA7000 H series Chapter 8 External View 8 1 External view of AC220V model servo drive 8...

Page 187: ...2 119 4 3 view C FDA7020 239 5 5 251 225 132 5 2 119 4 4 FDA7030 239 5 5 251 225 132 5 2 119 4 5 FDA7045 239 5 5 251 225 132 5 2 119 4 6 FDA7004B 149 4 0 160 170 60 5 5 1 2 Self cooling view D FDA701...

Page 188: ...8 External view 8 2 External view B CN1 CN3 CN2 External view C...

Page 189: ...8 External view 8 3 External view D External view E...

Page 190: ...8 External view 8 4 External view F External view G...

Page 191: ...FAN External view H FDA7030 H 6 2 FDA7045 H 6 4 FDA7075 H 15 External view I FDA7110 H 23 External view J FDA7150 H 24 FDA7220 H 35 4 External view K FDA7300 H 51 7 External view L FDA7370 H 52 3 FDA...

Page 192: ...8 External view 8 6 External view I External view J...

Page 193: ...8 External view 8 7 External view K External view L...

Page 194: ...8 External view 8 8 External view M...

Page 195: ...8 External view 8 9...

Page 196: ...ystem application Appendix explains the application cases that can be utilized when applying the servo system Appendix I Servo system application I 1 Position control application 2 I 2 Example of othe...

Page 197: ...4 pulse encoder motor of Number DEN NUM ratio gear Electronic Reduction ratio is load shaft revolution over motor shaft revolution The command unit shows the minimum command unit of the position data...

Page 198: ...Number DEN NUM ratio gear Electronic The result of calculating the electronic gear ratio must be between 0 05 20 Set the applicable parameter Position completion range setting In position control mod...

Page 199: ...y B Roll feeder Set the feed to the work Operate the position according to the feed start signal input from the press By using the position decision completion signal execute the press work The positi...

Page 200: ...Appendix Noise control Appendix explains the application cases that can be utilized when applying the servo system Appendix II Noise control II 1 Wiring Precautions 1 II 2 Wiring for noise control 1...

Page 201: ...o mechanism to prevent noise interference To prevent malfunction due to the noise take the following actions Location the input reference device and noise filter as close to the servo drive as possibl...

Page 202: ...00 CN1 I O signal processing circuit ex PLC Ext GND FDA7000 Model AC 200 230 V FDA7000 H0 Model AC 380 V FDA7000 H1 Model AC 440 V FG Earth GND Class 3 ground 100 max Ext GND Ground Plate Noise Filter...

Page 203: ...O NOISE FILTER BOX N O I S E F I L T E R B O X X O Do not put the input and output line in the same duct or bundle them together NOISE FILTER BOX N O I S E F I L T E R B O X X O Do not accommodate the...

Page 204: ...capacity of that system Noise Filter R S T r t MC M U V W FG PG C N 2 Servo Drive1 FDA7000 FDA7000 Model AC 200 230 V FDA7000 H0 Model AC 380 V FDA7000 H1 Model AC 440 V FG R S T r t M U V W FG PG C...

Page 205: ...10 FDA7150 NOISE FILTER NFZ 4030SG 30A NFZ4040 SG 40A FT3RE 4060 60A FT3RE 4080 80A AC Servo Drive FDA7020 H FDA7030 H FDA7045 H FDA7075 H FDA7110 H FDA7150 H Noise Filter ET3RE 4030 30A ET3RB 4040 ET...

Page 206: ...e III 1 Parameters table 1 III 1 1 StE parameters 1 III 1 2 P01 parameters 1 III 1 3 P02 parameters 2 III 1 4 P03 parameters 2 III 1 5 P04 parameters 3 III 1 6 P05 parameters 3 III 1 7 P06 parameters...

Page 207: ...Speed Torque Position StE 22 Average load rate 999 9 999 9 Speed Torque Position StE 23 DC LINK voltage V 0 0 999 9 Speed Torque Position III 1 2 P01 parameters P01 01 Motor ID GEN 00 99 By capacity S...

Page 208: ...rque Position P02 21 Gain ADJ Speed 2 rpm 10 0 500 0 100 0 Speed Torque Position P02 22 Gain ADJ TRQ 1 50 0 300 0 150 0 Speed Torque Position P02 23 Gain ADJ TRQ 2 0 0 300 0 50 0 Speed Torque Position...

Page 209: ...9 9 200 0 Speed Torque P04 04 Digital input speed 4 rpm 9999 9 9999 9 500 0 Speed Torque P04 05 Digital input speed 5 rpm 9999 9 9999 9 1000 0 Speed Torque P04 06 Digital input speed 6 rpm 9999 9 9999...

Page 210: ...Torque Position P07 04 Digital INPUT 4 0 20 11 Speed Torque Position P07 05 Digital INPUT 5 0 20 3 Speed Torque Position P07 06 Digital INPUT 6 0 20 4 Speed Torque Position P07 07 Digital INPUT 7 0 20...

Page 211: ...og Time4 REV4 sec rev 0 00 5000 00 1 00 Speed Torque Position JOG 12 Jog Speed 5 rpm 9999 9 9999 9 400 0 Speed Torque Position JOG 13 Jog Time5 REV5 sec rev 0 00 5000 00 1 00 Speed Torque Position JOG...

Page 212: ...Appendix IV Revision history Issue date Revised content Version 2007 07 Issued initial version 1 3 2008 01 1 st correction Function correction and contents modification 1 4 2020 03 02 2 nd correction...

Page 213: ...________________________ _____________________________________________________________________________ _____________________________________________________________________________ ___________________...

Page 214: ...028 FAX 82 51 710 5034 Factory TEL 82 70 7710 3311 FAX 82 55 600 3317 MANUAL Order NO 7200SV3015A This book is in copyright Subject to statutory exception and to the provisions of relevant collective...

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