YASKAWA SGM7J-A5A, SIGMA-7, SGM7J-04A, SGM7J-01A, SGM7J-06A Technical Supplement

SIGMA-7

AC Servo Drives and Motors Technical Supplement

yaskawa.com

Product Lineup

Servomotors

Rotary Servomotors

SGMMV (Low inertia, ultra-small capacity) 10 W to 30 W

SGM7P (Medium inertia, at type)

100 W to 1.5 kW

SGM7J (Medium inertia, high speed) 50 W to 1.5 kW

SGM7G (Medium inertia, large torque) 300 W to 15 kW

Direct Drive Servomotors Linear Servomotors

Small capacity, with core, inner rotor (SGM7F) 2 Nm to 35 Nm

SGLG (Coreless model)

12.5 N to 750 N

SGM7A (Low inertia, high speed) 50 W to 7 kW

Linear Stages

ST2F Sigma Trac II 45 N to 180 N

Small and medium capacity, with core, inner rotor (SGM7D), 1.3 Nm to 240 Nm

Small capacity, coreless (SGMCS) 2 Nm to 35 Nm

Medium capacity, with core (SGMCS) 45 Nm to 200 Nm

2

SGLFW2 (Model with F-type iron core) 45 N to 2520 N

SGLT (Model with T-type iron core) 130 N to 900 N

SERVOPACKs

Single-axis MECHATROLINK-III Communications Reference

SGD7S- 30A

Single-axis EtherCAT Communications Reference

SGD7S- A0A

Additional Options

Two-axis MECHATROLINK-III Communications Reference

SGD7W- 30A

Two-axis EtherCAT Communications Reference

SGD7W- DA0A (400V only)

Single-axis Analog Voltage/Pulse Train Reference

SGD7S- 00A

Fully-Closed Module

Advanced Safety Module

+

SGDV-OFA01A

1.5 Axis Control Option (MP2600iec)

SGDV-OSA01A

Network Indexer Option (SigmaLogic7 Compact)

+

SGD7S AE0A000300 SGD7S- AQ0A000F51

Single-Axis Control Option (Sigma-7Siec)

+

SGD7S AM0A000F50

Special Purpose Options (FT Options)

+

SGD7S-

• FT19: Less Deviation Control

• FT79: Built-in Indexer

• FT81: Harmonic Drive SHA Actuators

• FT82/83: for SGM7D Direct Drive Motor

A 0A000F

3

Power supply Three-phase 200 VAC

R S T

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

Noise Filter

Molded-case circuit breaker (MCCB)

Protects the power supply line by shutting the circuit OFF when overcurrent is detected.

Used to eliminate external noise from the power line.

Magnetic Contactor

Turns the servo ON and OFF. Install a surge absorber.

Single-axis MECHATROLINK-III Communications Reference SERVOPACK

CN8

External Regenerative Resistor

Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient.

Note: When not using the safety function, leave

the safety jumper connector connected to the SERVOPACK.

Safety Function Devices Cable

I/O Signal Cable

External devices such as LED indicators

CN6

CN7

Computer Cable

MECHATROLINK Communications Cable

To next MECHATROLINK-III station

System Conguration Example

Combination of SERVOPACK and Rotary Servomotor/Direct Drive Servomotor (200V Power)

1For MECHATROLINK-III Communications

Three-phase 200 VAC

Power supply Three-phase 200 VAC

Molded-case circuit breaker (MCCB)

Protects the power supply line by shutting the circuit OFF when overcurrent is detected.

Noise Filter

Used to eliminate external noise from the power line.

R S T

Magnetic Contactor

Turns the servo ON and OFF. Install a surge absorber.

Single-axis MECHATROLINK-III Communications Reference SERVOPACK

CN6

MECHATROLINK Communications Cable

To next MECHATROLINK-III station

External Regenerative Resistor

Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient.

Magnetic Contactor

Turns the brake power supply ON and OFF. Install a surge absorber.

Holding Brake Power Supply Unit

Used for a servomotor with a brake.

(Wiring required for the brake)

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

Servomotor Main Circuit Cable

CN7

Computer Cable

I/O Signal Cable

CN1

Safety Function

CN8

Devices Cable

Encoder Cable

External devices such as LED indicators

Note: When not using the safety function, leave

the safety jumper connector connected to the SERVOPACK.

CN2

To

Encoder Cable

Servomotor Main Circuit Cable

Rotary Servomotor

Direct Drive Servomotor

4

Combination of SERVOPACK and Linear Servomotor (200V Power)

1For MECHATROLINK-III Communications

Three-phase 200 VAC

Power supply Three-phase 200 VAC

R S T

Molded-case circuit breaker (MCCB)

Protects the power supply line by shutting the circuit OFF when overcurrent is detected.

Noise Filter

Used to eliminate external noise from the power line.

Magnetic Contactor

Turns the servo ON and OFF. Install a surge absorber.

Single-axis MECHATROLINK-III Communications Reference SERVOPACK

MECHATROLINK Communications Cable

CN6

To next MECHATROLINK-III station

External Regenerative Resistor

Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient.

CN7

CN8

Linear Servomotor Main Circuit Cable

Linear encoder (Not provided by Yaskawa.)

Computer Cable

I/O Signal Cable

Safety Function Devices Cable

Linear Encoder Cable

External devices such as LED indicators

Note: When not using the safety function, leave

the safety jumper connector connected to the SERVOPACK.

Serial Converter Unit Cable

Serial Converter Unit

Sensor Cable

Linear Servomotor

5

System Conguration Example

Combination of SERVOPACK and Rotary Servomotor/Direct Drive Servomotor (200V Power)

1For MECHATROLINK-III Communications

Three-phase 200 VAC

Power supply Three-phase 200 VAC

R S T

Molded-case circuit breaker (MCCB)

Protects the power supply line by shutting the circuit OFF when overcurrent is detected.

Noise Filter

Used to eliminate external noise from the power line.

External Regenerative Resistor

Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient.

Magnetic Contactor

Turns the brake power supply ON and OFF. Install a surge absorber.

Holding Brake Power Supply Unit

Used for a servomotor with a brake.

(Wiring required for the brake)

Magnetic Contactor

Turns the servo ON and OFF. Install a surge absorber.

Two-axis MECHATROLINK-III Communications Reference SERVOPACK

CN6

CN7

CN1

CN2

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

Encoder Cable

Servomotor Main Circuit Cable

MECHATROLINK Communications Cable

Computer Cable

I/O Signal Cable

To next MECHATROLINK-III station

External devices such as LED indicators

Servomotor Main Circuit Cable

Encoder Cable

Rotary Servomotor

Direct Drive Servomotor

6

Combination of SERVOPACK and Rotary Servomotor (400V Power)

1For MECHATROLINK-III Communications

Three-phase 400 VAC

Communications Cable

Three-phase, 400 VAC

Noise Filter

Control Power Supply Cable 24 VDC

L1 L2 L3

SERVOPACK main circuit wires

Digital Operator cable

Host controller

CN1 I/O Connector

Safety Function Device Cable

Computer

Support Software

Computer Cable

Analog Monitor Cable

Motor Connection Shielding Clamp

Bottom of SERVOPACK

7

System Conguration Example

Power supply

Communications Cable

Digital Operato

Combination of SERVOPACK and Linear Servomotor (400V Power)

1For MECHATROLINK-III Communications

Three-phase 400 VAC

Three-phase, 400 VAC

L1 L2 L3

Noise Filter

SERVOPACK main circuit wires

Control Power Supply Cable 24 VDC

Digital

r

Operator cable

CN1 I/O Connector

Serial Converter Unit Cable

Host controller

Safety Function Device Cable

Computer

Support Software

Computer Cable

Analog Monitor Cable

Motor Connection Shielding Clamp

Bottom of SERVOPACK

Serial Converter Unit

Linear Encoder Cable

Sensor Cable (between Serial

Linear Encoder (Not provided by Yaskawa.)

Polarity sensor

Linear Servomotor

Converter Unit and polarity sensor)

8

Combination of SERVOPACK and Rotary Servomotors (400V Power)

1For MECHATROLINK-III Communications

Three-phase 400 VAC

Communications Cable

Power supply Three-phase, 400 VAC

L1 L2 L3

CN1 I/O Connector

Host controller

Noise Filter

Digital Operator

SERVOPACK main circuit wires

Control Power Supply Cable 24 VDC

Digital Operator cable

Safety Function Device Cable

Computer

Analog Monitor Cable

Computer Cable

Support Software

Bottom of SERVOPACK

Motor Connection Shielding Clamps

9

Stock Status Definitions

The product selection tables in this catalog contain stock status codes, which are subject to change. The codes are defined below:

S

LS

NS

Stock Item

Normally 3 to 5 days leadtime for most order quantities. 3 to 5 weeks maximum if temporary outages occur. For critical lead time or large quantity shipments, check with your Yaskawa sales representative.

Limited Stock Item

Typically small quantites are available from stock. Items may become stock items as demand increases.

Non-Stock Item

Non-stock items typically carry a 12 - 16 week delivery time.

10

Series Combination

1Combination of Rotary Servomotors and SERVOPACKs

Rotary Servomotor Model

SGMMV

(Low inertia, ultra-

small capacity)

6000 RPM

SGM7J

(Medium inertia, high

speed)

3000 RPM

SGM7A

(Low inertia, high

speed)

3000 RPM

SGM7P

(Medium inertia, at

type)

3000 RPM

SGM7G

(Medium inertia,

large torque)

1500 RPM

Rated

Output

SGMMV-A1A 10 W

SGMMV-A2A 20 W

100V/200V 200V 400V

SGD7S-

R90A, R90F

SGMMV-A3A 30 W 1R6A, 2R1F

SGM7J-A5A 50 W R70A, R70F

SGM7J-01A 100 W R90A, R90F

SGM7J-C2A 150 W

SGM7J-02

SGM7J-04

200 W

400 W 2R8A, 2R8F 2R8A, 5R5A*1, 7R6A

SGM7J-06A 600 W

SGM7J-08

750 W 3R5D 2R6D or 5R4D*

1R6A, 2R1F

5R5A 5R5A, 7R6A

Sigma-7 SERVOPACK Model

SGD7W- SGD7S- SGD7W-

2R9E

*1

, 2R8A

1R6A

−

*1

1R9D

2R6D*

2R6D* or 5R4D*

− −

−

SGM7J-15D 1.5 kW N/A N/A 5R4D 5R4D

SGM7A-A5A 50 W R70A, R70F

SGM7A-01A 100 W R90A, R90R

SGM7A-C2A 150 W

SGM7A-02 200 W

SGM7A-04

400 W 2R8A, 2R8F 2R8A, 5R5A*1, 7R6A

SGM7A-06A 600 W

SGM7A-08

SGM7A-10

750 W 3R5D 2R6D or 5R4D*

1.0 kW

SGM7A-15A 1.5 kW 5R4D 5R4D

1R6A, 2R1F 1R6A, 2R8A

5R5A 5R5A, 7R6A

120A

1R6A

*1

, 2R8A

*1

− −

*1

1R9D

2R6D*

2R6D* or 5R4D*

− −

5R4D 5R4D*

SGM7A-20A 2.0 kW 180A 8R4D

SGM7A-25A 2.5 kW

SGM7A-30A 3.0 kW 120D

SGM7A-40A 4.0 kW

SGM7A-50A 5.0 kW 170D

SGM7A-70A 7.0 kW 550A

SGM7P-01A 100 W R90A, R90F 1R6A

SGM7P-02A 200 W

SGM7P-04A 400 W

200A

330A

*1

2R8A, 2R8F 2R8A, 5R5A

−

, 2R8A

*1

, 7R6A

*1

120D

170D

−

− −

−

SGM7P-08A 750 W 5R5A 5R5A, 7R6A

SGM7P-15A 1.5 kW 120A

SGM7G-03A 300 W

SGM7G-05A 450 W 1R9D 2R6D or 5R4D*

3R8A 5R5A

−

*1

, 7R6A

*1

− −

SGM7G-09A 850 W 7R6A 7R6A 3R5D 5R4D*

SGM7G-13A 1.3 kW 120A

SGM7G-20A 1.8 kW 180A 8R4D

SGM7G-30A 2.9 kW

SGM7G-44A 4.4 kW 170D

SGM7G-55A 5.5 kW 470A 210D

*2

330A

−

5R4D 5R4D

120D

−

SGM7G-75A 7.5 kW 550A 260D

SGM7G-1AA 11 kW 590A 280D

SGM7G-1EA 15 kW 780A 370D

*1. If you use this combination, performance may not be as good, e.g., the control gain may not increase, in comparison with using a SERVOPACK. *2. The rated output is 2.4 kW if you combine the SGM7G-30A with the SGD7S-200A.

11

Series Combination

1Combination of Direct Drive Servomotors and SERVOPACKs

Direct Drive Servomotor Model

SGM7D

(With core, outer rotor)

SGM7F

(With core, inner rotor)

Small capacity, coreless

(SGMCS)

Medium capacity, with core

(SGMCS)

Rated Torque

Nm

SGM7D-30F 30.0 50.0

SGM7D-58F 58.0 100

SGM7D-90F 90.0 150

SGM7D-1AF 110 200

SGM7D-01G 1.30 4.00

SGM7D-05G 5.00 6.00

SGM7D-08G 8.00 15.0

SGM7D-18G 18.0 30.0

SGM7D-24G 24.0 45.0

SGM7D-34G 34.0 60.0

SGM7D-45G 45.0 75.0

SGM7D-03H 3.00 4.00 2R8A, 2R8F

SGM7D-28I 28.0 50.0

SGM7D-70I 70.0 100

SGM7D-1ZI 100 150

SGM7D-1CI 130 200

SGM7D-2BI 220 300

SGM7D-2DI 240 400

SGM7D-06J 6.00 8.00

SGM7D-09J 9.00 15.0

SGM7D-18J 18.0 30.0

SGM7D-20J 20.0 45.0

SGM7D-38J 38.0 60.0

SGM7D-02K 2.06 5.00

SGM7D-06K 6.00 10.0

SGM7D-08K 8.00 15.0

SGM7D-06L 6.00 10.0

SGM7D-12L 12.0 20.0

SGM7D-30L 30.0 40.0 120A

SGM7F-02A 2 6

SGM7F-05A 5 15

SGM7F-07A 7 21

SGM7F-10B 10 30

SGM7F-14B 14 42 5R5A

SGM7F-08C 8 24 2R8A, 2R8F 2R8A

SGM7F-17C 17 51 5R5A

SGM7F-25C 25 75 7R6A

SGM7F-16D 16 48 5R5A

SGM7F-35D 35 105 7R6A, 120A 7R6A

SGMCS-02B 2 6

SGMCS-05B 5 15

SGMCS-07B 7 21

SGMCS-04C 4 12

SGMCS-10C 10 30

SGMCS-14C 14 42

SGMCS-08D 8 24

SGMCS-17D 17 51

SGMCS-25D 25 75

SGMCS-16E 16 48

SGMCS-35E 35 105

SGMCS-45M 45 135 7R6A

SGMCS-80M 80 240

SGMCS-80N 80 240

SGMCS-1AM 110 330 180A

SGMCS-1EN 150 450

SGMCS-2ZN 200 600

Instantaneous

Max. Torque

Nm

SGD7S-

SERVOPACK Model

SGD7W-

120A

2R8A, 2R8F

120A

2R8A, 2R8F

2R8A, 2R1F

2R8A

2R8A, 2R8FSGM7F-04B 4 12

2R8A

5R5A

120A

200A

−

12

Series Combination

1Combination of Linear Servomotors and SERVOPACKs

Linear Servomotor Model

SGLGW-30A050C 12.5 40 R70A, R70F

SGLGW-30A080C 25 80

SGLGW-40A140C 47 140

SGLGW-40A253C 93 280 1R6A, 2R1F

SGLG

(Coreless model, with

standard magnetic way)

SGLG

(Coreless model, with high-

force magnetic way)

SGLFW2*

SGLF

(Model with F-type iron core)

SGLFW*

SGLT

(Model with T-type iron core)

ST2F

(Sigma Trac II

Linear Stages)

*: The SGLFW model is an earlier product. Select the SGLFW2 model when newly installing a linear servomotor to a machine.

SGLGW-40A365C 140 420 2R8A, 2R8F 2R8A

SGLGW-60A140C 70 220 1R6A, 2R1F 1R6A

SGLGW-60A253C 140 440 2R8A, 2R8F 2R8A

SGLGW-60A365C 210 660 5R5A

SGLGW-90A200C 325 1300 120A

SGLGW-90A535C 750 3000 200A

SGLGW-40A140C 57 230 1R6A, 2R1F 1R6A

SGLGW-40A253C 114 460 2R8A, 2R8F 2R8A

SGLGW-40A365C 171 690 3R8A 5R5A

SGLGW-60A140C 85 360 1R6A, 2R1F 1R6A

SGLGW-60A253C 170 720 3R8A 5R5A

SGLGW-60A365C 255 1080 7R6A

SGLFW2-30A070A 45 135

SGLFW2-30A120A 90 270

SGLFW2-30A230A

SGLFW2-45A200A 280 840 5R5A

SGLFW2-45A380A 560

SGLFW2-90A200A 560 1680

SGLFW2-90A380A 1120 3360 200A

SGLFW2-90A560A 1680 5040 330A

SGLFW2-1DA380A 1680 5040 200A

SGLFW2-1DA560A 2520 7560 330A

SGLFW-20A090A 25 86

SGLFW-35A120A 80 220

SGLFW-35A230A 160 440 3R8A 5R5A

SGLFW-50A200B 280 600 5R5A

SGLFW-50A380B

SGLFW-1ZA380B 1120 2400 200A

SGLTW-20A170A 130 380 3R8A 5R5A

SGLTW-20A320A 250 760 7R6A

SGLTW-20A460A 380 1140 120A −

SGLTW-35A170A 220 660

SGLTW-35A170H 300 600

SGLTW-35A320A 440 1320

SGLTW-35A320H 600 1200

SGLTW-35A460A 670 2000

SGLTW-40A400B 670 2600

SGLTW-40A600B 1000 4000 330A

SGLTW-50A170H 450 900 5R5A

SGLTW-50A320H 900 1800 120A

SGLTW-80A600B 2000 7500 550A

SGT2F-A1A 45 135

SGT2F-A2A 90 270

SGT2F-A3A 180 540 3R8A, 2R8A, 2R8F 2R8A, 2R8F

SGT2F-A1D 45 135

SGT2F-A3D 180 540

Rated ForceNMax. Force

N

180 540 3R8A −

170 500 2R8A, 2R8F 2R8A

1680 180A

1500

560 1200 120A

SERVOPACK Model

SGD7S-

R90A, R90F

1R6A, 2R1F 1R6A

120A

1R6A, 2R1F 1R6ASGLFW-20A120A 40 125

120A

180A

1R6A, 2R1F 1R6A

1R9D 2R6DSGT2F-A2D 90 270

SGD7WSGD7C-

5R5A

1R6A

−SGLGW-90A370C 550 2200 180A

−

−SGLFW-1ZA200B

−

−SGLTW-80A400B 1300 5000 330A

13

Recommended Encoders

1Incremental Linear Encoders

Output Signal Manufacturer

Heidenhain

1 Vp-p Analog

Voltage

*1

Corporation

Renishaw plc*4Exposed

Encoder

Type

Exposed

Scale

LIDA48

LIF48

RGS20 RGH22B

SL7 0

SQ10 PQ10

Linear

Encoder for

Yaskawa’s Serial

Interface

*2

Magnescale

Co., Ltd.

Exposed

BL57-

( -LINK)

BF1-

BF1- RY F

SR75-

Sealed

SR75- MF − 80 78.1 3.33 −

SR85- LF − 80 9.8 3.33 −

SR85- MF − 80 78.1 3.33 −

*1: You must also use a Yaskawa Serial Converter Unit. The output signal will be

multiplied by 8 bits (256 divisions) or 12 bits (4,096 divisions) in the Serial Converter Unit.

*2: The multiplier (number of divisions) depends on the Linear Encoder. Also, you must

write the motor constant file to the Linear Encoder in advance.

*3: The maximum speeds given in the above table are the maximum applicable speeds

of the encoders when combined with a Yaskawa SERVOPACK. The actual speed will be restricted by either the maximum speed of the Linear Servomotor or the maximum speed of the Linear Encoder (given above).

Model

Sensor

Head

PL101 MJ620-T13

*8

RED

RY F

LF − 80 9.8 3.33 −

Linear

Interpolator (Serial

Encoder

Converter Unit)

JZDP-H003/-H006

JZDP-J003/- J006

JZDP-H003/-H006

JZDP-J003/- J006

JZDP-H005/-H008

JZDP-J005/- J008

PL101-RY

*5

*6

*7 *8

MQ10-FLA

MQ10-GLA −

ResolutionnmMaximum

Pitch

μ

m

78.1 5

20

4

20

4.9 2

15.6 1

1.0 0.4

78.1 5

4.9 2

800 97.7 10

400 48.83 3

Speed

m/s

Support for

*3

Polarity

Sensor

Input

−

Application

to Linear

Motors

*8 *8

BD96-Y1051LC 0.4 0.78 0.8 −

BD96-Y1025LC 0.4 1.56 1.0

BD96-Y2051LC 0.4 0.78 0.8

BD96-Y2025LC 0.4 1.56 1.0

BD96-YJ051LC 0.4 0.78 0.8

BD96-YJ025LC 0.4 1.56 1.0

*8

*4: If you use the origin signals with a Linear Encoder from Renishaw plc, the origin may

sometimes be falsely detected. If that occurs, use the BID/DIR signal to output the

origin signal only in one direction. *5: Use this model number to purchase the Serial Converter Unit. *6: Use this model number to purchase the Sensor Head with Interpolator. *7: Use this model number to purchase the Interpolator. *8: Contact your Yaskawa representative. Note: 1. Confirm detailed specifications, such as the tolerances, dimensions, and

2.

0.25 0.49 1.77

0.25 0.98 1.8

operating environment, with the manufacturer of the Encoder before you use it.

-LINK is a registered trademark of YASKAWA ELECTRIC CORPORATION.

: Possible

Application to

Fully-Closed

Loop Control

*8

−

1Absolute Rotary Encoder

The following Absolute Rotary Encoders are for fully-closed control. Can not use it to control the motor.

Output Signal Manufacturer

Magnescale

Co., Ltd.

Rotary Encoder

Type

Sealed

Exposed ECA4412

Encoder for Yaskawa’s

Serial Interface

-LINK)

(

Heidenhain

Corporation

Sealed

RA23Y-

Renishaw plc Exposed

RA26Y-

RA30Y-

*1: The maximum speeds given in the above table are the maximum applicable speeds

of the encoders when combined with a Yaskawa SERVOPACK. The actual speed will be restricted by either the maximum speed of the Linear Servomotor or the maximum speed of the Linear Encoder (given above).

*2: This is a single-turn absolute encoder.

Model

Scale Sensor Head

RU77-4096ADF

RU77-4096AFFT01

RCN2

RCN5

RCN8

ROC2310

ROC7310

*2

10

*2

10

*2

10

*2

Note: 1. Confirm detailed specifications, such as the tolerances, dimensions, and

operating environment, with the manufacturer of the Encoder before you use it.

2.

-LINK is a registered trademark of YASKAWA ELECTRIC CORPORATION.

Relay Device between Fully-Closed

*2

14

Module and Rotary Encoder

− 20 2000

− 22 2000

EIB3391Y

− 23 14600

− 26 3250

− 30 200

Resolution

Bits

27 1600

28 800

29 400

26 3000

28 800

29 400

26 3000

28 800

Maximum Speed*1

RPM

1Absolute Linear Encoder

: Possible

Model

Sensor

Head

S F

T F

A F

F F

S F

T F

A F

F F

LF − 80 9.8 3.33 −

Output Signal Manufacturer

Magnescale

Co., Ltd.

Linear

Encoder

Type

Exposed

Sealed

Scale

SQ47

-

SQ47

-

SQ47

-

SQ47

-

SQ57

-

SQ57

-

SQ57

-

SQ57

-

SR77-

SR77- MF − 80 78.1 3.33 −

SR87- LF − 80 9.8 3.33 −

SR87- MF − 80 78.1 3.33 −

ST781A − 256 500 5 −

Encoder for

Yaskawa’s Serial

Interface

*1

( -LINK)

Mitutoyo

Corporation

Exposed

ST782A − 256 500 5 −

ST783A − 51.2 100 5 −

ST784A − 51.2 100 5 −

ST788A − 51.2 100 5 −

ST789A

*4

ST1381 − 5.12 10 8 −

ST1382 − 0.512 1 3.6

LIC4100 Series

Heidenhain Corporation

Exposed

Sealed

LIC2100 Series

LC115 40.96 10 3 −

LC415 40.96 10 3 −

EL36Y-050F

EL36Y

- 1

00F

Renishaw plc

Exposed

EL36Y

- 5

RL36Y-05

00F

0 − 12.8 50 100 −

RL36Y-001

*1: The multiplier (number of divisions) depends on the Linear Encoder. Also, you must

write the motor constant file to the Linear Encoder in advance.

*2: These are reference values for setting SERVOPACK parameters. Contact the

manufacturer for actual linear encoder scale pitches.

*3: The maximum speeds given in the above table are the maximum applicable speeds

of the encoders when combined with a Yaskawa SERVOPACK. The actual speed will be restricted by either the maximum speed of the Linear Servomotor or the maximum speed of the Linear Encoder (given above).

*4: Contact Mitutoyo Corporation for details on the Linear Encoders.

Interpolator (Serial

Converter Unit)

Linear

Encoder

*2

Pitch

μ

m

Resolution

nm

Maximum

Speed

m/s

Support for

*3

Polarity Sensor

Input

− 20.48 5 3.33 −

− 40.96 10 3.33 −

− 20.48 5 3.33 −

− 40.96 10 3.33 −

− 25.6 50 5 −

*6

−

20.48 5 10 −

204.8 50 10 −

*5

EIB3391Y

409.6 100 10 −

− 12.8 50 100 −

− 25.6 100 100 −

− 128 500 100 −

− 0.256 1 3.6 −

*5: Use this model number to purchase the Interpolator. *6: The speed is restricted for some SERVOPACKs. Note: 1. Confirm detailed specifications, such as the tolerances, dimensions, and

operating environment, with the manufacturer of the Encoder before you use it.

2.

-LINK is a registered trademark of YASKAWA ELECTRIC CORPORATION.

Application

to Linear

Motors

Application to

Fully-Closed

Loop Control

15

Rotary Servo Motors

SGMMV .................................................................. 4

SGM7J .................................................................. 18

SGM7A ................................................................. 54

SGM7P ................................................................116

SGM7G ................................................................134

Rotary Servo Motors

SGMMV

Model Designations

-

SGMMV

-V mini Series Servo Motors: SGMMV

A1

1st+2nd

digits

A 2 A

3rd

digit

4th

digit

5th

digit

21

6th

digit

7th

digit

1st+2nd digits

Code Speciﬁcation

A1 10 W

A2 20 W

A3 30 W

Rated Output

3rd digit

Code Speciﬁcation

4th digit

Code

5th digit

Power Supply Voltage

A 200 VAC

Serial Encoder

17-bit absolute

2

Design Revision Order

A

Speciﬁcation

6th digit Shaft End

Code Speciﬁcation

Straight

2

Straight with ﬂat seats

A

7th digit Options

Code

1

C

Non Stock Items

Speciﬁcation

Without options

With holding brake (24 VDC)

4

Rotary Servo Motors

Vertical

Shock Applied to the Servo Motor

SGMMV

Specifications and Ratings

Specifications

Voltage 200 V

Model SGMMV- A1A A2A A3A

Time Rating Continuous

Thermal Class B

Insulation Resistance 500 VDC, 10 M min.

Withstand Voltage 1,500 VAC for 1 minute

Excitation Permanent magnet

Mounting Flange-mounted

Drive Method Direct drive

Rotation Direction

Vibration Class

*1

Surrounding Air Temperature

Surrounding Air Humidity 20% to 80% relative humidity (with no condensation)

Environmental

Installation Site

Conditions

Storage Environment

Shock Resistance

Vibration Resistance

Applicable SERVOPACKs

Impact Acceleration Rate at Flange

*2

Number of Impacts 2 times

Vibration Acceleration Rate

*3

at Flange

SGD7S- R90A, R90F 1R6A, 2R1F

SGD7W-

*1. A vibration class of V15 indicates a vibration amplitude of 15 m maximum on the Servo Motor without a load at the

rated motor speed.

*2. The shock resistance for shock in the vertical direction when the Servo Motor is mounted with the shaft in a horizontal

position is given in the above table.

Counterclockwise (CCW) for forward reference when viewed from the

load side

V15

0°C to 40°C

• Must be indoors and free of corrosive and explosive gases.

• Must be well-ventilated and free of dust and moisture.

• Must facilitate inspection and cleaning.

• Must have an altitude of 1,000 m or less.

• Must be free of strong magnetic fields.

Store the Servo Motor in the following environment if you store it with the power cable disconnected. Storage Temperature: -20°C to 60°C (with no freezing) Storage Humidity: 20% to 80% relative humidity (with no condensation)

2

490 m/s

2

49 m/s

1R6A

*4

, 2R8A

*4

1R6A, 2R8A

*4

5

Rotary Servo Motors

Vertical

Horizontal direction

Vibration Applied to the Servo Motor

Front to back

Side to side

SGMMV

*3. The vertical, side-to-side, and front-to-back vibration resistance for vibration in three directions when the Servo Motor

is mounted with the shaft in a horizontal position is given in the above table. The strength of the vibration that the Servo Motor can withstand depends on the application. Always check the vibration acceleration rate that is applied to the Servo Motor with the actual equipment.

*4. If you use a S-7W SERVOPACK, the control gain may not increase as much as with a S-7S SERVOPACK and other

performances may be lower than those achieved with a S-7S SERVOPACK.

6

Rotary Servo Motors

Servo Motor Ratings

+10%

0

LF

Radial load

Thrust load

Vol tage 200 V

Model SGMMV

Rated Output

Rated Torque

Instantaneous Maximum Torque

Rated Current

Instantaneous Maximum Current

Rated Motor Speed

Maximum Motor Speed

*1

*1, *2

*1

-

W102030

N•m 0.0318 0.0637 0.0955

*1

N•m 0.0955 0.191 0.286

Arms 0.70 0.66 0.98

Arms 2.0 1.9 2.9

-1

min

-1

min

Torque Constant N•m/Arms 0.0516 0.107

-7

Motor Moment of Inertia

Rated Power Rate

*1

Rated Angular Acceleration Rate

10

kW/s 3.72 8.71 13.7

*1

rad/s

kg•m

2

Heat Sink Size (Aluminum) mm 150 x 50 x 3 250 x 250 x 6

Protective Structure

*3

Rated Voltage V

Capacity W 2.0 2.6

Holding Torque N•m 0.0318 0.0637 0.0955

Holding Brake Specifications

Coil Resistance  (at 20°C) 320 221.5

*4

Rated Current A (at 20°C) 0.075 0.108

Time Required to Release Brake

Time Required to Brake

ms 40

ms 100

Allowable Load Moment of Inertia (Motor Moment of Inertia Ratio)

With External Regenerative Resistor and Dynamic Brake Resistor

LF mm 16

Allowable Shaft

*5

Loads

Allowable Radial Load

Allowable Thrust Load

N34 44

N 14.5

A1A A2A A3A

3000

6000

2.72 (4.07) 4.66 (6.02) 6.68 (8.04)

117000 137000 143000

Totally enclosed, self-cooled, IP55

(except for shaft opening)

24 VDC

30 times

Rotary Servo Motors

SGMMV

*1. These values are for operation in combination with a SERVOPACK when the temperature of the armature winding is

20°C. These are typical values.

*2. The rated torques are the continuous allowable torque values with an aluminum or steel heat sink of the dimensions

given in the table.

*3. This does not apply to the shaft opening. Protective structure specifications apply only when the special cable is used.

*4. Observe the following precautions if you use a Servo Motor with a Holding Brake.

• The holding brake cannot be used to stop the Servo Motor.

• The time required to release the brake and the time required to brake depend on which discharge circuit is used.

Confirm that the operation delay time is appropriate for the actual equipment.

• The 24-VDC power supply is not provided by Yaskawa.

*5. The allowable shaft loads are illustrated in the following figure. Design the mechanical system so that the thrust and

radial loads applied to the Servo Motor shaft end during operation do not exceed the values given in the table.

Note: The values in parentheses are for Servo Motors with Holding Brakes.

7

Rotary Servo Motors

SGMMV-A3A

A

B

4000

3000

2000

1000

0

5000

6000

7000

0 0.1 0.2 0.3 0.4

SGMMV-A1A

A

B

4000

3000

2000

1000

0

5000

6000

7000

0 0.04 0.08 0.12 0.16

SGMMV-A2A

A

B

4000

3000

2000

1000

0

5000

6000

7000

0 0.08 0.16 0.24 0.32

Continuous duty zone

Intermittent duty zone*

A

:

B

:

Motor speed (min

-1

)

Torque (N·m)

Motor speed (min

-1

)

Torque (N·m)

Motor speed (min

-1

)

Torque (N·m)

SGMMV

Torque-Motor Speed Characteristics

* The characteristics are the same for three-phase 200 V, single-phase 200 V, and single-phase 100 V input.

Note: 1. These values are for operation in combination with a SERVOPACK when the temperature of the armature winding

is 20°C. These are typical values.

2. The characteristics in the intermittent duty zone depend on the power supply voltage.

3. If the effective torque is within the allowable range for the rated torque, the Servo Motor can be used within the intermittent duty zone.

4. If you use a Servo Motor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torque-motor speed characteristics will become smaller because the voltage drop increases.

8

Rotary Servo Motors

1000

100

10

1

100 200 300

SGMMV-A1 ,-A2 ,-A3

Detection time (s)

Torque reference (percent of rated torque)

(%)

SGMMV

Servo Motor Overload Protection Characteristics

The overload detection level is set for hot start conditions with a Servo Motor surrounding air temperature of 40

°C.

Note: The above overload protection characteristics do not mean that you can perform continuous duty operation with an

output of 100% or higher. Use the Servo Motor so that the effective torque remains within the continuous duty zone given in Torque-Motor Speed Characteristics (page 8).

Load Moment of Inertia

The load moment of inertia indicates the inertia of the load. The larger the load moment of inertia, the worse the response. If the moment of inertia is too large, operation will become unstable.

The allowable size of the load moment of inertia (J Motor Ratings (page 7). This value is provided strictly as a guideline and results depend on Servo Motor driving conditions.

An Overvoltage Alarm (A.400) is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia. SERVOPACKs with a built-in regenerative resistor may generate a Regenerative Overload Alarm (A.320). Perform one of the following steps if this occurs.

• Reduce the torque limit.

• Reduce the deceleration rate.

• Reduce the maximum motor speed.

• Install an External Regenerative Resistor if the alarm cannot be cleared using the above steps.

Regenerative resistors are not built into SERVOPACKs for 400-W Servo Motors or smaller Servo Motors. Even for SERVOPACKs with built-in regenerative resistors, an External Regenerative Resistor is required if the energy that results from the regenerative driving conditions exceeds the allowable loss capacity (W) of the built-in regenerative resistor.

) for the Servo Motor is restricted. Refer to Servo

L

9

Rotary Servo Motors

0

1000 2000 3000 4000 5000 6000 7000

0

35

30

25

20

15

10

5

Allowable load moment of inertia

scaling factor (times)

Motor speed (min-1)

SGMMV-A1A, -A2A, -A3A

SGMMV

Allowable Load Moment of Inertia Scaling Factor for SERVOPACKs without Built-in Regenerative Resistors

The following graphs show the allowable load moment of inertia scaling factor of the motor speed for SERVOPACKs* without built-in regenerative resistors when an External Regenerative Resistor is not connected.

If the Servo Motor exceeds the allowable load moment of inertia, an overvoltage alarm may occur in the SERVOPACK.

These graphs provide reference data for deceleration at the rated torque or higher.

* Applicable SERVOPACK models: SGD7S-R90A, -1R6A, -R90F, and -2R1F

10

Rotary Servo Motors

Important

90 150120

60

300 150 250200

100

500

100

80

60

40

20

100

80

60

40

20

SGMMV-A1， -A2

SGMMV-A3

Derating rate (%)

Heat sink size (mm)

Derating rate (%)

Heat sink size (mm)

SGMMV

Servo Motor Heat Dissipation Conditions

The Servo Motor ratings are the continuous allowable values when a heat sink is installed on the Servo Motor. If the Servo Motor is mounted on a small device component, the Servo Motor temperature may rise considerably because the surface for heat dissipation becomes smaller. Refer to the following graphs for the relation between the heat sink size and derating rate.

When using Servo Motors with derating, change the detection timing of overload warnings and overload alarms by referring to the motor overload detection level described in the following manual.



-7-Series AC Servo Drive Rotary Servo Motor Product Manual (Manual No.: SIEP S800001 36)

Note: The derating rates are applicable only when the average motor speed is less than or equal to the rated motor speed.

If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representative.

The actual temperature rise depends on how the heat sink (i.e., the Servo Motor mounting section) is attached to the installation surface, what material is used for the Servo Motor mounting section, and the motor speed. Always check the Servo Motor temperature with the actual equipment.

11

Rotary Servo Motors

300±30

Encoder Cable, 4 Dia. UL

20276

Protective Tube

5

Dia., Black

Motor Lead AWG

24

,UL

10095

or UL

3266

±

30300

28

Dia.

□

25

16

45

°

2.5

16

26

.

5

12

L

2

L

1

2-M3

Tapped

Holes, Depth

7

0.04

Dia.

A

0.02

0

.04A

4

LB Dia.

S Dia.

0

-0.008 0-0.021 0-0.008 0-0.021

0

-0.008 0-0.021

10

S Dia.

LB Dia.

0.5

4.5

A

0.02

SGMMV

External Dimensions

Servo Motors without Holding Brakes

 SGMMV-A1, -A2 and -A3

Model

SGMMV-

 1 70 54 27.5

A1A2A

 1 80 64 37.5

A2A2A

A3A2A

 1 90 74 47.5

L L1 L2

Flange

Dimensions

S LB

520

Approx.

Mass

[kg]

0.13

0.17

0.21

Refer to the following section for information on connectors.



SGMMV-A1, -A2, and -A3 without Holding Brakes (page 14)

 Shaft End Specification

• Straight with Flat Seats

12

Rotary Servo Motors

Servo Motors with Holding Brakes

0

-0.008 0-0.021

0

-0.008

0

-0.021

0

-0.008 0-0.021

10

S Dia.

LB Dia.

0.5

4.5

A

0.02

 SGMMV-A1, -A2 and -A3

Encoder Cable, 4 Dia.

20276

UL

Motor Lead

24,UL10095

AWG

3266

Protective Tube

5

Dia., Black

12

26.5

or UL

300±30

Rotary Servo Motors

SGMMV

±

30300

L

0

.04

S Dia.

0.02

A

°

45

2.5

16

A

L1

2

L

□

25

16

4

Model

SGMMV-

L L1 L2

A1A2A C 94.5 78.5 27.5

A2A2A C 108.5 92.5 37.5

A3A2A C 118.5 102.5 47.5

Flange

Dimensions

S LB

520

5

20

Approx.

Mass

[kg]

0.215

0.27

0.31

Refer to the following section for information on connectors.



SGMMV-A1, -A2, and -A3 with Holding Brakes (page 14)

 Shaft End Specification

• Straight with Flat Seats

LB Dia.

0.04

Dia.

28

Dia.

A

2-M3 Tapped

Holes, Depth

7

13

Rotary Servo Motors

SGMMV

Connector Specifications

 SGMMV-A1, -A2, and -A3 without Holding Brakes

• Encoder Connector Specifications

Model: 55102-0600

Manufacturer: Molex Japan LLC

Mating connector: 54280-0609

• Servo Motor Connector Specifications

Receptacle: 43025-0400 Manufacturer: Molex Japan LLC

 SGMMV-A1, -A2, and -A3 with Holding Brakes

• Encoder Connector Specifications (24-bit Encoder)

Model: 55102-0600

Manufacturer: Molex Japan LLC

Mating connector: 54280-0609

• Servo Motor Connector Specifications

Receptacle: 43025-0600 Manufacturer: Molex Japan LLC

14

Rotary Servo Motors

Selecting Cables

 Cable Configurations

The cables shown below are required to connect a Servo Motor to a SERVOPACK.

Encoder Cable of 20 m or Less Encoder Cable of 30 m to 50 m (Relay Cable)

Rotary Servo Motors

SGMMV

Servo Motor Main Circuit Cable

Servo Motor

SERVOPACK

Encoder Cable

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

Encoder-end Cable

Servo Motor Main Circuit Cable

Servo Motor

SERVOPACK

Relay Encoder Cable

Cable with a Battery (Required when an absolute encoder is used.)

Cable with Connectors on Both Ends

Encoder-end Cable

Note: 1. If the cable length exceeds 20 m, be sure to use a Relay Encoder Cable.

2. If you use a Servo Motor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torque-motor speed characteristics will become smaller because the voltage drop increases.

3. Refer to the following manual for the following information.

• Cable dimensional drawings and cable connection specifications

• Order numbers and specifications of individual connectors for cables

• Order numbers and specifications for wiring materials



-7-Series AC Servo Drive Peripheral Device Selection Manual (Manual No.: SIEP S800001 32)

15

Rotary Servo Motors

Ｌ

SERVOPACK end

Motor end

L

SERVOPACK end Encoder end

SGMMV

Servo Motor Main Circuit Cables

Servo Motor

Name

Model

For Servo Motors without

SGMMV

-A1, -A2, and -A3

10 W, 20 W, 30 W

*1. Use Flexible Cables for moving parts of machines, such as robots.

*2. The recommended bending radius (R) is 90 mm or larger.

Holding Brakes

For Servo Motors with Holding Brakes

Length

(L)

3 m JZSP-CF2M00-03-E JZSP-CF2M20-03-E

5 m JZSP-CF2M00-05-E JZSP-CF2M20-05-E

10 m JZSP-CF2M00-10-E JZSP-CF2M20-10-E

15 m JZSP-CF2M00-15-E JZSP-CF2M20-15-E

20 m JZSP-CF2M00-20-E JZSP-CF2M20-20-E

30 m JZSP-CF2M00-30-E JZSP-CF2M20-30-E

40 m JZSP-CF2M00-40-E JZSP-CF2M20-40-E

50 m JZSP-CF2M00-50-E JZSP-CF2M20-50-E

3 m JZSP-CF2M03-03-E JZSP-CF2M23-03-E

5 m JZSP-CF2M03-05-E JZSP-CF2M23-05-E

10 m JZSP-CF2M03-10-E JZSP-CF2M23-10-E

15 m JZSP-CF2M03-15-E JZSP-CF2M23-15-E

20 m JZSP-CF2M03-20-E JZSP-CF2M23-20-E

30 m JZSP-CF2M03-30-E JZSP-CF2M23-30-E

40 m JZSP-CF2M03-40-E JZSP-CF2M23-40-E

50 m JZSP-CF2M03-50-E JZSP-CF2M23-50-E

Standard Cable

Order Number

Flexible Cable

*1*2

SERVOPACK end

Appearance

Ｌ

Motor end

Encoder Cables of 20 m or Less

Servo Motor

Name

Model

Cables with Connectors on Both Ends (for incremen-

All SGMMV models

*1. Use Flexible Cables for moving parts of machines, such as robots.

*2. The recommended bending radius (R) is 68 mm or larger.

tal encoder)

Cables with Connectors on Both Ends (for absolute encoder: With Battery Case)

Length

(L)

3 m JZSP-CMP00-03-E JZSP-CMP10-03-E

5 m JZSP-CMP00-05-E JZSP-CMP10-05-E

10 m JZSP-CMP00-10-E JZSP-CMP10-10-E

15 m JZSP-CMP00-15-E JZSP-CMP10-15-E

20 m JZSP-CMP00-20-E JZSP-CMP10-20-E

3 m JZSP-CSP19-03-E JZSP-CSP29-03-E

5 m JZSP-CSP19-05-E JZSP-CSP29-05-E

10 m JZSP-CSP19-10-E JZSP-CSP29-10-E

15 m JZSP-CSP19-15-E JZSP-CSP29-15-E

20 m JZSP-CSP19-20-E JZSP-CSP29-20-E

Standard Cable

Order Number

Flexible Cable

*1*2

SERVOPACK end Encoder end

Appearance

Battery Case (battery included)

L

16

Rotary Servo Motors

Relay Encoder Cables of 30 m to 50 m

SERVOPACK end

Encoder end

L

molex

Rotary Servo Motors

SGMMV

Servo Motor

Model

All SGMMV

Name

Cables with Connectors on Both Ends (for incremental or absolute encoder)

Length

(L)

Order Number for

Standard Cable

30 m JZSP-UCMP00-30-E

40 m JZSP-UCMP00-40-E

50 m JZSP-UCMP00-50-E

models

Cable with a Battery Case (Required when an abso-

0.3 m JZSP-CSP12-E

lute encoder is used.)*

*This Cable is not required if a battery is connected to the host controller.

SERVOPACK end

molex

Appearance

L

Battery Case (battery included)

Encoder end

17

Rotary Servo Motors

SGM7J

SGM7J Servo Motors (without Gear Box)

Model Designations

-

SGM7J

-7 Series Servo Motors: SGM7J

01

A 7 D

1st+2nd

digits

3rd

digit

4th

digit

5th

digit

61

6th

digit

7th

digit

1st+2nd digits

Code

A5

50 W

01

100 W

C2

150 W

02 200 W

04 400 W

06 600 W

08 750 W

Rated Output

Speciﬁcation

3rd digit

Code

4th digit

Code

5th digit

A: Global design revision for batteryless

D: Global design revision for battery

F: Global design revision for battery

Power Supply Voltage

Speciﬁcation

A 200 VAC

D 400 VAC

Serial Encoder

Speciﬁcation

6

24-bit batteryless absolute

7

24-bit absolute

F

24-bit incremental

Design Revision Order

absolute encoder (200 V)

type (200V)

type absolute encoder (400V)

6th digit

Code

7th digit

Code Speciﬁcation

Shaft End

Speciﬁcation

2

Straight without key

6

Straight with key and tap

B

With two ﬂat seats

Options

1

Without options

C

With holding brake (24 VDC)

With oil seal and holding

E

brake (24 VDC)

S

With oil seal

Non Stock Items

18

Rotary Servo Motors

1

2

3

4

5

03

05

50

Blank

C

050

090

070

A 200 VAC battery type

B 200 VAC batteryless type

D 400 VAC battery type

01

02 200 W

04 400 W

08 750 W

15 1.5 kW

100 W

VL

Code

Speciﬁcation

5 arc-min backlash

3rd digit

4th digit

6th digit

-7 Series Gear Motors: SGM7J

Rated Output

Code

Speciﬁcation

Code

Speciﬁcation

No brake

24 V Brake

Code

Code Speciﬁcation

3:1 Ratio

5:1 Ratio

10

10:1 Ratio

25

25:1 Ratio

50:1 Ratio

Speciﬁcation

50 mm

70 mm

90 mm

120

120 mm

155

155 mm

Power Supply Voltage

Brake Option

5th digit

Gear box backlash

Gear head frame size

7th digit

Gear Ratio

1st+2nd digits

S7J

-

01

A C VL

050 - 05

1st+2nd

digits

3rd

digit

4th

digit

5th

digit

6th

digit

7th

digit

SGM7J

SGM7J Gear Motors

The SGM7J gear motor product family pairs SGM7J servo motors with high precision, low backlash inline planetary gear heads resulting in a portfolio of rotary actuators fit for a wide range of applications. The fam‐ ily of gear motors has been thoroughly tested and adheres to the high levels of quality and performance expected from Yaskawa.

The high precision gear heads offer a variety of application advantages:

•  Quiet operation – helical cut gears contribute toward reduced vibration and noise

•  High precision – a standard backlash of 5 arc-min make this gear head ideal for the most accurate applications

•  High rigidity and torque capacity – achieved with a design which incorporates uncaged needle roller bearings

•  Optimized adapter bushing – minimizes inertia allowing for more output torque to be realized

•  No leakage through the seal – high viscosity, anti-separation grease does not liquefy and does not migrate away from the gears

• Maintenance-free – no need to replace the grease for the life of the unit. The reducer can be positioned in any orientation

Model Designations

19

Rotary Servo Motors

Vertical

Shock Applied to the Servo Motor

SGM7J

Specifications and Ratings

Specifications (200 V Models)

Voltage 200 V

Model SGM7J- A5A 01A C2A 02A 04A 06A 08A

Time Rating Continuous

Thermal Class UL: B, CE: B

Insulation Resistance 500 VDC, 10 M min.

Withstand Voltage 1,500 VAC for 1 minute

Excitation Permanent magnet

Mounting Flange-mounted

Drive Method Direct drive

Rotation Direction

Vibration Class

*1

Surrounding Air Temperature

Surrounding Air Humidity 20% to 80% relative humidity (with no condensation)

Environmental

Installation Site

Conditions

Storage Environment

Shock Resis-

*2

tance

Vibration Resistance

Applicable SERVOPAC Ks

Impact Acceleration Rate at Flange

Number of Impacts 2 times

Vibration Acceleration Rate

*3

at Flange

SGD7S- R70A R90A 1R6A 2R8A 5R5A

SGD7W-

*1. A vibration class of V15 indicates a vibration amplitude of 15 m maximum on the Servo Motor without a load at the

rated motor speed.

*2. The shock resistance for shock in the vertical direction when the Servo Motor is mounted with the shaft in a horizontal

position is given in the above table.

Counterclockwise (CCW) for forward reference when viewed from the

load side

V15

0°C to 40°C (With derating, usage is possible between 40°C and

*4

60°C.)

• Must be indoors and free of corrosive and explosive gases.

• Must be well-ventilated and free of dust and moisture.

• Must facilitate inspection and cleaning.

• Must have an altitude of 1,000 m or less. (With derating, usage is

possible between 1,000 m and 2,000 m.)

*5

• Must be free of strong magnetic fields.

Store the Servo Motor in the following environment if you store it with the power cable disconnected. Storage Temperature: -20°C to 60°C (with no freezing) Storage Humidity: 20% to 80% relative humidity (with no condensation)

2

490 m/s

2

49 m/s

2R8A

1R6A

*6

, 2R8A

*6

1R6A, 2R8A

*6

5R5A 7R6A

*6

5R5A, 7R6A

20

Rotary Servo Motors

*3. The vertical, side-to-side, and front-to-back vibration resistance for vibration in three directions when the Servo Motor

is mounted with the shaft in a horizontal position is given in the above table. The strength of the vibration that the Servo Motor can withstand depends on the application. Always check the vibration acceleration rate that is applied to the Servo Motor with the actual equipment.

Vertical

SGM7J

Front to back

Side to side

*4. If the surrounding air temperature will exceed 40°C, refer to the following section.

Applications Where the Surrounding Air Temperature of the Servo Motor Exceeds 40

*5. If the altitude will exceed 1,000 m, refer to the following section.

Applications Where the Altitude of the Servo Motor Exceeds 1,000 m (page 35)

*6. If you use the Servo Motor together with a S-7W SERVOPACK, the control gain may not increase as much as with a

Vibration Applied to the Servo Motor

Horizontal direction



C (page 34)

-7S SERVOPACK and other performances may be lower than those achieved with a -7S SERVOPACK.

21

Rotary Servo Motors

Vertical

Shock Applied to the Servo Motor

SGM7J

Specifications (400 V Models)

Voltage 400 V

Model SGM7J- 02D 04D 08D 15D

Time Rating Continuous

Thermal Class UL: B, CE: B

Insulation Resistance 500 VDC, 10 M min.

Withstand Voltage 1,800 VAC for 1 minute

Excitation Permanent magnet

Mounting Flange-mounted

Drive Method Direct drive

Rotation Direction

Vibration Class

*1

Environmental Conditions

Shock Resis-

*2

tance

Vibration

Resistance

*3

Applicable SERVOPAC Ks

Surrounding Air Temperature

Surrounding Air Humidity 20% to 80% relative humidity (with no condensation)

Installation Site

Storage Environment

Impact Acceleration Rate at Flange

Number of Impacts 2 times

Vibration Acceleration Rate at Flange

SGDV-- 1r9 3R5 5R4

Counterclockwise (CCW) for forward reference when viewed from the

load side

V15

0°C to 40°C (With derating, usage is possible between 40°C and

*4

60°C.)

• Must be indoors and free of corrosive and explosive gases.

• Must be well-ventilated and free of dust and moisture.

• Must facilitate inspection and cleaning.

• Must have an altitude of 1,000 m or less. (With derating, usage is

possible between 1,000 m and 2,000 m.)

*5

• Must be free of strong magnetic fields.

Store the Servo Motor in the following environment if you store it with the power cable disconnected. Storage Temperature: -20°C to 60°C (with no freezing) Storage Humidity: 20% to 80% relative humidity (with no condensation)

2

490 m/s

2

49 m/s

*1. A vibration class of V15 indicates a vibration amplitude of 15 m maximum on the Servo Motor without a load at the

rated motor speed.

*2. The shock resistance for shock in the vertical direction when the Servo Motor is mounted with the shaft in a horizontal

position is given in the above table.

22

Rotary Servo Motors

*3. The vertical, side-to-side, and front-to-back vibration resistance for vibration in three directions when the Servo Motor

is mounted with the shaft in a horizontal position is given in the above table. The strength of the vibration that the Servo Motor can withstand depends on the application. Always check the vibration acceleration rate that is applied to the Servo Motor with the actual equipment.

Vertical

SGM7J

Front to back

Side to side

*4. If the surrounding air temperature will exceed 40°C, refer to the following section.

Applications Where the Surrounding Air Temperature of the Servo Motor Exceeds 40

*5. If the altitude will exceed 1,000 m, refer to the following section.

Applications Where the Altitude of the Servo Motor Exceeds 1,000 m (page 35).

Vibration Applied to the Servo Motor

Horizontal direction



C (page 34)

23

Rotary Servo Motors

SGM7J

Ratings of Servo Motors (200 V Models)

Voltage 200 V

Model SGM7J- A5A 01A C2A 02A 04A 06A 08A

Rated Output

Rated Torque

Instantaneous Maximum Torque

Rated Current

*1

*1, *2

*1

Instantaneous Maximum Current

Rated Motor Speed

Maximum Motor Speed

*1

Torque Constant N•m/Arms 0.316 0.413 0.321 0.444 0.544 0.493 0.584

Absolute encoder

Motor Moment of Inertia

with battery

Batteryless absolute encoder

Rated Power Rate

*1

Rated Angular Acceleration Rate

Derating for Servo Motor with Oil Seal % 80 90 95

Heat Sink Size (Aluminum) mm 200  200  6 250  250  6

Protective Structure

*3

Rated Voltage V 24 VDC10%

Capacity W 5.5 6 6.5

Holding Torque N•m 0.159 0.318 0.477 0.637 1.27 1.91 2.39

Holding Brake

Specifications

Coil Resistance  (at 20°C) 104.810% 9610% 88.610%

Rated Current A (at 20°C) 0.23 0.25 0.27

*4

Time Required to Release Brake

Time Required to Brake

Allowable Load Moment of Inertia (Motor Moment of Inertia Ratio)

LF mm 20 25 35

Allowable Shaft

*5

Loads

Allowable Radial Load

Allowable Thrust Load

Note: The values in parentheses are for Servo Motors with Holding Brakes.

*1. These values are for operation in combination with a SERVOPACK when the temperature of the armature winding is

100°C. The values for other items are at 20°C. These are typical values.

*2. The rated torques are the continuous allowable torque values at a surrounding air temperature of 40°C with an alumi-

num heat sink of the dimensions given in the table.

*3. This does not apply to the shaft opening. Protective structure specifications apply only when the special cable is used.

*4. Observe the following precautions if you use a Servo Motor with a Holding Brake.

• The holding brake cannot be used to stop the Servo Motor.

• The time required to release the brake and the time required to brake depend on which discharge circuit is used.

Confirm that the operation delay time is appropriate for the actual equipment.

• The 24-VDC power supply is not provided by Yaskawa.

*5. The allowable shaft loads are illustrated in the following figure. Design the mechanical system so that the thrust and

radial loads applied to the Servo Motor shaft end during operation do not exceed the values given in the table.

W 50 100 150 200 400 600 750

N•m 0.159 0.318 0.477 0.637 1.27 1.91 2.39

N•m 0.557 1.11 1.67 2.23 4.46 6.69 8.36

Arms 0.55 0.85 1.6 1.6 2.5 4.2 4.4

*1

Arms 2.0 3.1 5.7 5.8 9.3 15.3 16.9

-1

min

-1

min

2

0.0395

(0.0475)

0.0410

(0.0490)

6.40

(5.32)

40200

(33400)

-4

10

kg•m

-4

10

kg•m

kW/s

*1

rad/s

2

0.0659

(0.0739)

0.0674

(0.0754)

15.3

(13.6)

48200

(43000)

0.0915

(0.0995)

0.0930

(0.1010)

24.8

(22.8)

52100

(47900)

3000

6000

0.263

(0.333)

0.264

(0.334)

15.4

(12.1)

24200

(19100)

0.486

(0.556)

0.487

(0.557)

33.1

(29.0)

26100

(22800)

0.800

(0.870)

0.801

(0.871)

45.6

(41.9)

23800

(21900)

Totally enclosed, self-cooled, IP67

ms 60 80

ms 100

35 times

15

times

10

times

20

times

N 78 245 392

N 54 74 147

LF

1.59

(1.77)

1.59

(1.77)

35.9

(32.2)

15000

(13500)

times

12

24

Radial load

Thrust load

Rotary Servo Motors

Ratings of Servo Motors (400 V Models)

Voltage 400 V

Model SGM7J- 02D 04D 08D 15D

Rated Output

Rated Torque

Instantaneous Maximum Torque

Rated Current

*1

*1, *2

*1

Instantaneous Maximum Current

Rated Motor Speed

Maximum Motor Speed

*1

Torque Constant N•m/Arms 0.461 0.965 1.17 1.13

Motor Moment of Inertia

Rated Power Rate

*1

Rated Angular Acceleration Rate

Heat Sink Size (Aluminum) mm 250  250  6

Protective Structure

*3

Rated Voltage V 24 VDC10%

Capacity W 6.0 6.5 7.5

Holding Torque N•m 0.637 1.27 2.39 4.77

Holding Brake Specifications

Coil Resistance  (at 20°C) 9610%

Rated Current A (at 20°C) 0.25 0.27 0.31

*4

Time Required to Release Brake

Time Required to Brake

Allowable Load Moment of Inertia (Motor Moment of Inertia Ratio)

LF mm 25 35

Allowable Shaft

*5

Loads

Allowable Radial Load

Allowable Thrust Load

Note: The values in parentheses are for Servo Motors with Holding Brakes.

*1. These values are for operation in combination with a SERVOPACK when the temperature of the armature winding is

100°C. The values for other items are at 20°C. These are typical values.

*2. The rated torques are the continuous allowable torque values at a surrounding air temperature of 40°C with an alumi-

num heat sink of the dimensions given in the table.

*3. This does not apply to the shaft opening. Protective structure specifications apply only when the special cable is used.

*4. Observe the following precautions if you use a Servo Motor with a Holding Brake.

• The holding brake cannot be used to stop the Servo Motor.

• The time required to release the brake and the time required to brake depend on which discharge circuit is used.

Confirm that the operation delay time is appropriate for the actual equipment.

• The 24-VDC power supply is not provided by Yaskawa.

*5. The allowable shaft loads are illustrated in the following figure. Design the mechanical system so that the thrust and

radial loads applied to the Servo Motor shaft end during operation do not exceed the values given in the table.

W 200 400 750 1500

N•m 0.637 1.27 2.39 4.77

N•m 2.23 4.46 8.36 14.3

Arms 1.5 1.4 2.2 4.5

*1

Arms 5.5 5.3 8.2 14.0

min

10

-1

-4

kg•m

2

0.263

(0.333)

(0.556)

0.486

3000

6000

1.59

(1.77)

kW/s 15.4 (12,1) 33.1 (29.0) 35.9 (32.2) 56.6 (46.6)

*1

rad/s

2

24200

(19100)

26100

(22800)

15000

(13500)

Totally enclosed, self-cooled, IP67

88.610%

ms 60 80

ms 100

25 times 15 times 12 times

N 245 392 490

N 74 147

LF

4.02

(4.90)

11900

(9700)

300  300 

12

76.810%

SGM7J

Radial load

Thrust load

25

Rotary Servo Motors

SGM7J-C2A

*2

AB

010.5 1.5 202.5

1000

2000

3000

4000

5000

6000

7000

SGM7J-04A

AB

102345

0

1000

2000

3000

4000

5000

6000

7000

SGM7J-06A

A

B

02 64810

0

1000

2000

3000

4000

5000

6000

7000

Continuous duty zone

Intermittent duty zone

A

(solid lines): With three-phase 200-V or single-phase 230-V input (dotted lines): With single-phase 200-V input (dashed-dotted lines): With single-phase 100-V input

:

B

:

SGM7J-A5A

*1

BA

0 0.15 0.3 0.45 0.6 0.75

0

1000

2000

3000

4000

5000

6000

7000

Torque (N

m)

Motor speed (min

-1

)

SGM7J-01A

BA

00.250.5 10.75

0

1000

2000

3000

4000

5000

6000

7000

Torque (N

m)

Motor speed (min

-1

)

Torque (N m)

Motor speed (min

-1

)

SGM7J-02A

AB

010.5 1.5 202.5

1000

2000

3000

4000

5000

6000

7000

Torque (N

m)

Motor speed (min

-1

)

Torque (N m)

Motor speed (min

-1

)

Torque (N m)

Motor speed (min

-1

)

SGM7J-08A

AB

0246810

0

1000

2000

3000

4000

5000

6000

7000

Torque (N

m)

Motor speed (min

-1

)

Important

SGM7J

Servo Motor Torque-Motor Speed Characteristics (200V Models)

* The characteristics are the same for three-phase 200 V and single-phase 200 V.

Note: 1. These values are for operation in combination with a SERVOPACK when the temperature of the armature winding

is 100°C. These are typical values.

2. The characteristics in the intermittent duty zone depend on the power supply voltage.

3. If the effective torque is within the allowable range for the rated torque, the Servo Motor can be used within the intermittent duty zone.

4. If you use a Servo Motor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torque-motor speed characteristics will become smaller because the voltage drop increases.

The SERVOPACK speed control range is 5,000:1. If you use Servo Motors at extremely low speeds (0.02 min-1 or lower at the gear output shaft), if you use Servo Motors with a one-pulse feed reference for extended periods, or under some other operating conditions, the gear bearing lubrication may be insufficient. That may cause deterioration of the bearing or increase the load ratio. Contact your Yaskawa representative if you use a Servo Motor under these conditions.

* The moment of inertia for the Servo Motor and gear is the value without a holding brake. You can calculate the moment

of inertia for a Servo Motor with a Gear and Holding Brake with the following formula.

Motor moment of inertia for a Servo Motor with a Holding Brake from Ratings of Servo Motors (200 V Models) (page 24) + Moment of inertia for the gear from the above table.

26

Rotary Servo Motors

SGM7J-02D SGM7J-04D SGM7J-08D SGM7J-15D

0

0.5

1

1.5

2

2.5

B

A

0

1

2

3

4

5

A

B

0 1000 2000 3000 4000 5000 60000 1000 2000 3000 4000 5000 6000

0

2

4

6

8

10

B

A

0 1000 2000 3000 4000 5000 6000

0

3

6

9

12

15

B

A

0 1000 2000 3000 4000 5000 6000

Motor speed (min-1)

Torque (N·m)

Motor speed (min-1) Motor speed (min-1) Motor speed (min-1)

Continuous duty zone Intermittent duty zone

A

:

B

:

Servo Motor Torque-Motor Speed Characteristics (400V Models)

SGM7J

Note: 1. These values are for operation in combination with a SERVOPACK when the temperature of the armature winding

is 100°C. These are typical values.

2. The characteristics in the intermittent duty zone depend on the power supply voltage. The intermittent duty zones in the graphs show the characteristics when a three-phase, 400-VAC power supply voltage is used.

3. If the effective torque is within the allowable range for the rated torque, the Servomotor can be used within the intermittent duty zone.

4. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torquemotor speed characteristics will become smaller because the voltage drop increases.

27

Rotary Servo Motors

Important

SGM7J

Ratings of Gear Motors (200 V Models: Abs. Encoder with Battery)

Gear Motor

Model Number

SJ7_____

01A -VL050-03

01A -VL050-05 5:1 600 1200 1.51 5.27 0.036

01A -VL050-10 10:1 300 600 3.02 10.5 0.030

01A -VL050-25 25:1

01A -VL070-50 50:1 60 120 14.3 50.0 0.051 1200 1100 5

02A -VL050-03

02A -VL050-05 5:1 600 1200 3.03 10.6 0.15

02A -VL050-10 10:1 300 600 6.05

02A -VL070-50 50:1 60 120 28.7

04A -VL050-03

04A -VL050-05 5:1 600 1200 6.03

04A -VL070-10 10:1 300 600 12.1

04A -VL070-25 25:1

04A -VL090-50 50:1 60 120 57.2

08A -VL070-03

08A -VL070-05 5:1 600 1200 11.4 39.7 0.46

08A -VL090-10 10:1 300 600 22.7 79.4 0.70

08A -VL090-25 25:1

08A -VL120-50 50:1 60 120 108

Base

Servo

Motor

Model

SGM7J-

01A7D6

02A7D6

04A7D6

08A7D6

Gear

Ratio

3:1

Gearing

Efficiency

*1

95

90

95

90

95

90

95

90

Rated

Speed

(RPM)

1000 2000 0.906 3.16

120 240 7.16

1000 2000 1.82 6.36

120 240 14.3 50.2 0.17

1000 2000 3.62 12.7

120 240 28.6

1000 2000 6.81 23.8

120 240 53.8

Max

Rated Torque (Nm)*2

Peak

Torque

(Nm)

18.0

12.0

50.0

18.0

35.0

50.0

125

330

*2

*3

(0.0739)

(0.3330)

(0.5560)

Motor

Inertia

-4

(x10

2

kg-m

0.0659

0.2630

0.4860

1.59

(1.77)

Gearhead

Inertia

(x10

kg-m

)

0.053

0.034 7

0.17

0.15

0.16

0.17

0.15

0.17

0.27 2400 2200

0.53

0.74

0.76 4300 3900

-4

2

)

Allow-

able

Load

(N)

able

Axial

Load

Radial

710 640

1200 110002A -VL070-25 25:1

710 640

1200 1100

2400 2200

(N)

Back-

lash (arcmin)

5

Note: The values in parentheses are for Servo Motors with Holding Brakes (indicated by value of  in model numbers).

*1. The gear efficiency depends on operating conditions such as the output torque, motor speed, and temperature. *2. The gear motor output torque is expressed by the following formula: Output Torque = (Servo Motor Output Torque) x (Gearing Ratio) x

(Gearing Efficiency). The values in the table are typical values for the rated torque, rated motor speed, and a surrounding air temperature of 25°C. They are reference values only.

*3. The output torque of the gear motor is limited by the mechanical limit of the gear head. Operation above this limit could result in prema-

ture failure of the gear motor.

Class

IP65

During operation of the gear motor, losses due to inefficiencies of the gearing mechanism are generated. The losses vary as the conditions for gear motor torque and speed change. Temperature rise can vary based on the mechanical inefficiencies and the heat dissipation conditions. For heat dissipation conditions, check the gear and motor temperatures with the actual equipment. If operating temperatures are too high, implement the following measures.

• Decrease the load ratio.

• Change the heat dissipation conditions.

• Use forced-air cooling for the motor with a cooling fan or other means.

• Please refer to "Sigma-7 Gearmotor Temperature Test Data" (document number PN.GearMotors.01) on

yaskawa.com for temperature test data.

28

Rotary Servo Motors

Ratings of Batteryless Gear Motors (200 V Models)

Important

Rotary Servo Motors

SGM7J

Gear Motor

Model Number

SJ7_____

01B -VL050-03

01B -VL050-05 5:1 600 1200 1.51 5.27 0.036

01B -VL050-10 10:1 300 600 3.02 10.5 0.030

01B -VL050-25 25:1

01B -VL070-50 50:1 60 120 14.3 50.0 0.051 1200 1100 5

02B -VL050-03

02B -VL050-05 5:1 600 1200 3.03 10.6 0.15

02B -VL050-10 10:1 300 600 6.05

02B -VL070-50 50:1 60 120 28.7

04B -VL050-03

04B -VL050-05 5:1 600 1200 6.03

04B -VL070-10 10:1 300 600 12.1

04B -VL070-25 25:1

04B -VL090-50 50:1 60 120 57.2

08B -VL070-03

08B -VL070-05 5:1 600 1200 11.4 39.7 0.46

08B -VL090-10 10:1 300 600 22.7 79.4 0.70

08B -VL090-25 25:1

08B -VL120-50 50:1 60 120 108

Base

Servo

Motor

Model

SGM7J-

01A6A6

02A6A6

04A6A6

08A6A6

Gear

Ratio

3:1

Gearing

Efficiency

*1

95

90

95

90

95

90

95

90

Rated

Speed

(RPM)

1000 2000 0.906 3.16

120 240 7.16

1000 2000 1.82 6.36

120 240 14.3 50.2 0.17

1000 2000 3.62 12.7

120 240 28.6

1000 2000 6.81 23.8

120 240 53.8

Max

Rated Torque (Nm)*2

Peak

Torque

(Nm)

18.0

12.0

50.0

18.0

35.0

50.0

125

330

*2

*3

(0.0754)

(0.5570)

Motor

Inertia

(x10

kg-m

0.0674

0.264

(0.334)

0.4870

1.59

(1.77)

Gearhead

Inertia

-4

(x10

2

kg-m

)

0.053

0.034 7

0.17

0.15

0.16

0.17

0.15

0.17

0.27 2400 2200

0.53

0.74

0.76 4300 3900

-4

2

)

Allow-

able

Load

(N)

able

Axial

Load

Radial

710 640

1200 110002B -VL070-25 25:1

710 640

1200 1100

2400 2200

(N)

Back-

lash (arcmin)

5

Note: The values in parentheses are for Servo Motors with Holding Brakes (indicated by value of  in model numbers).

*1. The gear efficiency depends on operating conditions such as the output torque, motor speed, and temperature. *2. The gear motor output torque is expressed by the following formula: Output Torque = (Servo Motor Output Torque) x (Gearing Ratio) x

(Gearing Efficiency). The values in the table are typical values for the rated torque, rated motor speed, and a surrounding air temperature of 25°C. They are reference values only.

*3. The output torque of the gear motor is limited by the mechanical limit of the gear head. Operation above this limit could result in prema-

ture failure of the gear motor.

Class

IP65

During operation of the gear motor, losses due to inefficiencies of the gearing mechanism are generated. The losses vary as the conditions for gear motor torque and speed change. Temperature rise can vary based on the mechanical inefficiencies and the heat dissipation conditions. For heat dissipation conditions, check the gear and motor temperatures with the actual equipment. If operating temperatures are too high, implement the following measures.

• Decrease the load ratio.

• Change the heat dissipation conditions.

• Use forced-air cooling for the motor with a cooling fan or other means.

• Please refer to "Sigma-7 Gearmotor Temperature Test Data" (document number PN.GearMotors.01) on

yaskawa.com for temperature test data.

29

Rotary Servo Motors

Important

SGM7J

Ratings of Gear Motors (400 V Models)

Gear Motor

Model Number

S7J____

02D -VL050-03

02D -VL050-05 5:1 600 1200 3.03 10.6 0.15

02D -VL050-10 10:1 300 600 6.05

02D -VL070-50 50:1 60 120 28.7

04D -VL050-03

04D -VL050-05 5:1 600 1200 6.03

04D -VL070-10 10:1 300 600 12.1

04D -VL070-25 25:1

04D -VL090-50 50:1 60 120 57.2

08D -VL070-03

08D -VL070-05 5:1 600 1200 11.4 39.7 0.46

08D -VL090-10 10:1 300 600 22.7 79.4 0.70

08D -VL090-25 25:1

08D -VL120-50 50:1

Base

Servo

Motor

Model

SGM7J-

02D7F6

04D7F6

08D7F6

Gear

Ratio

3:1

Gearing

Efficiency

*1

95

90

95

90

95

90

Rated

Speed

(RPM)

1000 2000 1.82 6.36

120 240 14.3 50.2 0.17

1000 2000 3.62 12.7

120 240 28.6

1000 2000 6.81 23.8

120 240 53.8

*3

40

Max

80

Rated

Torque

(Nm)*2

Peak

Torque (Nm)

12.0

50.0

18.0

35.0

50.0

125

*3

108

330

Motor

Inertia

(x10

*2

kg-m

-4

2

)

Gearhead

Inertia

(x10

kg-m

0.17

0.263

*3

(0.333)

*3

0.15

0.16

0.17

*3

0.486

*3

(0.556)

*3

0.15

0.17

0.27 2400 2200

0.53

1.59

(1.77)

*3

0.74

0.76 4300 3900

-4

2

)

Allow-

able

(N)

able Axial Load

(N)

Radial

Load

710 640

1200 110002D -VL070-25 25:1

710 640

1200 1100

2400 2200

Back-

lash

(arc-

min)

5IP65

Note: The values in parentheses are for Servo Motors with Holding Brakes (indicated by value of  in model numbers).

*1. The gear efficiency depends on operating conditions such as the output torque, motor speed, and temperature. *2. The gear motor output torque is expressed by the following formula: Output Torque = (Servo Motor Output Torque) x (Gearing Ratio) x

(Gearing Efficiency). The values in the table are typical values for the rated torque, rated motor speed, and a surrounding air temperature of 25°C. They are reference values only.

*3. The output torque of the gear motor is limited by the mechanical limit of the gear head. Operation above this limit could result in prema-

ture failure of the gear motor.

Class

During operation of the gear motor, losses due to inefficiencies of the gearing mechanism are generated. The losses vary as the conditions for gear motor torque and speed change. Temperature rise can vary based on the mechanical inefficiencies and the heat dissipation conditions. For heat dissipation conditions, check the gear and motor temperatures with the actual equipment. If operating temperatures are too high, implement the following measures.

• Decrease the load ratio.

• Change the heat dissipation conditions.

• Use forced-air cooling for the motor with a cooling fan or other means.

• Please refer to "Sigma-7 Gearmotor Temperature Test Data" (document number PN.GearMotors.01) on

yaskawa.com for temperature test data.

30

Rotary Servo Motors

SGM7J

Servo Motor Overload Protection Characteristics

The overload detection level is set for hot start conditions with a Servo Motor surrounding air temperature of 40°C.

10000

1000

100

Detection time (s)

10

Motor speed of less than 10 min

1

0 50 100 150 200 250 300 350

Torque reference (percent of rated torque)

Note: The above overload protection characteristics do not mean that you can perform continuous duty operation with an

output of 100% or higher. Use the Servo Motor so that the effective torque remains within the continuous duty zone given in Ratings of Servo Motors (400 V Models) on page 25.

Motor speed of 10 min

-1

(%)

-1

or higher

31

Rotary Servo Motors

SGM7J-A5A

0

1000 2000 3000

4000

5000 6000

7000

0

5

10

15

20

25

30

35

Motor speed (min

-1

)

SGM7J-C2A

0

1000 2000

3000 4000 5000

6000

7000

0

5

10

15

20

25

30

35

SGM7J-04A

0

1000 2000 3000 4000 5000 6000 7000

0

2

4

6

8

10

12

SGM7J-01A

0

1000 2000 3000 4000 5000 6000 7000

0

5

10

15

20

25

30

35

SGM7J-02A

0

1000 2000

3000 4000 5000

6000

7000

0

2

4

6

8

10

12

16

14

Allowable load moment of inertia

scaling factor (times)

Motor speed (min-1)

Allowable load moment of inertia

scaling factor (times)

Motor speed (min-1)

Allowable load moment of inertia

scaling factor (times)

Motor speed (min-1)

Allowable load moment of inertia

scaling factor (times)

Motor speed (min-1)

Allowable load moment of inertia

scaling factor (times)

SGM7J

Allowable Load Moment of Inertia Scaling Factor for SERVOPACKs without Built-in Regenerative Resistors

The following graphs show the allowable load moment of inertia scaling factor of the motor speed for SERVOPACKs* without built-in regenerative resistors when an External Regenerative Resistor is not connected.

If the Servo Motor exceeds the allowable load moment of inertia, an overvoltage alarm may occur in the SERVOPACK.

These graphs provide reference data for deceleration at the rated torque or higher with a 200-VAC power supply input.

32

* Applicable SERVOPACK models: SGD7S-R70A, -R90A, -1R6A, or -2R8A

Rotary Servo Motors

Important

100

80

120 120

60

40

20

0

100

80

60

40

20

150 250 300200100500

120

100

80

60

40

20

150 250 300200100500

SGM7J-A5A and -01A

SGM7J-C2A

SGM7J-08A

150 250 30020010050

SGM7J-02A and -04A

SGM7J-06A

Derating rate (%)

Heat sink size (mm) Heat sink size (mm) Heat sink size (mm)

Derating rate (%)

SGM7J

Servo Motor Heat Dissipation Conditions

The Servo Motor ratings are the continuous allowable values at a surrounding air temperature of 40°C when a heat sink is installed on the Servo Motor. If the Servo Motor is mounted on a small device component, the Servo Motor temperature may rise considerably because the surface for heat dissipation becomes smaller. Refer to the following graphs for the relation between the heat sink size and derating rate.

When using Servo Motors with derating, change the detection timing of overload warnings and overload alarms by referring to the motor overload detection level described in the following manual.



-7-Series AC Servo Drive Rotary Servo Motor Product Manual (Manual No.: SIEP S800001 36)

Note: The derating rates are applicable only when the average motor speed is less than or equal to the rated motor speed.

If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representative.

The actual temperature rise depends on how the heat sink (i.e., the Servo Motor mounting section) is attached to the installation surface, what material is used for the Servo Motor mounting section, and the motor speed. Always check the Servo Motor temperature with the actual equipment.

120

100

80

60

Derating rate (%)

40

20

120

SGM7J-08DSGM7J-02D, 04D

100

80

60

Derating rate (%)

40

150 250 300200100005

Heat sink size (mm) Heat sink size (mm) Heat sink size (mm)

20

150 250 300200100005

120

100

SGM7J-15D

80

60

40

Derating rate (%)

20

0

150 250 350300200100005

33

Rotary Servo Motors

100

80

120 120

60

40

0

100

80

60

40

0

20

10 20 30 40 50 60 70 0 10 20 30 40 50 60 70

SGM7J-01A and -C2A

SGM7J-A5A

SGM7J-02A and -04A

SGM7J-06A and -08A

Derating rate (%)

Surrounding air temperature (°C)

SGM7J

Applications Where the Surrounding Air Temperature of the Servo Motor Exceeds 40C

The Servo Motor ratings are the continuous allowable values at a surrounding air temperature of 40°C. If you use a Servo Motor at a surrounding air temperature that exceeds 40°C (60°C max.), apply a suitable derating rate from the following graphs.

When using Servo Motors with derating, change the detection timing of overload warnings and overload alarms by referring to the motor overload detection level described in the following manual.



-7-Series AC Servo Drive Rotary Servo Motor Product Manual (Manual No.: SIEP S800001 36)

Note: 1. Use the combination of the SERVOPACK and Servo Motor so that the derating conditions are satisfied for both the

SERVOPACK and Servo Motor.

2. The derating rates are applicable only when the average motor speed is less than or equal to the rated motor speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representative.

120

100

80

60

40

Derating rate (%)

20

0

0 10203040506070

Surrounding air temperature (°C) Surrounding air temperature (°C)

SGM7J-02D, 04D

SGM7J-08D

1.2

1.0

0.8

0.6

0.4

Derating rate (%)

0.2

0

0102030405060

SGM7J-15D

34

Rotary Servo Motors

100

80

120

60

40

0

100

80

60

40

0

20

0 500 1000 1500 2000 2500

0

500 1000 1500 2000 2500

SGM7J-A5A, -01A, and -C2A

SGM7J-02A, -04A, and -06A

SGM7J-08A

Derating rate (%)

Altitude (m)

Derating rate (%)

SGM7J

Applications Where the Altitude of the Servo Motor Exceeds 1,000 m

The Servo Motor ratings are the continuous allowable values at an altitude of 1,000 m or less. If you use a Servo Motor at an altitude that exceeds 1,000 m (2,000 m max.), the heat dissipation effect of the air is reduced. Apply the appropriate derating rate from the following graphs.

When using Servo Motors with derating, change the detection timing of overload warnings and overload alarms by referring to the motor overload detection level described in the following manual.



-7-Series AC Servo Drive Rotary Servo Motor Product Manual (Manual No.: SIEPS80000136)

Note: 1. Use the combination of the SERVOPACK and Servo Motor so that the derating conditions are satisfied for both the

SERVOPACK and Servo Motor.

2. The derating rates are applicable only when the average motor speed is less than or equal to the rated motor speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representative.

120

100

80

60

40

Derating rate (%)

20

SGM7J-08D

0

500 1000 1500 2000 2500

0

Altitude (m)

SGM7J-02D, 04D

120

100

80

60

SGM7J-15D

40

Derating rate (%)

20

0

500 1000 1500 2000 2500

0

Altitude (m)

35

Rotary Servo Motors

LG



LA

S dia.

14

ML

170.6

LM LE

LRLL

L

0.8

MW

LC

MD

20.5

0.02

0.04 A

A

LB dia.

0.04 dia. A

2 LZ dia.

Notation

: Square dimensions

Unit: mm

0

-0.021 0-0.009 0-0.021 0-0.009

0

-0.021 0-0.009

Unit: mm

1.5

7.5

29.8 dia.

Oil seal cover

30 dia.

0

- 0.021

SGM7J

External Dimensions

 200 V Models: SGM7J-A5, -01, and -C2

Model

SGM7J-

 A2

A5A

 A2

01A

C2A A2

Model

SGM7J-

A5A A2

 A2

01A

C2A

 A2

L LL LM

81.5

(122)

93.5

(134)

105.5

(153.5)

56.5 (97)

68.5

(109)

80.5

(128.5)

MD MW ML

37.9 25 2.5 5 40 46

49.9 25 2.5 5 40 46

61.9 25 2.5 5 40 46

LR LE LG LC LA LB LZ

Approx. Mass

8.8 25.8 16.1 0.3 (0.6)

8.8 25.8 16.1 0.4 (0.7)

8.8 25.8 16.1 0.5 (0.8)

[kg]

Flange Dimensions

30

4.3

Note: 1. The values in parentheses are for Servo Motors with Holding Brakes.

2. Refer to the following section for detailed shaft end specifications.

Shaft End Specifications (page 44)

3. For models that have a batteryless absolute encoder, L and LL are 8 mm greater than the given value. Refer to the following section for the values for individual models.

Dimensions of Servo Motors with Batteryless Encoders (page 38)

 Specifications of Options

• Oil Seal

S

8

36

Rotary Servo Motors

 200 V Models: SGM7J-02, -04, -06, and -08

0

-0.025 0-0.011 0-0.025 0-0.011

0

-0.025 0-0.011

0

-0.030 0-0.013

20.5 MD

L

0.6 17

14

ML

LM

LRLL

LE

LG

0.04

Rotary Servo Motors

SGM7J

A

0.04 dia.



LC

MW

MH

Model SGM7J- L LL LM

02A A2

04A A2

06A A2

 A2

08A

99.5

(140)

115.5 (156)

137.5

(191.5)

137

(184)97(144)

69.5

(110)

85.5

(126)

107.5

(161.5)

51.2303 66070

67.2303 66070

89.2303 66070

78.5403 88090

LB dia.

S dia.

A

0.02

Flange Dimensions

LR LE LG LC LA LB LZ

LA dia.

4 × LZ dia.

50

70

Model SGM7J- MD MW MH ML Approx. Mass [kg]

02A A2

 A2

04A

 A2

06A

 A2

08A

Note: 1. The values in parentheses are for Servo Motors with Holding Brakes.

2. Refer to the following section for detailed shaft end specifications.

Shaft End Specifications (page 44)

3. For models that have a batteryless absolute encoder, L and LL are 8 mm greater than the given value. Refer to the following section for the values for individual models.

Dimensions of Servo Motors with Batteryless Encoders (page 38)

8.5 28.7 14.7 17.1 0.8 (1.4)

8.5 28.7 14.7 17.1 1.1 (1.7)

8.5 28.7 14.7 17.1 1.6 (2.2)

13.6 38 14.7 19.3 2.2 (2.8)

Unit: mm

5.5

7

S

14

19

 Specifications of Options

• Oil Seal

LS2

LS1

LE

E1 dia.

E2 dia.

Oil seal cover

Model SGM7J-

E1 E2 LS1 LS2

02A, 04A, 06A 35 47 5.2 10

08A 47 61 5.5 11

Unit: mm

Dimensions with Oil Seal

37

Rotary Servo Motors

SGM7J

 Dimensions of Servo Motors with Batteryless Encoders

 Servo Motors without Gears

Note:

Model SGM7J-

A5A6A2

01A6A2



C2A6A2

02A6A2

04A6A2



06A6A2

08A6A2

Note: The values in parentheses are for Servo Motors with Holding Brakes

Dimensions (mm)

L LL

89.5

(130)

101.5 (142)

113.5

(161.5)

(136.5)

107.5 (148)

123.5 (164)

145.5

(199.5)

(169.5)

145

(192)

64.5

(105)

76.5

(117)

88.5

77.5

(118)

93.5

(134)

115 .5

105

(152)

Approximate mass (kg)

0.3

(0.6)

0.4

(0.7)

0.5

(0.8)

0.8

(1.4)

1.1

(1.7)

1.6

(2.2)

2.3

(2.9)

38

Rotary Servo Motors

 400 V Models: SGM7J-02, -04

0

-0.025 0-0.011

0

-0.025 0-0.011

LE

LS1

LS2

E1 dia.

E2 dia.

Oil seal cover

Unit: mm

25

49.5 L1

Rotary Servo Motors

SGM7J

L2

Notation : Square dimensions

A

L

LL

LM

0.04

30

26

Model

SGM7J-

02D F2

 F2

04A

17

12.5

88

71

L LL LM LB S L1 L2

108.5

(148.5)

125

(165)95(135)

78.5

(118.5)

51.2

67.2

50 14

3

6

25

41.5

Note: The values in parentheses are for Servo Motors with Holding Brakes

 Specifications of Options

• Oil Seal

0.02

A

dia. S

S dia.

LB dia.

0.04 dia.

65

(105)

81.5

(121.5)

46.5

7

70 dia.

106.5

60

A

Approx. Mass

9

4 × 5.5 dia.

[kg]

0.9

(1.5)

1.2

(1.8)

.

Unit: mm

39

Rotary Servo Motors

Unit: mm

25

16

82

17

L1

L2

49.5

25

80

.

4 × 7 dia.

11.5

26

90

dia.

126.5

46.5

3

8

A

LB dia.

40

S

S dia.

dia.

0.02 dia.

0.04 dia.

A

L

LL

LM

A

0.04

0

-0.030 0-0.013

LE

LS1

LS2

E1 dia.

E2 dia.

Oil seal cover

Unit: mm

SGM7J

 400 V Model: SGM7J-08

Model

SGM7J-

 F2

08D

L LL LM LB S L1 L2

146.5

(193.5)

106.5

(153.5)

79

70 19

53

93

(121.5)

Approx. Mass

[kg]

2.3

(2.9)

Note: The values in parentheses are for Servo Motors with Holding Brakes.

 Specifications of Options

• Oil Seal

40

Rotary Servo Motors

 400 V Models: SGM7J-15

it: mm

LB dia.

4 × 10.2 dia.

Un

25

27.5

A

0.04 dia.

0.02

S dia.

10

3.5

L

LM

(without holding brake)

(3)

LL

40

A

0.04

A

28

173.5

120

53.5

1

45

d

ia.

54

25

L2

L1

0

-0.035 0-0.013

Rotary Servo Motors

SGM7J

Model

SGM7J-

 F2

15D

L LL LM LB S L1 L2

163.5

(196.5)

123.5

(156.5)

95.6

110 1 9

Note: The values in parentheses are for Servo Motors with Holding Brakes.

72

Approx. Mass

[kg]

110

(143)

6.4

(8.1)

41

LL3

LL

LE

QK

KD

LR

S (j6)

LB (g6)QGD

R0.40

MT LC MD

LA

W

T

Shaft Detail (VL050 Models Only)

QK

KD

U

W

T

QK

U

Shaft Detail (All Other Models)

φ

φφ φ

φ

42

Rotary Servo Motors

SGM7J

 Gear Motor Models: 100W, 200W, 400W (S7J01, S7J02, S7J04)

Model S7J LL LL3 LR LE S LB GD LC LA MT MD Q QK KD W U T

100 W Models

01A -VL050-03

01A -VL050-05

01A -VL050-10

200 V

01A -VL050-25

01A -VL070-50

02A -VL050-03

02A -VL050-05

02A -VL050-10

200 V

02A -VL070-25

02A -VL070-50

02D -VL050-03

02D -VL050-05

02D -VL050-10

400 V

02D -VL070-25

02D -VL070-50

04A -VL050-03

04A -VL050-05

04A -VL070-10

200 V

04A -VL070-25

04A -VL090-50

04D -VL050-03

04D -VL050-05

04D -VL070-10

400 V

04D -VL070-25

04D -VL090-50

Note: 1. The values in parentheses are for Servo Motors with Holding Brakes

2. For 200 V models that have a batteryless absolute encoder, LL is 8 mm greater than the given value. Refer to the following section for the values for individual models.

Dimensions of Gear Motors with Batteryless Encoders (page 45)

133.5 (174)

150

(190.5)

163.5 (204)

137.5

(178

170.5

(211)

146.5

(186.5)

179.5

(219.5)

153.5

(194)

165.5

(206)

186.5

(227)

204.5

(245)

163

(203)

175

(215)

196

(236)

214

(254)

65

24.5 4 12 35 50 42 44 M4 8 19.5 14 2 4 2.5 4

81.5

95 36 5 16 52 70 52 62 M5 10 28 22 0 5 3 5

200 W Models

68 24.5 4 12 35 50

44 M4 8 19.5 14 2 4 2.5 4

65

101 36 5 16 52 70 62 M5 10 28 22 0 5 3 5

68 24.5 4 12 35 50

44 M4 8 19.5 14 2 4 2.5 4

65

101 36 5 16 52 70 62 M5 10 28 22 0 5 3 5

400 W Models

68 24.5 4 12 35 50

80

36 5 16 52 70 62 M5 1028220535

44 M4 8 19.5 14 2 4 2.5 4

65

101

119 46 7 22 68 90 80 M6 12 36 28 6 3.5 6

68 24.5 4 12 35 50

80

101

44 M4 8 19.5 14 2 4 2.5 4

36 5 16 52 70 62 M5 1028220535

65

119 46 7 22 68 90 80 M6 12 36 28 6 3.5 6

Rotary Servo Motors

LL3

LL

LE

QK

KD

LR

S (j6)

LB (g6)QGD

R0.40

MT LC MD

LA

W

T

Shaft Detail (VL050 Models Only)

QK

KD

U

W

T

QK

U

Shaft Detail (All Other Models)

φ

φφ φ

φ

 Gear Motor Models: 750W (S7J08)

Model S7J LL LL3 LR LE S  LB GD LC LA MT MD Q QK KD W U T

750 W Models

08A -VL070-03

08A -VL070-05

08A -VL090-10

200 V

08A -VL090-25

08A -VL090-50

08D -VL070-03

08D -VL070-05

08A -VL090-10

400 V

08D -VL090-25

08D -VL090-50

Note: 1. The values in parentheses are for Servo Motors with Holding Brakes

2. For 200 V models that have a batteryless absolute encoder, LL is 8 mm greater than the given value. Refer to the following section for the values for individual models.

Dimensions of Gear Motors with Batteryless Encoders (page 45)

191

94 36 5 16 52 70

(238)

204

107

(251)

226

(273)

241.5

(288.5)

200.5

(247.5)

213.5

(260.5)

235.5

(282.5)

251

(298)

46 7 22 68 90 80 M6 12 36 28 6 3.5 6

129

144.5 70 9 32 90 120 108 M8 16 58 45 10 5 8

94 36 5 16 52 70

107

46 7 22 68 90 80 M6 12 36 28 6 3.5 6

129

144.5 70 9 32 90 120 108 M8 16 58 45 10 5 8

62 M5 10 28 22

80

62 M5 10 28 22

80

0

SGM7J

535

43

Rotary Servo Motors

LR

S dia.

0

-0.009 0-0.011 0-0.013 0-0.011 0-0.013

QK

Y

LR

W

T

U

P

S dia.

Cross section Y-Y

0

-0.009 0-0.011 0-0.013 0-0.011 0-0.013

QH

Y

LR

H1

H2

S dia.

Cross section Y-Y

0

-0.009 0-0.011 0-0.013

SGM7J

Shaft End Specifications

 SGM7J-

Code Specification

2 Straight without key

Straight with key and tap for one location

6

(Key slot is JIS B1301-1996 fastening type.)

B With two flat seats

Shaft End Details

Code: 2 (Straight without Key)

Code: 6 (Straight with Key and Tap)

Code: B (with Two Flat Seats)

Servo Motor Model SGM7J-

A5A 01A C2A 02A 04A 06A 08A 02D 04D 08D 15D

LR 25 30 40 30 40

S

814191419

LR 25 30 40 30 40

QK 14 14 22 14 22

S

814191419

W3 5 6 5 6

T3 5 656

U 1.8 3 3.5 3 3.5

PM3  6L M5  8L M6  10L M5  8L M6  10L

LR 25 30 40

QH 15 15 22

44

S

81419

H1 7.5 13 18

H2 7.5 13 18

N/A

Rotary Servo Motors

 Dimensions of Gear Motors with Batteryless Encoders

 Servo Motors with Gears

Note:

Model S7J LL

01B -VL050-03

141.5 (182)01B -VL050-05 01B -VL050-10 01B -VL050-25 01B -VL070-50 171.5 (212) 02B -VL050-03 02B -VL050-05 02B -VL050-10 02B -VL070-25 02B -VL070-50 04B -VL050-03 04B -VL050-05 04B -VL070-10 04B -VL070-25 04B -VL090-50 08B -VL050-03 08B -VL050-05 08B -VL070-10 08B -VL070-25 08B -VL090-50

Note: The values in parentheses are for Servo Motors with Holding Brakes

158 (198.5)

145.5 (186)

178.5 (219)

161.5 (202)

173.5 (214)

194.5 (235)

212.5 (253)

199 (246

212 (259)

234 (281)

249.5 (296.5)

Rotary Servo Motors

SGM7J

45

Rotary Servo Motors

SERVOPACK

Encoder Cable

Servo Motor Main Circuit Cable

Servo Motor

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

SERVOPACK

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

Cable with Connectors on Both Ends

Encoder-end Cable

Servo Motor Main Circuit Cable

Servo Motor

Relay Encoder Cable

Important

Cable Installed toward Load Cable Installed away from Load

SGM7J

Selecting Cables

 Cable Configurations

The cables shown below are required to connect a Servo Motor to a SERVOPACK.

Encoder Cable of 20 m or Less Encoder Cable of 30 m to 50 m (Relay Cable)

Note: 1. Cables with connectors on both ends that are compliant with an IP67 protective structure and European Safety

2. If the cable length exceeds 20 m, be sure to use a Relay Encoder Cable.

3. If you use a Servo Motor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torque-motor speed characteristics will become smaller because the voltage drop increases.

4. Refer to the following manual for the following information.

• Cable dimensional drawings and cable connection specifications

• Order numbers and specifications of individual connectors for cables

• Order numbers and specifications for wiring materials



-7-Series AC Servo Drive Peripheral Device Selection Manual (Manual No.: SIEP S800001 32)

For the following Servo Motor models, there are different order numbers for the Servo Motor Main Circuit Cables and Encoder Cables depending on the cable installation direction. Confirm the order numbers before you order.

• All SGM7J models

U

V

W

G

U

V

W

G

46

Rotary Servo Motors

Servo Motor Main Circuit Cables (200 V Models)

Motor end SERVOPACK end

U

V

W

G

L

Rotary Servo Motors

SGM7J

Servo Motor

Model

SGM7J-A5 to -C2

50 W to 150 W (200V)

SGM7J-02 to -06

200 W to 600 W (200V)

SGM7J-08

750 W (200V)

SGM7J-A5 to -C2

50 W to 150 W (200V)

SGM7J-02 to -06

200 W to 600 W (200V)

SGM7J-08

750 W (200V)

Name

Power cable for Servo Motors without Holding Brakes

Cable installed toward load

Power cable for Servo Motors without Holding Brakes

Cable installed away from load

Length

(L)

Standard Cable Flexible Cable* Flexible/Shielded

Order Number

3 m JZSP-C7M10F-03-E JZSP-C7M12F-03-E YAI-CSM21-03-P-E

5 m JZSP-C7M10F-05-E JZSP-C7M12F-05-E YAI-CSM21-05-P-E

10 m JZSP-C7M10F-10-E JZSP-C7M12F-10-E YAI-CSM21-10-P-E

15 m JZSP-C7M10F-15-E JZSP-C7M12F-15-E YAI-CSM21-15-P-E

20 m JZSP-C7M10F-20-E JZSP-C7M12F-20-E YAI-CSM21-20-P-E

30 m JZSP-C7M10F-30-E JZSP-C7M12F-30-E YAI-CSM21-30-P-E

40 m JZSP-C7M10F-40-E JZSP-C7M12F-40-E YAI-CSM21-40-P-E

50 m JZSP-C7M10F-50-E JZSP-C7M12F-50-E YAI-CSM21-50-P-E

3 m JZSP-C7M20F-03-E JZSP-C7M22F-03-E YAI-CSM22-03-P-E

5 m JZSP-C7M20F-05-E JZSP-C7M22F-05-E YAI-CSM22-05-P-E

10 m JZSP-C7M20F-10-E JZSP-C7M22F-10-E YAI-CSM22-10-P-E

15 m JZSP-C7M20F-15-E JZSP-C7M22F-15-E YAI-CSM22-15-P-E

20 m JZSP-C7M20F-20-E JZSP-C7M22F-20-E YAI-CSM22-20-P-E

30 m JZSP-C7M20F-30-E JZSP-C7M22F-30-E YAI-CSM22-30-P-E

40 m JZSP-C7M20F-40-E JZSP-C7M22F-40-E YAI-CSM22-40-P-E

50 m JZSP-C7M20F-50-E JZSP-C7M22F-50-E YAI-CSM22-50-P-E

3 m JZSP-C7M30F-03-E JZSP-C7M32F-03-E YAI-CSM23-03-P-E

5 m JZSP-C7M30F-05-E JZSP-C7M32F-05-E YAI-CSM23-05-P-E

10 m JZSP-C7M30F-10-E JZSP-C7M32F-10-E YAI-CSM23-10-P-E

15 m JZSP-C7M30F-15-E JZSP-C7M32F-15-E YAI-CSM23-15-P-E

20 m JZSP-C7M30F-20-E JZSP-C7M32F-20-E YAI-CSM23-20-P-E

30 m JZSP-C7M30F-30-E JZSP-C7M32F-30-E YAI-CSM23-30-P-E

40 m JZSP-C7M30F-40-E JZSP-C7M32F-40-E YAI-CSM23-40-P-E

50 m JZSP-C7M30F-50-E JZSP-C7M32F-50-E YAI-CSM23-50-P-E

3 m JZSP-C7M10G-03-E JZSP-C7M12G-03-E

5 m JZSP-C7M10G-05-E JZSP-C7M12G-05-E

10 m JZSP-C7M10G-10-E JZSP-C7M12G-10-E

15 m JZSP-C7M10G-15-E JZSP-C7M12G-15-E

20 m JZSP-C7M10G-20-E JZSP-C7M12G-20-E

30 m JZSP-C7M10G-30-E JZSP-C7M12G-30-E

40 m JZSP-C7M10G-40-E JZSP-C7M12G-40-E

50 m JZSP-C7M10G-50-E JZSP-C7M12G-50-E

3 m JZSP-C7M20G-03-E JZSP-C7M22G-03-E

5 m JZSP-C7M20G-05-E JZSP-C7M22G-05-E

10 m JZSP-C7M20G-10-E JZSP-C7M22G-10-E

15 m JZSP-C7M20G-15-E JZSP-C7M22G-15-E

20 m JZSP-C7M20G-20-E JZSP-C7M22G-20-E

N/A

30 m JZSP-C7M20G-30-E JZSP-C7M22G-30-E

40 m JZSP-C7M20G-40-E JZSP-C7M22G-40-E

50 m JZSP-C7M20G-50-E JZSP-C7M22G-50-E

3 m JZSP-C7M30G-03-E JZSP-C7M32G-03-E

5 m JZSP-C7M30G-05-E JZSP-C7M32G-05-E

10 m JZSP-C7M30G-10-E JZSP-C7M32G-10-E

15 m JZSP-C7M30G-15-E JZSP-C7M32G-15-E

20 m JZSP-C7M30G-20-E JZSP-C7M32G-20-E

30 m JZSP-C7M30G-30-E JZSP-C7M32G-30-E

40 m JZSP-C7M30G-40-E JZSP-C7M32G-40-E

50 m JZSP-C7M30G-50-E JZSP-C7M32G-50-E

Appearance

SERVOPACK end Motor end

U

V

W

G

L

47

Rotary Servo Motors

Motor end SERVOPACK end

U

V

G

B

L

U

V

W

G

B

L

SERVOPACK end Motor end

SGM7J

Servo Motor

Model

Name

Length

(L)

Standard Cable Flexible Cable* Flexible/Shielded

Order Number

3 m JZSP-C7M13F-03-E JZSP-C7M14F-03-E YAI-CSM31-03-P-E

5 m JZSP-C7M13F-05-E JZSP-C7M14F-05-E YAI-CSM31-05-P-E

SGM7J-A5 to -C2

50 W to 150 W (200V)

10 m JZSP-C7M13F-10-E JZSP-C7M14F-10-E YAI-CSM31-10-P-E

15 m JZSP-C7M13F-15-E JZSP-C7M14F-15-E YAI-CSM31-15-P-E

20 m JZSP-C7M13F-20-E JZSP-C7M14F-20-E YAI-CSM31-20-P-E

30 m JZSP-C7M13F-30-E JZSP-C7M14F-30-E YAI-CSM31-30-P-E

40 m JZSP-C7M13F-40-E JZSP-C7M14F-40-E YAI-CSM31-40-P-E

50 m JZSP-C7M13F-50-E JZSP-C7M14F-50-E YAI-CSM31-50-P-E

3 m JZSP-C7M23F-03-E JZSP-C7M24F-03-E YAI-CSM32-03-P-E

SGM7J-02 to -06

200 W to 600 W (200V)

Power cable for Servo Motors with Holding Brakes

Cable installed toward load

5 m JZSP-C7M23F-05-E JZSP-C7M24F-05-E YAI-CSM32-05-P-E

10 m JZSP-C7M23F-10-E JZSP-C7M24F-10-E YAI-CSM32-10-P-E

15 m JZSP-C7M23F-15-E JZSP-C7M24F-15-E YAI-CSM32-15-P-E

20 m JZSP-C7M23F-20-E JZSP-C7M24F-20-E YAI-CSM32-20-P-E

30 m JZSP-C7M23F-30-E JZSP-C7M24F-30-E YAI-CSM32-30-P-E

40 m JZSP-C7M23F-40-E JZSP-C7M24F-40-E YAI-CSM32-40-P-E

50 m JZSP-C7M23F-50-E JZSP-C7M24F-50-E YAI-CSM32-50-P-E

3 m JZSP-C7M33F-03-E JZSP-C7M34F-03-E YAI-CSM33-03-P-E

5 m JZSP-C7M33F-05-E JZSP-C7M34F-05-E YAI-CSM33-05-P-E

SGM7J-08

750 W (200V)

10 m JZSP-C7M33F-10-E JZSP-C7M34F-10-E YAI-CSM33-10-P-E

15 m JZSP-C7M33F-15-E JZSP-C7M34F-15-E YAI-CSM33-15-P-E

20 m JZSP-C7M33F-20-E JZSP-C7M34F-20-E YAI-CSM33-20-P-E

30 m JZSP-C7M33F-30-E JZSP-C7M34F-30-E YAI-CSM33-30-P-E

40 m JZSP-C7M33F-40-E JZSP-C7M34F-40-E YAI-CSM33-40-P-E

50 m JZSP-C7M33F-50-E JZSP-C7M34F-50-E YAI-CSM33-50-P-E

3 m JZSP-C7M13G-03-E JZSP-C7M14G-03-E

5 m JZSP-C7M13G-05-E JZSP-C7M14G-05-E

SGM7J-A5 to -C2

50 W to 150 W (200V)

10 m JZSP-C7M13G-10-E JZSP-C7M14G-10-E

15 m JZSP-C7M13G-15-E JZSP-C7M14G-15-E

20 m JZSP-C7M13G-20-E JZSP-C7M14G-20-E

30 m JZSP-C7M13G-30-E JZSP-C7M14G-30-E

40 m JZSP-C7M13G-40-E JZSP-C7M14G-40-E

50 m JZSP-C7M13G-50-E JZSP-C7M14G-50-E

3 m JZSP-C7M23G-03-E JZSP-C7M24G-03-E

5 m JZSP-C7M23G-05-E JZSP-C7M24G-05-E

10 m JZSP-C7M23G-10-E JZSP-C7M24G-10-E

15 m JZSP-C7M23G-15-E JZSP-C7M24G-15-E

20 m JZSP-C7M23G-20-E JZSP-C7M24G-20-E

30 m JZSP-C7M23G-30-E JZSP-C7M24G-30-E

40 m JZSP-C7M23G-40-E JZSP-C7M24G-40-E

50 m JZSP-C7M23G-50-E JZSP-C7M24G-50-E

SGM7J-02 to -06

200 W to 600 W (200V)

Power cable for Servo Motors with Holding Brakes

Cable installed away from load

3 m JZSP-C7M33G-03-E JZSP-C7M34G-03-E

5 m JZSP-C7M33G-05-E JZSP-C7M34G-05-E

SGM7J-08

750 W (200V)

10 m JZSP-C7M33G-10-E JZSP-C7M34G-10-E

15 m JZSP-C7M33G-15-E JZSP-C7M34G-15-E

20 m JZSP-C7M33G-20-E JZSP-C7M34G-20-E

30 m JZSP-C7M33G-30-E JZSP-C7M34G-30-E

40 m JZSP-C7M33G-40-E JZSP-C7M34G-40-E

50 m JZSP-C7M33G-50-E JZSP-C7M34G-50-E

* Use Flexible Cables for moving parts of machines, such as robots.

Appearance

N/A

48

Rotary Servo Motors

Servo Motor Main Circuit Cables (400 V Models)

Rotary Servo Motors

SGM7J

Servo

Motor

Name

Model

SGM7J02 to -08 200W to 750 W (400V)

SGM7J15

1.5 kW (400V)

SGM7J02 to -08 200W to 750 W (400V)

SGM7J15

1.5 kW (400V)

* Use Flexible Cables for moving parts of machines, such as robots.

Power

Cable with-

out Brake.

Cable

installed

toward load

Power

Cable with

Brake.

Cable

installed

toward load

Length

(L)

3 m N/A N/A JZSP-C7M143-03-E-G6

5 m N/A N/A JZSP-C7M143-05-E-G6

10 m N/A N/A JZSP-C7M143-10-E-G6

15 m N/A N/A JZSP-C7M143-15-E-G6

20 m N/A N/A JZSP-C7M143-20-E-G6

3 m N/A N/A JZSP-C7M144-03-E-G6

5 m N/A N/A JZSP-C7M144-05-E-G6

10 m N/A N/A JZSP-C7M144-10-E-G6

15 m N/A N/A JZSP-C7M144-15-E-G6

20 m N/A N/A JZSP-C7M144-20-E-G6

3 m N/A N/A JZSP-C7M343-03-E-G6

5 m N/A N/A JZSP-C7M343-05-E-G6

10 m N/A N/A JZSP-C7M343-10-E-G6

15 m N/A N/A JZSP-C7M343-15-E-G6

20 m N/A N/A JZSP-C7M343-20-E-G6

3 m N/A N/A JZSP-C7M344-03-E-G6

5 m N/A N/A JZSP-C7M344-05-E-G6

10 m N/A N/A JZSP-C7M344-10-E-G6

15 m N/A N/A JZSP-C7M344-15-E-G6

20 m N/A N/A JZSP-C7M344-20-E-G6

Standard Cable

Order Number

Flexible

Cable*

Flexible/Shielded

Appearance

49

Rotary Servo Motors

Encoder end SERVOPACK

end

L

SERVOPACK end

Encoder end

L

SERVOPACK end

Encoder end

Battery Case (battery included)

L

SERVOPACK end

Encoder end

Battery Case (battery included)

SGM7J

Encoder Cables of 20 m or Less (200V Models)

Servo Motor

Model

SGM7J-A5 to -08 50 W to 750 W

Name

For incremental or batteryless absolute encoder: Cable installed toward load

For incremental or batteryless absolute encoder: Cable installed away from load

For absolute encoder: With Bat-

tery Case

Cable installed toward load

For absolute encoder: With Bat-

tery Case

Cable installed away from load

*2

Length

(L)

3 m JZSP-C7PI0D-03-E JZSP-C7PI2D-03-E

5 m JZSP-C7PI0D-05-E JZSP-C7PI2D-05-E

10 m JZSP-C7PI0D-10-E JZSP-C7PI2D-10-E

15 m JZSP-C7PI0D-15-E JZSP-C7PI2D-15-E

20 m JZSP-C7PI0D-20-E JZSP-C7PI2D-20-E

3 m JZSP-C7PI0E-03-E JZSP-C7PI2E-03-E

5 m JZSP-C7PI0E-05-E JZSP-C7PI2E-05-E

10 m JZSP-C7PI0E-10-E JZSP-C7PI2E-10-E

15 m JZSP-C7PI0E-15-E JZSP-C7PI2E-15-E

20 m JZSP-C7PI0E-20-E JZSP-C7PI2E-20-E

3 m JZSP-C7PA0D-03-E JZSP-C7PA2D-03-E

5 m JZSP-C7PA0D-05-E JZSP-C7PA2D-05-E

10 m JZSP-C7PA0D-10-E JZSP-C7PA2D-10-E

15 m JZSP-C7PA0D-15-E JZSP-C7PA2D-15-E

20 m JZSP-C7PA0D-20-E JZSP-C7PA2D-20-E

3 m JZSP-C7PA0E-03-E JZSP-C7PA2E-03-E

5 m JZSP-C7PA0E-05-E JZSP-C7PA2E-05-E

10 m JZSP-C7PA0E-10-E JZSP-C7PA2E-10-E

15 m JZSP-C7PA0E-15-E JZSP-C7PA2E-15-E

20 m JZSP-C7PA0E-20-E JZSP-C7PA2E-20-E

Standard Cable

Order Number

Flexible Cable

*1

Appearance

*1. Use Flexible Cables for moving parts of machines, such as robots.

*2. If a battery is connected to host controller, the Battery Case is not required. If so, use a cable for incremental encoders.

Encoder Cables of 20 m or Less (400V Models)

Servo

Motor

Model

SGM7J-02 to -15 200 W to 1.5 kW

SGM7J-02 to -15

50

200 W to 1.5 kW

Name

Flexible cable with connectors on both ends (for incremental or batteryless encoder) straight connector (M12)

Flexible cable with connectors on both ends (for incremental or batteryless encoder) right angle connector (M12)

Length

(L)

3 m JZSP-C7PI2M-03-E-G6

5 m JZSP-C7PI2M-03-E-G6

10 m JZSP-C7PI2M-03-E-G6

15 m JZSP-C7PI2M-03-E-G6

20 m JZSP-C7PI2M-03-E-G6

3 m JZSP-C7PI2N-03-E-G6

5 m JZSP-C7PI2N-05-E-G6

10 m JZSP-C7PI2N-10-E-G6

15 m JZSP-C7PI2N-15-E-G6

20 m JZSP-C7PI2N-20-E-G6

Order Number Appearance

Rotary Servo Motors

Encoder end

SERVOPACK end

L

SERVOPACK end

Encoder end

Battery Case (battery included)

L

SGM7J

Servo

Motor

Model

SGM7J-02 to -15 200 W to 1.5 kW

Name

Flexible cable with connectors on both ends (for absolute endoce: with battery case) straight connector (M12)

Flexible cable with connectors on both ends (for absolute endoce: with battery case) right angle connector (M12)

Length

(L)

3 m JZSP-C7PA2M-03-E-G6

5 m JZSP-C7PA2M-05-E-G6

10 m JZSP-C7PA2M-10-E-G6

15 m JZSP-C7PA2M-15-E-G6

20 m JZSP-C7PA2M-20-E-G6

3 m JZSP-C7PA2N-03-E-G6

5 m JZSP-C7PA2N-05-E-G6

10 m JZSP-C7PA2N-10-E-G6

15 m JZSP-C7PA2N-15-E-G6

Order Number Appearance

Relay Encoder Cable of 30 m to 50 m

Servo Motor

Model

SGM7J-A5 to -08 50 W to 750 W

Name

Encoder-end Cable (for incremental or absolute encoder) Cable installed toward load

Encoder-end Cable (for incremental or absolute encoder) Cable installed away from load

Cables with Connectors on Both Ends (for incremental or absolute encoder)

Length

(L)

0.3 m JZSP-C7PRCD-E

0.3 m JZSP-C7PRCE-E

30 m JZSP-UCMP00-30-E

40 m JZSP-UCMP00-40-E

50 m JZSP-UCMP00-50-E

Order Number Appearance

L

Encoder end

SERVOPACK end

SERVOPACK end Encoder end

Cable with a Battery Case (Required when an absolute encoder is used.*)

* This Cable is not required for a batteryless encoder or if a battery is connected to the host controller.

0.3 m JZSP-CSP12-E

51

Rotary Servo Motors

1 PG 5V 2 PG 0V 3FG 4BAT (+) 5 BAT (-) 6 Data (+) 7 Data (-) 8 Empty Housing Shield

1 (Brake) 3U 4V 5 Empty 6 (Brake) 7W FG FG Housing Shield

1V 2 (Brake) 4 (Brake) 5U 6W FG FG Housing Shield

SGM7J

Connector Specifications (400V)

 SGM7J-02D to -15D

Encoder Connector Specifications

Receptacle Size: M12 Part number: 1419959 Model: SACC-MSQ-M12MS-25-3,2 SCO Manufacturer: Phoenix Contact

 SGM7J-02D to -08D

Servo Motor Connector Specifications

Receptacle Size: M17 Part number: 1620448 Model: ST-5EP1N8AA500S Manufacturer: Phoenix Contact

 SGM7J-15D

Servo Motor Connector Specifications

Receptacle Size: M23 Part number: 1617905 Model: ST-5EP1N8AAD00S Manufacturer: Phoenix Contact

52

Rotary Servo Motors

Servo Motor Connector Rotational Angle

 SGM7-02D to -15D

Rotary Servo Motors

SGM7J

Allowable number of rotations: 10

53

Rotary Servo Motors

SGM7A

SGM7A Servo Motors (without Gear Box)

Model Designations

-

SGM7A

-7 Series Servo Motors: SGM7A

01

A 7 D

1st+2nd

digits

3rd

digit

4th

digit

5th

digit

61

6th

digit

7th

digit

1st+2nd digits

Code

A5

50 W

100 W

01

150 W

C2 02 200 W 04 400 W

06 600 W 08 750 W 10

1.0 kW

1.5 kW

15 20 2.0 kW

25 2.5 kW 30 3.0 kW

40 4.0 kW

50 5.0 kW 70 7.0 kW

Non Stock Items

Rated Output

Speciﬁcation

3rd digit

Code

4th digit

Code

5th digit

A: Global design revision for batteryless

D: Global design revision for battery

F: Global design revision for battery

Power Supply Voltage

Speciﬁcation

A 200 VAC

D 400 VAC

Serial Encoder

Speciﬁcation

6

24-bit batteryless absolute

7

24-bit absolute

F

24-bit incremental

Design Revision Order

absolute encoder (200 V)

type (200V)

type absolute encoder (400V)

6th digit

Code

2

6 B*

Code B is not supported for models with

*

a rated output of 1.5 kW or higher.

7th digit

Code

1 C

E

S

F With dust seal

H

Note: SGM7A-70A Servo Motors with

Shaft End

Speciﬁcation Straight without key

Straight with key and tap With two ﬂat seats

Options

Speciﬁcation

Without options With holding brake (24 VDC)

With oil seal and holding brake (24 VDC)

With oil seal

With dust seal and holding brake (24 VDC)

holding brakes are not available.

54

Rotary Servo Motors

1

2

3

4

5

03

05

50

Blank

C

050

090

070

01

02 200 W

04 400 W

08 750 W

10 1.0 kW

25 2.5 kW

100 W

VL

Code

Speciﬁcation

5 arc-min backlash

20 2.0 kW

15 1.5 kW

30 3.0 kW

70 7.0 kW

50 5.0 kW

40 4.0 kW

4th digit

6th digit

-7 Series Gear Motors: SGM7A

Rated Output

Code

Speciﬁcation

Code

Speciﬁcation

No brake

24 V Brake

Code

Code Speciﬁcation

3:1 Ratio

5:1 Ratio

10

10:1 Ratio

25

25:1 Ratio

50:1 Ratio

Speciﬁcation

50 mm

70 mm

90 mm

120

120 mm

155

155 mm

205

205mm

235

235mm

Brake Option

5th digit

Gear box backlash

Gear head frame size

7th digit

Gear Ratio

1st+2nd digits

S7A

-

01

A C VL

050 - 05

1st+2nd

digits

3rd

digit

4th

digit

5th

digit

6th

digit

7th

digit

A 200 VAC battery type

B 200 VAC batteryless type

D 400 VAC battery type

3rd digit

Code

Speciﬁcation

Power Supply Voltage

SGM7A

SGM7A Gear Motors

The SGM7A gear motor product family pairs SGM7A servo motors with high precision, low backlash inline planetary gear heads resulting in a portfolio of rotary actuators fit for a wide range of applications. The fam‐ ily of gear motors has been thoroughly tested and adheres to the high levels of quality and performance expected from Yaskawa.

The high precision gear heads offer a variety of application advantages:

•  Quiet operation – helical cut gears contribute toward reduced vibration and noise

•  High precision – a standard backlash of 5 arc-min make this gear head ideal for the most accurate applications

•  High rigidity and torque capacity – achieved with a design which incorporates uncaged needle roller bearings

•  Optimized adapter bushing – minimizes inertia allowing for more output torque to be realized

•  No leakage through the seal – high viscosity, anti-separation grease does not liquefy and does not migrate away from the gears

• Maintenance-free – no need to replace the grease for the life of the unit. The reducer can be positioned in any orientation

Model Designations

55

Rotary Servo Motors

Vertical

Front to back

Horizontal direction

Vibration Applied to the Servo Motor

Side to side

SGM7A

Specifications and Ratings

Specifications (200 V Models)

Voltage 200 V

Model SGM7A- A5A to 70A

Time Rating Continuous

Thermal Class

Insulation Resistance 500 VDC, 10 M min.

Withstand Voltage 1,500 VAC for 1 minute

Excitation Permanent magnet

Mounting Flange-mounted

Drive Method Direct drive

Rotation Direction

Vibration Class

*1

Surrounding Air

Counterclockwise (CCW) for forward reference when viewed from the

0C to 40C (With derating, usage is possible between 40C and

Temperature

Surrounding Air Humidity

• Must be indoors and free of corrosive and explosive gases.

Environmental Conditions

Installation Site

• Must be well-ventilated and free of dust and moisture.

• Must facilitate inspection and cleaning.

• Must have an altitude of 1,000 m or less. (With derating, usage is pos-

sible between 1,000 m and 2,000 m.)

• Must be free of strong magnetic fields.

Store the Servo Motor in the following environment if you store it with the power cable disconnected.

Storage Environment

Storage Temperature: -20C to 60C (with no freezing) Storage Humidity: 20% to 80% relative humidity (with no condensation)

Shock Resis-

*2

tance

Vibration Resistance

Applicable SERVOPACKs

*1. A vibration class of V15 indicates a vibration amplitude of 15 m maximum on the Servo Motor without a load at the rated

motor speed.

*2. The shock resistance for shock in the vertical direction when the Servo

Motor is mounted with the shaft in a horizontal position is given in the above table.

*3. The vertical, side-to-side, and front-to-back vibration resistance for

vibration in three directions when the Servo Motor is mounted with the shaft in a horizontal position is given in the above table. The strength of the vibration that the Servo Motor can withstand depends on the application. Always check the vibration acceleration rate that is applied to the Servo Motor with the actual equipment.

*4. If the surrounding air temperature will exceed 40°C,

refer to the following section.

Impact Acceleration Rate at Flange

Number of Impacts 2 times

Vibration Acceleration Rate

*3

at Flange

A5A to 50A

Refer to the following section.

Applications Where the Surrounding Air Temperature of the Servo Motor Exceeds 40°C (page 74)

*5. If the altitude will exceed 1,000 m, refer to the following section.

Applications Where the Altitude of the Servo Motor Exceeds 1,000 m (page 75)

A5A to 10A UL: B, CE: B

15A to 70A UL: F, CE: F

load side

V15

*4

60C.)

20% to 80% relative humidity (with no condensation)

*5

2

490 m/s

2

49 m/s

(Models 15A to 50A: 24.5 m/s

70A 14.7 m/s



-7 Series Combination (page M-8)

Vertical

Shock Applied to the Servo Motor

2

front to back)

56

Rotary Servo Motors

SGM7A

Ratings of Servo Motors (200 V Models -A5A to -10A)

Voltage 200 V

Model SGM7A- A5A 01A C2A 02A 04A 06A 08A 10A

Rated Output

Rated Torque

*1

*1, *2

Instantaneous Maximum Torque

Rated Current

*1

Instantaneous Maximum

*1

Current

Rated Motor Speed

Maximum Motor Speed

*1

Torque Constant N•m/Arms 0.304 0.384 0.332 0.458 0.576 0.456 0.584 0.541

Motor Moment of Inertia

Rated Power Rate

Absolute Encoder with battery

Batteryless Absolute Encoder

*1

Rated Angular Acceleration Rate

Derating Rate for Servo Motor with Oil Seal

Heat Sink Size (Aluminum) mm 200  200  6 250  250  6

Protective Structure

*3

Rated Voltage V 24 VDC10%

Capacity W 5.5 6 6.5

Holding Torque N•m 0.159 0.318 0.477 0.637 1.27 1.91 2.39 3.18

Coil Resistance

Holding Brake

Rated Current

Specifications

*4

Time Required to Release Brake

Time Required to Brake

Allowable Load Moment of Inertia (Motor Moment of Inertia Ratio)

LF mm 20 25 35

Allowable Shaft

*5

Loads

Allowable Radial Load

Allowable Thrust Load

Note: 1. The values in parentheses are for Servo Motors with Holding Brakes.

2. Refer to the following section for footnotes *1 to *5 and *7.



Notes for Ratings of Servo Motor (page 60)

W 50 100 150 200 400 600 750 1000

N•m 0.159 0.318 0.477 0.637 1.27 1.91 2.39 3.18

*1

N•m 0.557 1.11 1.67 2.23 4.46 6.69 8.36 11.1

Arms 0.57 0.89 1.5 1.5 2.4 4.5 4.4 6.4

Arms 2.1 3.2 5.6 5.9 9.3 16.9 16.8 23.2

*1

-1

min

-1

min

10-4 kg•m

kW/s

2

rad/s

2

0.0217

(0.0297)

0.0232(

0.0312)

11. 7

(8.51)

73200

(53500)

0.0337

(0.0417)

0.0352

(0.0432)

30.0

(24.2)

94300

(76200)

0.0458

(0.0538)

0.0473

(0.0553)

49.7

(42.2)

104000

(88600)

0.139

(0.209)

0.140

(0.210)

29.2

(19.4)

45800

(30400)

3000

6000

0.216

(0.286)

0.217

(0.287)

74.7

(56.3)

58700

(44400)

0.315

(0.385)

0.316

(0.386)

115

(94.7)

60600

(49600)

0.775

(0.955)

0.776

(0.956)

73.7

(59.8)

30800

(25000)

0.971

(1.15)

0.972

(1.15)

(87.9)

32700

(27600)

%80 90 95

300  300 

*7

12

250 

250  6

300  300 

Totally enclosed, self-cooled, IP67

 (at 20C)

A (at 20C)

104.810% 9610% 88.610%

0.23 0.25 0.27

ms 60 80

ms 100

40 times

30

times

20 times 20 times

N 78 245 392

N54 74147

104

12

57

Rotary Servo Motors

SGM7A

Torque-Motor Speed Characteristics (200 V Models -A5A to -10A)

:

Continuous duty zone

A

:

Intermittent duty zone

B

7000

6000

)

-1

5000

4000

3000

2000

Motor speed (min

1000

0

0 0.15 0.3 0.45 0.6 0.75

SGM7A-A5A

BA

Torque (N m)

*1

(solid lines): With three-phase 200-V or single-phase 230-V input (dotted lines): With single-phase 200-V input (dashed-dotted lines): With single-phase 100-V input

7000

6000

)

-1

5000

4000

3000

2000

Motor speed (min

1000

0

0 0.25 0.5 10.75

SGM7A-01A

Torque (N m)

*1

)

-1

BA

1.25

Motor speed (min

7000

6000

5000

4000

3000

2000

1000

SGM7A-C2A

AB

00.511.5202.5

Torque (N m)

7000

6000

)

-1

5000

4000

3000

2000

Motor speed (min

1000

0

010.5 21.5

7000

6000

)

-1

5000

4000

3000

2000

Motor speed (min

1000

04

SGM7A-02A

AB

Torque (N m)

SGM7A-08A

AB

268010

22

Torque (N m)

2.5

7000

6000

)

-1

5000

4000

3000

2000

Motor speed (min

1000

0

7000

6000

)

-1

5000

4000

3000

2000

Motor speed (min

1000

0

052.5 7.5 10

SGM7A-04A

AB

102345

Torque (N m)

SGM7A-10A

A

Torque (N m)

*2

B

12.5

7000

6000

)

-1

5000

4000

3000

2000

Motor speed (min

1000

SGM7A-06A

AB

02468010

Torque (N m)

*1. The characteristics are the same for single-phase 200 V and single-phase 100 V input.

*2. A single-phase power input can be used in combination with the SGD7S-120A



A008.

Note: 1. These values are for operation in combination with a SERVOPACK when the temperature of the armature winding

is 100°C. These are typical values.

2. The characteristics in the intermittent duty zone depend on the power supply voltage.

3. If the effective torque is within the allowable range for the rated torque, the Servo Motor can be used within the intermittent duty zone.

4. If you use a Servo Motor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torque-motor speed characteristics will become smaller because the voltage drop increases.

58

Rotary Servo Motors

+10% 0

Servo Motor Ratings (200 V Models -15A to -70A)

Voltage 200 V

Model SGM7A- 15A 20A 25A 30A 40A 50A 70A

Rated Output

Rated Torque

*6

*2, *6

Instantaneous Maximum

*6

Torque

Rated Current

*6

Instantaneous Maximum Cur-

*6

rent

Rated Motor Speed

Maximum Motor Speed

*6

Torque Constant N•m/Arms 0.590 0.561 0.538 0.582 0.519 0.604 0.604

Motor Moment of Inertia

Rated Power Rate

Absolute Encoder with battery

Batteryless Absolute Encoder

*6

Rated Angular Acceleration Rate

*6

Heat Sink Size (Aluminum)

Protective Structure

*3

Rated Voltage V

Capacity W 12 10

Holding Brake Specifica-

*4

tions

Holding Torque N•m 7.84 10 20

Coil Resistance  (at 20C) 48 59

Rated Current A (at 20C) 0.5 0.41

Time Required to Release Brake

Time Required to Brake

Allowable Load Moment of Inertia (Motor Moment of Inertia Ratio)

LF mm 45 63

Allowable Shaft

*5

Loads

Allowable Radial Load

Allowable Thrust Load

Note: 1. The values in parentheses are for Servo Motors with Holding Brakes.

2. Refer to the following section for footnotes *2 to *6.



Notes for Ratings of Servo Motor (page 60)

kW 1.5 2.0 2.5 3.0 4.0 5.0 7.0

N•m 4.90 6.36 7.96 9.80 12.6 15.8 22.3

N•m 14.7 19.1 23.9 29.4 37.8 47.6 54.0

Arms 9.3 12.1 15.6 17.9 25.4 27.6 38.3

Arms 28 42 51 56 77 84 105

min

10

kW/s

rad/s

-1

-4

kg•m

2

2.00

(2.25)

2.00

(2.25)

120

(106)

24500

(21700)

2.47

(2.72)

2.47

(2.72)

164

(148)

25700

(23300)

3.19

(3.44)

3.19

(3.44)

199

(184)

24900

(23100)

6000

7.00

(9.20)

7.00

(9.20)

137

(104)

14000

(10600)

3000

*8

9.60

(11.8)

9.60

(11.8)

165

(134)

13100

(10600)

12.3

(14.5)

12.3

(14.5)

203

(172)

12800

(10800)

12.3

(N/A)

12.3

(N/A)

18100

mm 300  300  12 400  400  20

Totally enclosed,

Totally enclosed, self-cooled, IP67

separately

cooled (with fan),

IP22

24 VDC

ms 170 100

ms 80

10 times 5 times

N 686 980 1176

N 196 392

SGM7A

404



59

Rotary Servo Motors

A :

B

:

SGM7A-15A

A

B

SGM7A-20A

A

B

SGM7A-25A

A

B

SGM7A-30A

A

B

Continuous duty zone

Torque (N·m) Torque (N·m) Torque (N·m) Torque (N·m)

Intermittent duty zone

7000

6000

5000

4000

3000

2000

1000

0

0 5 10 15 20

Motor speed (min

-1

)

7000

6000

5000

4000

3000

2000

1000

0

0 5 10 15 20

Motor speed (min

-1

)

7000

6000

5000

4000

3000

2000

1000

0

Motor speed (min

-1

)

7000

6000

5000

4000

3000

2000

1000

0

0 10 20 30 40

Motor speed (min

-1

)

0 7.5 15 22.5 30

SGM7A-40A

A

B

010 203040 15304560 15304560

0

1000

2000

3000

4000

5000

6000

7000

SGM7A-50A

A

B

0

1000

2000

3000

4000

5000

6000

7000

SGM7A-70A

AB

0

1000

2000

3000

4000

5000

6000

7000

Torque (N·m)

Motor speed (min

-1

)

Torque (N·m)

Motor speed (min

-1

)

Torque (N·m)

Motor speed (min

-1

)

SGM7A

Torque-Motor Speed Characteristics (200 V Models -15A to -70A)

Note: 1. These values are for operation in combination with a SERVOPACK when the temperature of the armature winding

is 20°C. These are typical values.

2. The characteristics in the intermittent duty zone depend on the power supply voltage.

3. If the effective torque is within the allowable range for the rated torque, the Servo Motor can be used within the intermittent duty zone.

4. If you use a Servo Motor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torque-motor speed characteristics will become smaller because the voltage drop increases.

 Notes for Ratings of Servo Motor

*1. These values are for operation in combination with a SERVOPACK when the temperature of the armature winding is

100°C. The values for other items are at 20°C. These are typical values.

*2. The rated torques are the continuous allowable torque values at a surrounding air temperature of 40°C with an aluminum

heat sink of the dimensions given in the table. *3. This does not apply to the shaft opening. Protective structure specifications apply only when the special cable is used. *4. Observe the following precautions if you use a Servo Motor with a Holding Brake.

• The holding brake cannot be used to stop the Servo Motor.

• The time required to release the brake and the time required to brake depend on which discharge circuit is used.

Confirm that the operation delay time is appropriate for the actual equipment.

• The 24-VDC power supply is not provided by Yaskawa.

*5. The allowable shaft loads are illustrated in the following figure. Design the mechanical system so that the thrust and radial

loads applied to the Servo Motor shaft end during operation do not exceed the values given in the table.

LF

*6. These values are for operation in combination with a SERVOPACK when the temperature of the armature winding is

20°C. These are typical values. *7. If the heat sink is 250 mm × 250 mm × 6 mm, the rated output is 550 W and the rated torque is 1.75 N·m.

60

Refer to the following section for details.

Servo Motor Heat Dissipation Conditions (page 73)

*8. For the SGM7A-25A or SGM7A-50A, the maximum motor speed for the continuous duty zone is 5,000 min-1.

Use the Servo Motor within the continuous duty zone for the average motor speed and effective torque.

Radial load

Thrust load

Rotary Servo Motors

Vertical

Shock Applied to the Servo Motor

Vertical

Front to back

Horizontal direction

Vibration Applied to the Servo Motor

Side to side

SGM7A

Specifications (400 V Models)

Voltage 400 V

Model SGM7A- 02D 04D 08D 10D 15D 20D 25F 30D 40D 50D 70D

Time Rating Continuous

Thermal Class B F

Insulation Resistance 500 VDC, 10 M min.

Withstand Voltage 1,800 VAC for 1 minute

Excitation Permanent magnet

Mounting Flange-mounted

Drive Method Direct drive

Rotation Direction Counterclockwise (CCW) for forward reference when viewed from the load side

Vibration Class

Environmental Conditions

Shock Resis-

*2

tance

Vibration Resistance

Applicable SERVOPAC KS

*1. A vibration class of V15 indicates a vibration amplitude of 15 m maximum on the Servo Motor without a load at the rated

motor speed.

*2. The shock resistance for shock in the vertical direction when the Servo Motor is mounted with the shaft in a horizontal

position is given in the above table.

*1

Surrounding Air Temperature

Surrounding Air Humidity

Installation Site

Storage Environment

Impact Acceleration Rate at Flange

• Must be indoors and free of corrosive and explosive gases.

• Must be well-ventilated and free of dust and moisture.

• Must facilitate inspection and cleaning.

• Must have an altitude of 1,000 m or less. (With derating, usage is possible between 1,000 m and

2,000 m.)

• Must be free of strong magnetic fields.

Store the Servo Motor in the following environment if you store it with the power cable disconnected. Storage Temperature: -20C to 60C (with no freezing) Storage Humidity: 20% to 80% relative humidity (with no condensation)

0C to 40C (With derating, usage is possible between 40C and 60C.)

20% to 80% relative humidity (with no condensation)

*5

Number of Impacts 2 times

Vibration Accelera-

*3

tion Rate at Flange

(Models 15A to 50A: 24.5 m/s2 front to back)

SGD7S- 1R9D 3R5D 5R4D

2R6D*6 or

SGD7W- 2R6D

*6

5R4D

*6

5R4D

V15

490 m/s

49 m/s2

8R4D

*4

2

120D 170D

260D

N/A

*3. The vertical, side-to-side, and front-to-back vibration resistance for vibration in three directions when the Servo Motor is

*4. If the surrounding air temperature will exceed 40°C, refer to the following section.

*5. If the altitude will exceed 1,000 m, refer to the following section.

*6. If you use this combination, performance may not be as good, e.g., the control gain may not increase, in comparison with

mounted with the shaft in a horizontal position is given in the above table. The strength of the vibration that the Servo Motor can withstand depends on the application. Always check the vibration acceleration rate that is applied to the Servo Motor with the actual equipment.

Applications Where the Surrounding Air Temperature of the Servo Motor Exceeds 40°C (page 74)

Applications Where the Altitude of the Servo Motor Exceeds 1,000 m (page 75)

using a Sigma-7 Single Axis SERVOPACK.

61

62

Rotary Servo Motors

SGM7A

Ratings of Servo Motors (400 V Models -02D to -15D)

Voltage 400 V

Model SGM7A- 02D 04D 08D 10D 15D

Rated Output

Rated Torque

Instantaneous Maximum Torque

Rated Current

Instantaneous Maximum

Current

Rated Motor Speed

Maximum Motor Speed

*1

*1, *2

*1

Torque Constant N•m/Arms 0.556 1.11 1.16 1.07 1.23

Motor Moment of Inertia

Rated Power Rate

*1

Rated Angular Acceleration Rate

Derating Rate for Servo Motor with Oil Seal

Heat Sink Size (Aluminum) mm 250  250  6300  300  12

Protective Structure

*3

Rated Voltage V 24 VDC10%

Capacity W 6.0 6.5 12

Holding To rq ue

Coil

Holding Brake Speci-

*4

fications

Resistance

Rated Current

Time Required to Release Brake

Time Required to Brake

Allowable Load Moment of Inertia (Motor Moment of Inertia Ratio)

Standard 30 times 20 times 10 times

With external regenerative resistor and dynamic brake resistor connected

LF mm 25 35 45

Allowable Shaft

*5

Loads

Allowable Radial Load

Allowable Thrust Load

Note: The values in parentheses are for Servo Motors with Holding Brakes.

*1. For the SGM7A-02D to SGM7A-10D, these values are for operation in combination with a SERVOPACK when the tem-

perature of the armature winding is 100°C. The values for other items are at 20°C. For the SGM7A-15D to SGM7A-30D,

these values are for operation in combination with a SERVOPACK when the temperature of the armature winding is 20°C.

These are typical values. *2. The rated torques are the continuous allowable torque values at a surrounding air temperature of 40°C with an aluminum

heat sink of the dimensions given in the table. *3. This does not apply to the shaft opening. Protective structure specifications apply only when the special cable is used. *4. Observe the following precautions if you use a Servomotor with a Holding Brake.

• The holding brake cannot be used to stop the Servomotor.

• The time required to release the brake and the time required to brake depend on which discharge

circuit is used. Confirm that the operation delay time is appropriate for the actual equipment.

• The 24-VDC power supply is not provided by YASKAWA.

*5. The allowable shaft loads are illustrated in the following figure. Design the mechanical

system so that the thrust and radial loads applied to the Servomotor shaft end during

operation do not exceed the values given in the table *6. .For the SGM7A-25D, the maximum motor speed for the continuous duty zone is 5,000 min-1. Use the Servomotor within

the continuous duty zone for the average motor speed and effective torque.

W 200 400 750 1000 1500

N•m 0.637 1.27 2.39 3.18 4.90

N•m 2.23 4.46 8.36 11.1 14.7

Arms 1.2 1.2 2.2 3.2 4.7

Arms 5.1 4.9 8.5 12 14

*1

-1

min

-1

min

10-4 kg•m

kW/s

2

rad/s

0.139

2

(0.209)

29.2

(19.4)

45,800

(30,400)

0.216

(0.286)

74.7

(56.3)

58,700

(44,400)

3000

*6

6000

0.775

(0.955)

73.7

(59.8)

30,800

(25,000)

0.971 (1.15)

104

(87.9)

32,700

(27,600)

(2.25)

24,500

(21,700)

% - 95 100

Totally enclosed, self-cooled, IP67

N•m 0.637 1.27 2.39 3.18 7.84

 (at 20C) 96±10% 88.6±10% 48±10%

A (at 20C) 0.25 0.27 0.5

ms 60 80 170

ms 100 80

30 times 20 times 30 times 20 times

N 245 392 686

N74 147196

LF

Radial load

Thrust load

2.00

120

(106)

Rotary Servo Motors

Ratings of Servo Motors (400 V Models -20D to -70D)

Rated Output

Rated Torque

Instantaneous Maximum Torque

Rated Current

Instantaneous Maximum

Current

Rated Motor Speed

Maximum Motor Speed

Torque Constant N•m/Arms 1.18 1.15 1.16 1.06 1.21 1.21

Motor Moment of Inertia

Rated Power Rate

Rated Angular Acceleration Rate

Derating Rate for Servo Motor with Oil Seal

Heat Sink Size (Aluminum) mm 300  300  12 400  400  20

Protective Structure

Holding Brake

Specifications

Allowable Load Moment of Inertia (Motor Moment of Inertia Ratio)

Allowable Shaft

Loads

Note: The values in parentheses are for Servo Motors with Holding Brakes.

*1. For the SGM7A-02D to SGM7A-10D, these values are for operation in combination with a SERVOPACK when the temperature

of the armature winding is 100°C. The values for other items are at 20°C. For the SGM7A-15D to SGM7A-30D, these values

are for operation in combination with a SERVOPACK when the temperature of the armature winding is 20°C. These are typical

values. *2. The rated torques are the continuous allowable torque values at a surrounding air temperature of 40°C with an aluminum heat

sink of the dimensions given in the table. *3. This does not apply to the shaft opening. Protective structure specifications apply only when the special cable is used. *4. Observe the following precautions if you use a Servomotor with a Holding Brake.

*5. The allowable shaft loads are illustrated in the following figure. Design the mechanical system so that

the thrust and radial loads applied to the Servomotor shaft end during operation do not exceed the val-

ues given in the table *6. .For the SGM7A-25D, the maximum motor speed for the continuous duty zone is 5,000 min-1. Use the

Servomotor within the continuous duty zone for the average motor speed and effective torque.

Rotary Servo Motors

SGM7A

Voltage 400 V

Model SGM7A- 20D 25D 30D 40D 50D 70D

*1

*1, *2

*1

*3

Rated Voltage V 24 VDC10% -

Capacity W 12 10 -

Holding Torque N•m 7.84 10 20 -

Coil Resistance

*4

Rated Current A (at 20C) 0.5 0.41 -

Time Required to Release Brake

Time Required to Brake

Standard 10 times 5 times 15 times

With external regenerative resistor and dynamic brake resistor connected

LF mm 45 63

Allowable

*5

Radial Load

Allowable Thrust Load

• The holding brake cannot be used to stop the Servomotor.

• The time required to release the brake and the time required to brake depend on which discharge circuit is used. Confirm that the operation

delay time is appropriate for the actual equipment.

• The 24-VDC power supply is not provided by YASKAWA.

W 2000 2500 3000 4000 5000 7000

N•m 6.36 7.96 9.80 12.6 15.8 22.3

N•m 19.1 23.9 29.4 37.8 47.6 54.0

Arms 6.1 7.4 8.9 12.5 13.8 19.2

Arms 20 25 28 38 42 52.5

*1

-1

min

-1

min

10-4 kg•m

kW/s

2

rad/s

2.47

2

(2.72)

164

(148)

25,700

(23,300)

3.19

(3.44)

199

(184)

24,900

(23,100)

7.00

(9.20)

137

(104)

14,000

(10,600)

3000

*6

6000

9.60

(11.8)

165

(134)

13,100

(10,600)

12.3

(14.5)

203

(172)

12,800

(10,800)

% 100

Totally enclosed, self-cooled, IP67

 (at 20C) 48±10% 59 -

ms 170 100 -

ms 80 -

20 times 15 times

N 686 890 1176

N 196 392

12.3

404

18100

Totally enclosed,

separately cooled,

(with fan), IP22

cooled (w/fan)

LF

Radial load

Thrust load

63

Rotary Servo Motors

Continuous duty zone

Intermittent duty zone

A

:

B

:

SGM7A-15D SGM7A-20D

SGM7A-25D

SGM7A-30D

SGM7A-02D

SGM7A-08D SGM7A-10D

0

0.5

1

1.5

2

2.5

B

A

0 1000 2000 3000 4000 5000 6000

Motor speed (min-1)

Torque (N·m)

Motor speed (min-1)

0

2

4

6

8

10

B

A

0 1000 2000 3000 4000 5000 6000

Motor speed (min-1)

0

3

6

9

12

15

B

A

0 1000 2000 3000 4000 5000 6000

Motor speed (min-1)

0

3

6

9

12

15

B

A

0 1000 2000 3000 4000 5000 6000

Motor speed (min-1)

0

4

8

12

16

20

B

A

0 1000 2000 3000 4000 5000 6000

Motor speed (min-1)

B

A

0

5

10

15

20

25

0 1000 2000 3000 4000 5000 6000

Motor speed (min-1)

B

A

0

6

12

18

24

30

0 1000 2000 3000 4000 5000 6000

Motor speed (min-1)

Torque (N·m)

Torque (N·m)Torque (N·m)

Torque (N·m)

SGM7A-04D

0

1

2

3

4

5

A

B

0 1000 2000 3000 4000 5000 6000

SGM7A-40D SGM7A-50D

0

8

16

24

32

40

B

A

0 1000 2000 3000 4000 5000 6000

0

10

20

30

40

50

B

A

0 1000 2000 3000 4000 5000 6000

Motor speed (min-1) Motor speed (min-1)

Torque (N·m)

SGM7A-70D

0

10

20

30

40

50

60

B

A

0 1000 2000 3000 4000 5000 6000

Torque (N·m)

Motor speed (min-1)

SGM7A

Torque-Motor Speed Characteristics (400V Models)

64

Note: 1. For the SGM7A-02D to SGM7A-10D, these values are for operation in combination with a SERVOPACK when the

temperature of the armature winding is 100°C. For the SGM7A-15D to SGM7A-30D, these values are for operation in combination with a SERVOPACK when the temperature of the armature winding is 20°C. These are typical values.

2. The characteristics in the intermittent duty zone depend on the power supply voltage. The intermittent duty zones in the graphs show the characteristics when a three-phase, 400-VAC power supply voltage is used..

3. If the effective torque is within the allowable range for the rated torque, the Servomotor can be used within the intermittent duty zone.

4. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torque-motor speed characteristics will become smaller because the voltage drop increases.

Rotary Servo Motors

Ratings of Gear Motors (200 V Models: Abs. Encoder with Battery)

SGM7A

Gear Motor

Model Number

S7A____

Base Servo Motor

Model

SGM7A-

01A-VL050-03

01A-VL050-05 5:1 600 1200 1.51 5.27 0.036

01A-VL050-10 10:1 300 600 3.02 10.5 0.030

01A7D6

01A-VL050-25 25:1

01A-VL070-50 50:1 60 120 14.3 50.0 0.051 1200 1100

02A-VL050-03

02A-VL050-05 5:1 600 1200 3.03 10.6 0.15

02A-VL070-10 10:1 300 600 6.05

02A7D6

02A-VL070-50 50:1 60 120 28.7

04A-VL050-03

04A-VL050-05 5:1 600 1200 6.03

04A-VL070-10 10:1 300 600 12.1

04A7D6

04A-VL070-25 25:1

04A-VL090-50 50:1 60 120 57.2

08A-VL070-03

08A-VL070-05 5:1 600 1200 11.4 39.7 0.46

08A-VL090-10 10:1 300 600 22.7 79.4 0.70

08A7D6

08A-VL090-25 25:1

08A-VL120-50 50:1 60 120 108

15A-VL090-03

15A-VL090-05 5:1 600 1200 23.3 69.8 2.6

15A-VL090-10 10:1 300 600 46.6

15A7D6

15A-VL120-25 25:1

15A-VL120-50 50:1 60 120

20A-VL090-03

20A-VL090-05 5:1 600 1200 30.2 90.7 2.6

20A-VL120-10 10:1 300 600 60.4 181 2.6

20A7D6

20A-VL120-25 25:1

20A-VL155-50 50:1

25A-VL090-03

25A-VL090-05 5:1 600 1200 37.8 114 2.6

25A-VL120-10 10:1 300 600 75.6 227 2.6

25A7D6

25A-VL120-25 25:1

25A-VL155-50 50:1

30A-VL090-03

30A-VL090-05 5:1 600 1200 46.6

30A-VL120-10 10:1 300 600 93.1

30A7D6

30A-VL120-25 25:1

30A-VL155-50 50:1

40A-VL090-03

40A-VL090-05 5:1 600 1200 59.9

40A-VL120-10 10:1 300 600 120

40A7D6

40A-VL155-25 25:1

40A-VL205-50 50:1

Gear Ratio

3:1

Gear-

ing Effi-

ciency

*1

95

90

95

90

95

90

95

90

95

90

95

90

95

90

95

90

95

90

Rated Speed (RPM)

Max Speed (RPM)

Rated

Torque

(Nm)*2

Torque (Nm)

Peak

1000 2000 0.906 3.16

120 240 7.16

18.0

1000 2000 1.82 6.36

12.0

120 240 14.3 50.2 0.17

50.0

1000 2000 3.62 12.7

18.0

35.0

120 240 28.6

50.0

125

1000 2000 6.81 23.8

120 240 53.8

125

330

1000 2000 14.0 41.9

80

120 240 110 331 2.8

*3

180

330

1000 2000 18.1 54.4

120 240

*3

80*3286*3700

40

143

*3

330

1000 2000 22.7 68.1

120 240

*3

80*3358*3700

40

179

*3

330

1000 2000 27.9 83.8

125

225

120 240

*3

40

80*3360*3700

1000 2000 35.9

180

*3

330

80

125

225

80

30

*3

160

60

*3

284

700

*3

567

1400

*3

*2

*3

(0.0447)

Motor

Inertia

(x10

kg-m

0.0337

0.139

(0.209)

0.216

(0.286)

0.775

(0.955)

2.000

(2.250)

2.470

(2.720)

3.190

(3.440)

7.000

(9.200)

9.600

(11.80)

Gearhead

Inertia

-4

(x10

2

kg-m

)

0.053

0.034 7

0.17

0.16

0.17

0.15

0.17

0.27 2400 2200

0.53

0.74

0.76 4300 3900

2.9

2.5

2.9

2.8

2.8 9100 8200

2.9

2.8

2.8 9100 8200

2.9

2.6

2.8

2.8 9100 8200

2.9

2.6

2.6 4300 3900

4.1 9100 8200

3.8 15000 14000

-4

2

)

Allow-

able

Radial

Load

(N)

Allow-

able

Axial

Load

710 640

1200 110002A-VL070-25 25:1

710 640

1200 1100

2400 2200

4300 3900

2400 2200

4300 3900

2400 2200

4300 3900

2400 2200

4300 3900

2400 2200

(N)

Back-

lash (arcmin)

5

Class

IP65

65

Rotary Servo Motors

Important

SGM7A

Gear Motor

Model Number

S7A____

Base Servo Motor

Model

SGM7A-

50A-VL090-03

50A-VL090-05 5:1 600 1200 75.1

50A-VL155-10 10:1

50A7D6

50A-VL155-25 25:1

50A-VL205-50 50:1

70A-VL120-03

70A-VL120-05 5:1 600 1200 106 257 3.1

70A-VL155-10 10:1

70A7D61

70A-VL205-25 25:1 90

70A-VL235-50 50:1 92

Gear Ratio

3:1

Gear-

ing Effi-

ciency

*1

95

90

95

Max Speed (RPM)

Rated

Torque

(Nm)*2

Rated Speed (RPM)

1000 2000 45.0

*3

200

80

30

400

*3

160

*3

150 452 3.2

*3

356

*3

711

60

1000 2000 63.6 154

*3

200

60

30

400

*3

120

*3

212 513 3.2 9100 8200

*3

502 1215 7.9

*3

1026 2484 4.7

60

Torque (Nm)*2

1400

Peak

80

125

700

Motor

Inertia

(x10

kg-m

*3

12.30

(14.50)

*3

Gearhead

Inertia

-4

(x10

2

)

kg-m

2.9

2.6

4.1

3.8 15000 14000

5.1

12.30

Allow-

Radial

-4

2

)

15000 14000

(N)

Allow-

able

Axial

Load

(N)

able

Load

2400 2200

9100 8200

4300 3900

Back-

lash (arcmin)

5IP65

Note: The values in parentheses are for Servo Motors with Holding Brakes (indicated by value of  in model numbers).

*1. The gear efficiency depends on operating conditions such as the output torque, motor speed, and temperature. *2. The gear motor output torque is expressed by the following formula: Output Torque = (Servo Motor Output Torque) x (Gearing Ratio) x

(Gearing Efficiency). The values in the table are typical values for the rated torque, rated motor speed, and a surrounding air temperature of 25°C. They are reference values only.

*3. The output torque of the gear motor is limited by the mechanical limit of the gear head. Operation above this limit could result in prema-

ture failure of the gear motor.

During operation of the gear motor, losses due to inefficiencies of the gearing mechanism are generated. The losses vary as the conditions for gear motor torque and speed change. Temperature rise can vary based on the mechanical inefficiencies and the heat dissipation conditions. For heat dissipation conditions, check the gear and motor temperatures with the actual equipment. If operating temperatures are too high, implement the following measures.

• Decrease the load ratio.

• Change the heat dissipation conditions.

• Use forced-air cooling for the motor with a cooling fan or other means.

• Please refer to "Sigma-7 Gearmotor Temperature Test Data" (document number PN.GearMotors.01) on

yaskawa.com for temperature test data.

Class

66

Rotary Servo Motors

Ratings of Batteryless Gear Motors (200 V Models)

Rotary Servo Motors

SGM7A

Gear Motor

Model Number

S7A____

Base Servo Motor

Model

SGM7A-

01B-VL050-03

01B-VL050-05 5:1 600 1200 1.51 5.27 0.036

01B-VL050-10 10:1 300 600 3.02 10.5 0.030

01A6A6

01B-VL050-25 25:1

01B-VL070-50 50:1 60 120 14.3 50.0 0.051 1200 1100

02B-VL050-03

02B-VL050-05 5:1 600 1200 3.03 10.6 0.15

02B-VL070-10 10:1 300 600 6.05

02A6A6

02B-VL070-50 50:1 60 120 28.7

04B-VL050-03

04B-VL050-05 5:1 600 1200 6.03

04B-VL070-10 10:1 300 600 12.1

04A6A6

04B-VL070-25 25:1

04B-VL090-50 50:1 60 120 57.2

08B-VL070-03

08B-VL070-05 5:1 600 1200 11.4 39.7 0.46

08B-VL090-10 10:1 300 600 22.7 79.4 0.70

08A6A6

08B-VL090-25 25:1

08B-VL120-50 50:1 60 120 108

15B-VL090-03

15B-VL090-05 5:1 600 1200 23.3 69.8 2.6

15B-VL090-10 10:1 300 600 46.6

15A6A6

15B-VL120-25 25:1

15B-VL120-50 50:1 60 120

20B-VL090-03

20B-VL090-05 5:1 600 1200 30.2 90.7 2.6

20B-VL120-10 10:1 300 600 60.4 181 2.6

20A6A6

20B-VL120-25 25:1

20B-VL155-50 50:1

25B-VL090-03

25B-VL090-05 5:1 600 1200 37.8 114 2.6

25B-VL120-10 10:1 300 600 75.6 227 2.6

25A6A6

25B-VL120-25 25:1

25B-VL155-50 50:1

30B-VL090-03

30B-VL090-05 5:1 600 1200 46.6

30B-VL120-10 10:1 300 600 93.1

30A6A6

30B-VL120-25 25:1

30B-VL155-50 50:1

40B-VL090-03

40B-VL090-05 5:1 600 1200 59.9

40B-VL120-10 10:1 300 600 120

40A6A6

40B-VL155-25 25:1

40B-VL205-50 50:1

Gear Ratio

3:1

Gear-

ing Effi-

ciency

*1

95

90

95

90

95

90

95

90

95

90

95

90

95

90

95

90

95

90

Rated Speed (RPM)

Max Speed (RPM)

Rated

Torque

(Nm)*2

Torque (Nm)

Peak

1000 2000 0.906 3.16

120 240 7.16

18.0

1000 2000 1.82 6.36

12.0

120 240 14.3 50.2 0.17

50.0

1000 2000 3.62 12.7

18.0

35.0

120 240 28.6

50.0

125

1000 2000 6.81 23.8

120 240 53.8

125

330

1000 2000 14.0 41.9

80

120 240 110 331 2.8

*3

180

330

1000 2000 18.1 54.4

120 240

*3

80*3286*3700

40

143

*3

330

1000 2000 22.7 68.1

120 240

*3

80*3358*3700

40

179

*3

330

1000 2000 27.9 83.8

125

225

120 240

*3

40

80*3360*3700

1000 2000 35.9

180

*3

330

80

125

225

80

30

*3

160

60

*3

284

700

*3

567

1400

*3

*2

*3

(0.0447)

Motor

Inertia

(x10

kg-m

0.0337

0.139

(0.209)

0.216

(0.286)

0.775

(0.955)

2.000

(2.250)

2.470

(2.720)

3.190

(3.440)

7.000

(9.200)

9.600

(11.80)

Gearhead

Inertia

-4

(x10

2

kg-m

)

0.053

0.034 7

0.17

0.16

0.17

0.15

0.17

0.27 2400 2200

0.53

0.74

0.76 4300 3900

2.9

2.5

2.9

2.8

2.8 9100 8200

2.9

2.8

2.8 9100 8200

2.9

2.6

2.8

2.8 9100 8200

2.9

2.6

2.6 4300 3900

4.1 9100 8200

3.8 15000 14000

-4

2

)

Allow-

able

Radial

Load

(N)

Allow-

able

Axial

Load

710 640

1200 110002B-VL070-25 25:1

710 640

1200 1100

2400 2200

4300 3900

2400 2200

4300 3900

2400 2200

4300 3900

2400 2200

4300 3900

2400 2200

(N)

Back-

lash (arcmin)

5

Class

IP65

67

Rotary Servo Motors

Important

SGM7A

Gear Motor

Model Number

S7A____

Base Servo Motor

Model

SGM7A-

50B-VL090-03

50B-VL090-05 5:1 600 1200 75.1

50B-VL155-10 10:1

50A6A6

50B-VL155-25 25:1

50B-VL205-50 50:1

70B-VL120-03

70B-VL120-05 5:1 600 1200 106 257 3.1

70B-VL155-10 10:1

70A6A61

70B-VL205-25 25:1 90

70B-VL235-50 50:1 92

Gear Ratio

3:1

Gear-

ing Effi-

ciency

*1

95

90

95

Max Speed (RPM)

Rated

Torque

(Nm)*2

Rated Speed (RPM)

1000 2000 45.0

*3

200

80

30

400

*3

160

*3

150 452 3.2

*3

356

*3

711

60

1000 2000 63.6 154

*3

200

60

30

400

*3

120

*3

212 513 3.2 9100 8200

*3

502 1215 7.9

*3

1026 2484 4.7

60

Torque (Nm)*2

1400

Peak

80

125

700

Motor

Inertia

(x10

kg-m

*3

12.30

(14.50)

*3

Gearhead

Inertia

-4

(x10

2

)

kg-m

2.9

2.6

4.1

3.8 15000 14000

5.1

12.30

Allow-

Radial

-4

2

)

15000 14000

(N)

Allow-

able

Axial

Load

(N)

able

Load

2400 2200

9100 8200

4300 3900

Back-

lash (arcmin)

5IP65

Note: The values in parentheses are for Servo Motors with Holding Brakes (indicated by value of  in model numbers).

*1. The gear efficiency depends on operating conditions such as the output torque, motor speed, and temperature. *2. The gear motor output torque is expressed by the following formula: Output Torque = (Servo Motor Output Torque) x (Gearing Ratio) x

(Gearing Efficiency). The values in the table are typical values for the rated torque, rated motor speed, and a surrounding air temperature of 25°C. They are reference values only.

*3. The output torque of the gear motor is limited by the mechanical limit of the gear head. Operation above this limit could result in prema-

ture failure of the gear motor.

During operation of the gear motor, losses due to inefficiencies of the gearing mechanism are generated. The losses vary as the conditions for gear motor torque and speed change. Temperature rise can vary based on the mechanical inefficiencies and the heat dissipation conditions. For heat dissipation conditions, check the gear and motor temperatures with the actual equipment. If operating temperatures are too high, implement the following measures.

• Decrease the load ratio.

• Change the heat dissipation conditions.

• Use forced-air cooling for the motor with a cooling fan or other means.

• Please refer to "Sigma-7 Gearmotor Temperature Test Data" (document number PN.GearMotors.01) on

yaskawa.com for temperature test data.

Class

68

Rotary Servo Motors

Ratings of Gear Motors (400 V Models)

Rotary Servo Motors

SGM7A

Gear Motor

Model Number

S7A____

02D-VL050-03

02D-VL050-05 5:1 600 1200 3.03 10.6 0.15

02D-VL070-10 10:1 300 600 6.05

02D-VL070-50 50:1 60 120 28.7

04D-VL050-03

04D-VL050-05 5:1 600 1200 6.03

04D-VL070-10 10:1 300 600 12.1

04D-VL070-25 25:1

04D-VL090-50 50:1 60 120 57.2

08D-VL070-03

08D-VL070-05 5:1 600 1200 11.4 39.7 0.46

08D-VL090-10 10:1 300 600 22.7 79.4 0.70

08D-VL090-25 25:1

08D-VL120-50 50:1 60 120 108

15D-VL070-03

15D-VL070-05 5:1 600 1200 23.3 69.8 2.6

15D-VL090-10 10:1 300 600 46.6

15D-VL090-25 25:1

15D-VL120-50 50:1 60 120

20D-VL070-03

20D-VL070-05 5:1 600 1200 30.2 90.7 2.6

20D-VL090-10 10:1 300 600 60.4 181 2.6

20D-VL090-25 25:1

20D-VL120-50 50:1

25D-VL070-03

25D-VL070-05 5:1 600 1200 37.8 114 2.6

25D-VL090-10 10:1 300 600 75.6 227 2.6

25D-VL090-25 25:1

25D-VL120-50 50:1

30D-VL070-03

30D-VL070-05 5:1 600 1200 46.6

30D-VL090-10 10:1 300 600 93.1

30D-VL090-25 25:1

30D-VL120-50 50:1

Base Servo Motor

Model

SGM7A-

02D7F6

04D7F6

08D7F6

15D7F6

20D7F6

25D7F6

30D7F6

Gear

Ratio

3:1

Gearing

Efficiency

*1

95

90

95

90

95

90

95

90

95

90

95

90

95

90

Rated Speed (RPM)

Speed (RPM)

1000 2000 1.82 6.36

120 240 14.3 50.2 0.17

1000 2000 3.62 12.7

120 240 28.6

1000 2000 6.81 23.8

120 240 53.8

1000 2000 14 41.9

120 240 110 331 2.8

1000 2000 18.1 54.4

120 240

*3

40

1000 2000 22.7 68.1

120 240

*3

40

1000 2000 27.9 83.8

120 240

*3

40

Max

80

*3

Rated

(Nm)*2

*3

180

*3

143

Torque

(Nm)

Torque

286*3700

*3

179

358*3700

*3

180

360*3700

Peak

12.0

50.0

18.0

35.0

50.0

125

330

80

330

125

225

330

Motor

Inertia

(x10

*2

kg-m

-4

2

)

Gearhead

Inertia

(x10

kg-m

0.17

0.139

*3

(0.209)

*3

0.17

0.16

0.17

*3

0.216

*3

(0.286)

*3

0.15

0.17

0.27 2400 2200

0.53

0.775

(0.955)

*3

0.74

0.76 4300 3900

2.9

2.000

*3

(2.250)

*3

2.5

2.9

2.470

(2.720)

*3

2.8

2.8 9100 8200

2.9

3.190

(3.440)

*3

2.8

2.8 9100 8200

2.9

*3

7.000

*3

(9.200)

*3

2.6

2.8

2.8 9100 8200

-4

2

)

Allow-

able

Load

(N)

able Axial Load

(N)

Radial

710 640

1200 110002D-VL070-25 25:1

710 640

1200 1100

2400 2200

4300 3900

2400 2200

4300 3900

2400 2200

4300 3900

2400 2200

4300 3900

Back-

lash

Class

(arc-

min)

5IP65

69

Rotary Servo Motors

Important

SGM7A

Gear Motor

Model Number

S7A____

40D-VL070-03

40D-VL070-05 5:1 600 1200 59.9

40D-VL090-10 10:1 300 600 120

40D-VL090-25 25:1

40D-VL120-50 50:1

50D-VL070-03

50D-VL070-05 5:1 600 1200 75.1

50D-VL090-10 10:1

50D-VL090-25 25:1

50D-VL120-50 50:1

70D-VL070-03

70D-VL070-05 5:1 600 1200 106 257 3.1

70D-VL090-10 10:1

70D-VL090-25 25:1 90

70D-VL120-50 50:1 92

Base Servo Motor

Model

SGM7A-

40D7F6

50D7F6

70D7F6

Gear

Ratio

3:1

Gearing

Efficiency

*1

95

90

95

90

95

Rated Speed (RPM)

Speed (RPM)

1000 2000 35.9

*3

80

*3

30

1000 2000 45

*3

200

*3

80

*3

30

1000 2000 63.6 154 5.1

*3

200

*3

80

*3

30

Max

160

60

400

160

60

400

160

60

Rated

Torque

(Nm)*2

Peak

Torque

(Nm)

125

225

330

*3

284

700

*3

567

1400

80

125

*3

150 452 3.2

*3

356

700

*3

711

1400

*3

212 513 3.2

*3

502 1215 7.9 9100 8200

*3

1026 2484 4.7 15000 14000

Motor

Inertia

(x10

*2

kg-m

*3

9.600

*3

(11.80)

*3

12.30

(14.50)

-4

2

)

Gearhead

Inertia

(x10

kg-m

Allow-

able

Axial

Load

(N)

2400 2200

2.9

2.6

Radial

-4

2

)

2.6 4300 3900

4.1 9100 8200

3.8 15000 14000

2.9

2.6

4.1

2400 2200

9100 8200

3.8 15000 14000

4300 3900

Back-

lash

(arc-

min)

5IP65

Note: The values in parentheses are for Servo Motors with Holding Brakes (indicated by value of  in model numbers).

*1. The gear efficiency depends on operating conditions such as the output torque, motor speed, and temperature. *2. The gear motor output torque is expressed by the following formula: Output Torque = (Servo Motor Output Torque) x (Gearing Ratio) x

(Gearing Efficiency). The values in the table are typical values for the rated torque, rated motor speed, and a surrounding air temperature of 25°C. They are reference values only.

*3. The output torque of the gear motor is limited by the mechanical limit of the gear head. Operation above this limit could result in prema-

ture failure of the gear motor.

Class

During operation of the gear motor, losses due to inefficiencies of the gearing mechanism are generated. The losses vary as the conditions for gear motor torque and speed change. Temperature rise can vary based on the mechanical inefficiencies and the heat dissipation conditions. For heat dissipation conditions, check the gear and motor temperatures with the actual equipment. If operating temperatures are too high, implement the following measures.

• Decrease the load ratio.

• Change the heat dissipation conditions.

• Use forced-air cooling for the motor with a cooling fan or other means.

• Please refer to "Sigma-7 Gearmotor Temperature Test Data" (document number PN.GearMotors.01) on

yaskawa.com for temperature test data.

70

Rotary Servo Motors

SGM7A-A5, -01, -C2, -02, -04, -06, -08, and -10

0 50 100 150 200 300250 350

10000

1000

100

10

1

Detection time (s)

Motor speed of 10 min

-1

or higher

Motor speed of less than 10 min

-1

Torque reference (percent of rated torque)

(%)

Detection time (s)

Torque reference (percent of rated torque)

(%)

SGM7A-15, -20, -25, -30, -40, -50, and -70

0 50 100 150 200 250 300

10000

1000

100

10

1

SGM7A-15, -20, -25,

-30, -40, and -50

SGM7A-70

SGM7A

Servo Motor Overload Protection Characteristics

The overload detection level is set for hot start conditions with a Servo Motor surrounding air temperature of 40°C.

Note: The above overload protection characteristics do not mean that you can perform continuous duty operation with an

output of 100% or higher. Use the Servo Motor so that the effective torque remains within the continuous duty zone given in Torque-Motor Speed Characteristics (200 V Models -A5A to -10A) on page 58 or in Torque-Motor Speed Characteristics (200 V Models -15A to -70A) on page 60.

71

Rotary Servo Motors

0

5

10

15

20

25

30

35

40

45

0

SGM7A-A5A

SGM7A-C2A

0

5

10

15

20

25

SGM7A-04A

1000

2000

3000

4000

5000 6000 7000

0

1000 2000 3000 4000 5000 6000 7000

0

5

10

15

20

25

30

35

40

45

0 1000 2000

3000

4000

5000 6000 7000

Motor speed (min

-1

)

0

5

10

15

20

25

30

35

40

45

0

SGM7A-01A

SGM7A-02A

1000

2000

3000

4000

5000 6000 7000

0

1000 2000 3000 4000 5000 6000 7000

0

5

10

15

20

25

30

35

Allowable load moment of inertia

scaling factor (times)

Motor speed (min-1)

Allowable load moment of inertia

scaling factor (times)

Motor speed (min-1)

Allowable load moment of inertia

scaling factor (times)

Motor speed (min-1)

Allowable load moment of inertia

scaling factor (times)

Motor speed (min-1)

Allowable load moment of inertia

scaling factor (times)

SGM7A

Allowable Load Moment of Inertia Scaling Factor for SERVOPACKs without Built-in Regenerative Resistors

The following graphs show the allowable load moment of inertia scaling factor of the motor speed for SERVOPACKs* without built-in regenerative resistors when an External Regenerative Resistor is not connected.

If the Servo Motor exceeds the allowable load moment of inertia, an overvoltage alarm may occur in the SERVOPACK.

These graphs provide reference data for deceleration at the rated torque or higher with a 200-VAC power supply input.

* Applicable SERVOPACK models: SGD7S-R70A, -R90A, -1R6A, or -2R8A

72

Rotary Servo Motors

Important

SGM7A

Servo Motor Heat Dissipation Conditions

The Servo Motor ratings are the continuous allowable values at a surrounding air temperature of 40°C when a heat sink is installed on the Servo Motor. If the Servo Motor is mounted on a small device component, the Servo Motor temperature may rise considerably because the surface for heat dissipation becomes smaller. Refer to the following graphs for the relation between the heat sink size and derating rate.

When using Servo Motors with derating, change the detection timing of overload warnings and overload alarms by referring to the motor overload detection level described in the following manual.



-7-Series AC Servo Drive Rotary Servo Motor Product Manual (Manual No.: SIEP S800001 36)

Note: The derating rates are applicable only when the average motor speed is less than or equal to the rated motor speed.

If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representative.

The actual temperature rise depends on how the heat sink (i.e., the Servo Motor mounting section) is attached to the installation surface, what material is used for the Servo Motor mounting section, and the motor speed. Always check the Servo Motor temperature with the actual equipment.

120 120

SGM7A-A5A and -01A

100

80

60

Derating rate (%)

40

20

0

Heat sink size (mm)

120

SGM7A-15A, -20A, and -25A

100

80

60

Derating rate (%)

40

20

0 150 250 35030020010050

SGM7A-C2A

150 250 30020010050

100

80

60

Derating rate (%)

40

20

120

100

80

60

SGM7A-30A

40

Derating rate (%)

20

0

Heat sink size (mm) Heat sink size (mm)

120

SGM7A-02D, 04D

100

80

60

Derating rate (%)

40

20

Heat sink size (mm)

150 250 300200005001

120

100

80

60

40

Derating rate (%)

20

0

SGM7A-02A and -04A

SGM7A-06A

150 250 300200100500 150 250 300 35020010050

Heat sink size (mm)

SGM7A-70A

SGM7A-40 A and -50A

SGM7A-08D

SGM7A-10

150 250 300 35020005001

Heat sink size (mm)

120

SGM7A-08A

100

80

60

40

Derating rate (%)

20

0

SGM7A-10A

Heat sink size (mm)

300 5004002001000

120

SGM7A-15D, 20D, 25D

100

80

60

Derating rate (%)

40

20

0

150 250 35030020010050

Heat sink size (mm)

120

100

SGM7A-70D

80

60

SGM7A-30D

40

Derating rate (%)

20

0

Heat sink size (mm)

SGM7A-40D, 50D

3004005000001002

73

Rotary Servo Motors

Derating rate (%)

Surrounding Air Temperature (°C)

Surrounding Air Temperature (°C) Surrounding Air Temperature (°C)

Surrounding Air Temperature (°C)

0

20

40

60

80

100

120

0

20

40

60

80

100

120

0

20

40

60

80

100

120

0

20

40

60

80

100

120

010203040506070

0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70

SGM7A-A5, -01, and -C2

SGM7A-15, -20, and -25

SGM7A-02 and -04

SGM7A-06

SGM7A-08 and -10

0

20

40

60

80

100

120

010203040506070

SGM7A-50

SGM7A-30 and -40

SGM7A-70

Surrounding air temperature (°C)

Derating rate (%)

Surrounding air temperature (°C)

0

20

40

60

80

100

120

0

20

40

60

80

100

120

0

20

40

60

80

100

120

010203040506070

SGM7A-

02D, 04D

SGM7A-08D, 10D

SGM7A-

15D,

20D, 25D

Surrounding air temperature (°C)

Derating rate (%)

0

20

40

60

80

100

120

010203040506070

SGM7A-50D

SGM7A-30 D,

SGM7A-70D

40D

SGM7A

Applications Where the Surrounding Air Temperature of the Servo Motor Exceeds 40°C

The Servo Motor ratings are the continuous allowable values at a surrounding air temperature of 40°C. If you use a Servo Motor at a surrounding air temperature that exceeds 40°C (60°C max.), apply a suitable derating rate from the following graphs.

When using Servo Motors with derating, change the detection timing of overload warnings and overload alarms by referring to the motor overload detection level described in the following manual.



-7-Series AC Servo Drive Rotary Servo Motor Product Manual (Manual No.: SIEP S800001 36)

Note: 1. Use the combination of the SERVOPACK and Servo Motor so that the derating conditions are satisfied for both the

SERVOPACK and Servo Motor.

2. The derating rates are applicable only when the average motor speed is less than or equal to the rated motor speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representative.

74

Rotary Servo Motors

Altitude (m)

Derating rate (%)

Altitude (m)

0

20

40

60

80

100

120

0

20

40

60

80

100

120

0

20

40

60

80

100

120

0 500 1000 15 00 25002000

SGM7A-02D, 04D

SGM7A-10D

SGM7A-08D

SGM7A-15D, 20D, 25D

Altitude (m)

Derating rate (%)

0

20

40

60

80

100

120

0 500 1000 15 00 25002000

Derating rate (%)

SGM7A-30D, 40D

SGM7A-50D

SGM7A-70D

SGM7A

Applications Where the Altitude of the Servo Motor Exceeds 1,000 m

The Servo Motor ratings are the continuous allowable values at an altitude of 1,000 m or less. If you use a Servo Motor at an altitude that exceeds 1,000 m (2,000 m max.), the heat dissipation effect of the air is reduced. Apply the appropriate derating rate from the following graphs.

When using Servo Motors with derating, change the detection timing of overload warnings and overload alarms by referring to the motor overload detection level described in the following manual.



-7-Series AC Servo Drive Rotary Servo Motor Product Manual (Manual No.: SIEP S800001 36)

Note: 1. Use the combination of the SERVOPACK and Servo Motor so that the derating conditions are satisfied for both the

SERVOPACK and Servo Motor.

2. The derating rates are applicable only when the average motor speed is less than or equal to the rated motor speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representative.

120

100

80

SGM7A-A5, -01, and -C2

60

40

Derating rate (%)

20

0

0 500 1000 1500 25002000 0 500 1000 1500 25002000

Altitude (m)

120

100

80

SGM7A-02, -04, and -06

60

40

Derating rate (%)

20

0

Altitude (m) Altitude (m)

120

100

80

SGM7A-10

60

40

Derating rate (%)

20

0

0 500 1000 1500 25002000

SGM7A-08

120

100

80

60

SGM7A-15, -20, and -25

40

Derating rate (%)

20

0

0 500 1000 1500 25002000

Altitude (m) Altitude (m)

120

100

80

60

SGM7A-30 and -40

40

Derating rate (%)

20

0

0 500 1000 15 00 25002000

SGM7A-70

SGM7A-50

75

Rotary Servo Motors

S dia.

LB dia.

0.04 dia.

Unit: mm

Notation : Square dimensions

LG

LA dia.

14

ML170.6

LM LE

LRLL

L

0.8

MW



LC

MD

20.5

0.02

0.04 A

A

2 × LZ dia.

0

-0.021 0-0.009

0

-0.021 0-0.009 0-0.021 0-0.009

SGM7A

External Dimensions

Servo Motors (200V)

 SGM7A-A5A, -01A, and -C2A (200V Models)

Model SGM7A-

A5A A2

 A2

01A

C2A

 A2

Model SGM7A-

A5A

 A2 8.8 25.8 16.1

L LL LM

81.5

(122)

93.5

(134)

105.5

(153.5)

56.5 (97)

68.5

(109)

80.5

(128.5)

MD MW ML

01A A2 8.8 25.8 16.1

 A2 8.8 25.8 16.1

C2A

LR LE LG LC LA LB LZ

37.9 25 2.5 5 40 46

49.9 25 2.5 5 40 46

61.9 25 2.5 5 40 46

Approx. Mass [kg]

0.3

(0.6)

0.4

(0.7)

0.5

(0.8)

Flange Dimensions

30

4.3

S

8

Note: 1. The values in parentheses are for Servo Motors with Holding Brakes.

2. Refer to the following section for detailed shaft end specifications.

Shaft End Specifications (page 79)

3. For models that have a batteryless absolute encoder, L and LL are 8 mm greater than the given value. Refer to the following section for the values for individual models.

Dimensions of Servomotors with Batteryless Absolute Encoders (page 94)

 Specifications of Options

• Oil Seal

29.8 dia.

0

- 0.021

30 dia.

7.5

1.5

76

Oil seal cover

Unit: mm

Rotary Servo Motors

 SGM7A-02A to -06A (200 V Models)

0

-0.025 0-0.011

0

-0.025 0-0.011

0

-0.025 0-0.011

0.04 A

LRLL

LE

20.5

L

LM

MD

14

0.6 17

ML

LG

0.04 dia. A

MH

LC

MW

Rotary Servo Motors

SGM7A

Model SGM7A- L LL LM

02AA2

04AA2

06AA2

99.5

(140)

115.5 (156)

137.5

(191.5)

69.5

(110)

85.5

(126)

107.5

(161.5)

51.2 30 3 6 60 70

67.2 30 3 6 60 70

89.2 30 3 6 60 70

LB dia.

S dia.

A

0.02

LR LE LG LC LA LB LZ

LA dia.

4 × LZ dia.

Unit: mm

Flange Dimensions

50

5.5

Model SGM7A- MD MW MH ML Approx. Mass [kg]

02AA2 8.5 28.7 14.7 17.1 0.8 (1.4) 04AA2 8.5 28.7 14.7 17.1 1.2 (1.8) 06AA2 8.5 28.7 14.7 17.1 1.6 (2.2)

Note: 1. The values in parentheses are for Servo Motors with Holding Brakes.

2. Refer to the following section for detailed shaft end specifications.

Shaft End Specifications (page 79)

3. For models that have a batteryless absolute encoder, L and LL are 8 mm greater than the given value. Refer to the following section for the values for individual models.

Dimensions of Servomotors with Batteryless Absolute Encoders (page 94)

S

14

 Specifications of Options

• Oil Seal

LS2

LS1

LE

E2 dia.

E1 dia.

Oil seal cover Unit: mm

Shaft End

Model SGM7A-

E1 E2 LS1 LS2

02A, 04A, 06A 35 47 5.2 10

Dimensions with Oil Seal

77

Rotary Servo Motors

14

0.6 17

LG

LE

LRLL

L

LB dia.

S dia.

LC

LA

dia.

ML

MH

MW

LM

MD

20.5

0.04 A

A

0.02

0.04

dia. A

4

× LZ dia.

Unit: mm

0

-0.030 0-0.013

0

-0.030 0-0.013

Y

SGM7A

 SGM7A-08 and -10

Model

SGM7A-

08AA2

10A

A2

L* LL* LM

137

(184)97(144)

162

(209)

122

103.5 40 3 8 80 90

(169)

Flange Dimensions

LR LE LG LC LA LB LZ

78.5403 88090

70

S MD MW MH ML

7

13.6 38 14.7 19.3

19

13.6 38 14.7 19.3

19

Approx.

Mass*

[kg]

2.3

(2.9)

3.1

(3.7)

* For models that have a batteryless absolute encoder, L and LL are 8 mm greater and the approximate mass is 0.1 kg greater than the

given value. Refer to the following section for the values for individual models.

Dimensions of Servomotors with Batteryless Absolute Encoders (page 94)

Note: 1.The values in parentheses are for Servomotors with Holding Brakes .

2. The values for a straight, without key specification are given. Refer to the information given below for other shaft end specifications and option specifications.

 Shaft End Specifications

• Straight with Key and Tap

40

22

0

-0.013

Y

19 dia.

Y

3.5

6

Cross section Y-Y

M6 × 10L

 Specifications of Options

• Oil Seal

11

5.5 3

61 dia.

47 dia.

• With Two Flat Seats

40

22

0

-0.013

Y

19 dia.

18

Oil Seal Cover

 Connector Mounting Dimensions

Y

18

Cross section Y-

• Cable Installed on Load Side

25°

78

25°

• Cable Installed on Non-load Side

(10)

25°

Rotary Servo Motors

Shaft End Specifications

S dia.

LR

0

-0.009 0-0.011 0-0.013

QK

S dia.

Y

LR

W

T

U

P

Cross section Y-Y

0

-0.009 0-0.011 0-0.013

0

-0.009 0-0.011 0-0.013

 SGM7A-

Code Specification

2 Straight without key

Straight with key and tap for one location

6

(Key slot is JIS B1301-1996 fastening type.)

B With two flat seats

Rotary Servo Motors

SGM7A

Shaft End Details

Code: 2 (Straight without Key)

Code: 6 (Straight with Key and Tap)

Code: B (with Two Flat Seats)

LR

QH

Servo Motor Model SGM7A-

A5 01 C2 02 04 06 08 10

LR 25 30 40

S

81419

LR 25 30 40

QK 14 14 22

S

81419

W3 5 6

T3 5 6

U 1.8 3 3.5

PM3  6L M5  8L M6  10L

LR 25 30 40

QH 15 15 22

Y

H2

S dia.

Cross section Y-Y

H1

S

H1 7.5 13 18

H2 7.5 13 18

81419

79

Rotary Servo Motors

0

-0.025 0-0.011

0

-0.025 0-0.011

SGM7A

Servo Motors (400V)

 SGM7A-02D to -04D (400 V Model)

25

17

12.5

88

71

L2

49.5 L1

L

LL

LM

Notation



: Squar

e dimensions

: S

quare dimen

0.04

A

30

3

6

A

dia. S

S dia.

0.02

LB dia.

0.04 dia.

106.5

A

46.5

60

26

7

0 dia.

Model SGM7A- L LL LM LB S L1 L2

02DF2

04DF2

108

(141.5)

125

(165)95(135)

78.5

(118.5)

51.2

67.2

50 14

25

41.5

65

(105)

81.5

(121.5)

sions

9

4 × 5.5 dia.

.

Unit: mm

Approx.

Mass [kg]

0.9

(1.5)

1.2

(1.8)

80

Note: 1. The values in parentheses are for Servo Motors with Holding Brakes.

 Specifications of Options

• Oil Seal

LS2

LS1

LE

E2 dia.

E1 dia.

Oil seal cover Unit: mm

Model SGM7A-

E1 E2 LS1 LS2

02D, 04D, 35 47 5.2 10

Dimensions with Oil Seal

Rotary Servo Motors

 SGM7A-08D (400 V Model)

Unit: mm

25

16

82

17

L1

L2

49.5

25

80

4 × 7 dia.

11.5

26

90 dia.

126.5

46.5

3

8

A

LB

dia.

40

S

0.02 dia.

A

0.04 dia.

L

LL

LM

A

0.04

dia.

0

-0.030 0-0.013

Rotary Servo Motors

SGM7A

Model SGM7A- L LL LM LB S L1 L2

08DF2

146.5

(193.5)

106.5

(153.5)

79

70 19

53

93

(140)

Approx.

Mass [kg]

2.4

(3.0)

Note: 1. The values in parentheses are for Servo Motors with Holding Brakes.

 Specifications of Options

• Oil Seal

LS2

LS1

LE

Oil seal cover Unit: mm

Model SGM7A-

08D 47 61 5.5 11

E2 dia.

E1 dia.

E1 E2 LS1 LS2

Dimensions with Oil Seal

81

Rotary Servo Motors

25

16

82

17

L1

54

L2

25

80

4 × 7 dia.

11.5

28

90 dia.

133.5

53.5

38

A

LB dia.

S

S dia.

dia.

dia.0.02

A

dia.0.04

40

LM

L

LL

A

0.04

Unit: mm

0

-0.030 0-0.013

SGM7A

 SGM7A-10D (400 V Model)

Model SGM7A- L LL LM LB S L1 L2

10DF2

Note: 1. The values in parentheses are for Servo Motors with Holding Brakes.

171

(218)

131

(178)

103.5

70 19

77

(164.5)

117.5

Approx.

Mass [kg]

3.2

(3.8)

 Specifications of Options

• Oil Seal

LS2

LS1

LE

Oil seal cover Unit: mm

Model SGM7A-

10D 47 61 5.5 11

E2 dia.

E1 dia.

E1 E2 LS1 LS2

Dimensions with Oil Seal

82

YASKAWA SGM7J-A5A, SIGMA-7, SGM7J-04A, SGM7J-01A, SGM7J-06A Technical Supplement

Specifications and Main Features

Frequently Asked Questions

User Manual

Product Lineup

Stock Status Definitions

Series Combination

Recommended Encoders

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