Cooled EGR system is widely used to reduce NOx emissions in diesel engine. But when EGR rate was increased, combustion stability was worsened and PM level was increased. So determining optimized control point of EGR rate is important. In order to determine this point, it is important to figure out the effect of EGR system on the exhaust emissions. In this research, NOx and PM emissions were analyzed with various coolant temperature supplied to the EGR cooler at several positions such as downstream of turbocharger, upstream and downstream of DPF. Effects of some variables such as EGR rate, hot / cooled EGR and change of injection timing were estimated. And $CO_2$ emissions were measured at exhaust and intake manifold to calculate EGR rate at each engine operating condition. Also combustion analysis was performed in each engine operating conditions. In the result of this study, there was trade-off between NOx emissions and PM emissions. When EGR rate was increased, combustion pressure was decreased and COV of IMEP was increased.