YASKAWA SGD7S, SGD7W, SGD7C, SGM7M, SGM7J Selection Manual

...

-7-Series AC Servo Drive

Peripheral Device

Selection Manual

Applicable SERVOPACK Model: SGD7S, SGD7W, SGD7C Applicable Rotary Servomotor Model: Applicable Direct Drive Servomotor Model: SGM7D, SGM7E, SGM7F, SGMCV, SGMCS Applicable Linear Servomotor Model: SGLG, SGLF, SGLT

SGM7M, SGM7J, SGM7A, SGM7P, SGM7G, SGMMV

Peripheral Devices

and System Configurations

Cables and User-Assembled Wiring

Materials for SGM7M Rotary Servomotors

Cables and User-Assembled Wiring

Materials for SGM7J Rotary Servomotors

Cables and User-Assembled Wiring

Materials for SGM7A Rotary Servomotors

Cables and User-Assembled Wiring

Materials for SGM7P Rotary Servomotors

Cables and User-Assembled Wiring

Materials for SGM7G Rotary Servomotors

Cables and User-Assembled Wiring

Materials for SGMMV Rotary Servomotors

Cables and User-Assembled Wiring

Materials for Direct Drive Servomotors

Cables and User-Assembled Wiring

Materials for Linear Servomotors

Cables and User-Assembled Wiring

Materials for SERVOPACKs

Option Modules

SERVOPACK

Peripheral Devices

MANUAL NO. SIEP S800001 32K

Software

Other Peripheral

Devices and Options

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

About this Manual

This manual provides information required to select cables, peripheral devices, and options for Σ-7- Series AC Servo Drives. It also describes the wiring materials that you can use to make your own cables.

Read and understand this manual to ensure correct usage of the Σ-7-Series AC Servo Drives. Keep this manual in a safe place so that it can be referred to whenever necessary.

Outline of Manual

The contents of the chapters of this manual are described in the following table. Refer to these chapters as required.

Chapter Chapter Title Contents

Peripheral Devices and

System Configurations Cables and User-Assembled

Wiring Materials for SGM7M Rotary Servomotors

Cables and User-Assembled

Wiring Materials for SGM7J Rotary Servomotors

Cables and User-Assembled

Wiring Materials for SGM7A Rotary Servomotors

Cables and User-Assembled

Wiring Materials for SGM7P Rotary Servomotors

Cables and User-Assembled

Wiring Materials for SGM7G Rotary Servomotors

Cables and User-Assembled

Wiring Materials for SGMMV Rotary Servomotors

Cables and User-Assembled

Wiring Materials for Direct Drive Servomotors

Cables and User-Assembled

Wiring Materials for Linear Servomotors

Cables and User-Assembled

Wiring Materials for SERVOPACKs

11 Option Modules

SERVOPACK Peripheral

Devices

13 Software

Other Peripheral Devices and

Options

This chapter provides system configuration diagrams of Servo Drives and peripheral devices. References are provided to detailed information.

These chapters provide the following information.

• Selection tables, specifications, and dimensional drawings for Servomotor Main Circuit Cables, Encoder Cables, and user-assembled wiring materials

Note: References to detailed information are provided in the system configu-

ration diagrams.

This chapter provides the following information.

• Information on recommended Linear Encoders and connected system configurations

• Selection tables, specifications, and dimensional drawings for Servomotor Main Circuit Cables, Linear Encoder Cables, Sensor Cables, and userassembled wiring materials

• Selection tables, specifications, and dimensional drawings for Serial Converter Units and Cables

Note: References to detailed information are provided in the system configu-

ration diagrams.

This chapter provides selection tables, specifications, and dimensional drawings for SERVOPACK cables.

This chapter provides the specifications and dimensional drawings of Option Modules. This chapter provides selection tables, specifications, and dimensional

drawings for SERVOPACK peripheral devices. This chapter provides information on the SigmaWin+, Yaskawa’s AC Servo

Drive Engineering Tool, and MPE720, our System Integrated Engineering Tool. This chapter provides information on surge absorbers and diodes for hold-

ing brake power supplies. It also provides information on the battery required to use an absolute encoder. And it provides information on the compatibility of cables for Σ-V-Series Servomotors and information on metal connectors.

iii

Using This Manual

Important

Term

Example

Information

 Technical Terms Used in This Manual

The following terms are used in this manual.

Term Meaning

Servomotor A Σ-7-Series Rotary Servomotor, Direct Drive Servomotor, or Linear Servomotor. Rotary Servomotor A Rotary Servomotor (SGM7M, SGM7J, SGM7A, SGM7P, SGM7G, or SGMMV). Direct Drive Servomotor A Direct Drive Servomotor (SGM7D, SGM7E, SGM7F, SGMCV, or SGMCS). Linear Servomotor A Σ-7-Series Linear Servomotor (SGLG, SGLF, or SGLT). SERVOPACK A Σ-7-Series amplifier. Servo Drive The combination of a Servomotor and SERVOPACK.

Servo System

Main Circuit Cable

SigmaWin+

absolute encoder

A servo control system that includes the combination of a Servo Drive with a host controller and peripheral devices.

One of the cables that connect to the main circuit terminals, including the Main Circuit Power Supply Cable, Control Power Supply Cable, and Servomotor Main Circuit Cable.

The Engineering Tool for setting up and tuning Servo Drives or a computer in which the Engineering Tool is installed.

The general term used for absolute encoders with batteries and batteryless absolute encoders. In cases where the general term causes confusion, the term “batteryless absolute encoder” may also be used.

 Trademarks

• Ethernet is a registered trademark of the Xerox Corporation.

• EtherCAT is a registered trademark of Hans Beckhoff.

• EtherNet/IP is a registered trademark of ODVA (Open DeviceNet Vendor Association, Inc.).

• DeviceNet is a registered trademark of ODVA (Open DeviceNet Vendor Association, Inc.).

• MECHATROLINK is a trademark of the MECHATROLINK Members Association.

• Other product names and company names are the trademarks or registered trademarks of the

respective company. “TM” and the

® mark do not appear with product or company names in this

manual.

 Visual Aids

The following aids are used to indicate certain types of information for easier reference.

Indicates precautions or restrictions that must be observed. Also indicates alarm displays and other precautions that will not result in machine damage.

Indicates definitions of difficult terms or terms that have not been previously explained in this manual.

Indicates operating or setting examples.

Indicates supplemental information to deepen understanding or useful information.

DANGER

WARNING

CAUTION

NOTICE

Safety Precautions

 Safety Information

To prevent personal injury and equipment damage in advance, the following signal words are used to indicate safety precautions in this document. The signal words are used to classify the hazards and the degree of damage or injury that may occur if a product is used incorrectly. Information marked as shown below is important for safety. Always read this information and heed the precautions that are provided.

 Indicates precautions that, if not heeded, are likely to result in loss of life, serious injury, or fire.

 Indicates precautions that, if not heeded, could result in loss of life, serious injury, or fire.

 Indicates precautions that, if not heeded, could result in relatively serious or minor injury, or in

fire.

 Indicates precautions that, if not heeded, could result in property damage.

xii

 Safety Precautions That Must Always Be Observed

DANGER

WARNING

CAUTION

NOTICE

 General Precautions

 Read and understand this manual to ensure the safe usage of the product.  Keep this manual in a safe, convenient place so that it can be referred to whenever necessary.

Make sure that it is delivered to the final user of the product.

 Do not remove covers, cables, connectors, or optional devices while power is being supplied to

the SERVOPACK.

There is a risk of electric shock, operational failure of the product, or burning.

 Use a power supply with specifications (number of phases, voltage, frequency, and AC/DC

type) that are appropriate for the product.

There is a risk of burning, electric shock, or fire.

 Do not attempt to disassemble, repair, or modify the product.

There is a risk of fire or failure. The warranty is void for the product if you disassemble, repair, or modify it.

 The regenerative resistors, External Dynamic Brake Resistors, and other peripheral devices can

be very hot while power is ON or soon after the power is turned OFF. Implement safety measures, such as installing covers, so that hands and parts such as cables do not come into contact with hot components.

There is a risk of burn injury.

 For a 24-VDC power supply, use a power supply device with double insulation or reinforced

insulation.

There is a risk of electric shock.

 Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch cables.

There is a risk of failure, damage, or electric shock.

 Do not use the product in an environment that is subject to water, corrosive gases, or flamma-

ble gases, or near flammable materials.

There is a risk of electric shock or fire.

 Do not attempt to use a peripheral device that is damaged or that has missing parts.  Install external emergency stop circuits that shut OFF the power supply and stops operation

immediately when an error occurs.

 In locations with poor power supply conditions, install the necessary protective devices (such as

AC reactors) to ensure that the input power is supplied within the specified voltage range.

There is a risk of damage to the SERVOPACK.

 Use a Noise Filter to minimize the effects of electromagnetic interference.

Electronic devices used near the SERVOPACK may be affected by electromagnetic interference.

 Always use peripheral devices in the specified combinations.  Do not touch peripheral devices with wet hands.

There is a risk of product failure.

xiii

CAUTION

NOTICE

CAUTION

NOTICE

 Storage Precautions

 Do not place an excessive load on the product during storage. (Follow all instructions on the

packages.)

There is a risk of injury or damage.

 Do not install or store the product in any of the following locations.

• Locations that are subject to direct sunlight

• Locations that are subject to ambient temperatures that exceed product specifications

• Locations that are subject to relative humidities that exceed product specifications

• Locations that are subject to condensation as the result of extreme changes in temperature

• Locations that are subject to corrosive or flammable gases

• Locations that are near flammable materials

• Locations that are subject to dust, salts, or iron powder

• Locations that are subject to water, oil, or chemicals

• Locations that are subject to vibration or shock that exceeds product specifications

• Locations that are subject to radiation

If you store or install the product in any of the above locations, the product may fail or be damaged.

 Transportation Precautions

 Transport the product in a way that is suitable to the mass of the product.  When you handle a peripheral device, be careful of sharp parts, such as the corners.

There is a risk of injury.

 Do not place an excessive load on the product during transportation. (Follow all instructions on

the packages.)

There is a risk of injury or damage.

 Peripheral devices are precision devices. Do not drop it or subject it to strong shock.

There is a risk of failure or damage.

 Do not subject connectors to shock.

There is a risk of faulty connections or damage.

 If disinfectants or insecticides must be used to treat packing materials such as wooden frames,

plywood, or pallets, the packing materials must be treated before the product is packaged, and methods other than fumigation must be used. Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30

minutes or more.

If the electronic products, which include stand-alone products and products installed in machines, are packed with fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process. In particular, disinfectants containing halogen, which includes chlorine, fluorine, bromine, or iodine can contribute to the erosion of the capacitors.

xiv

 Installation Precautions

CAUTION

NOTICE

DANGER

WARNING

 Install a peripheral device in a way that will support the mass given in technical documents.  Install SERVOPACKs, Servomotors, regenerative resistors, and External Dynamic Brake Resis-

tors on nonflammable materials.

Installation directly onto or near flammable materials may result in fire.

 Install the SERVOPACK in the specified orientation.

There is a risk of fire or failure.

 Do not step on or place a heavy object on the product.

There is a risk of failure, damage, or injury.

 Do not allow any foreign matter to enter a peripheral device.

There is a risk of failure or fire.

 Do not install or store the product in any of the following locations.

• Locations that are subject to direct sunlight

• Locations that are subject to ambient temperatures that exceed product specifications

• Locations that are subject to relative humidities that exceed product specifications

• Locations that are subject to condensation as the result of extreme changes in temperature

• Locations that are subject to corrosive or flammable gases

• Locations that are near flammable materials

• Locations that are subject to dust, salts, or iron powder

• Locations that are subject to water, oil, or chemicals

• Locations that are subject to vibration or shock that exceeds product specifications

• Locations that are subject to radiation

If you store or install the product in any of the above locations, the product may fail or be damaged.

 Wiring Precautions

 Do not change any wiring while power is being supplied.

There is a risk of electric shock or injury.

 Wiring and inspections must be performed only by qualified engineers.

There is a risk of electric shock or product failure.

 Check all wiring and power supplies carefully.

Incorrect wiring or incorrect voltage application to the output circuits may cause short-circuit failures. If a short-circuit failure occurs as a result of any of these causes, the holding brake will not work. This could damage the machine or cause an accident that may result in death or injury.

CAUTION

NOTICE

 Wait for at least six minutes after turning OFF the power supply (with a SERVOPACK for a 100-

VAC input, wait for at least nine minutes) and then make sure that the CHARGE indicator is not lit before starting wiring or inspection work. Do not touch the power supply terminals while the CHARGE lamp is lit after turning OFF the power supply because high voltage may still remain in the SERVOPACK.

There is a risk of electric shock.

 Check the wiring to be sure it has been performed correctly.

Always confirm the pin layouts and wiring methods in technical documents for your peripheral devices before operation.

There is a risk of failure or malfunction.

 Connect wires to your peripheral devices securely with the specified methods and tightening

torque.

Insufficient tightening may cause wires and terminal blocks to generate heat due to faulty contact, possibly resulting in fire.

 Use shielded twisted-pair cables or screened unshielded multi-twisted-pair cables for I/O Sig-

nal Cables and Encoder Cables.

 The maximum wiring length is 3 m for I/O Signal Cables, and 50 m for Encoder Cables or Servo-

motor Main Circuit Cables.

 Observe the following precautions when wiring the SERVOPACK’s main circuit terminals.

• Turn ON the power supply to the SERVOPACK only after all wiring, including the main circuit terminals, has been completed.

• If a connector is used for the main circuit terminals, remove the main circuit connector from the SERVOPACK before you wire it.

• Insert only one wire per insertion hole in the main circuit terminals.

• When you insert a wire, make sure that the conductor wire (e.g., whiskers) does not come into con-

tact with adjacent wires.

 Install molded-case circuit breakers and other safety measures to provide protection against

short circuits in external wiring.

There is a risk of fire or failure.

 Whenever possible, use the Cables specified by Yaskawa.

If you use any other cables, confirm the rated current and application environment of your model and use the wiring materials specified by Yaskawa or equivalent materials.

 Securely tighten cable connector screws and lock mechanisms.

Insufficient tightening may result in cable connectors falling off during operation.

 Do not bundle power lines (e.g., the Main Circuit Cable) and low-current lines (e.g., the I/O Sig-

nal Cables or Encoder Cables) together or run them through the same duct. If you do not place power lines and low-current lines in separate ducts, separate them by at least 30 cm.

If the cables are too close to each other, malfunctions may occur due to noise affecting the low-current lines.

 Install a battery at either the host controller or on the Encoder Cable.

If you install batteries both at the host controller and on the Encoder Cable at the same time, you will create a loop circuit between the batteries, resulting in a risk of damage or burning.

 When connecting a battery, connect the polarity correctly.

There is a risk of battery rupture or encoder failure.

xvi

 Maintenance and Inspection Precautions

DANGER

WARNING

CAUTION

 Do not change any wiring while power is being supplied.

There is a risk of electric shock or injury.

 Wiring and inspections must be performed only by qualified engineers.

There is a risk of electric shock or product failure.

 Wait for at least six minutes after turning OFF the power supply (with a SERVOPACK for a 100-

There is a risk of electric shock.

 Disposal Precautions

 Correctly discard the product as stipulated by regional, local, and municipal laws and

regulations. Be sure to include these contents in all labelling and warning notifications on the final product as necessary.

 General Precautions

 Figures provided in this document are typical examples or conceptual representations. There

may be differences between them and actual wiring, circuits, and products.

 The products shown in illustrations in this document are sometimes shown without covers or

protective guards. Always replace all covers and protective guards before you use the product.

 If you need a new copy of this document because it has been lost or damaged, contact your

nearest Yaskawa representative or one of the offices listed on the back of this document.

 This document is subject to change without notice for product improvements, specifications

changes, and improvements to the manual itself. We will update the document number of the document and issue revisions when changes are made.

 Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies

the product in any way. Yaskawa disavows any responsibility for damages or losses that are caused by modified products.

xvii

Warranty

 Details of Warranty

 Warranty Period

The warranty period for a product that was purchased (hereinafter called the “delivered product”) is one year from the time of delivery to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory, whichever is sooner.

 Warranty Scope

Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs during the above warranty period. This warranty does not cover defects caused by the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service life.

This warranty does not cover failures that result from any of the following causes.

• Improper handling, abuse, or use in unsuitable conditions or in environments not described in product catalogs or manuals, or in any separately agreed-upon specifications

• Causes not attributable to the delivered product itself

• Modifications or repairs not performed by Yaskawa

• Use of the delivered product in a manner in which it was not originally intended

• Causes that were not foreseeable with the scientific and technological understanding at the time

of shipment from Yaskawa

• Events for which Yaskawa is not responsible, such as natural or human-made disasters

 Limitations of Liability

• Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.

• Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program execution of the programs provided by the user or by a third party for use with programmable Yaskawa products.

• The information described in product catalogs or manuals is provided for the purpose of the customer purchasing the appropriate product for the intended application. The use thereof does not guarantee that there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties, nor does it construe a license.

• Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other proprietary rights of third parties as a result of using the information described in catalogs or manuals.

xviii

 Suitability for Use

• It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products.

• The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.

• Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure.

• Outdoor use, use involving potential chemical contamination or electrical interference, or use in conditions or environments not described in product catalogs or manuals

• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle systems, medical equipment, amusement machines, and installations subject to separate industry or government regulations

• Systems, machines, and equipment that may present a risk to life or property

• Systems that require a high degree of reliability, such as systems that supply gas, water, or

electricity, or systems that operate continuously 24 hours a day

• Other systems that require a similar high degree of safety

• Never use the product for an application involving serious risk to life or property without first

ensuring that the system is designed to secure the required level of safety with risk warnings and redundancy, and that the Yaskawa product is properly rated and installed.

• The circuit examples and other application examples described in product catalogs and manuals are for reference. Check the functionality and safety of the actual devices and equipment to be used before using the product.

• Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to prevent accidental harm to third parties.

 Specifications Change

The names, specifications, appearance, and accessories of products in product catalogs and manuals may be changed at any time based on improvements and other reasons. The next editions of the revised catalogs or manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product.

xix

About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Outline of Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Related Documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv

Using This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi

Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii

Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .xviii

Peripheral Devices and System Configurations

1.1

1.2

1.3

Configuration with a Rotary Servomotor. . . . . . . . . . . . . . . . . . . . . .1-2

Configuration with a Direct Drive Servomotor . . . . . . . . . . . . . . . . .1-3

Configuration with a Linear Servomotor . . . . . . . . . . . . . . . . . . . . . .1-4

Cables and User-Assembled Wiring Materials for SGM7M Rotary Servomotors

2.1

2.2

2.3

2.4

Cable Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2

Servomotor Main Circuit Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3

2.2.1 Servomotor Main Circuit Cables for Servomotors without Holding Brakes . .2-3

2.2.2 Servomotor Main Circuit Cables for Servomotors with Holding Brakes . . . .2-4

Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-5

2.3.1 Encoder Cables for Incremental Encoders . . . . . . . . . . . . . . . . . . . . . . . . . .2-5

2.3.2 Encoder Cables for Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-6

User-Assembled Wiring Materials for Encoder Cables. . . . . . . . . . .2-7

2.4.1 Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7

2.4.2 Cables without Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-8

2.5

Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-9

2.5.1 Precautions for Standard Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-9

2.5.2 Precautions for Flexible Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-9

Cables and User-Assembled Wiring Materials for SGM7J Rotary Servomotors

3.1

3.2

3.3

Cable Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2

Servomotor Main Circuit Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3

3.2.1 Servomotor Main Circuit Cables for Servomotors without Holding Brakes . .3-3

3.2.2 Servomotor Main Circuit Cables for Servomotors with Holding Brakes . . . .3-4

User-Assembled Wiring Materials for Servomotor Main Circuit Cables . . 3-5

3.3.1 Servomotor Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5

3.3.2 Cables without Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-8

3.4

3.5

3.6

3.7

Encoder Cables of 20 m or Less . . . . . . . . . . . . . . . . . . . . . . . . . . .3-10

3.4.1 Encoder Cables for Incremental Encoders or Batteryless Absolute

Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10

3.4.2 Encoder Cables for Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11

Relay Encoder Cables of 30 m to 50 m . . . . . . . . . . . . . . . . . . . . . .3-12

3.5.1 Motor-End Relay Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12

3.5.2 SERVOPACK-End Relay Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . 3-12

3.5.3 Relay Encoder Cables with Battery Cases . . . . . . . . . . . . . . . . . . . . . . . . . 3-13

User-Assembled Wiring Materials for Encoder Cables . . . . . . . . .3-14

3.6.1 Precautions When Using Encoder Cables with a Wiring Length of

30 m to 50 m . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14

3.6.2 SERVOPACK Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14

3.6.3 Encoder Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15

3.6.4 Cables without Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16

Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-17

Cables and User-Assembled Wiring Materials for SGM7A Rotary Servomotors

4.1

Cable Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3

4.1.1 SGM7A-A5 to -10 (50 W to 1.0 kW) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.1.2 SGM7A-15 to -70 (1.5 kW to 7.0 kW) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4.2

4.3

4.4

4.5

4.6

Servomotor Main Circuit Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-5

4.2.1 Servomotor Main Circuit Cables for Servomotors without

Holding Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

4.2.2 Servomotor Main Circuit Cables for Servomotors with Holding Brakes . . . . 4-7

User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-A5 to -10 . .4-11

4.3.1 Servomotor Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11

4.3.2 Cables without Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14

User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-15 to -70 . .4-15

4.4.1 Connector Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15

4.4.2 Main Power Supply Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16

4.4.3 Holding Brake Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17

4.4.4 Built-in Cooling Fan Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18

4.4.5 Connector External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19

Encoder Cables of 20 m or Less . . . . . . . . . . . . . . . . . . . . . . . . . . .4-23

4.5.1 Encoder Cables for Incremental Encoders or Batteryless Absolute

Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23

4.5.2 Encoder Cables for Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25

Relay Encoder Cable of 30 m to 50 m. . . . . . . . . . . . . . . . . . . . . . .4-27

4.6.1 Motor-End Relay Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-27

4.6.2 SERVOPACK-End Relay Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . 4-28

4.6.3 Relay Encoder Cables with Battery Cases . . . . . . . . . . . . . . . . . . . . . . . . . 4-29

xxi

4.7

4.8

User-Assembled Wiring Materials for Encoder Cables. . . . . . . . . .4-30

4.7.1 Precautions When Using Encoder Cables with a Wiring Length of

30 m to 50 m . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-30

4.7.2 SERVOPACK Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-30

4.7.3 Encoder Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31

4.7.4 Cables without Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-33

Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-34

Cables and User-Assembled Wiring Materials for SGM7P Rotary Servomotors

5.1

5.2

5.3

5.4

Cable Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2

Servomotor Main Circuit Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4

5.2.1 Servomotor Main Circuit Cables for Servomotors without Holding Brakes . .5-4

5.2.2 Servomotor Main Circuit Cables for Servomotors with Holding Brakes . . . .5-5

User-Assembled Wiring Materials for Servomotor Main Circuit Cables . . 5-6

5.3.1 Servomotor Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-6

5.3.2 Cables without Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-8

Encoder Cables of 20 m or Less . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-9

5.4.1 Encoder Cables for Incremental Encoders or Batteryless Absolute

Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-9

5.4.2 Encoder Cables for Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . .5-11

5.5

5.6

5.7

Relay Encoder Cable of 30 m to 50 m . . . . . . . . . . . . . . . . . . . . . . .5-13

5.5.1 Motor-End Relay Encoder Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-13

5.5.2 SERVOPACK-End Relay Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . .5-13

5.5.3 Relay Encoder Cables with Battery Cases . . . . . . . . . . . . . . . . . . . . . . . . . 5-14

User-Assembled Wiring Materials for Encoder Cables. . . . . . . . . .5-15

5.6.1 Precautions When Using Encoder Cables with a Wiring Length of

30 m to 50 m . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-15

5.6.2 SERVOPACK Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-15

5.6.3 Encoder Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16

5.6.4 Cables without Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-17

Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-18

Cables and User-Assembled Wiring Materials for SGM7G Rotary Servomotors

6.1

6.2

Cable Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-3

6.1.1 SGM7G-03 and -05 (300 W and 450 W) . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-3

6.1.2 SGM7G-09 to -1E (850 W to 15 kW) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-4

Servomotor Main Circuit Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-5

6.2.1 Servomotor Main Circuit Cables for Servomotors

without Holding Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-5

6.2.2 Servomotor Main Circuit Cables for Servomotors with Holding Brakes . . . .6-7

xxii

6.3

6.4

6.5

6.6

6.7

User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7G-03, -05

6.3.1 Servomotor Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11

6.3.2 Wiring Materials. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11

User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7G-09 to -1E

6.4.1 Connector Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12

6.4.2 Main Power Supply Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13

6.4.3 Holding Brake Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14

6.4.4 Connector External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16

. .6-11

. .6-12

Encoder Cables of 20 m or Less . . . . . . . . . . . . . . . . . . . . . . . . . . .6-20

6.5.1 Encoder Cables for Incremental Encoders or Batteryless Absolute

Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20

6.5.2 Encoder Cables for Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21

Relay Encoder Cables of 30 m to 50 m . . . . . . . . . . . . . . . . . . . . . .6-22

6.6.1 Motor-End Relay Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-22

6.6.2 SERVOPACK-End Relay Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . 6-22

6.6.3 Relay Encoder Cables with Battery Cases . . . . . . . . . . . . . . . . . . . . . . . . . 6-23

User-Assembled Wiring Materials for Encoder Cables . . . . . . . . .6-24

6.7.1 Precautions When Using Encoder Cables with a Wiring Length of

30 m to 50 m . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24

6.7.2 SERVOPACK Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24

6.7.3 Encoder Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-25

6.7.4 Cables without Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-26

6.8

Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-27

Cables and User-Assembled Wiring Materials for SGMMV Rotary Servomotors

7.1

7.2

7.3

7.4

7.5

Cable Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-2

Servomotor Main Circuit Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-3

7.2.1 Servomotor Main Circuit Cables for Servomotors

without Holding Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

7.2.2 Servomotor Main Circuit Cables for Servomotors with Holding Brakes . . . . 7-4

Encoder Cables of 20 m or Less . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-5

7.3.1 Encoder Cables for Incremental Encoders. . . . . . . . . . . . . . . . . . . . . . . . . . 7-5

7.3.2 Encoder Cables for Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6

Relay Encoder Cable of 30 m to 50 m. . . . . . . . . . . . . . . . . . . . . . . .7-7

7.4.1 Relay Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

7.4.2 Relay Encoder Cables with Battery Cases . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8

User-Assembled Wiring Materials for Encoder Cables . . . . . . . . . .7-9

7.5.1 Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9

7.5.2 Cables without Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10

7.6

Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-11

xxiii

Cables and User-Assembled Wiring Materials for Direct Drive Servomotors

8.1

8.2

Cable Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3

8.1.1 SGM7D Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3

8.1.2 SGM7E Motors and SGM7F-A to -D Motors . . . . . . . . . . . . . . . . . .8-4

8.1.3 SGM7F-M and -N Motors and SGMCS Motors . . . . . . . . . . . . . . . .8-5

8.1.4 SGMCV Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-6

Servomotor Main Circuit Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-7

8.2.1 SGM7D Servomotor Main Circuit Cables . . . . . . . . . . . . . . . . . . . . . . . . . . .8-7

8.2.2 Main Circuit Cables for SGM7E and SGM7F-A to -D Motors . . . . . .8-8

8.2.3 Main Circuit Cables for SGM7F-M, -N, and SGMCS Motors . . . . . .8-9

8.2.4 SGMCV Servomotor Main Circuit Cables . . . . . . . . . . . . . . . . . . . . . . . . . .8-11

8.3 User-Assembled Wiring Materials for Servomotor Main Circuit Cables

8.3.1 Servomotor Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-12

8.3.2 Cables without Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-16

8.4

8.5

Encoder Cables of 20 m or Less . . . . . . . . . . . . . . . . . . . . . . . . . . .8-18

8.4.1 SGM7D Encoder Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-18

8.4.2 Encoder Cables for SGM7E and SGM7F Servomotors . . . . . . . . . . . . . . . .8-20

8.4.3 SGMCV Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-24

8.4.4 SGMCS Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-27

Relay Encoder Cable of 30 m to 50 m . . . . . . . . . . . . . . . . . . . . . . .8-29

8.5.1 SGM7D Encoder Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-29

8.5.2 Encoder Cables for SGM7E and SGM7F Servomotors . . . . . . . . . . . . . . . .8-31

8.5.3 SGMCV Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-34

8.5.4 SGMCS Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-37

. .8-12

8.6

8.7

User-Assembled Wiring Materials for Encoder Cables. . . . . . . . . .8-39

8.6.1 SERVOPACK Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-39

8.6.2 Encoder Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-39

8.6.3 Cables without Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-40

Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-41

Cables and User-Assembled Wiring Materials for Linear Servomotors

9.1

9.2

Recommended Linear Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-3

9.1.1 Incremental Linear Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-3

9.1.2 Absolute Linear Encoders. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-4

Cable Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-6

9.2.1 Connections to Linear Encoder from

Dr. JOHANNES HEIDENHAIN GmbH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-6

9.2.2 Connections to Linear Encoder from RSF Elektronik GmbH . . . . . . . . . . . .9-10

9.2.3 Connections to Linear Encoder from Renishaw plc . . . . . . . . . . . . . . . . . .9-11

9.2.4 Connections to Linear Encoder from RLS d.o.o.. . . . . . . . . . . . . . . . . . . . .9-14

9.2.5 Connections to Linear Encoder from Magnescale Co., Ltd. . . . . . . . . . . . .9-15

9.2.6 Connections to Linear Encoders from Mitutoyo Corporation . . . . . . . . . . .9-22

9.2.7 Connections to Linear Encoder from Fagor Automation S. Coop. . . . . . . .9-23

9.2.8 Connections to Linear Encoder from Canon Precision Inc. . . . . . . . . . . . . .9-24

xxiv

9.3

9.4

Cable Selection Table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-25

9.3.1 Servomotor Main Circuit Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-25

9.3.2 Linear Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-26

9.3.3 Serial Converter Unit Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-26

9.3.4 Sensor Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-27

9.3.5 Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-27

9.3.6 Cable Dimensional Drawings and Wiring Specifications . . . . . . . . . . . . . . 9-28

9.3.7 Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-35

Serial Converter Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-37

9.4.1 Selection Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-37

9.4.2 Characteristics and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-38

9.4.3 External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-39

9.4.4 Analog Signal Input Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-43

Cables and User-Assembled Wiring Materials for SERVOPACKs

10.1

10.2

System Configuration Diagrams and Selection Tables . . . . . . . . . 10-3

10.1.1 Cable Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3

10.1.2 Selection Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-6

Analog Monitor Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-10

10.3

10.4

10.5

10.6

10.7

10.8

Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-11

10.3.1 Digital Operator for Σ-7-Series SERVOPACKs: JUSP-OP05A-1-E . . . . . . 10-11

10.3.2 Digital Operator Conversion Cable (for Σ-III-Series Digital Operators) . . . 10-12

10.3.3 Digital Operator Conversion Cable with Lock Screws . . . . . . . . . . . . . . . 10-12

10.3.4 Communications Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-13

Computer Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-14

I/O Signal Cables for SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . .10-15

10.5.1 For Σ-7S Analog Voltage/Pulse Train Reference SERVOPACKs . . . . . . . . 10-15

10.5.2 For Σ-7S MECHATROLINK-II/-III Communications Reference or

Command Option Attachable-Type SERVOPACKs . . . . . . . . . . . . . . . . . 10-18

10.5.3 For Σ-7W SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-21

10.5.4 For Servo Section of Σ-7C SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . 10-24

10.5.5 For Controller Section of Σ-7C SERVOPACKs . . . . . . . . . . . . . . . . . . . . . 10-27

Safety Function Device Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-30

10.6.1 Cables with Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-30

10.6.2 Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-30

MECHATROLINK-II Communications Cable . . . . . . . . . . . . . . . . .10-31

MECHATROLINK-III Communications Cable . . . . . . . . . . . . . . . . 10-32

10.9

10.10

MECHATROLINK-4 Communications Cable . . . . . . . . . . . . . . . . .10-33

Cables to Connect to MP3000/MP2000-Series Machine Controllers

10.10.1 Cables to Connect to SVA-01 Analog Output Motion Modules . . . . . . . . 10-34

. . 10-34

xxv

10.11

10.12

10.13

I/O Signal Cables for INDEXER Modules . . . . . . . . . . . . . . . . 10-35

10.11.1

10.11.2

10.11.3

Cables with Loose Wires at One End . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-35

Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-36

Cables with Terminal Block on One End . . . . . . . . . . . . . . . . . . . . . . . . . . 10-38

Serial Command Cables (Connector Kit Only) . . . . . . . . . . . . 10-39

DeviceNet Communications Cable . . . . . . . . . . . . . . . . . . . . 10-40

Option Modules

11.1

11.2

11.3

Feedback Option Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-2

11.1.1 Fully-Closed Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-2

Safety Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-11

11.2.1 Applicable Standards and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-11

11.2.2 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-12

11.2.3 External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-13

Option Case Kit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-14

SERVOPACK Peripheral Devices

12.1

12.2

12.3

12.4

Molded-Case Circuit Breakers and Fuses. . . . . . . . . . . . . . . . . . . .12-3

12.1.1 Using an AC Power Supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-3

12.1.2 Using a DC Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-4

Magnetic Contactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-6

SERVOPACK Main Circuit Wires . . . . . . . . . . . . . . . . . . . . . . . . . .12-10

12.3.1 Three-Phase, 200-VAC Wires for Σ-7S SERVOPACKs . . . . . . . . . . . . . . .12-10

12.3.2 Single-Phase, 200-VAC Wires for Σ-7S SERVOPACKs . . . . . . . . . . . . . . .12-13

12.3.3 Single-Phase, 100-VAC Wires for Σ-7S SERVOPACKs . . . . . . . . . . . . . . .12-14

12.3.4 DC Power Supply Wires for Σ-7S SERVOPACKs . . . . . . . . . . . . . . . . . . .12-15

12.3.5 Three-Phase, 200-VAC Wires for Σ-7W SERVOPACKs and

Σ-7C SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-18

12.3.6 Single-Phase, 200-VAC Wires for Σ-7W SERVOPACKs and

Σ-7C SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-19

12.3.7 DC Power Supply Wires for Σ-7W SERVOPACKs . . . . . . . . . . . . . . . . . . .12-19

12.3.8 Wire Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-20

Crimp Terminals and Insulating Sleeves . . . . . . . . . . . . . . . . . . . .12-21

12.4.1 Σ-7S SERVOPACKs with Three-Phase, 200-VAC or

DC Power Supplies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-21

12.4.2 Σ-7S SERVOPACKs with Single-Phase, 200-VAC . . . . . . . . . . . . . . . . . . . 12-22

12.4.3 Σ-7S SERVOPACKs with Single-Phase, 100-VAC . . . . . . . . . . . . . . . . . . . 12-22

12.4.4 Σ-7W SERVOPACKs with Three-Phase, 200-VAC or DC Power Supplies

and Σ-7C SERVOPACKs with Three-Phase, 200-VAC. . . . . . . . . . . . . . . .12-23

12.4.5 Σ-7W SERVOPACKs and Σ-7C SERVOPACKs with Single-Phase,

200-VAC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-23

xxvi

12.5

Noise Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-25

12.6

12.7

12.8

12.9

AC/DC Reactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-28

12.6.1 Using a Three-Phase, 200-VAC Power Supply Input . . . . . . . . . . . . . . . . 12-28

12.6.2 Using a Single-Phase, 200-VAC Power Supply Input. . . . . . . . . . . . . . . . 12-29

12.6.3 Using a Single-Phase, 100-VAC Power Supply Input. . . . . . . . . . . . . . . . 12-29

12.6.4 External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-30

Surge Absorbers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-31

Regenerative Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-32

12.8.1 Regenerative Power and Regenerative Resistance . . . . . . . . . . . . . . . . . 12-32

12.8.2 Types of Regenerative Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-32

12.8.3 Selection Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-33

12.8.4 Specifications of Built-in Regenerative Resistors in SERVOPACKs . . . . . 12-33

12.8.5 Specifications and Dimensions of External Regenerative Resistors . . . . . 12-34

12.8.6 Selecting External Regenerative Resistor . . . . . . . . . . . . . . . . . . . . . . . . 12-37

Inrush Current Suppression Devices. . . . . . . . . . . . . . . . . . . . . . .12-53

Software

13.1

SigmaWin+: AC Servo Drive Engineering Tool . . . . . . . . . . . . . . . .13-2

13.2

MPE720: System Integrated Engineering Tool . . . . . . . . . . . . . . . .13-3

Other Peripheral Devices and Options

14.1

14.2

14.3

14.4

Surge Absorbers (Varistors) and Diodes for Holding Brake Power Supplies

Batteries for Servomotors with Absolute Encoders . . . . . . . . . . . .14-4

14.2.1 Using Encoder Cables with Battery Cases . . . . . . . . . . . . . . . . . . . . . . . . 14-4

14.2.2 When Installing a Battery on the Host Controller . . . . . . . . . . . . . . . . . . . . 14-5

Precautions for Connecting a Σ-V-Series Cable to a Σ-7-Series Servomotor

14.3.1 Restrictions in Using Σ-V-Series Cables . . . . . . . . . . . . . . . . . . . . . . . . . . 14-6

14.3.2 Precautions When the Encoder Cable Is Installed toward the Load Side . . 14-6

14.3.3 Cables That Connect to Σ-7-Series Servomotors . . . . . . . . . . . . . . . . . . . 14-7

Optional Metal Connectors for Servomotor Main Circuit Cables. .14-8

14.4.1 SGM7J and SGM7A (50 W to 150 W) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-8

14.4.2 SGM7J and SGM7A (200 W to 600 W) . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-8

14.4.3 SGM7J and SGM7A (750 W and 1.0 kW) . . . . . . . . . . . . . . . . . . . . . . . . . . 14-9

Revision History

. .14-2

. .14-6

xxvii

Peripheral Devices and System Configurations

1.1

1.2 Configuration with a Direct Drive Servomotor . . 1-3

1.3

Configuration with a Rotary Servomotor . . 1-2

Configuration with a Linear Servomotor . . . 1-4

1.1 Configuration with a Rotary Servomotor

R S T

C N 6

Ground cable

(Wiring required for a Servomotor with a Brake)

Encoder Cable Refer to chapter 2 to 7 depending on the motor that you are using.

Holding Brake Power Supply Unit

*3, *4, *5

Brake Relay

External Regenerative Resistor

Noise Filter

Molded-case circuit breaker

Magnetic Contactor

I/O Signal Cable

SERVOPACK

Servomotor

Power supply Three-phase, 200 VAC

Computer

Computer Cable

Control Power Supply Cable

Digital Operator (JUSP-OP05A-1-E)

Digital Operator cable

200 VAC

Host controller

MECHATROLINK Communications Cable

To next MECHATROLINK-III station

Analog Monitor Cable

Safety Function Device Cable

Safety function device

SERVOPACK

main circuit wires

Engineering Tool

Battery Case (Required when an absolute encoder is used.)

When not using a safety function, leave the Safety Jumper Connector connected to the SERVOPACK.

External Regenerative Resistor Cable

Servomotor Main Circuit Cable Refer to chapter 2 to 7 depending on the motor that you are using.

(page 12-3)

(page 12-25)

(page 12-6)

Surge Absorbers (page 12-31) Reactors (page 12-28) Surge Absorbers (Varistors) and Diodes for Holding Brake Power Supplies

(page 14-2)

(page 12-10)

(pages 10-31 and 10-32)

(page 10-11)

(page 10-14)

(pages 10-15, 10-18 and 10-21)

(page 10-10)

(page 14-4)

(page 10-30)

(page 12-32)

(pages 10-12 and 10-12)

(page 13-2)

1.1

Configuration with a Rotary Servomotor

*1. The peripheral devices are described using a MECHATROLINK-III Communications Reference SERVOPACK for

a three-phase 200-VAC power supply input as an example. The shapes of the connectors and pin layout may be different for SERVOPACKs with other power supply input specifications and for other interfaces. Refer to the product manual for your SERVOPACK when using a SERVOPACK other than the above.

*2. The connected devices depend on the interface.

For MECHATROLINK-4 communications references: Other MECHATROLINK-4 stations For MECHATROLINK-II communications references: Other MECHATROLINK-II stations For analog voltage/pulse train references: There is no CN6 connector.

*3. A Holding Brake Power Supply Unit is required to use a Servomotor with a Holding Brake. Holding Brake Power

1-2

*4. If you use a Servomotor with a Holding Brake, select a brake relay according to the power supply voltage and

*5. The power supply for the holding brake is not provided by Yaskawa. Select a power supply based on the hold-

Supply Units for 24 VDC are not provided by Yaskawa. Obtain these from other manufacturers. Never connect Holding Brake Power Supply Units with different output voltages to a SERVOPACK. Overcurrent may result in burning in the brake.

current of the brake. Yaskawa does not recommend any particular brake relays. Select an appropriate brake relay using the selection method of the brake relay manufacturer.

ing brake specifications. If you use a 24-V brake, install a separate power supply for the 24-VDC power supply from other power supplies, such as the one for the I/O signals of the CN1 connector. If the power supply is shared, the I/O signals may malfunction.

1.2 Configuration with a Direct Drive Servomotor

Peripheral Devices and System Congurations

External Regenerative Resistor

Noise Filter

Molded-case circuit breaker

Magnetic Contactor

I/O Signal Cable

SERVOPACK

Power supply Three-phase, 200 VAC

R S T

Computer Cable

External Regenerative Resistor Cable

Control Power Supply Cable

Digital Operator (JUSP-OP05A-1-E)

Digital Operator cable

Host controller

MECHATROLINK Communications Cable

To next MECHATROLINK-III station

C N 6

Safety Function Device Cable

Safety function device

SERVOPACK main circuit wires

Servomotor Main

Circuit Cable

Direct Drive Servomotor

Encoder Cable

Analog Monitor Cable

Computer

Battery Case (Required when an absolute encoder is used.)

When not using a safety function, leave the Safety Jumper Connector connected to the SERVOPACK.

Ground cable

Engineering Tool

(page 12-3)

(page 12-25)

(page 12-6)

(page 8-7)

(page 12-10)

(pages 10-31 and 10-32)

(page 10-11)

(page 10-10)

(page 8-18)

(page 10-30)

(page 12-32)

(pages 10-12 and 10-

12)

(page 10-14)

(pages 10-15, 10-18 and 10-21)

(page 14-4)

Surge Absorbers (page 12-31) Reactors (page 12-28)

(page 13-2)

1.2

Configuration with a Direct Drive Servomotor

*1. The peripheral devices are described using a MECHATROLINK-III Communications Reference SERVOPACK for

*2. The connected devices depend on the interface.

1-3

1.3 Configuration with a Linear Servomotor

External Regenerative Resistor

Noise Filter

Molded-case circuit breaker

Magnetic Contactor

I/O Signal Cable

SERVOPACK

Power supply Three-phase, 200 VAC

R S T

Computer Cable

External Regenerative Resistor Cable

Control Power Supply Cable

Digital Operator (JUSP-OP05A-1-E)

Digital Operator cable

Host controller

MECHATROLINK Communications Cable

To next MECHATROLINK-III station

C N 6

Safety Function Device Cable

Safety function device

SERVOPACK

main circuit wires

Linear Servomotor

Linear Encoder (Not provided by Yaskawa.)

Sensor Cable

Linear Encoder Cable

Linear Servomotor Main Circuit Cable

Serial Converter Unit

Serial Converter Unit Cable

Analog Monitor Cable

Computer

When not using a safety function, leave the Safety Jumper Connector connected to the SERVOPACK.

Ground cable

Engineering Tool

(page 9-26)

(page 12-3)

(page 12-25)

(page 12-6)

(page 9-25)

(page 12-10)

(pages 10-31 and 10-32)

(page 10-11)

(page 10-14)

(pages 10-15, 10-18 and 10-21)

(pages 10-12 and 10-

12)

(page 10-10)

(page 9-26)

(page 9-27)

(page 10-30)

(page 9-37)

(page 12-32)

Surge Absorbers (page 12-31) Reactors (page 12-28)

(page 13-2)

1.3

Configuration with a Linear Servomotor

*1. The peripheral devices are described using a MECHATROLINK-III Communications Reference SERVOPACK for

*2. The connected devices depend on the interface.

1-4

Cables and UserAssembled Wiring Materials for SGM7M Rotary Servomotors

2.1

2.2

2.3

2.4

2.5

Cable Configurations . . . . . . . . . . . . . . . . . 2-2

Servomotor Main Circuit Cables . . . . . . . . . 2-3

2.2.1 Servomotor Main Circuit Cables for Servomotors

without Holding Brakes . . . . . . . . . . . . . . . . . . . . 2-3

2.2.2 Servomotor Main Circuit Cables for Servomotors

with Holding Brakes . . . . . . . . . . . . . . . . . . . . . . 2-4

Encoder Cables . . . . . . . . . . . . . . . . . . . . . . 2-5

2.3.1 Encoder Cables for Incremental Encoders . . . . . 2-5

2.3.2 Encoder Cables for Absolute Encoders . . . . . . . . 2-6

User-Assembled Wiring Materials for Encoder Cables . . 2-7

2.4.1 Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

2.4.2 Cables without Connectors . . . . . . . . . . . . . . . . . 2-8

Wiring Precautions . . . . . . . . . . . . . . . . . . . 2-9

2.5.1 Precautions for Standard Cables . . . . . . . . . . . . 2-9

2.5.2 Precautions for Flexible Cables . . . . . . . . . . . . . . 2-9

2.1 Cable Configurations





Encoder Cables



Servomotor Main Circuit Cables





2.1

Cable Configurations

No. Cable Type Reference

Servomotor Main Circuit Cables for Servomotors without Holding Brakes



Servomotor Main Circuit Cables for Servomotors with Holding Brakes



Encoder Cables for Incremental Encoders



Encoder Cables with Battery Cases for Absolute Encoders



User-Assembled Wiring Materials for Encoder Cables



Connector Kits Cables without Connectors

page 2-3

page 2-4

page 2-5

page 2-6

page 2-7

page 2-8

2-2

2.2 Servomotor Main Circuit Cables

Cables and User-Assembled Wiring Materials for SGM7M Rotary Servomotors

SERVOPACK end Motor end

PinSignal

SignalWire Color

Servomotor Connector

Phase W

Phase V

Phase U

Phase W

Phase V

Phase U

Green/yellow

Blue

White

Red

SERVOPACK Leads

2.2.1 Servomotor Main Circuit Cables for Servomotors without Holding Brakes

2.2

2.2.1

Servomotor Main Circuit Cables

Servomotor Main Circuit Cables for Servomotors without Holding Brakes

Selection Table

Servomotor Model Length (L)

Standard Cable Flexible Cable

Order Number

SGM7M-B3E to -B9E

3.3 W to 11 W

SGM7M-A1E to -A3E 11 W to 33 W

3 m, 5 m, 10 m, 15 m, and 20 m

SGM7M-A1A to -A3A 11 W to 33 W

JZSP-CF1M00--E JZSP-CF1M20--E

JZSP-CF2M00--E JZSP-CF2M20--E

Appearance

*2, *3

For SGM7M-B3E to -B9E and -A1E to -A3E For SGM7M-A1A to -A3A

SERVOPACK end Motor end

50 mm L

M4 crimp terminal

Wiring Specifications

2-3

2.2 Servomotor Main Circuit Cables

SERVOPACK end Motor end

50 mm

M4 crimp terminal

PinSignal

SignalWire Color

Servomotor Connector

Phase W

Phase V

Phase U

Brake

Phase W

Phase V

Phase U

Green/yellow

Blue

White

Red

Black

SERVOPACK Leads

2.2.2 Servomotor Main Circuit Cables for Servomotors with Holding Brakes

2.2.2

Servomotor Main Circuit Cables for Servomotors with Holding Brakes

Selection Table

Servomotor Model Length (L)

SGM7M-A1E to -A3E 11 W to 33 W

SGM7M-A1A to -A3A

3 m, 5 m, 10 m, 15 m, and 20 m

11 W to 33 W

Standard Cable Flexible Cable

JZSP-CF1M10--E JZSP-CF1M30-

JZSP-CF2M03--E JZSP-CF2M23-

Order Number

Appearance

For SGM7M-A1E to -A3E For SGM7M-A1A to -A3A

SERVOPACK end Motor end

Ｂ

50 mm

M4 crimp terminal

*2, *3



-E



-E

Wiring Specifications

Note: There is no polarity for the connection to the holding brake.

2-4

2.3 Encoder Cables

Cables and User-Assembled Wiring Materials for SGM7M Rotary Servomotors

SERVOPACK end Encoder end

Pin Wire Color

Black

Red

Light blue/white

Light blue

Orange/white

Orange

Encoder (motor) end

Pin Signal

Shell FG Shell FG

SERVOPACK end

Shield wire

/PS

BAT(-)

BAT(+)

PG 5V

PG 0V

Pin Wire Color

Light green

Orange

Black/pink

Red/pink

Black/light blue

Red/light blue

Encoder (motor) end

Pin Signal

Shell FG Shell FG

SERVOPACK end

Shield wire

/PS

BAT(−)

BAT(+)

PG 5V

PG 0V

2.3.1 Encoder Cables for Incremental Encoders

2.3

2.3.1

Encoder Cables

Encoder Cables for Incremental Encoders

Selection Table

Servomotor Model Length (L)

All SGM7M models

3 m, 5 m, 10 m, 15 m, and 20 m

Standard Cable Flexible Cable

JZSP-C7MP01--E JZSP-C7MP21--E

Appearance

Wiring Specifications

Order Number

*2, *3

Standard Cable Flexible Cable

Note: Always connect the shield wire from the Encoder Cable to the connector case (shell).

2-5

2.3 Encoder Cables

NOTICE

Encoder endSERVOPACK end

Battery Case (Battery included)

Signal

Battery Case

Signal

6 5 4

2 1

Shell FG

SERVOPACK end

Shield wire

/PS

BAT(-) BAT(+)

PG 5 V

PG 0 V

Wire Color

Black

Red

Light blue/white

Light blue

Orange/white

Orange

5 4

2 1

Encoder (motor) end

Shell FG

2.3.2 Encoder Cables for Absolute Encoders

2.3.2

Encoder Cables for Absolute Encoders

These cables are equipped with a Battery Case. (A Battery is included.)

Note: If a battery is connected to the host controller, the Battery Case is not required. If so, use a cable for incre-

mental encoders.

 Install a battery at either the host controller or on the Encoder Cable.

If you install batteries both at the host controller and on the Encoder Cable at the same time, you will create a loop circuit between the batteries, resulting in a risk of damage or burning.

Selection Table

Servomotor Model Length (L)

All SGM7M models

3 m, 5 m, 10 m, 15 m, and 20 m

Standard Cable Flexible Cable

JZSP-C7MP19--E JZSP-C7MP29--E

Order Number

Appearance

*2, *3

2-6

Wiring Specifications

Standard Cable Flexible Cable

SERVOPACK end

Signal

/PS

BAT(-)

BAT(+)

PG 0 V

PG 5 V

Shell FG

Battery Case

Note: Always connect the shield wire from the Encoder Cable to the connector case (shell).

Shield wire

Signal

BAT(-) BAT(+)

Encoder (motor) end

Wire Color Black/pink

Red/pink

Black/light blue

Red/light blue

Light green

Orange

Shell

2.4 User-Assembled Wiring Materials for Encoder Cables

Cables and User-Assembled Wiring Materials for SGM7M Rotary Servomotors

(33)

(12)

(19)

2.4.1 Connector Kits

2.4

2.4.1

User-Assembled Wiring Materials for Encoder Cables

Connector Kits

SERVOPACK Connector Kits

Ty pe Standard Cable Compatible Connector Kit Inquiries Yaskawa representative Manufacturer Molex Incorporated

Order Number

Specifications

External Dimensions [mm]

Note: Cables are not included. Purchase them separately.

JZSP-CMP9-1-E

55100-0670 (soldered) Product specifications: PS-54280

56 3 4 12

(19)

(12)

(33)

3M Japan Limited

Receptacle: 3E206-0100 KV (soldered) Shell Kit: 3E306-3200-008 Product specifications: JNPS-1042 and JNPS-1043

Encoder Connector Kits

Order Number

Manufacturer Hirose Electric Co., Ltd. Components IX40-A-8P-JC (7.1)

Product Specifications

External Dimensions [mm]

JZSP-C7MP9-2-E

SLC-129407

Terminal No.4 Terminal No.5

13.9 ± 0.4

Terminal No.1

8.4 ± 0.426.6 ± 0.4

Terminal No.8

2-7

2.4 User-Assembled Wiring Materials for Encoder Cables

Black/

light blue

Red/

light blue

Black

/pink

Red/

pink

Orange

Light green

2.4.2 Cables without Connectors

2.4.2

Cables without Connectors

Encoder Cables

Item Standard Cable Flexible Cable

Order Number*

Specifications

UL20276 (rated temperature: 80°C) AWG22 × 2C + AWG24 × 2P

AWG22 (0.33 mm Outer diameter of insulating sheath:

1.15 mm

AWG24 (0.20 mm2) Outer diameter of insulating sheath:

1.09 mm

JZSP-CMP09--E

(maximum length: 20 m)

)

UL20276 (rated temperature: 80°C) AWG22 × 2C + AWG24 × 2P

AWG22 (0.33 mm2) Outer diameter of insulating sheath:

1.35 mm

AWG24 (0.20 mm Outer diameter of insulating sheath:

1.21 mm

Finished Diameter 6.5 mm 6.8 mm

Light

blue

Light blue

Internal Structure and Lead Colors

Red

/white

Orange

/white

Black

JZSP-CSP39--E

(maximum length: 20 m)

)

* Replace the boxes () in the order number with the cable length (05, 10, 15, or 20).

2-8

2.5 Wiring Precautions

Cables and User-Assembled Wiring Materials for SGM7M Rotary Servomotors

2.5.1 Precautions for Standard Cables

2.5

2.5.1

2.5.2

Wiring Precautions

Precautions for Standard Cables

Do not use standard cables in applications that require a high degree of flexibility, such as twisting and turning, or in which the cables themselves must move. When you use Standard Cables, observe the recommended bending radius given in the following table and perform all wiring so that stress is not applied to the cables. Use the cables so that they are not repeatedly bent.

Cable Diameter Recommended Bending Radius [R]

Less than 8 mm 15 mm min. 8 mm 20 mm min. Over 8 mm Cable diameter × 3 mm min.

Precautions for Flexible Cables

• The Flexible Cables have a service life of 10,000,000 operations minimum when used at the recommended bending radius (R) or larger under the following test conditions. The service life of a Flexible Cable is reference data under the following test conditions. The service life of a Flexible Cable greatly depends on the amount of mechanical shock, how the cable is attached, and how the cable is secured. <Test Conditions>

• One end of the cable is repeatedly moved forward and backward for 320 mm using the test equipment shown in the following figure.

• The lead wires are connected in series, and the number of cable return operations until a lead wire breaks are counted. One round trip is counted as one bend.

Travel distance: 320 mm

End of travel

Bending radius (R)

Note: The service life of a Flexible Cable indicates the number of bends while the lead wires are electrically

charged for which no cracks or damage that affect the performance of the cable sheathing occurs. Breaking of the shield wire is not considered.

• Straighten out the Flexible Cable when you connect it. If the cable is connected while it is twisted, it will break faster. Check the indication on the cable surface to make sure that the cable is not twisted.

• Do not secure the portions of the Flexible Cable that move. Stress will accumulate at the point that is secured, and the cable will break faster. Secure the cable in as few locations as possible.

• If a Flexible Cable is too long, looseness will cause it to break faster. If the Flexible Cable is too short, stress at the points where it is secured will cause it to break faster. Adjust the cable length to the optimum value.

• Do not allow Flexible Cables to interfere with each other. Interference will restrict the motion of the cables, causing them to break faster. Separate the cables sufficiently, or provide partitions between them when wiring.

Fixed end

2-9

Cables and UserAssembled Wiring Materials for SGM7J Rotary Servomotors

3.1

3.2

3.3

3.4

3.5

Cable Configurations . . . . . . . . . . . . . . . . . 3-2

Servomotor Main Circuit Cables . . . . . . . . . 3-3

3.2.1 Servomotor Main Circuit Cables for Servomotors

without Holding Brakes . . . . . . . . . . . . . . . . . . . . 3-3

3.2.2 Servomotor Main Circuit Cables for Servomotors

with Holding Brakes . . . . . . . . . . . . . . . . . . . . . . 3-4

User-Assembled Wiring Materials for Servomotor Main Circuit Cables . . 3-5

3.3.1 Servomotor Connector Kits . . . . . . . . . . . . . . . . . 3-5

3.3.2 Cables without Connectors . . . . . . . . . . . . . . . . . 3-8

Encoder Cables of 20 m or Less . . . . . . . . 3-10

3.4.1 Encoder Cables for Incremental Encoders

or Batteryless Absolute Encoders . . . . . . . . . . . 3-10

3.4.2 Encoder Cables for Absolute Encoders . . . . . . . 3-11

Relay Encoder Cables of 30 m to 50 m . . . 3-12

3.5.1 Motor-End Relay Encoder Cables . . . . . . . . . . . 3-12

3.5.2 SERVOPACK-End Relay Encoder Cables . . . . . 3-12

3.5.3 Relay Encoder Cables with Battery Cases . . . . 3-13

3.6

3.7

User-Assembled Wiring Materials for Encoder Cables . . 3-14

3.6.1 Precautions When Using Encoder Cables with a

Wiring Length of 30 m to 50 m . . . . . . . . . . . . . 3-14

3.6.2 SERVOPACK Connector Kits . . . . . . . . . . . . . . . 3-14

3.6.3 Encoder Connector Kits . . . . . . . . . . . . . . . . . . 3-15

3.6.4 Cables without Connectors . . . . . . . . . . . . . . . . 3-16

Wiring Precautions . . . . . . . . . . . . . . . . . . 3-17

3.1 Cable Configurations











Servomotor Main Circuit Cable





Encoder Cable <When 20 m or shorter>

Encoder Cable <When 30 m to 50 m>

 

Servomotor Main Circuit Cable















Encoder Cable

Encoder Cable



3.1

Cable Configurations

There are different order numbers for the Servomotor Main Circuit Cables and Encoder Cables depending on the cable installation direction. Confirm the order numbers before you order.

• Cable Installed toward Load

• Cable Installed away from Load

3-2

Note: If the Encoder Cable length exceeds 20 m, be sure to also connect Relay Encoder Cables as shown at  to

 in the above diagram.

No. Cable Type Reference



Servomotor Main Circuit Cable



User-Assembled Wiring Materials for



Servomotor Main Circuit Cables Encoder Cables of 20 m or Less for Incremental Encoders or Batteryless Absolute Encoders

 

Encoder Cables of 20 m or Less with Battery Cases for Absolute Encoders Motor-End Relay Encoder Cables



SERVOPACK-End Relay Encoder Cables

 

Relay Encoder Cables with Battery Cases User-Assembled Wiring Materials for Encoder



Cables

*1. If a battery is connected to the host controller, the Battery Case is not required. Use an Encoder Cable for Incre-

mental Encoders or Batteryless Absolute Encoders.

*2. This Cable is not required if you use a Servomotor with an Incremental Encoder, use a Servomotor with a Bat-

teryless Absolute Encoder, or connect a battery to the host controller.

For Servomotors without Holding Brakes For Servomotors with Holding Brakes Connector Kits Cables without Connectors

Connector Kits Cables without Connectors

page 3-3

page 3-4

page 3-5

page 3-8

page 3-10

page 3-11

page 3-12

page 3-14

page 3-15

3.2 Servomotor Main Circuit Cables

Cables and User-Assembled Wiring Materials for SGM7J Rotary Servomotors

SERVOPACK end Motor end

50 mm L

M4 crimp terminal

PinSignal

SignalWire Color

Servomotor Connector

Phase U

Phase V

Phase W

−

Phase U

Phase V

Phase W

Red

White

Blue

Green/yellow

SERVOPACK Leads

3.2.1 Servomotor Main Circuit Cables for Servomotors without Holding Brakes

3.2

3.2.1

Servomotor Main Circuit Cables

Servomotor Main Circuit Cables for Servomotors without Holding Brakes

Selection Table

Cable Direction Servomotor Model Length (L)

SGM7J-A5 to -C2 50 W to 150 W

Load side

Non-load side

SGM7J-02 to -06 200 W to 600 W

SGM7J-08 750 W

SGM7J-A5 to -C2 50 W to 150 W

SGM7J-02 to -06 200 W to 600 W

3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, and 50 m

SGM7J-08 750 W

Note: If the length of the Servomotor Main Circuit Cable exceeds 20 m, the intermittent duty zone in the torque-

motor speed characteristics will become smaller because the voltage drop increases.

Standard Cable Flexible Cable

JZSP-C7M10F-

JZSP-C7M20F-

JZSP-C7M30F-

JZSP-C7M10G-

JZSP-C7M20G-

JZSP-C7M30G-

Order Number



-E JZSP-C7M12F--E



-E JZSP-C7M22F--E



-E JZSP-C7M32F--E



-E JZSP-C7M12G--E



-E JZSP-C7M22G--E



-E JZSP-C7M32G--E

*2, *3

Appearance

Cable Installed away from Load Cable Installed toward Load

Wiring Specifications

SERVOPACK endMotor end

50 mmL

M4 crimp terminal

3-3

3.2 Servomotor Main Circuit Cables

SERVOPACK end Motor end

50 mm

M4 crimp terminal

SERVOPACK endMotor end

50 mmL

M4 crimp terminal

PinSignal

SignalWire Color

Servomotor Connector

Phase U

Phase V

Phase W

Brake

Phase U

Phase V

Phase W

Red

White

Blue

Green/yellow

Black

SERVOPACK Leads

3.2.2 Servomotor Main Circuit Cables for Servomotors with Holding Brakes

3.2.2

Servomotor Main Circuit Cables for Servomotors with Holding Brakes

Selection Table

Cable Direction Servomotor Model Length (L)

SGM7J-A5 to -C2 50 W to 150 W

Load side

Non-load side

SGM7J-02 to -06 200 W to 600 W

SGM7J-08 750 W

SGM7J-A5 to -C2 50 W to 150 W

SGM7J-02 to -06 200 W to 600 W

3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, and 50 m

SGM7J-08 750 W

Standard Cable Flexible Cable

JZSP-C7M13F-

JZSP-C7M23F-

JZSP-C7M33F-

JZSP-C7M13G-

JZSP-C7M23G-

JZSP-C7M33G-

Order Number



-E JZSP-C7M14F--E



-E JZSP-C7M24F--E



-E JZSP-C7M34F--E



-E JZSP-C7M14G--E



-E JZSP-C7M24G--E



-E JZSP-C7M34G--E

Note: If the length of the Servomotor Main Circuit Cable exceeds 20 m, the intermittent duty zone in the torque-

motor speed characteristics will become smaller because the voltage drop increases.

*2, *3

Appearance

Cable Installed away from Load Cable Installed toward Load

Wiring Specifications

Note: There is no polarity for the connection to the holding brake.

3-4

3.3 User-Assembled Wiring Materials for Servomotor Main Circuit Cables

Cables and User-Assembled Wiring Materials for SGM7J Rotary Servomotors

3.3.1 Servomotor Connector Kits

3.3

3.3.1

User-Assembled Wiring Materials for Servomotor Main Circuit Cables

Servomotor Connector Kits

Selection Table

Servomotor Model Servomotor Capacity Order Number*

SGM7J-A5 to -C2 50 W to 150 W JZSP-C7M9-1-E SGM7J-02 to -06 200 W to 600 W JZSP-C7M9-2-E SGM7J-08 750 W JZSP-C7M9-3-E

* Cables are not included. Purchase them separately.

 SGM7J-A5 to -C2 (for 50 W to 150 W)

Item Description

Order Number JZSP-C7M9-1-E Manufacturer J.S.T. Mfg. Co., Ltd. User Instructions JFA Connector J-1700

Components

Applicable Wire Sizes

Applicable Cable Diameter

Outer Diameter of Insulating Sheath

Mounting Screws M2 pan-head screws

Crimping Tool*

Receptacle J17S-06FMH-7KL-M-CF Contacts SJ1F-01GF-P0.8

Power terminals: AWG20 Holding brake terminals: AWG20 to AWG24

7 mm ±0.3 mm

1.11 mm to 1.53 mm

Hand Tool YRS-8841 Applicator APLMK SJ1F/M01-08

 Cable on Non-load Side

(29.2)

14.7

25.8

 Cable on Load Side

25.8

14.7

(29.2)

Motor mounting

External Dimensions [mm]

* A Crimping Tool is required. Contact the connector manufacturer for details.

surface

14 dia.

35°

16.1

Pin 1

25.8

Pin 6

Pin 1

Pin 6

Pin 1

Pin 6

Motor mounting surface

16.1

35°

14 dia.

3-5

3.3 User-Assembled Wiring Materials for Servomotor Main Circuit Cables

3.3.1 Servomotor Connector Kits

 SGM7J-02 to -06 (for 200 W to 600 W)

Item Description

Order Number JZSP-C7M9-2-E Manufacturer J.S.T. Mfg. Co., Ltd. User Instructions JFA Connector J-2700

Components

Applicable Wire Sizes

Applicable Cable Diameter

Outer Diameter of Insulating Sheath

Mounting Screws M2 pan-head screws

Crimping Tool*

Receptacle J27S-06FMH-7KL-M-CF Contacts SJ2F-01GF-P1.0

Power terminals: AWG20 Holding brake terminals: AWG20 to AWG24

7 mm ±0.3 mm

1.11 mm to 1.53 mm

Hand Tool YRS-8861 Applicator APLMK SJ2F/M01-10

 Cable on Non-load Side

(31)

28.7

14.7

 Cable on Load Side

28.7 (31)

14.7

Motor mounting

External Dimensions

surface

[mm]

35°

14 dia.

17.1

* A Crimping Tool is required. Contact the connector manufacturer for details.

Pin 1

Pin 6

Pin 1

Pin 6

Motor mounting surface

17.1

35°

14 dia.

3-6

3.3 User-Assembled Wiring Materials for Servomotor Main Circuit Cables

Cables and User-Assembled Wiring Materials for SGM7J Rotary Servomotors

(36.6)

19.3

16.2 dia.

25°

Pin 6

Pin 1

Motor mounting surface

Pin 1

Pin 6

(36.6)

19.3

16.2 dia.

25°

Motor mounting surface

Pin 1

Pin 6

Pin 1

 SGM7J-08 (for 750 W)

Item Description

Order Number JZSP-C7M9-3-E Manufacturer J.S.T. Mfg. Co., Ltd. User Instructions JFA Connector J-3700

Components

Applicable Wire Sizes

Applicable Cable Diameter

Outer Diameter of Insulating Sheath

Mounting Screws M2.5 pan-head screws

Crimping Tool*

Receptacle J37S-06FMH-8KL-M-CF

Contacts

Power terminals: SJ3F-41GF-P1.8 Holding brake terminals: SJ3F-01GF-P1.8

Power terminals: AWG16 Holding brake terminals: AWG20 to AWG24

8 mm ±0.3 mm

Power terminals: 1.53 mm to 2.5 mm Holding brake terminals: 1.11 mm to 1.86 mm

Hand Tool

Applicator

Power terminals: YRF-880 Holding brake terminals: YRF-881

Power terminals: APLMK SJ3F/M41-20 Holding brake terminals: APLMK SJ3F/M01-20

 Cable on Non-load Side

3.3.1 Servomotor Connector Kits

 Cable on Load Side

External Dimensions [mm]

* A Crimping Tool is required. Contact the connector manufacturer for details.

3-7

3.3 User-Assembled Wiring Materials for Servomotor Main Circuit Cables

White

Red

Black

Blue

Green/ yellow

Black

3.3.2 Cables without Connectors

3.3.2

Cables without Connectors

Selection Table

Servomotor Model Servomotor Capacity

SGM7J-A5 to -C2 SGM7J-02 to -06

50 W to 600 W JZSP-CSM90-

Standard Cable Flexible Cable

SGM7J-08 750 W JZSP-CSM91-

*1. Replace the boxes () in the order number with the cable length (05, 10, 15, 20, 30, 40, or 50). *2. Use Flexible Cables for moving parts of machines, such as robots. *3. The recommended bending radius (R) is 90 mm or larger.

Note: If the length of the Servomotor Main Circuit Cable exceeds 20 m, the intermittent duty zone in the torque-

motor speed characteristics will become smaller because the voltage drop increases.

Order Number



-E JZSP-C7M29--E



-E JZSP-CSM81--E

 SGM7J-A5 to -06 (for 50 W to 600 W)

Item Standard Cable Flexible Cable

Order Number*

UL2517 (rated temperature:105°C) AWG20 × 6C

Power lines: AWG20 (0.52 mm

Specifications

Outer diameter of insulating sheath:

1.53 mm

Holding brake lines: AWG20 (0.52 mm Outer diameter of insulating sheath:

1.53 mm

Finished Diameter 7 mm ±0.3 mm

JZSP-CSM90--E

(maximum length: 50 m)

UL2517 (rated temperature:105°C) AWG20 × 4C, AWG22 × 2C

)

Power lines: AWG20 (0.52 mm Outer diameter of insulating sheath:

1.37 mm

)

Holding brake lines: AWG22 (0.33 mm2) Outer diameter of insulating sheath:

1.37 mm

*2, *3

JZSP-C7M29--E

(maximum length: 50 m)

)

Internal Structure and Lead Colors

* Replace the boxes () in the order number with the cable length (05, 10, 15, 20, 30, 40, or 50).

3-8

3.3 User-Assembled Wiring Materials for Servomotor Main Circuit Cables

Cables and User-Assembled Wiring Materials for SGM7J Rotary Servomotors

Black

Blue White

Red

Black

Green/

yellow

 SGM7J-08 (for 750 W)

Item Standard Cable Flexible Cable

Order Number*

UL2517 (rated temperature:105°C) AWG16 × 4C, AWG20 × 2C

Power lines: AWG16 (1.31 mm

Specifications

Outer diameter of insulating sheath:

2.15 mm

Holding brake lines: AWG20 (0.52 mm2) Outer diameter of insulating sheath:

1.6 mm

Finished Diameter 8 mm ±0.3 mm

Internal Structure and Lead Colors

JZSP-CSM91--E

(maximum length: 50 m)

UL2517 (rated temperature:105°C) AWG16 × 4C, AWG22 × 2C

)

Power lines: AWG16 (1.31 mm2) Outer diameter of insulating sheath:

2.35 mm

Holding brake lines: AWG22 (0.33 mm Outer diameter of insulating sheath:

1.37 mm

3.3.2 Cables without Connectors

JZSP-CSM81--E

(maximum length: 50 m)

)

* Replace the boxes () in the order number with the cable length (05, 10, 15, 20, 30, 40, or 50).

3-9

3.4 Encoder Cables of 20 m or Less

SERVOPACK end Encoder end

SERVOPACK endEncoder end

3.4.1 Encoder Cables for Incremental Encoders or Batteryless Absolute Encoders

3.4

3.4.1

Encoder Cables of 20 m or Less

Encoder Cables for Incremental Encoders or Batteryless Absolute Encoders

Selection Table

Cable

Direction

Load side

Non-load side JZSP-C7PI0E-

Servomotor

Model

All SGM7J

models

Length (L)

3 m, 5 m, 10 m, 15 m, and 20 m

Standard Cable Flexible Cable

JZSP-C7PI0D-

Order Number



-E JZSP-C7PI2D--E



-E JZSP-C7PI2E--E

Appearance

Cable Installed away from Load Cable Installed toward Load

*2, *3

Wiring Specifications

Standard Cable Flexible Cable

SERVOPACK end

Pin Signal

/PS

BAT (-)

BAT (+)

PG 0 V

PG 5 V

Shell FG Shell FG

Shield wire

Encoder (motor) end

Pin Wire Color

Light blue/white

Light blue

Orange/white

Orange

Black

Red

SERVOPACK end

Pin Signal

/PS

BAT (-)

BAT (+)

PG 0 V

PG 5 V

Shell FG Shell FG

Shield wire

Encoder (motor) end

Pin Wire Color

Black/pink

Black/light blue

Red/light blue

Light green

Red/pink

Orange

3-10

3.4 Encoder Cables of 20 m or Less

Cables and User-Assembled Wiring Materials for SGM7J Rotary Servomotors

NOTICE

Encoder endSERVOPACK end

Battery Case (Battery included)

Signal

Battery Case

Pin Wire Color

Black

Red

Light blue/white

Light blue

Orange/white

Orange

Encoder (motor) end

Pin Signal

Shell FG Shell FG

SERVOPACK end

Shield wire

/PS

BAT (-)

BAT (+)

BAT (-)

BAT (+)

PG 5 V

PG 0 V

3.4.2 Encoder Cables for Absolute Encoders

3.4.2

Encoder Cables for Absolute Encoders

These cables are equipped with a Battery Case. (A Battery is included.)

Note: If a battery is connected to the host controller, the Battery Case is not required. Use an Encoder Cable for

Incremental Encoders or Batteryless Absolute Encoders.

 Install a battery at either the host controller or on the Encoder Cable.

If you install batteries both at the host controller and on the Encoder Cable at the same time, you will create a loop circuit between the batteries, resulting in a risk of damage or burning.

Selection Table

Cable

Direction

Load side

Non-load side JZSP-C7PA0E--E JZSP-C7PA2E--E

Servomotor

Model

All SGM7J

models

Length (L)

3 m, 5 m, 10 m, 15 m, and 20 m

Standard Cable Flexible Cable

JZSP-C7PA0D-

Order Number



-E JZSP-C7PA2D--E

Appearance

*2, *3

Wiring Specifications

Cable Installed away from Load Cable Installed toward Load

Battery Case (Battery included)

Standard Cable Flexible Cable

Encoder (motor) end

Pin Wire Color

SERVOPACK end

Pin Signal

/PS

BAT (-)

BAT (+)

PG 0 V

PG 5 V

Shell FG Shell FG

Battery Case

Shield wire

Signal

BAT (-)

BAT (+)

SERVOPACK endEncoder end

Black/pink

Red/pink

Black/light blue

Red/light blue

Light green

Orange

3-11

3.5 Relay Encoder Cables of 30 m to 50 m

NOTICE

SERVOPACK endEncoder end

Pin Wire Color

Black

Red

Light blue/white

Light blue

Orange/white

Orange

Encoder (motor) end

Pin Signal

Shell FG Shell FG

SERVOPACK end

Shield wire

/PS

BAT (-)

BAT (+)

PG 5 V

PG 0 V

3.5.1 Motor-End Relay Encoder Cables

3.5

3.5.1

Relay Encoder Cables of 30 m to 50 m

If the Encoder Cable length exceeds 20 m, be sure to also use a Motor-End Relay Encoder Cable and a SERVOPACK-End Relay Encoder Cable.

If you use a motor with an absolute encoder and a battery is not mounted to the host controller, also obtain a Relay Encoder Cable with a Battery Case in addition to the above two Cables.

 Install a battery at either the host controller or on the Encoder Cable.

If you install batteries both at the host controller and on the Encoder Cable at the same time, you will create a loop circuit between the batteries, resulting in a risk of damage or burning.

Motor-End Relay Encoder Cables

Selection Table

Cable Direction Specification

Load side Non-load side JZSP-C7PRCE-E

Used for all types of encoders. 0.3 m

Length

(L)

Order Number

JZSP-C7PRCD-E

3.5.2

Appearance

Cable Installed away from Load Cable Installed toward Load

SERVOPACK end Encoder end

Wiring Specifications

SERVOPACK-End Relay Encoder Cables

Selection Table

Used for all types of encoders. 30 m, 40 m, and 50 m JZSP-UCMP00--E

* Replace the boxes () in the order number with the cable length (30, 40, or 50).

3-12

Specification Length (L) Order Number*

Cables and User-Assembled Wiring Materials for SGM7J Rotary Servomotors

Appearance

Encoder endSERVOPACK end

Pin Wire Color

Black

Red

Light blue/white

Light blue

Orange/white

Orange

Encoder (motor) end

Pin Signal

Shell FG Shell FG

SERVOPACK end

Shield wire

/PS

BAT (-)

BAT (+)

PG 5 V

PG 0 V

Encoder end

SERVOPACK end

Battery Case (Battery included)

Wiring Specifications

3.5 Relay Encoder Cables of 30 m to 50 m

3.5.3 Relay Encoder Cables with Battery Cases

3.5.3

Relay Encoder Cables with Battery Cases

Note: This Cable is not required if you use a Servomotor with an Incremental Encoder, use a Servomotor with a Bat-

teryless Absolute Encoder, or connect a battery to the host controller.

Selection Table

Length (L) Order Number

0.3 m JZSP-CSP12-E

Appearance

Wiring Specifications

SERVOPACK end

Pin Signal

/PS

BAT (-)

BAT (+)

PG 0 V

PG 5 V

Shell FG Shell FG

Battery Case

Shield wire

Signal

BAT (-)

BAT (+)

Encoder (motor) end

Pin Wire Color

Light blue/white

Light blue

Orange/white

Orange

Black

Red

3-13

3.6 User-Assembled Wiring Materials for Encoder Cables

3 4

(19)

(12)

(33)

3.6.1 Precautions When Using Encoder Cables with a Wiring Length of 30 m to 50 m

3.6

3.6.1

User-Assembled Wiring Materials for Encoder Cables

Precautions When Using Encoder Cables with a Wiring Length of 30 m to 50 m

When using Encoder Cables with a wiring length of 30 m to 50 m, it is necessary to fabricate two different types of cables.

Connectors and Wire

Cables to be Fabricated

Motor-End Relay Encoder Cable

SERVOPACK-End Relay Encoder Cable

Materials Required for

Fabrication

SERVOPACK Connector

Servomotor Connector

Encoder Cable (20 m or less)

SERVOPACK Connector

Cable Relay Connector

Relay Encoder Cable (30 m to 50 m)

Refer to the following section for details on the connection of the Relay Encoder Cable.

3.1 Cable Configurations on page 3-2

Reference Page Remarks

3.6.2 SERVOPACK Connector Kits on page 3-14

3.6.3 Encoder Connector Kits on page 3-15

3.6.4 Cables without Connectors on page 3-16

3.6.2 SERVOPACK Connector Kits on page 3-14

3.6.3 Encoder Connector Kits on page 3-15

3.6.4 Cables without Connectors on page 3-16

This cable should be

0.3 m or less.

This cable should be 50 m or less.

3.6.2

SERVOPACK Connector Kits

Ty pe Standard Connector Kit Compatible Connector Kit Inquires Yaskawa representative

3M Japan LimitedManufacturer Molex Incorporated

Order Number JZSP-CMP9-1-E

Specifications

External Dimensions [mm]

Note: Cables are not included. Purchase them separately.

55100-0670 (soldered) Product specifications: PS-54280

Receptacle: 3E206-0100 KV (soldered) Shell Kit: 3E306-3200-008 Product specifications: JNPS-1042 and JNPS-1043

(19)

(12)

(33)

3-14

3.6 User-Assembled Wiring Materials for Encoder Cables

Cables and User-Assembled Wiring Materials for SGM7J Rotary Servomotors

Pin 6

Pin 1

Pin 9

Pin 7

(27.5)

20.5

2 × M2 pan-head screws

Motor mounting surface

25°

(19)

(12)

(44)

3.6.3 Encoder Connector Kits

3.6.3

Encoder Connector Kits

 Servomotor Connectors

Order Number JZSP-C7P9-1-E Manufacturer Molex Incorporated

Components

Applicable Wire Sizes AWG22 to AWG26

Applicable Cable Diameter

Outer Diameter of Insulating Sheath

Mounting Screws M2 pan-head screws (two)

Application Specifications

Crimping Specifications CS-56161

Crimping Tool*

Hand Tool 57175-5000

Shell Caulking Tool 57331-5100

504678-0070 Loose Connectors: 56161-8181 (crimped), Reeled: 56161-8081 (crimped)

6.3 mm to 7.7 mm

1.05 mm to 1.4 mm

AS-504682

 Cable Installed away from Load

 Cable Installed toward Load

2 × M2 pan-head screws

20.5

(27.5)

External Dimensions [mm]

* A Crimping Tool is required. When using other wire sizes, contact the connector manufacturer for crimping tools.

Note: Cables are not included. Purchase them separately.

Pin 6

Pin 1

 Cable Relay Connectors

Order Number JZSP-CMP9-2-E Manufacturer Molex Incorporated Components 54280-0609 (soldered) Product Specifications PS-54280

External Dimensions [mm]

Motor mounting surface

Pin 9

Pin 7

25°

3-15

3.6 User-Assembled Wiring Materials for Encoder Cables

Red

Orange

Black

Light

blue

Orange

/white

Light blue

/white

3.6.4 Cables without Connectors

3.6.4

Cables without Connectors

Encoder Cables of 20 m or Less

Item Standard Cable Flexible Cable

Order Number*

UL20276 (rated temperature: 80°C) AWG22 × 2C + AWG24 × 2P

AWG22 (0.33 mm

Specifications

Finished Diameter 6.5 mm 6.8 mm

Outer diameter of insulating sheath:

1.15 mm

AWG24 (0.20 mm2) Outer diameter of insulating sheath:

1.09 mm

JZSP-CMP09--E

(maximum length: 20 m)

)

UL20276 (rated temperature: 80°C) AWG22 × 2C + AWG24 × 2P

AWG22 (0.33 mm2) Outer diameter of insulating sheath:

1.35 mm

AWG24 (0.20 mm Outer diameter of insulating sheath:

1.21 mm

Light

blue

Light blue

Internal Structure and Lead Colors

Red

/white

Orange

Black

Orange

/white

JZSP-CSP39--E

(maximum length: 20 m)

)

Black

/light blue

Red

/light blue

Orange

Black /pink

Red

/pink

Light

green

* Replace the boxes () in the order number with the cable length (05, 10, 15, or 20).

Relay Encoder Cable of 30 m to 50 m

Item Standard Cable

Order Number* JZSP-CMP19--E (maximum length: 50 m)

UL20276 (rated temperature: 80°C) AWG16 × 2C + AWG26 × 2P

Specifications

Finished Diameter 6.8 mm

Internal Structure and Lead Colors

AWG16 (1.31 mm Outer diameter of insulating sheath: 2.0 mm

AWG26 (0.13 mm Outer diameter of insulating sheath: 0.91 mm

)

3-16

* Replace the boxes () in the order number with the cable length (30, 40, or 50).

3.7 Wiring Precautions

Cables and User-Assembled Wiring Materials for SGM7J Rotary Servomotors

3.7

Wiring Precautions

The wiring precautions are the same as for SGM7M Rotary Servomotors. Refer to the following section.

2.5 Wiring Precautions on page 2-9

3-17

Cables and UserAssembled Wiring Materials for SGM7A Rotary Servomotors

4.1

4.2

4.3

4.4

4.5

Cable Configurations . . . . . . . . . . . . . . . . . 4-3

4.1.1 SGM7A-A5 to -10 (50 W to 1.0 kW) . . . . . . . . . . . 4-3

4.1.2 SGM7A-15 to -70 (1.5 kW to 7.0 kW) . . . . . . . . . 4-4

Servomotor Main Circuit Cables . . . . . . . . . 4-5

4.2.1 Servomotor Main Circuit Cables for Servomotors

without Holding Brakes . . . . . . . . . . . . . . . . . . . . 4-5

4.2.2 Servomotor Main Circuit Cables for Servomotors

with Holding Brakes . . . . . . . . . . . . . . . . . . . . . . 4-7

User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-A5 to -10 . . 4-11

4.3.1 Servomotor Connector Kits . . . . . . . . . . . . . . . . 4-11

4.3.2 Cables without Connectors . . . . . . . . . . . . . . . . 4-14

User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-15 to -70 . . 4-15

4.4.1 Connector Structures . . . . . . . . . . . . . . . . . . . . 4-15

4.4.2 Main Power Supply Terminal . . . . . . . . . . . . . . . 4-16

4.4.3 Holding Brake Terminals . . . . . . . . . . . . . . . . . . 4-17

4.4.4 Built-in Cooling Fan Terminals . . . . . . . . . . . . . 4-18

4.4.5 Connector External Dimensions . . . . . . . . . . . . 4-19

Encoder Cables of 20 m or Less . . . . . . . . 4-23

4.6

4.5.1 Encoder Cables for Incremental Encoders

or Batteryless Absolute Encoders . . . . . . . . . . . 4-23

4.5.2 Encoder Cables for Absolute Encoders . . . . . . . 4-25

Relay Encoder Cable of 30 m to 50 m . . . . 4-27

4.6.1 Motor-End Relay Encoder Cables . . . . . . . . . . . 4-27

4.6.2 SERVOPACK-End Relay Encoder Cables . . . . . 4-28

4.6.3 Relay Encoder Cables with Battery Cases . . . . 4-29

4.7

User-Assembled Wiring Materials for Encoder Cables . . 4-30

4.7.1 Precautions When Using Encoder Cables with a

Wiring Length of 30 m to 50 m . . . . . . . . . . . . . .4-30

4.7.2 SERVOPACK Connector Kits . . . . . . . . . . . . . . .4-30

4.7.3 Encoder Connector Kits . . . . . . . . . . . . . . . . . . .4-31

4.7.4 Cables without Connectors . . . . . . . . . . . . . . . .4-33

4.8

Wiring Precautions . . . . . . . . . . . . . . . . . . 4-34

4.1 Cable Configurations

Cables and User-Assembled Wiring Materials for SGM7A Rotary Servomotors

Encoder Cable <When 20 m or less>











Servomotor Main Circuit Cable







Encoder Cable <When 30 m to 50 m>





Servomotor Main Circuit Cable















Encoder Cable

Encoder Cable

4.1.1 SGM7A-A5 to -10 (50 W to 1.0 kW)

4.1

4.1.1

Cable Configurations

SGM7A-A5 to -10 (50 W to 1.0 kW)

There are different order numbers for the Servomotor Main Circuit Cables and Encoder Cables depending on the cable installation direction. Confirm the order numbers before you order.

• Cable Installed toward Load

• Cable Installed away from Load

Note: If the Encoder Cable length exceeds 20 m, be sure to also connect Relay Encoder Cables as shown at  to

 in the above diagram.

No. Cable Type Reference



Servomotor Main Circuit Cables



User-Assembled Wiring Materials for



Servomotor Main Circuit Cables Encoder Cables of 20 m or Less for Incremental Encoders or Batteryless Absolute Encoders

 

Encoder Cables of 20 m or Less with Battery Cases for Absolute Encoders Motor-End Relay Encoder Cables



SERVOPACK-End Relay Encoder Cables

 

Relay Encoder Cables with Battery Cases User-Assembled Wiring Materials for Encoder



Cables

*1. If a battery is connected to the host controller, the Battery Case is not required. Use an Encoder Cable for Incre-

mental Encoders or Batteryless Absolute Encoders.

*2. This Cable is not required if you use a Servomotor with an Incremental Encoder, use a Servomotor with a Bat-

teryless Absolute Encoder, or connect a battery to the host controller.

For Servomotors without Holding Brakes For Servomotors with Holding Brakes Connector Kits Cables without Connectors

Connector Kits Cables without Connectors

page 4-5

page 4-7

page 4-11

page 4-14

page 4-23

page 4-25

page 4-27

page 4-30

page 4-33

4-3

4.1 Cable Configurations

Servomotor Main Circuit Cable













Cooling Fan Cable









Encoder Cable

Encoder Cable

4.1.2 SGM7A-15 to -70 (1.5 kW to 7.0 kW)

4.1.2

SGM7A-15 to -70 (1.5 kW to 7.0 kW)

Note: If the Encoder Cable length exceeds 20 m, be sure to also connect Relay Encoder Cables as shown at to

in the above diagram.

No. Cable Type Reference



Servomotor Main Circuit Cables for Servomotors without Holding Brakes

 

Servomotor Main Circuit Cables for Servomotors with Holding Brakes



User-Assembled Wiring Materials for



Servomotor Main Circuit Cables



Cooling Fan Cable



Encoder Cables of 20 m or Less for Incremental Encoders or Batteryless Absolute Encoders

 

Encoder Cables of 20 m or Less with Battery Cases for Absolute Encoders



User-Assembled Wiring Materials for Encoder Cables

Relay Encoder Cables with Battery Cases

SERVOPACK-End Relay Encoder Cables Motor-End Relay Encoder Cables

*1. Cables with connectors on both ends that are compliant with an IP67 protective structure and European Safety Stan-

dards are not available from Yaskawa. Fabricate the cables by yourself or consult your Yaskawa representative. To fabricate the cables, refer to the following section.

4.4 User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-15 to -70 on page 4-15

*2. The lead installation direction is away from the load. Consult your Yaskawa representative for other lead installa-

tion directions.

*3. Yaskawa does not specify what wiring materials to use for the Servomotor Main Circuit Cables. Use appropriate

wiring materials for the current specifications and connectors.

*4. A cooling fan is built into the SGM7A-70 Servomotor only. There is no specified cable to connect to the built-in

cooling fan connector. Use appropriate wiring materials for the built-in cooling fan connector specifications.

*5. If a battery is connected to the host controller, the Battery Case is not required. Use an Encoder Cable for Incre-

mental Encoders or Batteryless Absolute Encoders.

*6. This Cable is not required if you use a Servomotor with an Incremental Encoder, use a Servomotor with a Bat-

teryless Absolute Encoder, or connect a battery to the host controller.

Straight Plug

Right-Angle Plug Straight Plug

Right-Angle Plug Connectors

Cables without Connectors

Straight Plug Right-Angle Plug Straight Plug Right-Angle Plug Connectors Cables without Connectors

page 4-5

page 4-7

page 4-15

–

page 4-18

page 4-24

page 4-26

page 4-30

page 4-33

page 4-28

4-4

4.2 Servomotor Main Circuit Cables

Cables and User-Assembled Wiring Materials for SGM7A Rotary Servomotors

4.2.1 Servomotor Main Circuit Cables for Servomotors without Holding Brakes

4.2

4.2.1

Servomotor Main Circuit Cables

Servomotor Main Circuit Cables for Servomotors without Holding Brakes

Selection Table

 SGM7A-A5 to -10 (50 W to 1.0 kW)

Cable

Direction

Load side

Non-load

side

Note: If the length of the Servomotor Main Circuit Cable exceeds 20 m, the intermittent duty zone in the torque-

motor speed characteristics will become smaller because the voltage drop increases.

Servomotor Model Length (L)

SGM7A-A5 to -C2 50 W to 150 W

SGM7A-02 to -06 200 W to 600 W

SGM7A-08 or -10 750 W or 1.0 kW

SGM7A-A5 to -C2 50 W to 150 W

SGM7A-02 to -06 200 W to 600 W

SGM7A-08 or -10 750 W or 1.0 kW

3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, and 50 m

Standard Cable Flexible Cable

JZSP-C7M10F-

JZSP-C7M20F-

JZSP-C7M30F-

JZSP-C7M10G-

JZSP-C7M20G-

JZSP-C7M30G-

Order Number



-E JZSP-C7M12F--E



-E JZSP-C7M22F--E



-E JZSP-C7M32F--E



-E JZSP-C7M12G--E



-E JZSP-C7M22G--E



-E JZSP-C7M32G--E

*2, *3

 SGM7A-15 to -70 (1.5 kW to 7.0 kW)

Note: Cables with connectors on both ends that are compliant with an IP67 protective structure and European

Safety Standards are not available from Yaskawa. Fabricate the cables by yourself or consult your Yaskawa representative. To fabricate the cables, refer to the following section.

4.4 User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-15 to -70 on page 4-15

Servomotor

Model

SGM7A-15

1.5 kW

SGM7A-20

2.0 kW

SGM7A-25

2.5 kW

SGM7A-30

3.0 kW

SGM7A-40 or -50

4.0 kW or 5.0 kW

SGM7A-70

7.0 kW

*1. Replace the boxes () in the order number with the cable length (03, 05, 10, 15, or 20). *2. Use Flexible Cables for moving parts of machines, such as robots. *3. The recommended bending radius (R) is 90 mm or larger. *4. The lead installation direction is away from the load. Consult your Yaskawa representative for other lead installa-

tion directions.

Connector

Specifications

Straight

Right-angle Straight JZSP-UVA301-

Right-angle Straight JZSP-UVA501--E JZSP-UVA521--E

Right-angle Straight JZSP-UVA601-

Right-angle Straight JZSP-UVA701--E JZSP-UVA721--E

Right-angle Straight JZSP-UVA901-

Right-angle

Length (L)

3 m, 5 m, 10 m, 15 m, and 20 m

Standard Cable Flexible Cable

JZSP-UVA101-

JZSP-UVA102--E JZSP-UVA122--E

JZSP-UVA302--E JZSP-UVA322--E

JZSP-UVA502--E JZSP-UVA522--E

JZSP-UVA602--E JZSP-UVA622--E

JZSP-UVA702--E JZSP-UVA722--E

JZSP-UVA902--E JZSP-UVA922--E

Order Number



-E JZSP-UVA121--E



-E JZSP-UVA321--E



-E JZSP-UVA621--E



-E JZSP-UVA921--E

*2, *3

4-5

4.2 Servomotor Main Circuit Cables

SERVOPACK end Motor end

50 mm L

M4 crimp terminal

SERVOPACK end Motor end

4.2.1 Servomotor Main Circuit Cables for Servomotors without Holding Brakes

*5. A cooling fan is built into the SGM7A-70 Servomotor only. Cooling fan cables are not available. Fabricate the

cables by yourself or consult your Yaskawa representative. Refer to the following section for the built-in cooling fan connector specifications that are required to select the cable.

4.4.4 Built-in Cooling Fan Terminals on page 4-18

Appearance

 SGM7A-A5 to -10 (50 W to 1.0 kW)

Cable Installed away from Load Cable Installed toward Load

50 mm

M4 crimp terminal

 SGM7A-15 to -70 (1.5 kW to 7.0 kW)

Note: Cables with connectors on both ends that are compliant with an IP67 protective structure and European

Safety Standards are not available from Yaskawa. Fabricate the cables by yourself or consult your Yaskawa representative. To fabricate the cables, refer to the following section.

4.4 User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-15 to -70 on page 4-15

SERVOPACK endMotor end

Servomotor

Model

SERVOPACK end Motor end

SGM7A-15

1.5 kW

Straight Connector Right-Angle Connector*

SERVOPACK end Motor end

SGM7A-20 to -70

2.0 kW to 7.0 kW

* The lead installation direction is away from the load. Consult your Yaskawa representative for other lead installa-

tion directions.

Wiring Specifications

SGM7A-A5 to -10 (50 W to 1.0 kW) SGM7A-15 to -70 (1.5 kW to 7.0 kW)

SERVOPACK Leads

Green/yellow

Blue

White

Red

4-6

SignalWire Color

Phase W

Phase V

Phase U

Servomotor Connector

PinSignal

Phase W

Phase V

Phase U

−

SERVOPACK Leads

Red

White

Black or blue

Green or green/yellow

SignalWire Color

Phase U

Phase V

Phase W

Servomotor Connector

PinSignal

Phase U

Phase V

Phase W

4.2 Servomotor Main Circuit Cables

Cables and User-Assembled Wiring Materials for SGM7A Rotary Servomotors

4.2.2 Servomotor Main Circuit Cables for Servomotors with Holding Brakes

4.2.2

Servomotor Main Circuit Cables for Servomotors with Holding Brakes

Selection Table

 SGM7A-A5 to -10 (50 W to 1.0 kW)

Cable

Direction

Load side

Non-load

side

Note: If the length of the Servomotor Main Circuit Cable exceeds 20 m, the intermittent duty zone in the torque-

motor speed characteristics will become smaller because the voltage drop increases.

Servomotor

Model

SGM7A-A5 to -C2 50 W to 150 W

SGM7A-02 to -06 200 W to 600 W

SGM7A-08 or -10 750 W or 1.0 kW

SGM7A-A5 to -C2 50 W to 150 W

SGM7A-02 to -06 200 W to 600 W

SGM7A-08 or -10 750 W or 1.0 kW

Length (L)

3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, and 50 m

Standard Cable Flexible Cable

JZSP-C7M13F-

JZSP-C7M23F-

JZSP-C7M33F-

JZSP-C7M13G-

JZSP-C7M23G-

JZSP-C7M33G-

Order Number



-E JZSP-C7M14F--E



-E JZSP-C7M24F--E



-E JZSP-C7M34F--E



-E JZSP-C7M14G--E



-E JZSP-C7M24G--E



-E JZSP-C7M34G--E

*2, *3

 SGM7A-15 to -50 (1.5 kW to 5.0 kW)

Note: Cables with connectors on both ends that are compliant with an IP67 protective structure and European

Safety Standards are not available from Yaskawa. Fabricate the cables by yourself or consult your Yaskawa representative. To fabricate the cables, refer to the following section.

4.4 User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-15 to -70 on page 4-15

Order Number

Servomotor

Model

Connector

Specifications

Length (L)

(Main Power Supply Cable and Holding

Set of Two Cables

Brake Cable)

Standard Cable Flexible Cable

SGM7A-15

1.5 kW

SGM7A-20

2.0 kW

SGM7A-25

2.5 kW

SGM7A-30

3.0 kW

SGM7A-40 or -50

4.0 kW or 5.0 kW

*1. Replace the boxes () in the order number with the cable length (03, 05, 10, 15, or 20). *2. Refer to the following section to obtain Main Circuit Power Supply Cables and Holding Brake Cables individually.

Appearance on page 4-8

*3. Use Flexible Cables for moving parts of machines, such as robots. *4. The recommended bending radius (R) is 90 mm or larger. *5. The lead installation direction is away from the load. Consult your Yaskawa representative for other lead installa-

tion directions.

Straight

Right-angle

Straight JZSP-UVA331-

Right-angle Straight JZSP-U7A551-

Right-angle

3 m, 5 m, 10 m, 15 m,

and 20 m

Straight JZSP-UVA631-

Right-angle

Straight JZSP-UVA731-

Right-angle

JZSP-UVA131-



-E JZSP-UVA141--E

JZSP-UVA132--E JZSP-UVA142--E



-E JZSP-UVA341--E

JZSP-UVA332--E JZSP-UVA342--E



-E JZSP-U7A561--E

JZSP-U7A552--E JZSP-U7A562--E



-E JZSP-UVA641--E

JZSP-UVA632--E JZSP-UVA642--E



-E JZSP-UVA741--E

JZSP-UVA732--E JZSP-UVA742--E

*1, *2

*3, *4

4-7

4.2 Servomotor Main Circuit Cables

SERVOPACK end Motor end

50 mm

M4 crimp terminal

SERVOPACK endMotor end

50 mmL

M4 crimp terminal

SERVOPACK end Motor end

Brake power s

upply end Brake end

4.2.2 Servomotor Main Circuit Cables for Servomotors with Holding Brakes

Appearance

 SGM7A-A5 to -10 (50 W to 1.0 kW)

Cable Installed away from Load Cable Installed toward Load

 SGM7A-15 to -50 (for 1.5 kW to 5.0 kW)

Servomotor

Model

Connector

Type

Appearance

Order Num-

bers of Main

Power Sup-

ply Cable and

Holding Brake

Cable

Individual Cable Order

Numbers

• Main Circuit Power Supply Cable Standard Cable: JZSP-UVA101Flexible Cable: JZSP-UVA121--E

• Holding Brake

Cable

Straight

Standard Cable: JZSP-UVA131-



-E Flexible Cable: JZSP-UVA141-



-E

JZSP-U7B23--E

SGM7A-15

1.5 kW

Rightangle

SERVOPACK end Motor end

Brake power supply end Brake end

Standard Cable: JZSP-UVA132-



-E Flexible Cable: JZSP-UVA142-



-E

• Main Circuit Power Supply Cable Standard Cable: JZSP-UVA102Flexible Cable: JZSP-UVA122-

• Holding Brake

Cable JZSP-U7B24--E

Continued on next page.

*1. The lead installation direction is away from the load. Consult your Yaskawa representative for other lead instal-

lation directions.

*2. Flexible Cables are provided as a standard feature.



-E

4-8

Cables and User-Assembled Wiring Materials for SGM7A Rotary Servomotors

Servomotor

SERVOPACK end Motor end

Brake power supply end Brake end

SERVOPACK end Motor end

Brake power supply end Brake end

Model

SGM7A-20

2.0 kW

Connector

Ty pe

Straight

Right-

angle

4.2 Servomotor Main Circuit Cables

4.2.2 Servomotor Main Circuit Cables for Servomotors with Holding Brakes

Continued from previous page.

Order Num-

bers of Main

Appearance

Power Sup-

ply Cable and

Individual Cable Order

Numbers

Holding Brake

Cable

SERVOPACK end Motor end

• Main Circuit Power Supply Cable Standard Cable: JZSP-UVA301Flexible Cable: JZSP-UVA321--E

• Holding Brake

Cable

Brake power s

upply end Brake end

Standard Cable: JZSP-UVA331-



-E Flexible Cable: JZSP-UVA341-



-E

JZSP-U7B23--E

• Main Circuit Power Standard Cable: JZSP-UVA332-



-E Flexible Cable: JZSP-UVA342-



-E

Supply Cable Standard Cable: JZSP-UVA302Flexible Cable: JZSP-UVA322-

• Holding Brake

Cable JZSP-U7B24--E



-E

SERVOPACK end Motor end

• Main Circuit Power Supply Cable Standard Cable: JZSP-U7A501Flexible Cable: JZSP-U7A521--E

• Holding Brake

Cable

Straight

Brake power supply end Brake end

Standard Cable: JZSP-U7A551-



-E Flexible Cable: JZSP-U7A561-



-E

JZSP-U7B23--E

SGM7A-25

2.5 kW

• Main Circuit Power Supply Cable Standard Cable: JZSP-U7A502Flexible Cable: JZSP-U7A522--E

• Holding Brake

Cable

Rightangle

Standard Cable: JZSP-U7A552-



-E Flexible Cable: JZSP-U7A562-



-E

JZSP-U7B24--E

Continued on next page.

*1. The lead installation direction is away from the load. Consult your Yaskawa representative for other lead instal-

lation directions.

*2. Flexible Cables are provided as a standard feature.



-E

4-9

4.2 Servomotor Main Circuit Cables

Brake power supply end Brake end

SERVOPACK end Motor end

Brake power supply end

Brake end

Brake power supply end Brake end

PinSignal

SignalWire Color

Servomotor Connector

Phase U

Phase V

Phase W

Brake

Phase U

Phase V

Phase W

Red

White

Blue

Green/yellow

Black

SERVOPACK Leads

PinSignalSignalWire Color

Servomotor Connector

Phase W

Phase V

Phase U

Phase W

Phase V

Phase U

Green or green/yellow

Black or blue

White

Red

SERVOPACK Leads

Brake

Black

White

4.2.2 Servomotor Main Circuit Cables for Servomotors with Holding Brakes

Servomotor

Model

Connector

Type

SERVOPACK end

Appearance

Motor end

Straight

SGM7A-30

3.0 kW

Right-

angle

Continued from previous page.

Order Num-

bers of Main

Power Sup-

ply Cable and

Holding Brake

Cable

Standard Cable: JZSP-UVA631-



-E Flexible Cable: JZSP-UVA641-



-E

Standard Cable: JZSP-UVA632-



-E Flexible Cable: JZSP-UVA642-



-E

Individual Cable Order

Numbers

• Main Circuit Power Supply Cable Standard Cable: JZSP-UVA601-



-E Flexible Cable: JZSP-UVA621--E

• Holding Brake

Cable JZSP-U7B23--E

• Main Circuit Power Supply Cable Standard Cable: JZSP-UVA602-



-E Flexible Cable: JZSP-UVA622--E

• Holding Brake

Cable JZSP-U7B24--E

• Main Circuit Power Supply Cable Standard Cable: JZSP-UVA701Flexible Cable: JZSP-UVA721-

• Holding Brake

Cable JZSP-U7B23--E

• Main Circuit Power Supply Cable Standard Cable: JZSP-UVA702Flexible Cable: JZSP-UVA722-

• Holding Brake

Cable

SGM7A40, -50

4.0 kW,

5.0 kW

Straight

Right-

angle

SERVOPACK end Motor end

Standard Cable: JZSP-UVA731-



-E Flexible Cable: JZSP-UVA741-



-E

Standard Cable: JZSP-UVA732-



-E Flexible Cable: JZSP-UVA742-



-E

JZSP-U7B24--E

*1. The lead installation direction is away from the load. Consult your Yaskawa representative for other lead instal-

lation directions.

*2. Flexible Cables are provided as a standard feature.

Wiring Specifications

SGM7A-A5 to -10 (50 W to 1.0 kW) SGM7A-15 to -50 (1.5 kW to 5.0 kW)



-E

4-10

Note: There is no polarity for the connection to the holding brake.

4.3 User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-A5 to -10

Cables and User-Assembled Wiring Materials for SGM7A Rotary Servomotors

16.1

(29.2)

25.8

14 dia.

35°

25.8

14.7

Motor mounting surface

Pin 1

Pin 6

Pin 1

Pin 6

25.8

14.7

16.1

(29.2)

14 dia.

35°

Pin 1

Pin 6

Motor mounting surface

Pin 1

Pin 6

4.3.1 Servomotor Connector Kits

4.3

4.3.1

User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-A5 to -10

Servomotor Connector Kits

Selection Table

Servomotor Model Servomotor Capacity Order Number*

SGM7A-A5 to -C2 50 W to 150 W JZSP-C7M9-1-E SGM7A-02 to -06 200 W to 600 W JZSP-C7M9-2-E SGM7A-08 or -10 750 W or 1.0 kW JZSP-C7M9-3-E

* Cables are not included. Purchase them separately.

 SGM7A-A5 to -C2 (50 W to 150 W)

Item Description

Order Number JZSP-C7M9-1-E Manufacturer J.S.T. Mfg. Co., Ltd. User Instructions JFA Connector J-1700

Components

Applicable Wire Sizes

Applicable Cable Diameter

Outer Diameter of Insulating Sheath

Mounting Screws M2 pan-head screws

Crimping Tool*

Receptacle J17S-06FMH-7KL-M-CF Contacts SJ1F-01GF-P0.8

Power terminals: AWG20 Holding brake terminals: AWG20 to AWG24

7 mm ±0.3 mm

1.11 mm to 1.53 mm

Hand Tool YRS-8841 Applicator APLMK SJ1F/M01-08

 Cable on Non-load Side  Cable on Load Side

External Dimensions [mm]

* A Crimping Tool is required. Contact the connector manufacturer for details.

4-11

4.3 User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-A5 to -10

4.3.1 Servomotor Connector Kits

 SGM7A-02 to -06 (200 W to 600 W)

Item Description

Order Number JZSP-C7M9-2-E Manufacturer J.S.T. Mfg. Co., Ltd. User Instructions JFA Connector J-2700

Components

Applicable Wire Sizes

Applicable Cable Diameter

Outer Diameter of Insulating Sheath

Mounting Screws M2 pan-head screws

Crimping Tool*

Receptacle J27S-06FMH-7KL-M-CF Contacts SJ2F-01GF-P1.0

Power terminals: AWG20 Holding brake terminals: AWG20 to AWG24

7 mm ±0.3 mm

1.11 mm to 1.53 mm

Hand Tool YRS-8861 Applicator APLMK SJ2F/M01-10

 Cable on Non-load Side

(31)

14.7

28.7

 Cable on Load Side

28.7 (31)

14.7

Motor mounting

External Dimensions

surface

[mm]

35°

14 dia.

17.1

* A Crimping Tool is required. Contact the connector manufacturer for details.

Pin 1

Pin 6

Pin 1

Pin 6

Motor mounting surface

17.1

35°

14 dia.

4-12

4.3 User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-A5 to -10

Cables and User-Assembled Wiring Materials for SGM7A Rotary Servomotors

(36.6)

19.3

16.2 dia.

25°

Pin 6

Pin 1

Motor mounting surface

Pin 1

Pin 6

(36.6)

19.3

16.2 dia.

25°

Motor mounting surface

Pin 1

Pin 6

Pin 1

 SGM7A-08 or -10 (750 W or 1.0 kW)

Item Description

Order Number JZSP-C7M9-3-E Manufacturer J.S.T. Mfg. Co., Ltd. User Instructions JFA Connector J-3700

Components

Applicable Wire Sizes

Applicable Cable Diameter

Outer Diameter of Insulating Sheath

Mounting Screws M2.5 pan-head screws

Crimping Tool*

Receptacle J37S-06FMH-8KL-M-CF

Contacts

Power terminals: SJ3F-41GF-P1.8 Holding brake terminals: SJ3F-01GF-P1.8

Power terminals: AWG16 Holding brake terminals: AWG20 to AWG24

8 mm ±0.3 mm

Power terminals: 1.53 mm to 2.5 mm Holding brake terminals: 1.11 mm to 1.86 mm

Hand Tool

Applicator

Power terminals: YRF-880 Holding brake terminals: YRF-881

Power terminals: APLMK SJ3F/M41-20 Holding brake terminals: APLMK SJ3F/M01-20

 Cable on Non-load Side

4.3.1 Servomotor Connector Kits

 Cable on Load Side

External Dimensions [mm]

* A Crimping Tool is required. Contact the connector manufacturer for details.

4-13

4.3 User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-A5 to -10

Black

White

Red

Black

Blue

Green

/yellow

Black

Blue White

Red

Black

Green

/yellow

4.3.2 Cables without Connectors

4.3.2

Cables without Connectors

Selection Table

Servomotor Model

Standard Cable Flexible Cable

SGM7A-A5 to -C2 50 W to 150 W

SGM7A-02 to -06

JZSP-CSM90-

200 W to 600 W SGM7A-08 or -10

750 W or 1.0 kW

* Replace the boxes () in the order number with the cable length (05, 10, 15, 20, 30, 40, or 50).

JZSP-CSM91-

 SGM7A-A5 to -06 (50 W to 600 W)

Item Standard Cable Flexible Cable

Order Number*

UL2517 (rated temperature:105°C) AWG20 × 6C

Power lines: AWG20 (0.52 mm

Specifications

Finished Diameter 7 mm ±0.3 mm

Outer diameter of insulating sheath:

1.53 mm

Holding brake lines: AWG20 (0.52 mm Outer diameter of insulating sheath:

1.53 mm

Order Number*



-E JZSP-C7M29--E



-E JZSP-CSM81--E

JZSP-CSM90--E

(maximum length: 50 m)

)

JZSP-C7M29--E

(maximum length: 50 m)

UL2517 (rated temperature:105°C) AWG20 × 4C, AWG22C × 2C

Power lines: AWG20 (0.52 mm Outer diameter of insulating sheath:

1.37 mm

Holding brake lines: AWG22 (0.33 mm

)

Outer diameter of insulating sheath:

1.37 mm

)

Internal Structure and Lead Colors

* Replace the boxes () in the order number with the cable length (05, 10, 15, 20, 30, 40, or 50).

 SGM7A-08 or -10 (750 W or 1.0 kW)

Item Standard Cable Flexible Cable

Order Number*

Specifications

UL2517 (rated temperature:105°C) AWG16 × 4C, AWG20 × 2C

Power lines: AWG16 (1.31 mm2) Outer diameter of insulating sheath:

2.15 mm

Holding brake lines: AWG20 (0.52 mm2) Outer diameter of insulating sheath:

1.6 mm

JZSP-CSM91--E

(maximum length: 50 m)

UL2517 (rated temperature:105°C) AWG16 × 4C, AWG22 × 2C

Power lines: AWG16 (1.31 mm2) Outer diameter of insulating sheath:

2.35 mm

Holding brake lines: AWG22 (0.33 mm2) Outer diameter of insulating sheath:

1.37 mm

Finished Diameter 8 mm ±0.3 mm

Internal Structure and Lead Colors

JZSP-CSM81--E

(maximum length: 50 m)

4-14

* Replace the boxes () in the order number with the cable length (05, 10, 15, 20, 30, 40, or 50).

4.4 User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-15 to -70

Cables and User-Assembled Wiring Materials for SGM7A Rotary Servomotors

Plug

Conduit

(There is no

designated part)

Servomotor

Servomotor Connectors

(Receptacle)

(Servomotor accessories)

Cable Clamp

Cable

(There is no

designated part)

Straight Plug

Right-angle Plug

Servomotor Connectors

(Receptacle)

(Servomotor accessories)

Cable

(There is no

designated part)

Straight Plug

<Holding Brake Terminals> These are required only when you use a Servomotor a Holding Brake.

Right-angle Plug

Servomotor Connectors

(Receptacle)

(Servomotor accessories)

Cable

(There is no

designated part)

Straight Plug

<Built-in Cooling Fan Terminals> These are required only when you use a Servomotor with a built-in cooling fan.

Right-angle Plug

4.4.2 Main Power Supply Terminal on page 4-16

4.4.3 Holding Brake Terminals on page 4-17

4.4.4 Built-in Cooling Fan Terminals on page 4-18

4.4.1 Connector Structures

4.4

4.4.1

User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-15 to -70

If you need standard-structure Servomotor connectors, consult your Yaskawa representative. To fabricate the cables, refer to this section. To purchase cables with connectors, refer to the following section.

4.2 Servomotor Main Circuit Cables on page 4-5

If you need Servomotor connectors on both ends that are compliant with an IP67 protective structure and European Safety Standards, fabricate the cables by yourself or consult your Yaskawa representative. To fabricate the cables, refer to this section.

When you fabricate the cables, Yaskawa does not specify what wiring materials to use. Therefore, use appropriate wiring materials for your connectors and the electrical specifications.

Connector Structures

4-15

4.4 User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-15 to -70

4.4.2 Main Power Supply Terminal

4.4.2

Main Power Supply Terminal

Servomotor Connector (Receptacle)

This connector is an accessory to the Servomotor.

Servomotor

Model

SGM7A-15 SGM7A-20 SGM7A-25

SGM7A-30 SGM7A-40 SGM7A-50 SGM7A-70

Note: Servomotor Connectors (receptacle) are compatible with MS Connectors. To use a plug not specified by

Yaskawa, select an appropriate plug with reference to the MS connector model number in the parentheses.

Cable-Side Connectors (Plug)

Cable-side connectors (plug) are available in the standard environment type and the type compliant with an IP67 protective structure and European Safety Standards and in the straight and right-angle shapes.

 Standard Environment Type: Cable-Side Connectors (Plug)

Servomotor

Model

SGM7A-15 SGM7A-20 SGM7A-25

SGM7A-30 SGM7A-40 SGM7A-50 SGM7A-70

Capacity Servomotor Connector Models Connector Surface

1.5 kW to 2.5 kW

3.0 kW to 7.0 kW

Capacity

Straight

1.5 kW to

2.5 kW

3.0 kW to

7.0 kW

Rightangle

Straight

Rightangle

CE05-2A18-10PD-D (MS Connector model: MS3102A18-10P)

CE05-2A22-22PD-D (MS Connector model: MS3102A22-22P)

Order Numbers

Plug Cable Clamp

CE05-6A18-10SD-D-BSS CE3057-10A--D DDK Ltd.

N/MS3106B18-10S N/MS3057-10A

CE05-8A18-10SD-D-BAS CE3057-10A--D DDK Ltd.

N/MS3108B18-10S N/MS3057-10A

CE05-6A22-22SD-D-BSS CE3057-12A--D DDK Ltd.

N/MS3106B22-22S N/MS3057-12A

CE05-8A22-22SD-D-BAS CE3057-12A--D DDK Ltd.

N/MS3108B22-22S N/MS3057-12A

Japan Aviation Electronics Industry, Ltd.

Manufacturer

4-16

4.4 User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-15 to -70

Cables and User-Assembled Wiring Materials for SGM7A Rotary Servomotors

Order Numbers

Applicable

Cable Diameter

(Reference)

[mm]

CE3057-10A-1-D 10.5 to 14.1 CE3057-10A-2-D 8.5 to 11.0 CE3057-10A-3-D 6.5 to 8.7

Order Numbers

Applicable

Cable Diameter

(Reference)

[mm]

CE3057-12A-1-D 12.5 to 16.0 CE3057-12A-2-D 9.5 to 13.0 CE3057-12A-3-D 6.8 to 10.0 CE3057-12A-7-D 14.5 to 17.0

4.4.3 Holding Brake Terminals

 Type Compliant with an IP67 Protective Structure and European Safety

Standards: Cable-Side Connectors (Plug)

Servomotor

Model

Capacity

Plug Cable Clamp

Single CE05-6A18-10SD-D**

Order Numbers

Manufacturer

4.4.3

SGM7A-15 SGM7A-20 SGM7A-25

SGM7A-30 SGM7A-40 SGM7A-50 SGM7A-70

* Using a single plug does not require a Cable Clamp. However, a conduit is required instead of a Cable Clamp.

Yaskawa does not specify a specific conduit. For the conduit grounding, contact the manufacturer of the conduit.

1.5 kW to

2.5 kW

3.0 kW to

7.0 kW

Straight CE05-6A18-10SD-D-BSS

Rightangle

Single CE05-6A22-22SD-D**

Straight CE05-6A22-22SD-D-BSS

Rightangle

CE05-8A18-10SD-D-BAS

CE05-8A22-22SD-D-BAS

DDK Ltd.

Holding Brake Terminals

These are required only when you use a Servomotor with a Holding Brake.

Servomotor Connector (Receptacle)

This connector is an accessory to the Servomotor.

Servomotor

Model

SGM7A-15 SGM7A-20 SGM7A-25 SGM7A-30 SGM7A-40 SGM7A-50

Capacity Servomotor Connector Models Connector Surface

1.5 kW to 5.0 kW CM10-R2P-D

Cable-Side Connectors (Plug)

Cable-side connectors (plug) are compliant with an IP67 protective structure and European Safety Standards. They are available in the straight and right-angle shapes.

Servomotor

Model

SGM7A-15 SGM7A-20 SGM7A-25 SGM7A-30 SGM7A-40 SGM7A-50

Capacity Order Numbers

CM10-SP2S-S-D 4.0 mm to 6.0 mm

1.5 kW to

5.0 kW

Straight

Rightangle

CM10-SP2S-M-D 6.0 mm to 9.0 mm CM10-SP2S-L-D 9.0 mm to 11.6 mm CM10-AP2S-S-D 4.0 mm to 6.0 mm CM10-AP2S-M-D 6.0 mm to 9.0 mm CM10-AP2S-L-D 9.0 mm to 11.6 mm

Applicable Cable Diameter

(Reference)

Manufacturer

DDK Ltd.

4-17

4.4 User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-15 to -70

Information

J Z S P - C V B 9 - S M S2 - E

Connector Shape

S: Straight plug

A: Right-angle plug

Bush Size

S: S size (4.0 mm to 6.0 mm dia.)

M: M size (6.0 mm to 9.0 mm dia.)

L: L size (9.0 mm to 11.6 mm dia.)

Contact Pin Type

S2: Soldered

C3: Crimped

Information

Item Specifications

User Instructions

• Straight Plug (CM10-SP2S--D): TC-583

• Right-Angle Plug (CM10-AP2S-



-D): TC-573

Contact Models

 Loose Contacts (100 per bag)

• Crimped Contacts: CM10-#22SC(C3)-100 Wire size: AWG16 to AWG20 Outer diameter of insulating sheath: 1.87 mm to 2.45 mm Manual Crimping Tool: 357J-50448T

• Soldered Contacts: CM10-#22SC(S2)-100 Wire size: AWG16 max.

 Reeled Contacts (4,000 per reel)

• Crimped Contacts: CM10-#22SC(C3)-4000 Wire size: AWG16 to AWG20 Outer diameter of insulating sheath: 1.87 mm to 2.45 mm Semi-automatic Crimping Tool: AP-A50541T (Set) AP-A50541T-1 (Applicator)

Note:The Semi-automatic Tool Set includes the press and Applicator (crimper).

Information

4.4.4 Built-in Cooling Fan Terminals

When consulting with your Yaskawa representative, refer to the following order number format.

* Crimping Tool: A 357J-50448T from DDK Ltd. is required.

Other connector specifications

4.4.4

4-18

Built-in Cooling Fan Terminals

These are required only when you use a Servomotor with a built-in cooling fan. A cooling fan is built into the SGM7A-70 Servomotor only.

Servomotor Connector (Receptacle)

This connector is an accessory to the Servomotor.

Servomotor

Model

SGM7A-70 7.0 kW MS3102A14S-6P

Cable-Side Connectors (Plug)

Cable-side connectors (plug) are compliant with an IP67 protective structure and European Safety Standards.

Servomotor

Model

SGM7A-70 7.0 kW MS3108B14S-6S MS3057-6A

Prepare wiring materials that are appropriate for the following cooling fan specifications.

• Single-phase 200 V

• 50/60 Hz

• 17/15 W

• 0.11/0.09 A

Capacity Servomotor Connector Models Connector Surface

Capacity

Order Numbers

Plug Cable Clamp

Manufacturer

Japan Aviation Electronics Industry, Ltd.

4.4 User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-15 to -70

Cables and User-Assembled Wiring Materials for SGM7A Rotary Servomotors

Positioning key

B dia.

C dia.

-0.38

Q dia.

-0.38

4.4.5 Connector External Dimensions

4.4.5

Connector External Dimensions

Main Power Supply Terminal

 Straight Plug: CE05-6A-SD-D-BSS (from DDK Ltd.)

Unit: mm

Spanner

Fitting

Width

Across Flat

Model

CE05-6A1810SD-D-BSS

CE05-6A2222SD-D-BSS

Joint Nut

Shell

Size

18 1-1/8-18UNEF-2B 34.13 32.1 57 26.7 1-20UNEF-2A

22 1-3/8-18UNEF-2B 40.48 38.3 61 32.4 1-3/16-18UNEF-2A

Joint Thread

Outer

Diameter

BDia.

Max.

Diameter

C ± 0.8

Dia.

To ta l

Length

D Max.

Cable Clamp

Mounting Thread

 Straight Plug: N/MS3106B-S (from Japan Aviation Electronics

Industry, Ltd.)

Unit: mm

Model

MS3106B18-

10S

MS3106B22-

22S

Joint Nut

Shell

Size

Joint Thread

18 1-1/8-18UNEF 18.26 52.37 34.13 1-20UNEF 9.53 42

22 1-3/8-18UNEF 18.26 55.57 40.48 1-3/16-18UNEF 9.53 50

Length of

Joint

J ± 0.12

To ta l Length L Max.

Outer

Diameter

Dia.

Cable Clamp

Mounting

Thread

Effective

Thread Length W Min.

Maximum

Width

Y Max.

4-19

4.4 User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-15 to -70

Positioning key

B dia.

(S)

-0.38

Q dia.

-0.38

4.4.5 Connector External Dimensions

 Right-Angle Plug: CE05-8A

-

Unit: mm

Joint Nut Outer Diameter

BDia.

34.13 30.0 69.5 1-20UNEF-2A 13.2 30.2 43.4

40.48 36.2 75.5

Model

CE05-8A1810SD-D-BAS

CE05-8A2222SD-D-BAS

Shell

Size

Joint

Thread

1-1/8-

18UNEF-2B

1-3/8-

18UNEF-2B

 Right-Angle Plug: N/MS3108B

Electronics Industry, Ltd.)

SD-D-BAS (from DDK Ltd.)

Spanner Fitting

Width Across

Flat

-

To tal

Length

D Max.

S (from Japan Aviation

Cable Clamp

Mounting

Thread

1-3/16-18UNEF-

± 0.7U ± 0.7

(S)

± 1

16.3 33.3 49.6

4-20

Unit: mm

Model

MS3108B18-

MS3108B22-

10S

22S

Shell

Size

Joint Thread

Length

of Joint

J ± 0.12

To tal Length L Max.

Joint Nut

Outer

Diameter

Dia.

± 0.5U± 0.5

Cable Clamp

Mounting

Thread

18 1-1/8-18UNEF 18.26 68.27 34.13 20.5 30.2 1-20UNEF 9.53

22 1-3/8-18UNEF 18.26 76.98 40.48 24.1 33.3 1-3/16-18UNEF 9.53

ffective

Thread

Length

W Min.

4.4 User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-15 to -70

Cables and User-Assembled Wiring Materials for SGM7A Rotary Servomotors

F dia.

(D)

1.5

E dia.

B dia.

E dia.

J dia.

Q dia.

1.6

4.4.5 Connector External Dimensions

 Cable Clamp: CE3057-

Unit: mm

Model

CE305710A-1-D

CE305710A-2-D

CE305710A-3-D

CE305712A-1-D

CE305712A-2-D

CE305712A-3-D

CE305712A-7-D

Applicable Connector

Shell Size

18 23.83 30.1 10.31

22 23.83 35 10.31

To ta l Length A ± 0.7

Outer

Diameter

B Dia.

A-

Effective

Thread Length

(D)

(41.3)

-D (from DDK Ltd.)

Bushing

Diameter

E Dia.

Outer

15.8

19.0

Bushing

Inner

Diameter

F Dia.

14.1

8.7

± 0.7

31.7

37.3

ounting

Thread

1-20UNEF-

1-3/16-

18UNEF-2B

Attached

Bushing

CE3420-

10-1

CE3420-

10-2

CE3420-

10-3

CE3420-

12-1

CE3420-

12-2

CE3420-

12-3

CE3420-

12-7

Applicable

Cable

Diameter

(Reference)

10.5 to

14.1

8.5 to

11.0

6.5 to 8.7

12.5 to

16.0

9.5 to

13.0

6.8 to

10.0

14.5 to

17.0

 Cable Clamp: N/MS3057-



A (from Japan Aviation Electronics

Industry, Ltd.)

Unit: mm

Cable

Clamp

Inner

Diameter

E Dia.

± 0.7

Slide

Range

Bushing

Inner

Diameter

J Dia.

Mounting

Thread

1-3/16-

18UNEF

Outer

Diameter

Q ± 0.7

Dia.

35.0 AN3420-12

Attached

Bushing

Model

N/MS305710A

N/MS305712A

Note: A rubber bushing is included.

Applicable Connector

Shell Size

18 23.8 10.3 15.9 31.7 3.2 14.3 1-20UNEF 30.1 AN3420-10

22 23.8 10.3 19 37.3 4 15.9

To ta l Length A ± 0.7

Effective

Thread Length

4-21

4.4 User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-15 to -70

(51.4)

21 dia.

32.5 21 dia.

21 dia.

(34)

4.4.5 Connector External Dimensions

Holding Brake Terminals

 Straight Plug: CM10-SP2S--D

Unit: mm

 Right-Angle Plug: CM10-AP2S--D

Unit: mm

4-22

4.5 Encoder Cables of 20 m or Less

Cables and User-Assembled Wiring Materials for SGM7A Rotary Servomotors

SERVOPACK end Encoder end

SERVOPACK endEncoder end

Pin Wire Color

Black

Red

Light blue/white

Light blue

Orange/white

Orange

Encoder (motor) end

Pin Signal

Shell FG Shell FG

SERVOPACK end

Shield wire

/PS

BAT (-)

BAT (+)

PG 5 V

PG 0 V

Pin Wire Color

Light green

Orange

Black/pink

Red/pink

Black/light blue

Red/light blue

Encoder (motor) end

Pin Signal

Shell FG Shell FG

SERVOPACK end

Shield wire

/PS

BAT (-)

BAT (+)

PG 5 V

PG 0 V

4.5.1 Encoder Cables for Incremental Encoders or Batteryless Absolute Encoders

4.5

4.5.1

Encoder Cables of 20 m or Less

Encoder Cables for Incremental Encoders or Batteryless Absolute Encoders

SGM7A-A5 to -10 (50 W to 1.0 kW)

 Selection Table

Cable

Direction

Load side

Non-load

side

Servomotor

Model

SGM7A-A5 to -10

50 W to 1.0 kW

Length (L)

3 m, 5 m, 10 m, 15 m, and 20 m

Standard Cable Flexible Cable

JZSP-C7PI0D-

JZSP-C7PI0E-

Order Number



-E JZSP-C7PI2D--E



-E JZSP-C7PI2E--E

 External Dimensions

Cable Installed away from Load Cable Installed toward Load

*2, *3

 Wiring Specifications

Standard Cable Flexible Cable

4-23

4.5 Encoder Cables of 20 m or Less

SERVOPACK end Encoder end

4.5.1 Encoder Cables for Incremental Encoders or Batteryless Absolute Encoders

SGM7A-15 to -70 (1.5 kW to 7.0 kW)

 Selection Table

Servomotor Model

SGM7A-15 to -70

1.5 kW to 7.0 kW

*1. Replace the boxes () in the order number with the cable length (03, 05, 10, 15, or 20). *2. Use Flexible Cables for moving parts of machines, such as robots. *3. The recommended bending radius (R) is 46 mm or larger. *4. The lead installation direction is away from the load. Consult your Yaskawa representative for other lead installa-

tion directions.

*5. An Encoder Cable with a Right-angle Connector cannot be used with the SGM7A-70 (7.0 kW). Use an Encoder

Cable with a Straight Connector.

 Appearance

Straight Connector Right-Angle Connector*

Connector

Specifications

Straight

Right-angle

*4, *5

Length (L)

3 m, 5 m, 10 m, 15 m, and 20 m

JZSP-CVP01-

JZSP-CVP02--E JZSP-CVP12--E

Order Number

Standard Cable Flexible Cable



-E JZSP-CVP11--E

*2, *3

* The lead installation direction is away from the load. Consult your Yaskawa representative for other lead installa-

tion directions.

 Wiring Specifications

Standard Cable Flexible Cable

SERVOPACK end

Pin Signal

/PS

BAT(-)

BAT(+)

PG 0V

PG 5V

Shell FG 10 FG

Shield wire

Encoder (motor) end

Pin Wire Color

Light blue/white

Light blue

Orange/white

Orange

Black

Red

SERVOPACK end

Pin Signal

/PS

BAT(-)

BAT(+)

PG 0V

PG 5V

Shell FG 10 FG

Shield wire

Encoder (motor) end

Pin Wire Color

Black/pink

Black/light blue

Red/light blue

Light green

Red/pink

Orange

4-24

4.5 Encoder Cables of 20 m or Less

Cables and User-Assembled Wiring Materials for SGM7A Rotary Servomotors

NOTICE

Encoder endSERVOPACK end

Battery Case (battery included)

Signal

Battery Case

Pin Wire Color

Black

Red

Light blue/white

Light blue

Orange/white

Orange

Encoder (motor) end

Pin Signal

Shell FG Shell FG

SERVOPACK end

Shield wire

/PS

BAT (-)

BAT (+)

BAT (-)

BAT (+)

PG 5 V

PG 0 V

4.5.2 Encoder Cables for Absolute Encoders

4.5.2

Encoder Cables for Absolute Encoders

These cables are equipped with a Battery Case. (A Battery is included.)

Note: If a battery is connected to the host controller, the Battery Case is not required. Use an Encoder Cable for

Incremental Encoders or Batteryless Absolute Encoders.

 Install a battery at either the host controller or on the Encoder Cable.

If you install batteries both at the host controller and on the Encoder Cable at the same time, you will create a loop circuit between the batteries, resulting in a risk of damage or burning.

SGM7A-A5 to -10 (50 W to 1.0 kW)

 Selection Table

Cable

Direction

Load side

Non-load

side

Servomotor

Model

SGM7A-A5 to -10

50 W to 1.0 kW

Length (L)

3 m, 5 m, 10 m, 15 m, and 20 m

Standard Cable Flexible Cable

JZSP-C7PA0D-

JZSP-C7PA0E--E JZSP-C7PA2E--E

Order Number



-E JZSP-C7PA2D--E

*2, *3

 External Dimensions

 Wiring Specifications

Cable Installed away from Load Cable Installed toward Load

Battery Case (battery included)

Standard Cable Flexible Cable

Encoder (motor) end

Pin Wire Color

SERVOPACK end

Pin Signal

/PS

BAT (-)

BAT (+)

PG 0 V

PG 5 V

Shell FG Shell FG

Battery Case

Shield wire

Signal

BAT (-)

BAT (+)

SERVOPACK endEncoder end

Black/pink

Red/pink

Black/light blue

Red/light blue

Light green

Orange

4-25

4.5 Encoder Cables of 20 m or Less

Battery Case

(battery included)

SERVOPACK end Encoder end

Signal

Battery Case

Pin Wire Color

Black

Red

Light blue/white

Light blue

Orange/white

Orange

Encoder (motor) end

Pin Signal

Shell FG 10 FG

SERVOPACK end

Shield wire

/PS

BAT(-)

BAT(+)

BAT(-)

BAT(+)

PG 5 V

PG 0 V

4.5.2 Encoder Cables for Absolute Encoders

SGM7A-15 to -70 (1.5 kW to 7.0 kW)

 Selection Table

Servomotor Model

SGM7A-15 to -70

1.5 kW to 7.0 kW

*1. Replace the boxes () in the order number with the cable length (03, 05, 10, 15, or 20). *2. Use Flexible Cables for moving parts of machines, such as robots. *3. The recommended bending radius (R) is 46 mm or larger. *4. The lead installation direction is away from the load. Consult your Yaskawa representative for other lead installa-

tion directions.

*5. An Encoder Cable with a Right-angle Connector cannot be used with the SGM7A-70 (7.0 kW). Use an Encoder

Cable with a Straight Connector.

 Appearance

Straight Connector Right-Angle Connector*

Connector

Specifications

Straight

Right-angle

*4, *5

Length (L)

3 m, 5 m, 10 m, 15 m, and 20 m

Order Number

Standard Cable Flexible Cable

JZSP-CVP06-



-E JZSP-CVP26--E

JZSP-CVP07--E JZSP-CVP27--E

SERVOPACK end Encoder end

*2, *3

Battery Case

(battery included)

* The lead installation direction is away from the load. Consult your Yaskawa representative for other lead installa-

tion directions.

 Wiring Specifications

Standard Cable Flexible Cable

SERVOPACK end

Pin Signal

/PS

BAT(-)

BAT(+)

PG 0 V

PG 5 V

Shell FG 10 FG

Battery Case

Shield wire

Signal

BAT(-)

BAT(+)

Encoder (motor) end

Pin Wire Color

Black/pink

Red/pink

Black/light blue

Red/light blue

Light green

Orange

4-26

4.6 Relay Encoder Cable of 30 m to 50 m

Cables and User-Assembled Wiring Materials for SGM7A Rotary Servomotors

NOTICE

SERVOPACK end Encoder end

SERVOPACK endEncoder end

Pin Wire Color

Black

Red

Light blue/white

Light blue

Orange/white

Orange

Encoder (motor) end

Pin Signal

Shell FG Shell FG

SERVOPACK end

Shield wire

/PS

BAT (-)

BAT (+)

PG 5 V

PG 0 V

4.6.1 Motor-End Relay Encoder Cables

4.6

4.6.1

Relay Encoder Cable of 30 m to 50 m

If the Encoder Cable length exceeds 20 m, be sure to also use a Motor-End Relay Encoder Cable and a SERVOPACK-End Relay Encoder Cable.

If you use a motor with an absolute encoder and a battery is not mounted to the host controller, also obtain a Relay Encoder Cable with a Battery Case in addition to the above two Cables.

 Install a battery at either the host controller or on the Encoder Cable.

If you install batteries both at the host controller and on the Encoder Cable at the same time, you will create a loop circuit between the batteries, resulting in a risk of damage or burning.

Motor-End Relay Encoder Cables

SGM7A-A5 to -10 (50 W to 1.0 kW)

 Selection Table

Cable Direction Specification Length (L) Order Number

Load side Non-load side JZSP-C7PRCE-E

Used for all types of encoders. 0.3 m

JZSP-C7PRCD-E

 Appearance

Cable Installed away from Load Cable Installed toward Load

 Wiring Specifications

4-27

4.6 Relay Encoder Cable of 30 m to 50 m

SERVOPACK end Encoder end

Battery Case

(battery included)

SERVOPACK end Encoder end

Battery Case

(battery included)

Pin Wire Color

Black

Red

Light blue/white

Light blue

Orange/white

Orange

Encoder (motor) end

Pin Signal

Shell FG 10 FG

SERVOPACK end

Shield wire

/PS

BAT(-)

BAT(+)

PG 5 V

PG 0 V

Encoder endSERVOPACK end

4.6.2 SERVOPACK-End Relay Encoder Cables

SGM7A-15 to -70 (1.5 kW to 7.0 kW)

 Selection Table

Connector Specifications Specification

Straight Connector

Right-Angle Connector

*1. The lead installation direction is away from the load. Consult your Yaskawa representative for other lead installa-

tion directions.

*2. An Encoder Cable with a Right-angle Connector cannot be used with the SGM7A-70 (7.0 kW). Use an Encoder

Cable with a Straight Connector.

 Appearance

*1, *2

Straight Connector Right-Angle Connector*

Length

(L)

Used for all types of encoders. 0.3 m

Order Number

JZSP-CVP01-E

JZSP-CVP02-E

4.6.2

* The lead installation direction is away from the load. Consult your Yaskawa representative for other lead installation direc-

tions.

 Wiring Specifications

Note: BAT(+) and BAT(-) are wired for an absolute encoder.

SERVOPACK-End Relay Encoder Cables

All Models

 Selection Table

Specification Length (L) Order Number*

Used for all types of encoders. 30 m, 40 m, and 50 mJZSP-UCMP00--E

* Replace the boxes () in the order number with the cable length (30, 40, or 50).

 Appearance

4-28

Cables and User-Assembled Wiring Materials for SGM7A Rotary Servomotors

 Wiring Specifications

Pin Wire Color

Black

Red

Light blue/white

Light blue

Orange/white

Orange

Encoder (motor) end

Pin Signal

Shell FG Shell FG

SERVOPACK end

Shield wire

/PS

BAT(-)

BAT(+)

PG 5 V

PG 0 V

Encoder endSERVOPACK end

Battery Case (battery included)

4.6 Relay Encoder Cable of 30 m to 50 m

4.6.3 Relay Encoder Cables with Battery Cases

4.6.3

Relay Encoder Cables with Battery Cases

Note: This Cable is not required if you use a Servomotor with an Incremental Encoder, use a Servomotor with a Bat-

teryless Absolute Encoder, or connect a battery to the host controller.

All Models

 Selection Table

Length (L) Order Number

0.3 m JZSP-CSP12-E

 Appearance

 Wiring Specifications

SERVOPACK end

Pin Signal

/PS

BAT (-)

BAT (+)

PG 0 V

PG 5 V

Shell FG Shell FG

Battery Case

Shield wire

Signal

BAT (-)

BAT (+)

Encoder (motor) end

Pin Wire Color

Light blue/white

Light blue

Orange/white

Orange

Black

Red

4-29

4.7 User-Assembled Wiring Materials for Encoder Cables

3 4

(19)

(12)

(33)

4.7.1 Precautions When Using Encoder Cables with a Wiring Length of 30 m to 50 m

4.7

4.7.1

User-Assembled Wiring Materials for Encoder Cables

Precautions When Using Encoder Cables with a Wiring Length of 30 m to 50 m

When using Encoder Cables with a wiring length of 30 m to 50 m, it is necessary to fabricate two different types of cables.

Connectors and Wire

Cables to be Fabricated

Motor-End Relay Encoder Cable

SERVOPACK-End Relay Encoder Cable

Materials Required for

Fabrication

SERVOPACK Connector

Servomotor Connector

Encoder Cables of 20 m or Less

SERVOPACK Connector

Cable Relay Connector

Relay Encoder Cable (30 m to 50 m)

Refer to the following section for details on the connection of the Relay Encoder Cable.

4.1 Cable Configurations on page 4-3

Reference Page Remarks

4.7.2 SERVOPACK Connector Kits on page 4-30

4.7.3 Encoder Connector Kits on page 4-31

4.7.4 Cables without Connectors on page 4-33

4.7.2 SERVOPACK Connector Kits on page 4-30

4.7.3 Encoder Connector Kits on page 4-31

4.7.4 Cables without Connectors on page 4-33

This cable should be

0.3 m or less.

This cable should be 50 m or less.

4.7.2

SERVOPACK Connector Kits

Ty pe Standard Connector Kit Compatible Connector Kit Inquires Yaskawa representative

3M Japan LimitedManufacturer Molex Incorporated

Order Number JZSP-CMP9-1-E

Receptacle: 3E206-0100 KV (soldered)

Specifications

External Dimensions [mm]

Note: Cables are not included. Purchase them separately.

55100-0670 (soldered) Product specifications: PS-54280

Shell Kit: 3E306-3200-008 Product specifications: JNPS-1042 and JNPS-1043

(19)

(12)

(33)

4-30

4.7 User-Assembled Wiring Materials for Encoder Cables

Cables and User-Assembled Wiring Materials for SGM7A Rotary Servomotors

4.7.3 Encoder Connector Kits

4.7.3

Encoder Connector Kits

SGM7A-A5 to -10 (50 W to 1.0 kW)

 Servomotor Connectors

Order Number JZSP-C7P9-1-E Manufacturer Molex Incorporated

Components

Applicable Wire Sizes AWG22 to AWG26

Applicable Cable Diameter

Outer Diameter of Insulating Sheath

Mounting Screws M2 pan-head screws (two)

Application Specifications

Crimping Specifications

Crimping Tool*

Hand Tool 57175-5000

Shell Caulking Tool 57331-5100

504678-0070 Loose Connectors: 56161-8181 (crimped), Reeled Connectors: 56161-8081 (crimped)

6.3 mm to 7.7 mm

1.05 mm to 1.4 mm

AS-504682

CS-56161

 Cable Installed away from Load

2 × M2

pan-head screws

20.5

(27.5)

 Cable Installed toward Load

2 × M2 pan-head screws

20.5

(27.5)

External Dimensions [mm]

* A Crimping Tool is required. When using other wire sizes, contact the connector manufacturer for crimping tools.

Pin 6

25°

Pin 1

Motor mounting surface

Pin 9

Pin 7

Pin 6

Pin 1

Motor mounting surface

Pin 9

Pin 7

25°

4-31

4.7 User-Assembled Wiring Materials for Encoder Cables

(19)

(12)

(44)

4.7.3 Encoder Connector Kits

SGM7A-15 to -70 (1.5 kW to 7.0 kW)

 IP67-Structure Servomotor Connectors

Ty pe Order Number Specification

• Plug: CM10-SP10S-M-D

JZSP-CVP9-1-E

Straight Plug

JZSP-CVP9-3-E

JZSP-CVP9-2-E RightAngle

Plug

JZSP-CVP9-4-E

*1. A Crimping Tool is required. The following Crimping Tool is applicable to the Cables provided by Yaskawa. When

using other wire sizes, contact the connector manufacturer for crimping tools. Crimping Tool: 357J-52667T

*2. A Right-Angle Connector cannot be used for the encoder connector of the SGM7A-70 (7.0 kW). Use a Straight

Connector.

• Contacts: Crimped CM10-#22SC(C4)-100

• Applicable cable diameter: 6.0 mm to 9.0 mm

• Plug: CM10-SP10S-M-D

• Contacts: Soldered

CM10-#22SC(S1)-100

• Applicable cable diameter: 6.0 mm to 9.0 mm

• Plug: CM10-AP10S-M-D

• Contacts: Crimped

CM10-#22SC(C4)-100

• Applicable cable diameter: 6.0 mm to 9.0 mm

• Plug: CM10-AP10S-M-D

• Contacts: Soldered

CM10-#22SC(S1)-100

• Applicable cable diameter: 6.0 mm to 9.0 mm

External

Dimensions

Manufacturer

Accessories: Contacts

DDK Ltd.

Accessories: Contacts

All Models

 Cable Relay Connectors

Order Number JZSP-CMP9-2-E Manufacturer Molex Incorporated Components 54280-0609 (soldered) Product Specifications PS-54280

External Dimensions [mm]

4-32

4.7 User-Assembled Wiring Materials for Encoder Cables

Cables and User-Assembled Wiring Materials for SGM7A Rotary Servomotors

Light blue

/white

Orange

/white

Light

blue

Red

Black

/light blue

Red

/light blue

Black

/pink

Red

/pink

Orange

Light green

Red

Orange

Black

Light

blue

Orange

/white

Light blue

/white

4.7.4 Cables without Connectors

4.7.4

Cables without Connectors

Encoder Cables of 20 m or Less

Item Standard Cable Flexible Cable

Order Number*

UL20276 (rated temperature: 80°C) AWG22 × 2C + AWG24 × 2P

AWG22 (0.33 mm

Specifications

Finished Diameter 6.5 mm 6.8 mm

Internal Structure and Lead Colors

Outer diameter of insulating sheath:

1.15 mm

AWG24 (0.20 mm2) Outer diameter of insulating sheath:

1.09 mm

JZSP-CMP09--E

(maximum length: 20 m)

)

UL20276 (rated temperature: 80°C) AWG22 × 2C + AWG24 × 2P

AWG22 (0.33 mm2) Outer diameter of insulating sheath:

1.35 mm

AWG24 (0.20 mm Outer diameter of insulating sheath:

1.21 mm

JZSP-CSP39--E

(maximum length: 20 m)

)

* Replace the boxes () in the order number with the cable length (05, 10, 15, or 20).

Relay Encoder Cable of 30 m to 50 m

Item Standard Cable

Order Number* JZSP-CMP19--E (maximum length: 50 m)

UL20276 (rated temperature: 80°C) AWG16 × 2C + AWG26 × 2P

Specifications

Finished Diameter 6.8 mm

Internal Structure and Lead Colors

* Replace the boxes () in the order number with the cable length (30, 40, or 50).

AWG16 (1.31 mm Outer diameter of insulating sheath: 2.0 mm

AWG26 (0.13 mm Outer diameter of insulating sheath: 0.91 mm

)

4-33

4.8 Wiring Precautions

4.8

Wiring Precautions

The wiring precautions are the same as for SGM7M Rotary Servomotors. Refer to the following section.

2.5 Wiring Precautions on page 2-9

4-34

Cables and UserAssembled Wiring Materials for SGM7P Rotary Servomotors

5.1

5.2

5.3

5.4

5.5

Cable Configurations . . . . . . . . . . . . . . . . . 5-2

Servomotor Main Circuit Cables . . . . . . . . . 5-4

5.2.1 Servomotor Main Circuit Cables for Servomotors

without Holding Brakes . . . . . . . . . . . . . . . . . . . . 5-4

5.2.2 Servomotor Main Circuit Cables for Servomotors

with Holding Brakes . . . . . . . . . . . . . . . . . . . . . . 5-5

User-Assembled Wiring Materials for Servomotor Main Circuit Cables . . 5-6

5.3.1 Servomotor Connector Kits . . . . . . . . . . . . . . . . . 5-6

5.3.2 Cables without Connectors . . . . . . . . . . . . . . . . . 5-8

Encoder Cables of 20 m or Less . . . . . . . . . 5-9

5.4.1 Encoder Cables for Incremental Encoders

or Batteryless Absolute Encoders . . . . . . . . . . . . 5-9

5.4.2 Encoder Cables for Absolute Encoders . . . . . . . 5-11

Relay Encoder Cable of 30 m to 50 m . . . . 5-13

5.5.1 Motor-End Relay Encoder Cables . . . . . . . . . . . 5-13

5.5.2 SERVOPACK-End Relay Encoder Cables . . . . . 5-13

5.5.3 Relay Encoder Cables with Battery Cases . . . . 5-14

5.6

5.7

User-Assembled Wiring Materials for Encoder Cables . . 5-15

5.6.1 Precautions When Using Encoder Cables with a

Wiring Length of 30 m to 50 m . . . . . . . . . . . . . 5-15

5.6.2 SERVOPACK Connector Kits . . . . . . . . . . . . . . 5-15

5.6.3 Encoder Connector Kits . . . . . . . . . . . . . . . . . . 5-16

5.6.4 Cables without Connectors . . . . . . . . . . . . . . . . 5-17

Wiring Precautions . . . . . . . . . . . . . . . . . . 5-18

5.1 Cable Configurations







Servomotor Main Circuit Cable









Encoder Cable <When 20 m or less>

Encoder Cable <When 30 m to 50 m>

5.1

Cable Configurations

• SGM7P-01 to -04 (for 100 W to 400 W)

Encoder Cable <When 20 m or less>







Encoder Cable <When 30 m to 50 m>



12 12

Servomotor Main Circuit Cable







• SGM7P-08, -15 (for 750 W, 1.5 kW)

Note: If the Encoder Cable length exceeds 20 m, be sure to also connect Relay Encoder Cables as shown at  to

in the above diagram.

5-2

5.1 Cable Configurations

Cables and User-Assembled Wiring Materials for SGM7P Rotary Servomotors

No. Cable Type Reference





Servomotor Main Circuit Cables





User-Assembled Wiring Materials for Servomo-



tor Main Circuit Cables

Encoder Cables of 20 m or Less for Incremental Encoders or Batteryless Absolute Encoders





Encoder Cables of 20 m or Less with Battery Cases for Absolute Encoders

User-Assembled Wiring Materials for Encoder



Cables

Motor-End Relay Encoder Cables





SERVOPACK-End Relay Encoder Cables

Relay Encoder Cables with Battery Cases

User-Assembled Wiring Materials for Relay Encoder Cables of 30 m to 50 m

*1. The lead installation direction is toward the load. Any other lead installation direction is not allowed. *2. If a battery is connected to the host controller, the Battery Case is not required. Use an Encoder Cable for Incre-

mental Encoders or Batteryless Absolute Encoders.

*3. This Cable is not required if you use a Servomotor with an Incremental Encoder, use a Servomotor with a Bat-

teryless Absolute Encoder, or connect a battery to the host controller.

For Servomotors without Holding Brakes, 100 W to 400 W

For Servomotors with Holding Brakes, 100 W to 400 W

For Servomotors without Holding Brakes, 750 W or 1.5 kW

For Servomotors with Holding Brakes, 750 W or 1.5 kW

Connectors Cables without Connectors

page 5-4

page 5-5

page 5-4

page 5-5

page 5-6

page 5-8

page 5-9

page 5-11

page 5-15

page 5-17

page 5-12

page 5-15

page 5-17

5-3

5.2 Servomotor Main Circuit Cables

50 mm

Motor endSERVOPACK end

M4 crimp terminal

50 mm L

Motor endSERVOPACK end

M4 crimp terminal

PinSignal

SignalWire Color

Servomotor Connector

Phase U

Phase V

Phase W

−

Phase U

Phase V

Phase W

Red

White

Blue

Green/yellow

SERVOPACK Leads

5.2.1 Servomotor Main Circuit Cables for Servomotors without Holding Brakes

5.2

5.2.1

Servomotor Main Circuit Cables

Servomotor Main Circuit Cables for Servomotors without Holding Brakes

Selection Table

Servomotor Model Length (L)

SGM7P-01 100 W

SGM7P-02 or -04 200 W or 400 W

SGM7P-08 750 W

3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, and 50 m

SGM7P-15

1.5 kW

*1. Replace the boxes () in the order number with the cable length (03, 05, 10, 15, 20, 30, 40, or 50). *2. Use Flexible Cables for moving parts of machines, such as robots. *3. The recommended bending radius (R) is 90 mm or larger. *4. The lead installation direction is toward the load. Any other lead installation direction is not allowed.

Standard Cable Flexible Cable

JZSP-CSM01-

JZSP-CSM02--E

JZSP-CMM00-

JZSP-CMM20-

Order Number



-E



-E JZSP-CMM01--E



-E

Note: If the length of the Servomotor Main Circuit Cable exceeds 20 m, the intermittent duty zone in the torque-

motor speed characteristics will become smaller because the voltage drop increases.

*2, *3

JZSP-CSM21--E

JZSP-CSM22--E

Note: Flexible Cables are not

available.

Appearance

For 100 W to 400 W* For 750 W or 1.5 kW

* The lead installation direction is toward the load. Any other lead installation direction is not allowed.

Wiring Specifications

For 100 W to 400 W For 750 W or 1.5 kW

SERVOPACK Leads

Red

White

Blue

Green/yellow

SignalWire Color

Phase U

Phase V

Phase W

Servomotor Connector

PinSignal

Phase U

Phase V

Phase W

5-4

5.2 Servomotor Main Circuit Cables

Cables and User-Assembled Wiring Materials for SGM7P Rotary Servomotors

50 mm L

Motor endSERVOPACK end

M4 crimp terminal

PinSignal

SignalWire Color

Servomotor Connector

Phase U

Phase V

Phase W

Brake

Phase U

Phase V

Phase W

Red

White

Blue

Green/yellow

Black

SERVOPACK Leads

5.2.2 Servomotor Main Circuit Cables for Servomotors with Holding Brakes

5.2.2

Servomotor Main Circuit Cables for Servomotors with Holding Brakes

Selection Table

Servomotor Model Length (L)

SGM7P-01 100 W

SGM7P-02 or -04 200 W or 400 W

SGM7P-08 750 W

3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, and 50 m

SGM7P-15

1.5 kW

Standard Cable Flexible Cable

JZSP-CSM11-

JZSP-CSM12-

JZSP-CMM10-

JZSP-CMM30-

Order Number



-E



-E



-E JZSP-CMM11--E



-E

Note: If the length of the Servomotor Main Circuit Cable exceeds 20 m, the intermittent duty zone in the torque-

motor speed characteristics will become smaller because the voltage drop increases.

Appearance

*2, *3

JZSP-CSM31--E

JZSP-CSM32--E

Note: Flexible Cables are not

available.

For 100 W to 400 W* For 750 W or 1.5 kW

L50 mm

M4 crimp terminal

* The lead installation direction is toward the load. Any other lead installation direction is not allowed.

Wiring Specifications

For 100 W to 400 W For 750 W or 1.5 kW

SERVOPACK Leads

Red

White

Blue

Green/yellow

Black

Note: There is no polarity for the connection to the holding brake.

SignalWire Color

Phase U

Phase V

Phase W

Brake

Motor endSERVOPACK end

Servomotor Connecto

PinSignal

Phase U

Phase V

Phase W

Brake

5-5

5.3 User-Assembled Wiring Materials for Servomotor Main Circuit Cables

Pin 6

Pin 1

654 321

5.3.1 Servomotor Connector Kits

5.3

5.3.1

User-Assembled Wiring Materials for Servomotor Main Circuit Cables

Servomotor Connector Kits

Selection Table

Servomotor Model Servomotor Capacity Order Number*

SGM7P-01 100 W JZSP-CSM9-1-E SGM7P-02 or -04 200 W or 400 W JZSP-CSM9-2-E

Without Holding Brake:

SGM7P-08 or -15 750 W or 1.5 kW

* Cables are not included. Purchase them separately.

 SGM7P-01 (100 W)

Item Description

Order Number JZSP-CSM9-1-E Manufacturer J.S.T. Mfg. Co., Ltd. User Instructions JFA Connector J-1700

Components

Applicable Wire Sizes AWG20 to AWG24 Applicable Cable Diameter 7 mm ±0.3 mm Outer Diameter of Insulating Sheath 1.11 mm to 1.53 mm Mounting Screws M2 pan-head screws

Crimping Tool

Receptacle J17-06FMH-7KL-1M-CF Contacts SJ1F-01GF-P0.8

Hand Tool YRS-8841

Applicator

JZSP-CMM9-3-E With Holding Brake:

JZSP-CSM9-5-E

APLMK SJ1F/MO1-08  Cable Installed toward Load

5-6

External Dimensions [mm]

*1. A Crimping Tool is required. Contact the connector manufacturer for details. *2. The lead installation direction is toward the load. Any other lead installation direction is not allowed.

Note: Cables are not included. Purchase them separately.

5.3 User-Assembled Wiring Materials for Servomotor Main Circuit Cables

Cables and User-Assembled Wiring Materials for SGM7P Rotary Servomotors

15.727.4

Pin 4

7.6

26.7 Pin 1

28.4

20.3

27.4

Pin 4

Pin 1

Pin 6

Pin 3

 SGM7P-02 or -04 (200 W or 400 W)

Item Description

Order Number JZSP-CSM9-2-E Manufacturer J.S.T. Mfg. Co., Ltd. User Instructions JFA Connector J-2700

Components

Applicable Wire Sizes AWG20 to AWG24 Applicable Cable Diameter 7 mm ±0.3 mm Outer Diameter of Insulating Sheath 1.11 mm to 1.53 mm Mounting Screws M2 pan-head screws

Crimping Tool

External Dimensions [mm]

Receptacle J27-06FMH-7KL-1M-CF Contacts SJ2F-01GF-P1.0

Hand Tool YRS-8861

Applicator APLMK SJ2F/MO1-10

 Cable Installed toward Load

654 321

21 21

5.3.1 Servomotor Connector Kits

Pin 1

Pin 6

*1. A Crimping Tool is required. Contact the connector manufacturer for details. *2. The lead installation direction is toward the load. Any other lead installation direction is not allowed.

Note: Cables are not included. Purchase them separately.

 SGM7P-08 or -15 (750 W or 1.5 kW)

 For Servomotors without Holding Brakes

Item Description External Dimensions [mm]

Manufacturer Tyco Electronics Japan G.K. Order Number JZSP-CMM9-3-E

Components

Applicable Wire Sizes AWG20 to AWG14 Crimping Tool* Hand Tool 90296-2

* A Crimping Tool is required. Contact the connector manufacturer for details.

Note: Cables are not included. Purchase them separately.

 For Servomotors with Holding Brakes

Manufacturer Tyco Electronics Japan G.K. Order Number JZSP-CSM9-5-E

Components

Applicable Wire Sizes

Crimping Tool* Hand Tool

* A Crimping Tool is required. Contact the connector manufacturer for details.

Note: Cables are not included. Purchase them separately.

Cap 350780-1 Socket 350550-6

Item Description External Dimensions [mm]

Cap 350781-1

Socket

Power terminals: 350550-6 Holding brake terminals: 350689-3

Power terminals: AWG20 to AWG14 Holding brake terminals: AWG24 to AWG18

Power terminals: 90296-2 Holding brake terminals: 90300-2

5-7

5.3 User-Assembled Wiring Materials for Servomotor Main Circuit Cables

Black

Blue White

Red

Black

Green/

yellow

5.3.2 Cables without Connectors

5.3.2

Cables without Connectors

Selection Table

Servomotor Model Servomotor Capacity

Standard Cable Flexible Cable

Order Number

SGM7P-01 to -04 100 W to 400 W JZSP-CSM90--E JZSP-CSM80--E SGM7P-08 or -15 750 W or 1.5 kW JZSP-CSM91--E JZSP-CSM81--E

Note: If the length of the Servomotor Main Circuit Cable exceeds 20 m, the intermittent duty zone in the torque-

motor speed characteristics will become smaller because the voltage drop increases.

 SGM7P-01 to -04 (100 W to 400 W)

Item Standard Cable Flexible Cable

Order Number* JZSP-CSM90--E (maximum length: 50 m) JZSP-CSM80--E (maximum length: 50 m)

UL2517 (rated temperature: 105°C) AWG20 × 6C

Specifications

Power lines: AWG20 (0.52 mm Outer diameter of insulating sheath: 1.53 mm

Holding brake lines: AWG20 (0.52 mm

)

Outer diameter of insulating sheath: 1.53 mm

Finished Diameter 7 mm ±0.3 mm

UL2517 (rated temperature: 105°C) AWG22 × 6C

Power lines: AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.37 mm

)

Holding brake lines: AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.37 mm

*2, *3

Black

Internal

Green/ yellow

White

Structure and Lead Colors

* Replace the boxes () in the order number with the cable length (05, 10, 15, 20, 30, 40, or 50).

Blue

Red

Black

 SGM7P-08 or -15 (750 W or 1.5 kW)

Item Standard Cable Flexible Cable

Order Number* JZSP-CSM91--E (maximum length: 50 m) JZSP-CSM81--E (maximum length: 50 m)

UL2517 (rated temperature: 105°C) AWG16 × 4C or AWG20 × 2C

Specifications

Power lines: AWG16 (1.31 mm Outer diameter of insulating sheath: 2.15 mm

Holding brake lines: AWG20 (0.52 mm

)

Outer diameter of insulating sheath: 1.6 mm

Finished Diameter 8 mm ±0.3 mm

Internal Structure and Lead Colors

UL2517 (rated temperature: 105°C) AWG16 × 4C or AWG22 × 2C

Power lines: AWG16 (1.31 mm2) Outer diameter of insulating sheath: 2.35 mm

Holding brake lines: AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.37 mm

5-8

* Replace the boxes () in the order number with the cable length (05, 10, 15, 20, 30, 40, or 50).

5.4 Encoder Cables of 20 m or Less

Cables and User-Assembled Wiring Materials for SGM7P Rotary Servomotors

SERVOPACK end Encoder end

SERVOPACK endEncoder end

Pin Wire Color

Black

Red

Light blue/white

Light blue

Orange/white

Orange

Encoder (motor) end

Pin Signal

Shell FG Shell FG

SERVOPACK end

Shield wire

/PS

BAT (-)

BAT (+)

PG 5 V

PG 0 V

5.4.1 Encoder Cables for Incremental Encoders or Batteryless Absolute Encoders

5.4

5.4.1

Encoder Cables of 20 m or Less

Encoder Cables for Incremental Encoders or Batteryless Absolute Encoders

SGM7P-01 to -04 (for 100 W to 400 W)

 Selection Table

Cable

Direction

Load side

Non-load side JZSP-C7PI0E--E JZSP-C7PI2E--E

Servomotor

Model

SGM7P-01 to -04

100 W to 400 W

Length (L)

3 m, 5 m, 10 m, 15 m, 20 m

Standard Cable Flexible Cable

JZSP-C7PI0D-

Order Number



-E JZSP-C7PI2D--E

*1. Replace the boxes () in the order number with the cable length. (03, 05, 10, 15, or 20). *2. Use Flexible Cables for moving parts of machines, such as robots. *3. The recommended bending radius (R) is 46 mm or larger.

 Appearance

Cable Installed away from Load Cable Installed toward Load

*2, *3

 Wiring Specifications

Standard Cable Flexible Cable

SERVOPACK end

Pin Signal

/PS

BAT (-)

BAT (+)

PG 0 V

PG 5 V

Shell FG Shell FG

Shield wire

Encoder (motor) end

Pin Wire Color

Black/pink

Black/light blue

Red/light blue

Light green

Red/pink

Orange

5-9

YASKAWA SGD7S, SGD7W, SGD7C, SGM7M, SGM7J Selection Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

About this Manual

Outline of Manual

Related Documents

Using This Manual

Safety Precautions

Warranty

Contents

Peripheral Devices and System Configurations

1.1 Configuration with a Rotary Servomotor

1.2 Configuration with a Direct Drive Servomotor

1.3 Configuration with a Linear Servomotor

2.1 Cable Configurations

2.2 Servomotor Main Circuit Cables

2.2.1 Servomotor Main Circuit Cables for Servomotors without Holding Brakes

2.2.2 Servomotor Main Circuit Cables for Servomotors with Holding Brakes

2.3 Encoder Cables

2.3.1 Encoder Cables for Incremental Encoders

2.3.2 Encoder Cables for Absolute Encoders

2.4 User-Assembled Wiring Materials for Encoder Cables

2.4.1 Connector Kits

2.4.2 Cables without Connectors

2.5 Wiring Precautions

2.5.1 Precautions for Standard Cables

Precautions for Flexible Cables

3.1 Cable Configurations

3.2 Servomotor Main Circuit Cables

3.2.1 Servomotor Main Circuit Cables for Servomotors without Holding Brakes

3.2.2 Servomotor Main Circuit Cables for Servomotors with Holding Brakes

3.3 User-Assembled Wiring Materials for Servomotor Main Circuit Cables

3.3.1 Servomotor Connector Kits

3.3.2 Cables without Connectors

3.4 Encoder Cables of 20 m or Less

3.4.1 Encoder Cables for Incremental Encoders or Batteryless Absolute Encoders

3.4.2 Encoder Cables for Absolute Encoders

3.5 Relay Encoder Cables of 30 m to 50 m

3.5.1 Motor-End Relay Encoder Cables

SERVOPACK-End Relay Encoder Cables

3.5.3 Relay Encoder Cables with Battery Cases

3.6 User-Assembled Wiring Materials for Encoder Cables

3.6.1 Precautions When Using Encoder Cables with a Wiring Length of 30 m to 50 m

SERVOPACK Connector Kits

3.6.3 Encoder Connector Kits

3.6.4 Cables without Connectors

3.7 Wiring Precautions

4.1 Cable Configurations

4.1.1 SGM7A-A5 to -10 (50 W to 1.0 kW)

4.1.2 SGM7A-15 to -70 (1.5 kW to 7.0 kW)

4.2 Servomotor Main Circuit Cables

4.2.1 Servomotor Main Circuit Cables for Servomotors without Holding Brakes

4.2.2 Servomotor Main Circuit Cables for Servomotors with Holding Brakes

4.3 User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-A5 to -10

4.3.1 Servomotor Connector Kits

4.3.2 Cables without Connectors

4.4 User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-15 to -70

4.4.1 Connector Structures

4.4.2 Main Power Supply Terminal

4.4.3 Holding Brake Terminals

4.4.4 Built-in Cooling Fan Terminals

4.4.5 Connector External Dimensions

4.5 Encoder Cables of 20 m or Less

4.5.1 Encoder Cables for Incremental Encoders or Batteryless Absolute Encoders

4.5.2 Encoder Cables for Absolute Encoders

4.6 Relay Encoder Cable of 30 m to 50 m

4.6.1 Motor-End Relay Encoder Cables

4.6.2 SERVOPACK-End Relay Encoder Cables

4.6.3 Relay Encoder Cables with Battery Cases

4.7 User-Assembled Wiring Materials for Encoder Cables

4.7.1 Precautions When Using Encoder Cables with a Wiring Length of 30 m to 50 m

SERVOPACK Connector Kits

4.7.3 Encoder Connector Kits

4.7.4 Cables without Connectors

4.8 Wiring Precautions

5.1 Cable Configurations

5.2 Servomotor Main Circuit Cables

5.2.1 Servomotor Main Circuit Cables for Servomotors without Holding Brakes

5.2.2 Servomotor Main Circuit Cables for Servomotors with Holding Brakes