Yaskawa SGDG Options Brochure
The L
The L
E G E N D
E G E N D
Motion Control System For The Complete Au t o m ation Solution With Compre h e n s i ve Softwa re
Motion Control System For The Complete Au t o m ation Solution With Compre h e n s i ve Softwa re
Economical, State-of-the-Art
Performance From The LEGEND
Digital Torque Amplifier
More than just a cost-effective
amplifier solution,the LEGEND
delivers the kind of performance
and reliability you expect from the
world’s number one supplier of AC
servos. As a component used with
other controls or as part of a
complete Yaskawa system,the
LEGEND is an exemplary product.
100% Digital Design
From the encoder to the amplifier
outputs, this design eliminates
‘drift,’ makes setup virtually
automatic,and provides
comprehensive diagnostics.
Yaskawa Quality
The world’s leading TQM culture
insures consistent operation to
specification, whether you
purchase one or a thousand units,
all at once or one at a time.
4 Amplifier Sizes
30 Motors to 1.5kW
Universal Input Voltage
Sinusoidal Commutation
Intelligent Serial Encoder
The key to Plug-and-Play
operation,this proven digital
link is also easy to wire using
industrial USB connectors.
Incremental encoders need
only 4 wires to enable
automatic setup,protection,
and operation for all motors.
Full Features
Dynamic braking is built in.
Operation on single-phase or
three-phase power with a wide
AC and DC input range makes
it easy to use, worldwide.
Simple switch settings for
motor direction,input filter,
and encoder scaling
completes the package
for most applications . Four
amplifier sizes (100W-1,500W)
and 23 motor choices cover
a wide range of needs.
Ethernet Motion Control Functionality From The LEGEND-MC
The new LEGEND-MC is an optional,
snap-on motion control card for LEGEND
torque amplifiers, providing a complete
motion solution.The LEGEND-MC motion
control module adds the functionality
and features required by more
demanding motion control
applications. Beyond 1 axis
of motion control functionality,
the LEGEND-MC also offers virtual
point-to-point, multi-axis motion
control capability up to 4 axes.
Ethernet Connectivity
The built-in connection enables
connectivity to other LEGENDS,
clients, and Ethernet I/O.
Field-Upgradable Firmware
You can take advantage of new
technology easily! Future product
enhancements and upgrades will
be made available via a network
download or from your PC into
flash memory.
Plug-and-Play
Just snap-on the LEGEND-MC to the
LEGEND amplifier and you have powerful
motion control capabilities.
All the required interface signals and
DC power are connected when you
snap the modules together. Seamless
integration reduces installation time,
reduces documentation,and speeds
up troubleshooting.
Programming Structure
A basic programming language-like
format helps you build complex
machine logic.
Modes of Motion
Jogging,point-to-point,electronic
gearing,and electronic camming.
Create your own custom cam
formulas using the comprehensive,
built-in math functions.
Integrated Functionality
Between Amplifier & Controller
Integration is seamless. The LEGEND
amplifier and LEGEND-MC controller
share a common interface which
will minimize troubleshooting time.
World Class Reliability Only
Sigma II Motors Can Deliver
Known for its rock-solid performance
and reliability, the Sigma II series of
motors enjoys an incredible 2,000,000
hours MTBF.* Its compact design and
lightweight, rugged construction serve
the universal design needs of machine
builders to minimize space and weight
considerations, yet maximize output.
productivity. In excessive situations, the
LEGEND amplifier will automatically
detect the problem and protect the
system before any damage is caused.
Motors with NEMA Flanges
NEMA 23 and 34 flanges available
to 800 watts.
YTerm Software: An Intuitive
Programming Package For
The LEGEND-MC
Designed to
facilitate
programming
and problem
solving,YTerm
is the frontend software
package for
the Yaskawa
series of
LEGEND-MC
motion
controllers.
A user-friendly,Windows interface is used for design,
development,and debugging of motion control
applications. The software package consists of three
easy-to-use main sections:
Programming
Section
Edit,transfer,
and monitor
programs for the
motion controller
Tuning Section
Tune the LEGEND-MC’s
axis and test the ser vo
system’s performance
using a four-channel
scope to graph
performance data
YTerm Motion Control
Command Examples
Motion
38 Commands
Used to specify modes
and parameters
AB . . . . . . Abort Motion
BG . . . . . . Begin Motion
EA . . . . . . Select Master
Cam Axis
GR . . . . . . Gear Ratio
Program Flow
29 Commands
Used to control program
sequencing
AI . . . . . . After Input
IF . . . . . . If Statement
JS . . . . . . Jump to
Subroutine
TW . . . . . . Timeout for
In-position
XQ . . . . . . Execute
Program
General
Configuration
31 Commands
Sets variables and controls
unit functions
AL . . . . . . Arm Latch
BP . . . . . . Burn Program
DA . . . . . . Dimension
Arrays
MT . . . . . . Motor Type
Define
II . . . . . . Interrupt
Input
Control Filter Settings
14 Commands
Set up loop variables
and options
FA . . . . . . Acceleration
DV . . . . . . Dual PID Loop
IL . . . . . . . Integrator Limit
NF . . . . . . Notch Filter
Status
18 Commands
Interrogates the system in
operation
RP . . . . . . Report
TD . . . . . . Tell Dual
TV . . . . . . Tell Velocity
Errors and Limits
4 Commands
Sets system limits
BL . . . . . . Reverse
OE . . . . . . Off on Error
Arithmetic Functions
22 Commands
For program use in
complex situations
ACOS . . . . ArcCosine
RND . . . . Round
SQR . . . . Square Root
& . . . . AND
Feed Forward
Command
Position
Encoder
Software Limit
Exceptional Low Speed
Performance
Unique physical design
features minimize cogging.
High Overload Capacity
Tolerant of dynamic loads,
the Sigma II series of
motors can deliver the
torque you need in peak
load situations – up to 300% for
three seconds for superior
* Based on Field Performance
Choose from four NEMA sizes:
• 100W with NEMA 23 Adapter Flange
• 200W & 400W with NEMA
23 Motor Flange
• 800W with NEMA 34 Motor Flange
Linear Motors are Easy
Three styles of linear motors up to
1200 N peak force expand your
choices.
Monitoring Section
Monitor motion and
I/O on the controller
H a rnesses The Power Of Ethernet Connectivity
H a rnesses The Power Of Ethernet Connectivity
From the boardroom to the
shipping dock,Ethernet has
become a leading industry
standard in enterprise
networking. With the
LEGEND-MC motion
controller, you can take
full advantage of the
convenience,flexibility,
and power of Ethernet
connectivity. This page
illustrates only a few
scenarios of how the
LEGEND series can be
utilized in an Ethernet
network scheme or
with regular controllers.
RS-232
Conventional Motion Controller
SMC-2000
Galil®, Delta Tau®, PLC’s, etc
MASTER
Distribute & Share Manufacturing
ANALOG ± 10V
& DI/DO
Data via the Network
HMI
Integrate Multiple
Factory Subnets
Monitor the Process
I/O
HUB
I/O
ETHERNET HUB
SWITCH
HUB
All Programming in the Master
SUBNET
from Anywhere!
FACTORY
SERVER
ETHERNET HUB
MODBUS I/O
ON ETHERNET
I/O I/O I/O I/O
Expand Your System Using
Commercially Available I/O
HUB
SLAVE
SLAVE
Point-to-Point Four Axis Control
MASTER
SLAVE
via Ethernet
LEGEND Amplifier Models & Motor Summary
LEGEND Amplifier Models & Motor Summary
Main Circuit Power . . . . . . . . . . . . . . . Single-Phase: 90 - 253VAC or Three-Phase: 90 - 253VAC or 127 - 357VDC
Control Power . . . . . . . . . . . . . . . . . . . Single-Phase: 90 - 253V
BASIC
SPECIFICATIONS
I/O SIGNAL
BUILT-IN
FEATURES
SMC3010
MOTION
CONTROLLER
SPECIFICATIONS
Amplifier Model: SGDG 01 04 10
Servomotor Model: SGMAH A3A A5A 01A 02A 01B 02B 04A 08A
Rated Output kW 0.03 0.05 0.1 0.2 0.1 0.2 0.4 0.75
Rated Torque lb-in 0.85 1.41 2.81 5.64 2.81 5.64 11.24 21.15
Maximum Instantaneous Torque lb-in 2.53 4.22 8.45 16.90 8.45 16.90 33.81 63.37
Rotor Inertia lb-in-s2x10 0.147 0.195 0.322 0.938 0.322 0.938 1.531 5.948
Amplifier Model: SGDG 01 04 10 15
Servomotor Model: SGMPH 01A 02A 01B 02B 04A 08A 15A
Rated Output kW 0.1 0.2 0.1 0.2 0.4 0.75 1.50
Rated Torque lb-in 2.81 5.64 2.81 5.64 11.24 21.15 42.22
Maximum Instantaneous Torque lb-in 8.45 16.90 8.45 16.90 33.81 63.37 126.57
Rotor Inertia lb-in-s2x10
Amplifier Model: SGDG 10 15
Servomotor Model: SGMGH 03 ■ B 05■ A 06■B 09 ■ A 09■ B 12■A 13■A
Rated Output kW 0.3 0.45 0.6 0.85 0.9 1.2 1.3
Rated Torque lb-in 25.14 78.95 50.27 47.71 76.29 101.78 73.82
Maximum Instantaneous Torque lb-in 63.46 122.14 124.80 122.14 170.82 247.82 206.22
Maximum Rotation Speed r/min 2000 3000 2000 3000 2000 2000 3000
Rotor Inertia lb-in-s2x10
Amplifier Model: SGDG 10 15
Servomotor Model: SGMSH 10■ A 15 ■A
Rated Output kW 1.0 1.5
Rated Torque lb-in 28.15 43.37
Maximum Instantaneous Torque lb-in 84.44 130.11
Rotor Inertia lb-in-s2x10
Control Method . . . . . . . . . . . . . . . . . . IGBT Sinusoidal PWM Modulation
Feedback . . . . . . . . . . . . . . . . . . . . . . Incremental Serial Encoder
Operating/Store Temperature . . . . . . . . 0 to 55ºC/ -20 to 85ºC
Operating/Store Humidity . . . . . . . . . . Less than 90%RH (Free from condensation)
Mounting . . . . . . . . . . . . . . . . . . . . . . . Base Mounted
Anti-Vibration/Anti-Shock . . . . . . . . . . . 4.9m/s2/ 9.8m/s
Torque Reference Input . . . . . . . . . . . . ±10V, 16-Bit Resolution
Digital Inputs, Optically Isolated . . . . . . 12V - 24VDC and TTL (Servo Amplifier Enable, Dynamic Brake Enable
Digital Outputs, Optically Isolated . . . . 12V - 24VDC and TTL (Alarm, Run)
Encoder Dividing Output . . . . . . . . . . . Phase A, Phase B, Phase C Line Driver (Dividing function is available)
Speed Monitor . . . . . . . . . . . . . . . . . . . 1V/1000rpm
Torque Monitor . . . . . . . . . . . . . . . . . . 5V/Max. Torque
Regenerative Energy Dissipation . . . . 100W: Built-In Capacitor
Error Detection . . . . . . . . . . . . . . . . . . Overcurrent, Overvoltage, Undervoltage, Regenerative Error, etc. (12 total)
Display . . . . . . . . . . . . . . . . . . . . . . . . Main Circuit Power Charge LED, Control Power LED, 7-Segment LED Status Display
Digital Inputs, Optically Isolated . . . . . . 8 Programmable, 5 dedicated, +24VDC
Digital Outputs, Optically Isolated . . . . 4 Programmable, 2 dedicated, +24VDC
Analog Inputs . . . . . . . . . . . . . . . . . . . 2 Inputs, +/- 10V, 12-Bit Resolution
Analog Output . . . . . . . . . . . . . . . . . . . 1 Output, +/- 10V, 16-Bit Resolution
External Encoder Input . . . . . . . . . . . . 1 External Encoder Input, Up to 12MHz; A,B Channel
Power Output . . . . . . . . . . . . . . . . . . . 5.15V ± 5% (500mA) ± 12V ± 5% (60mA)
Serial Communication . . . . . . . . . . . . . 1 RS-232 Port, 9600 or 19200 Baud
Ethernet Communication . . . . . . . . . . . 1 Port, 10 Base-T,ASCII and Modbus Protocols Supported
Programming Features . . . . . . . . . . . . YTerm Software, Multi-Tasking, Math Functions, Simple Command Structure
Program Memory Size . . . . . . . . . . . . . 500 Lines X 80 Characters of Program Code
Physical Dimensions . . . . . . . . . . . . . . 5.6" (142mm)H X 0.8" (20mm)W X 5.1" (130mm)D
-4
-4
-4
A full line of linear motors is available for your application success. Ask your Yaskawa Sales Representative
for information on the solutions we can provide, or visit us at www.yaskawa.com.
400W: Built-In Circuit, External Resistor Higher than 1kW: Bus-Shunt Resistor Built-In
0.43 1.71 0.43 1.71 2.93 18.59 35.58
64.08 64.08 123.03 123.03 109.75 280.57 181.44
15.40 21.88
2
Motor Enclosures: SGMPH, SGMGH, SGMSH: IP67
SGMAH: IP55
Max. Rotation Speed: SGMAH, SGMPH, SGMSH: 5000 rpm
SGMGH: 3000 rpm
■ See full catalog for complete information
Breaking
Through
All The
Barriers
Features
Price
Performance
Availability
Yaskawa Electric America, Inc., January, 2005
Yaskawa Electric America
2121 Norman Drive South
Waukegan, IL 60085
1-800-YASKAWA
www.yaskawa.com
Yaskawa Electric Europe
Am Kronberger Hang 2, 65824
Schwalbach, Germany
49.6196.569.300
www.yaskawa.de
Yaskawa Electric Corporation
New Pier Takeshiba
South Tower, 1-16-1 Kaigan
Minatoku, Tokyo 105 Japan
81.3.5402.4511
www.yaskawa.co.jp
YEA-CHA-LGD-1.3A Printed In U.S.A.
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