Yaskawa SGMAH, SGMPH, SGMGH, SGMSH, SGMDH Users Manual

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Page 1

AC Servo Drives

Σ-II Series

SGM

/SGDM

USER'S MANUAL

SGMAH/SGMPH/SGMGH/SGMSH/SGMDH/SGMCS Servomotors SGDM SERVOPACK

Outline

MODE/SET

YASKAWA SERVOPACK

SGDM-

CHARGE POWER

L1C L2C

200V

DATA/

C N

+ 1

+ 2

C N 1

B1 B2

MANUAL NO. SIEP S800000 15D

Selections

Servomotor Specifications and

Dimensional Drawings

SERVOPACK Specifications and

Dimensional Drawings

Specifications and Dimensional Drawings of

Cables and Peripheral Devices

Wiring

Digital Operator/Panel Operator

Operation

Adjustments

Upgraded Versions

Inspection, Maintenance,

and Troubleshooting

Appendix

Page 2

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

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About this Manual

Intended Audience



This manual is intended for the following users.

•

Those selecting Σ-II Series servo drives or peripheral devices for Σ-II Series servo drives.

•

Those wanting to know about the ratings and characteristics of Σ-II Series servo drives.

•

Description of Technical Terms



The terms in this manual are defined as follows:

• Servomotor or motor = Σ-II Series SGMAH, SGMPH, SGMGH, SGMSH, SGMDH, SGMCS servomo-

• SERVOPACK = Σ-II Series SGDM amplifier.

• Servo drive = A set including a servomotor and servo amplifier.

• Servo System = A servo control system that includes the combination of a servo drive with a host

• Parameter number = Numbers that the user inputs toward the SERVOPACK.

Indication of Reverse Signals



In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/) before the signal name, as shown in the following example:

• S-ON

designing Σ-II Series servo drive systems.

Those

Those installing or wiring Σ-II Series servo drives.

Those performing trial operation or adjustments of Σ-II Series servo drives.

Those maintaining or inspecting Σ-II Series servo drives.

tor.

computer and peripheral devices.

/S-ON

• P-CON

/P-CON

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IMPORTANT

INFO

EXAMPLE

TERMS

Quick access to your required information



Read the chapters marked with 9 to get the information required for your purpose.

Chapter

Chapter 1 Outline

Chapter 2 Selections

Chapter 3 Servomotor Specifications

and Dimensional Drawings Chapter 4

SERVOPACK Specifications and Dimensional Drawings

Chapter 5 Specifications and

Dimensional Drawings of Cables and Peripheral Devices

Chapter 6 Wiring

Chapter 7 Digital Operator/Panel Operator

Chapter 8 Operation

Chapter 9 Adjustments

Chapter 10 Upgraded Versions

Chapter 11 Inspection, Maintenance, and Troubleshooting

Chapter 12 Appendix

SERVOPACKs,

Servomotors,

and Peripheral

Devices

Ratings and

Character-

istics

System

Design

Panel

Configura-tion

and Wiring

Trial Operation

and Servo

Adjustment

Inspection and

Maintenance

9999

99 9

9999

Visual Aids

■

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

• Indicates important information that should be memorized, including precautions such as alarm displays to avoid damaging the devices.

• Indicates supplemental information.

• Indicates application examples.

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

Page 5

Related Manuals

Refer to the following manuals as required.

Manual Name Manual Number Contents

-II Series SGMH/SGDM

Digital Operator Operation Manual

Series/Σ-II Series SERVOPACKs

Personal Computer Monitoring Software Operation Manual

TOE-S800-34 Provides detailed information on the operating method

SIE-S800-35 Describes the using and the operating methods on soft-

of JUSP-OP02A-2 type Digital Operator (option device).

ware that changes the local personal computer into the monitor equipment for the Σ-II Series servomotor.

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WARNING

CAUTION

PROHIBITED

MANDATORY

Safety Information

The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems.

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

Indicates precautions that, if not heeded, could result in relatively serious or minor injury, damage to the product, or faulty operation.

In some situations, the precautions indicated could have serious consequences if not heeded.

Indicates prohibited actions that must not be performed. For example, this symbol

would be used as follows to indicate that fire is prohibited: .

Indicates compulsory actions that must be performed. For example, this symbol would

be used as follows to indicate that grounding is compulsory: .

Page 7

Notes for Safe Operation

WARNING

Read this manual thoroughly before checking products on delivery, storage and transportation, installation, wiring, operation and inspection, and disposal of the AC servo drive.

• Never touch any rotating motor parts while the motor is running.

Failure to observe this warning may result in injury.

• Before starting operation with a machine connected, make sure that an emergency stop can be applied at any time.

Failure to observe this warning may result in injury.

• Never touch the inside of the SERVOPACKs.

Failure to observe this warning may result in electric shock.

• Do not touch terminals for five minutes after the power is turned OFF.

Residual voltage may cause electric shock.

• Do not touch terminals for five minutes after voltage resistance test.

Residual voltage may cause electric shock.

• Follow the procedures and instructions for trial operation precisely as described in this manual.

Malfunctions that occur after the servomotor is connected to the equipment not only damage the equipment, but may also cause an accident resulting in death or injury.

• The multiturn limit value must be changed only for special applications.

Changing it inappropriately or unintentionally can be dangerous.

• If the Multiturn Limit Disagreement alarm (A.CC) occurs, check the setting of parameter Pn205 in the SERVOPACK to be sure that it is correct.

If Fn013 is executed when an incorrect value is set in Pn205, an incorrect value will be set in the encoder. The alarm will disappear even if an incorrect value is set, but incorrect positions will be detected, resulting in a dangerous situation where the machine will move to unexpected positions.

• Do not remove the front cover, cables, connectors, or optional items while the power is ON.

Failure to observe this warning may result in electric shock.

• Installation, disassembly, or repair must be performed only by authorized personnel.

Failure to observe this warning may result in electric shock or injury.

• Do not damage, press, exert excessive force or place heavy objects on the cables.

Failure to observe this warning may result in electric shock, stopping operation of the product, or burning.

• Provide an appropriate stopping device on the machine side to ensure safety.

A holding brake for a servomotor with brake is not a stopping device for ensuring safety. Failure to observe this warning may result in injury.

• Do not come close to the machine immediately after resetting momentary power loss to avoid an unexpected restart.

Take appropriate measures to ensure safety against an unexpected restart. Failure to observe this warning may result in injury.

• Do not modify the product.

Failure to observe this warning may result in injury or damage to the product.

• Connect the ground terminal to electrical codes (ground resistance: 100

Improper grounding may result in electric shock or fire.

or less).

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CAUTION

Checking on Delivery



• Always use the servomotor and SERVOPACK in one of the specified combinations.

Failure to observe this caution may result in fire or malfunction.

Storage and Transportation



• Do not store or install the product in the following places.

• Locations subject to direct sunlight.

• Locations subject to temperatures outside the range specified in the storage or installation temperature conditions.

• Locations subject to humidity outside the range specified in the storage or installation humidity conditions.

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

• Locations subject to corrosive or flammable gases.

• Locations subject to dust, salts, or iron dust.

• Locations subject to exposure to water, oil, or chemicals.

• Locations subject to shock or vibration.

Failure to observe this caution may result in fire, electric shock, or damage to the product.

• Do not hold the product by the cables or motor shaft while transporting it.

Failure to observe this caution may result in injury or malfunction.

• Do not place any load exceeding the limit specified on the packing box.

Failure to observe this caution may result in injury or malfunction.

• If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pallets, or plywood, the packing materials must be treated before the product is packaged, and methods other than fumigation must be used. Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30 minutes or more.

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

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Installation

CAUTION



• Never use the products in an environment subject to water, corrosive gases, inflammable gases, or combustibles.

Failure to observe this caution may result in electric shock or fire.

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

Failure to observe this caution may result in injury.

• Do not cover the inlet or outlet parts and prevent any foreign objects from entering the product.

Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.

• Be sure to install the product in the correct direction.

Failure to observe this caution may result in malfunction.

• Provide the specified clearances between the SERVOPACK and the control panel or with other devices.

Failure to observe this caution may result in fire or malfunction.

• Do not apply any strong impact.

Failure to observe this caution may result in malfunction.

Wiring



• Do not connect a three-phase power supply to the U, V, or W output terminals.

Failure to observe this caution may result in injury or fire.

• Securely connect the power supply terminals and motor output terminals.

Failure to observe this caution may result in fire.

• Do not apply stress to connectors.

• Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines separated by at least 30 cm.

Failure to observe this caution may result in malfunction.

• Use twisted-pair shielded wires or multi-core twisted pair shielded wires for signal and encoder (PG) feedback lines.

The maximum length is 3 m for reference input lines and is 20 m for PG feedback lines.

• Do not touch the power terminals for five minutes after turning power OFF because high voltage may still remain in the SERVOPACK.

Make sure the charge indicator is turned OFF first before starting an inspection.

• Avoid frequently turning power ON and OFF. Do not turn power ON or OFF more than once per minute.

Since the SERVOPACK has a capacitor in the power supply, a high charging current flows for 0.2 seconds when power is turned ON. Frequently turning power ON and OFF causes main power devices such as capacitors and fuses to deteriorate, resulting in unexpected problems.

• Observe the following precautions when wiring main circuit terminal blocks.

• Remove the terminal block from the SERVOPACK prior to wiring.

• Insert only one wire per terminal on the terminal block.

• Make sure that the core wire is not electrically shorted to adjacent core wires.

• Do not connect the SERVOPACK for 100 V and 200 V directly to a voltage of 400 V.

The SERVOPACK will be destroyed.

Page 10

CAUTION

• Install the battery at either the host controller or the SERVOPACK of the encoder.

It is dangerous to install batteries at both simultaneously, because that sets up a loop circuit between the batteries.

• Be sure to wire correctly and securely.

Failure to observe this caution may result in motor overrun, injury, or malfunction.

• Always use the specified power supply voltage.

An incorrect voltage may result in burning.

• Take appropriate measures to ensure that the input power supply is supplied within the specified voltage fluctuation range. Be particularly careful in places where the power supply is unstable.

An incorrect power supply may result in damage to the product.

• Connect the brake power supply properly, keeping in mind the difference of 90-V and 24-V power supplies.

• Install external breakers or other safety devices against short-circuiting in external wiring.

Failure to observe this caution may result in fire.

• Do not modify connectors.

• Take appropriate and sufficient countermeasures for each when installing systems in the following locations.

• Locations subject to static electricity or other forms of noise.

• Locations subject to strong electromagnetic fields and magnetic fields.

• Locations subject to possible exposure to radioactivity.

• Locations close to power supplies including power supply lines.

Failure to observe this caution may result in damage to the product.

• Do not reverse the polarity of the battery when connecting it.

Failure to observe this caution may damage the battery or cause it to explode.

Page 11

Operation

CAUTION



• Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents.

Failure to observe this caution may result in injury.

• Before starting operation with a machine connected, change the settings to match the parameters of the machine.

Starting operation without matching the proper settings may cause the machine to run out of control or malfunction.

• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective during zero point search mode using parameter Fn003.

• When using the servomotor for a vertical axis, install the safety devices to prevent workpieces to fall off due to occurrence of alarm or overtravel. Set the servomotor so that it will stop in the zero clamp state at occurrence of overtravel.

Failure to observe this caution may cause workpieces to fall off due to overtravel.

• When not using the normal autotuning, set to the correct moment of inertia ratio.

Setting to an incorrect moment of inertia ratio may cause vibration.

• Do not touch the SERVOPACK heatsinks, regenerative resistor, or servomotor while power is ON or soon after the power is turned OFF.

Failure to observe this caution may result in burns due to high temperatures.

• Do not make any extreme adjustments or setting changes of parameters.

Failure to observe this caution may result in injury due to unstable operation.

• When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume operation.

Failure to observe this caution may result in injury.

• Do not use the servo brake of the servomotor for ordinary braking.

Failure to observe this caution may result in malfunction.

• Do not turn the Servo ON or OFF unless necessary.

Failure to observe this caution may cause internal parts to deteriorate.

Maintenance and Inspection



• When replacing the SERVOPACK, transfer the previous SERVOPACK parameters to the new SERVOPACK before resuming operation.

Failure to observe this caution may result in damage to the product.

• Do not attempt to change wiring while the power is ON.

Failure to observe this caution may result in electric shock or injury.

•

Do not disassemble the servomotor. Failure to observe this caution may result in electric shock or injury.

Page 12

CAUTION

Disposal



• When disposing of the products, treat them as ordinary industrial waste.

General Precautions



Note the following to ensure safe application.

• The drawings presented in this manual are sometimes shown without covers or protective guards. Always replace the cover or protective guard as specified first, and then operate the products in accordance with the manual.

• The drawings presented in this manual are typical examples and may not match the product you received.

• This manual is subject to change due to product improvement, specification modification, and manual improvement. When this manual is revised, the manual code is updated and the new manual is published as a next edition.

• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.

• Yaskawa will not take responsibility for the results of unauthorized modifications of this product. Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modification.

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About this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -iii Related Manuals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -v Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi Notes for Safe Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii

1 Outline

1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.1 Check Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.2 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.3 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3

1.2 Product Part Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.2.1 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.2.2 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6

1.3 Examples of Servo System Configurations - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8

1.3.1 Single-phase, 100 V and 200 V Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8

1.3.2 Three-phase, 200 V Main Circuit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9

1.3.3 Connecting to SGMCS Servomotor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10

1.4 Applicable Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

1.4.1 North American Safety Standards (UL, CSA) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

1.4.2 CE Marking- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

1.5 Σ-II Series SGDM SERVOPACK Upgraded Functions - - - - - - - - - - - - - - - - - - 1-12

2 Selections

2.1 Servomotor Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.1.1 Model SGMAH (3000 min-1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.1.2 Model SGMPH (3000 min

2.1.3 Model SGMGH (1500 min

2.1.4 Model SGMGH (1000 min

2.1.5 Model SGMSH (3000 min

2.1.6 Model SGMDH (2000 min

2.1.7 Model SGMCS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13

2.2 SERVOPACK Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-14

2.3 Σ-II Series SERVOPACKs and Applicable Servomotors - - - - - - - - - - - - - - - - - 2-15

2.3.1 SGDM SERVOPACKs and SGMH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-15

2.3.2 SGDM SERVOPACKs and SGMCS Servomotors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-16

-1

) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4

-1

)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6

-1

)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-8

-1

) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-10

-1

)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12

2.4 Selecting Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-17

2.4.1 Cables for SGMAH and SGMPH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-17

2.4.2 Cables for SGMGH/SGMSH/SGMDH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-20

2.4.3 Cables for SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-23

2.5 Selecting Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-26

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2.5.1 Special Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-26

2.5.2 Molded-case Circuit Breaker and Fuse Capacity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-28

2.5.3 Noise Filters, Magnetic Conductors, Surge Absorbers and DC Reactors - - - - - - - - - - - - - - - 2-29

2.5.4 Regenerative Resistors and Brake Power Supply Units - - - - - - - - - - - - - - - - - - - - - - - - - - -2-30

3 Servomotor Specifications and Dimensional Drawings

3.1 Ratings and Specifications of SGMAH (3000 min-1) - - - - - - - - - - - - - - - - - - - - - 3-4

3.1.1 SGMAH Servomotors Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-4

3.1.2 SGMAH Servomotors With Standard Backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-6

3.1.3 SGMAH Servomotors With Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-8

3.2 Ratings and Specifications of SGMPH (3000 min-1) - - - - - - - - - - - - - - - - - - - - 3-10

3.2.1 SGMPH Servomotors Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-10

3.2.2 SGMPH Servomotors With Standard Backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-13

3.2.3 SGMPH Servomotors With Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-14

3.3 Ratings and Specifications of SGMGH (1500 min-1)- - - - - - - - - - - - - - - - - - - - 3-15

3.3.1 SGMGH Servomotors (1500 min-1) Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-15

3.3.2 SGMGH Servomotors (1500 min

3.3.3 SGMGH Servomotors (1500 min

-1

) With Standard Backlash Gears- - - - - - - - - - - - - - - - - - - 3-18

-1

) With Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - -3-20

3.4 Ratings and Specifications of SGMGH (1000 min-1)- - - - - - - - - - - - - - - - - - - - 3-22

3.4.1 SGMGH Servomotors (1000 min-1) Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-22

3.4.2 SGMGH servomotors (1000 min

3.4.3 SGMGH Servomotors (1000 min

-1

) With Standard Backlash Gears - - - - - - - - - - - - - - - - - - 3-24

-1

) With Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - -3-26

3.5 Ratings and Specifications of SGMSH (3000 min-1) - - - - - - - - - - - - - - - - - - - 3-27

3.5.1 SGMSH Servomotors (3000 min-1) Without Gears- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-27

3.5.2 SGMSH Servomotors (3000 min

-1

) With Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - -3-29

3.6 Ratings and Specifications of SGMDH (2000 min-1) - - - - - - - - - - - - - - - - - - - 3-31

3.6.1 SGMDH Servomotors (2000 min-1) With Holding Brakes - - - - - - - - - - - - - - - - - - - - - - - - - -3-31

3.7 Ratings and Specifications of SGMCS Servomotors - - - - - - - - - - - - - - - - - - - 3-33

3.7.1 Small-capacity Series SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-33

3.7.2 Middle-capacity Series SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-36

3.8 Mechanical Specifications of SGMAH, SGMPH, SGMGH, SGMSH, and SGMDH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-38

3.8.1 Precautions on Servomotor Installation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-38

3.8.2 Mechanical Tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-39

3.8.3 Direction of Servomotor Rotation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-39

3.8.4 Impact Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-40

3.8.5 Vibration Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-40

3.8.6 Vibration Class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-40

xiv

3.9 Mechanical Specifications of SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - 3-41

3.9.1 Allowable Loads - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-41

3.9.2 Mechanical Tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-42

3.9.3 Direction of Servomotor Rotation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-42

Page 15

3.9.4 Impact Resistance- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-43

3.9.5 Vibration Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-43

3.9.6 Vibration Class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-43

3.9.7 Enclosure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-43

3.9.8 Heating Conditions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-43

3.10 Terms and Data for Servomotors With Gears- - - - - - - - - - - - - - - - - - - - - - - - 3-44

3.11 Servomotor Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-46

-1

3.12 Dimensional Drawings of SGMAH Servomotors (3000 min

) - - - - - - - - - - - - 3-47

3.12.1 SGMAH Servomotors (3000 min-1) Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47

3.12.2 SGMAH Servomotors (3000 min

3.12.3 SGMAH Servomotors (3000 min

3.12.4 SGMAH Servomotors (3000 min

3.12.5 SGMAH Servomotors (3000 min

-1

) Without Gears and With Brakes - - - - - - - - - - - - - - - - - 3-50

-1

) With Standard Backlash Gears - - - - - - - - - - - - - - - - - 3-53

-1

) With Standard Backlash Gears and Brakes- - - - - - - - - 3-57

-1

) With Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - 3-62

3.13 Dimensional Drawings of SGMPH Servomotors (3000 min-1) - - - - - - - - - - - - 3-66

3.13.1 SGMPH Servomotors (3000 min-1) Without Gears and Brakes - - - - - - - - - - - - - - - - - - - - 3-66

3.13.2 SGMPH Servomotors (3000 min

3.13.3 SGMPH Servomotors (3000 min and Without Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-70

-1

) With Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-68

-1

) With Standard Backlash Gears

3.13.4 SGMPH Servomotors (3000 min-1) With Standard Backlash Gears and Brakes- - - - - - - - - 3-73

3.13.5 SGMPH Servomotors (3000 min

-1

) With Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - 3-76

3.14 Dimensional Drawing of Output Shafts With Oil Seals for SGMAH and SGMPH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-79

3.14.1 SGMAH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-79

3.14.2 SGMPH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-79

3.15 Dimensional Drawings of SGMGH Servomotors (1500 min-1) - - - - - - - - - - - - 3-80

3.15.1 SGMGH Servomotors (1500 min-1) Without Gears and Brakes - - - - - - - - - - - - - - - - - - - - 3-80

3.15.2 SGMGH Servomotors (1500 min

3.15.3 SGMGH Servomotors (1500 min

-1

) 200-V Specifications Without Gears and With Brakes - 3-82

-1

) With Standard Backlash Gears and Without Brakes

(Foot-mounted Type)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-84

3.15.4 SGMGH Servomotors (1500 min

-1

) With Standard Backlash Gears and Without Brakes

(Flange-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-89

3.15.5 SGMGH Servomotors (1500 min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-95

3.16 Dimensional Drawings of SGMGH Servomotors (1000 min-1) - - - - - - - - - - - - 3-98

3.16.1 SGMGH Servomotors (1000 min-1) Without Gears and Brakes - - - - - - - - - - - - - - - - - - - - 3-98

3.16.2 SGMGH Servomotors (1000 min

3.16.3 SGMGH Servomotors (1000 min (Foot-mounted Type)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-103

3.16.4 SGMGH Servomotors (1000 min (Flange-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-108

-1

) Without Gears and With Brakes - - - - - - - - - - - - - - - 3-100

-1

) With Standard Backlash Gears and Without Brakes

-1

) With Standard Backlash Gears and Without Brakes

3.16.5 SGMGH Servomotors (1000 min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-113

Page 16

3.17 Dimensional Drawings of SGMSH Servomotors (3000 min-1) - - - - - - - - - - - 3-116

3.17.1 SGMSH Servomotors (3000 min-1) Without Gears and Without Brakes - - - - - - - - - - - - - - 3-116

3.17.2 SGMSH Servomotors (3000 min

3.17.3 SGMSH Servomotors (3000 min mounted Type)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-120

-1

) 200-V Specifications Without Gears and With Brakes - 3-118

-1

) With Low-backlash Gears and Without Brakes (Flange-

3.18 Dimensional Drawings of SGMDH Servomotors (2000 min-1) - - - - - - - - - - - 3-124

3.18.1 SGMDH Servomotors (2000 min-1) Without Gears and With/Without Brakes - - - - - - - - - - 3-124

3.19 Dimensional Drawings of SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - 3-126

3.19.1 SGMCS Servomotors φ135 Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-126

3.19.2 SGMCS Servomotors φ175 Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-127

3.19.3 SGMCS Servomotors φ230 Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-128

3.19.4 SGMCS Servomotors φ290 Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-129

3.19.5 SGMCS Servomotors φ280 Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-130

3.19.6 SGMCS Servomotors φ360 Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-131

3.20 Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors - 3-135

3.20.1 SGMGH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-136

3.20.2 SGMSH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-137

3.20.3 SGMDH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-138

4 SERVOPACK Specifications and Dimensional Drawings

4.1 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3

4.1.1 Single-phase 100 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-3

4.1.2 Single-phase/Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-3

4.1.3 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-4

4.2 SERVOPACK Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6

4.3 SERVOPACK Internal Block Diagrams - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8

4.3.1 Single-phase 200 V, 30 W to 400 W, and 100 V, 30 W to 200 W Models - - - - - - - - - - - - - - - -4-8

4.3.2 Three-phase 200 V, 500 W to 1.5 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-8

4.3.3 Three-phase 200 V, 2.0 kW to 5.0 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-9

4.3.4 Three-phase 200 V, 6.0 kW to 15 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-9

4.4 SERVOPACK’s Power Supply Capacities and Power Losses - - - - - - - - - - - - - 4-10

4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia 4-11

4.5.1 Overload Characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-11

4.5.2 Starting and Stopping Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12

4.5.3 Load Moment of Inertia - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-12

xvi

4.6 SERVOPACK Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15

4.7 Dimensional Drawings of Base-mounted SERVOPACK Model - - - - - - - - - - - - 4-16

4.7.1 Single-phase 100 V: 30 W to 100 W (A3BD to 01BD, A3BDA to 01BDA) Single-phase 200 V: 30 W to 200 W (A3AD to 02AD, A3ADA to 02ADA) - - - - - - - - - - - - - - -4-16

4.7.2 Single-phase 100 V: 200 W (02BD, 02BDA) Single-phase 200 V: 400 W (04AD, 04ADA) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-17

4.7.3 Three-phase 200 V: 500 W/750 W/1.0 kW (05AD to 10AD, 05ADA to 10ADA) - - - - - - - - - - -4-18

4.7.4 Three-phase 200 V: 1.5 kW (15AD, 15ADA) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-19

Page 17

4.7.5 Three-phase 200 V: 2.0 kW/3.0 kW (20AD to 30AD, 20ADA to 30ADA) - - - - - - - - - - - - - - - 4-20

4.7.6 Three-phase 200 V: 5.0 kW (50ADA) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-21

4.7.7 Three-phase 200 V: 6.0 kW/7.5 kW (60ADA to 75ADA) - - - - - - - - - - - - - - - - - - - - - - - - - - 4-22

4.7.8 Three-phase 200 V: 11.0 kW/15.0 kW (1AADA to 1EADA) - - - - - - - - - - - - - - - - - - - - - - - - 4-23

4.8 Dimensional Drawings of Rack-mounted SERVOPACK Model - - - - - - - - - - - - 4-24

4.8.1 Single-phase 100 V: 30 W/50 W/100 W (A3BD-R to 01BD-R, A3BDA-R to 01BDA-R) Single-phase 200 V: 30 W/50 W/100 W/200 W (A3AD-R to 02AD-R, A3ADA-R to 02ADA-R) - - - - - - - - - - - - - - - - - - - 4-24

4.8.2 Single-phase 100 V: 200 W (02BD-R, 02BDA-R) Single-phase 200 V: 400 W (04AD-R, 04ADA-R) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25

4.8.3 Three-phase 200 V: 500 W/750 W/1.0 kW (05AD-R to 10AD-R, 05ADA-R to 10ADA-R) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-26

4.8.4 Three-phase 200 V: 1.5 kW (15AD-R, 15ADA-R) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-27

4.8.5 Three-phase 200 V: 2.0 kW/3.0 kW (20AD-R to 30AD-R, 20ADA-R to 30ADA-R) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28

4.8.6 Three-phase 200 V: 5.0 kW (50ADA-R)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-29

4.9 Dimensional Drawings of Duct-ventilated SERVOPACK Model - - - - - - - - - - - - 4-30

4.9.1 Three-phase 200 V: 6.0 kW/7.5 kW (60ADA-P to 75ADA-P) - - - - - - - - - - - - - - - - - - - - - - - 4-30

4.9.2 Three-phase 200 V: 11.0 kW/15.0 kW (1AADA-P/1EADA-P) - - - - - - - - - - - - - - - - - - - - - - - 4-31

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices

5.1 Specifications and Dimensional Drawings of Servomotor Main Circuit Cable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3

5.1.1 Cables for SGMAH and SGMPH Servomotors Without Brakes - - - - - - - - - - - - - - - - - - - - - - 5-3

5.1.2 Cables for SGMAH and SGMPH Servomotors With Brakes- - - - - - - - - - - - - - - - - - - - - - - - - 5-3

5.1.3 Flexible Cables for SGMAH and SGMPH Servomotors Without Brakes - - - - - - - - - - - - - - - - 5-4

5.1.4 Flexible Cables for SGMAH and SGMPH Servomotors With Brakes - - - - - - - - - - - - - - - - - - 5-4

5.1.5 Cables for SGMAH and SGMPH Servomotors With Waterproof Connector- - - - - - - - - - - - - - 5-5

5.1.6 Cables for SGMCS-B, C, D, and E Servomotors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6

5.2 Servomotor Main Circuit Wire Size and Connectors- - - - - - - - - - - - - - - - - - - - - 5-7

5.2.1 Wire Size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7

5.2.2 SGMAH and SGMPH Servomotor Connectors for Standard Environments - - - - - - - - - - - - - - 5-9

5.2.3 SGMGH, SGMSH, and SGMDH Servomotor Connector Configurations - - - - - - - - - - - - - - - 5-12

-1

5.2.4 SGMGH Servomotor (1500 min

5.2.5 SGMGH Servomotor (1000 min

5.2.6 SGMSH Servomotor (3000 min

5.2.7 SGMDH Servomotor (2000 min

5.2.8 SGMGH Servomotor (1500 min European Safety Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-20

) Connectors for Standard Environments - - - - - - - - - - - - - 5-13

-1

) Connectors for Standard Environments - - - - - - - - - - - - - 5-15

-1

) Connectors for Standard Environments - - - - - - - - - - - - - 5-17

-1

) Connectors for Standard Environments - - - - - - - - - - - - - 5-19

-1

) Connectors Conforming to IP67 and

5.2.9 SGMGH Servomotor (1000 min-1) Connectors Conforming to IP67 and European Safety Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-23

5.2.10 SGMSH Servomotors (3000 min-1) Connectors Conforming to IP67 and European Safety Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-26

5.2.11 SGMDH Servomotors (2000 min-1) Connectors Conforming to IP67 and European Safety Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28

xvii

Page 18

5.2.12 Connectors for SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-29

5.2.13 Connector Dimensional Drawings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-31

5.3 SERVOPACK Main Circuit Wire Size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-37

5.3.1 Cable Types- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-37

5.3.2 Single-phase 100 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-37

5.3.3 Single-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-38

5.3.4 Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-38

5.4 Encoder Cables for CN2 Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39

5.4.1 Encoder Cable With Connectors on Both Ends for SGMAH and SGMPH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39

5.4.2 Encoder Cable With Connectors on Both Ends for SGMGH, SGMSH, and SGMDH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39

5.4.3 Cable with Loose Wire at Encoder End for SGMAH and SGMPH Servomotors - - - - - - - - - - 5-40

5.4.4 Cable with Loose Wire at Encoder End for SGMGH, SGMSH, and SGMDH Servomotors - - -5-41

5.4.5 Encoder Flexible Cables for SGMAH and SGMPH Servomotors - - - - - - - - - - - - - - - - - - - - -5-43

5.4.6 Encoder Flexible Cables for SGMGH, SGMSH, and SGMDH Servomotors - - - - - - - - - - - - -5-45

5.4.7 Encoder Cable With a Waterproof Connector for SGMAH and SGMPH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-47

5.4.8 Encoder Cables for SGMCS Servomotors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-48

5.5 Connectors and Cables for Encoder Signals - - - - - - - - - - - - - - - - - - - - - - - - - 5-50

5.5.1 Connectors and Cables for SGMAH and SGMPH Servomotors - - - - - - - - - - - - - - - - - - - - -5-50

5.5.2 Connectors and Cables for SGMGH, SGMSH, and SGMDH Servomotors - - - - - - - - - - - - - - 5-52

5.5.3 Connectors and Cables for SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-54

5.6 Flexible Cables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-55

5.7 I/O Signal Cables for CN1 Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-56

5.7.1 Standard Cables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-56

5.7.2 Connector Type and Cable Size- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-56

5.7.3 Connection Diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-58

5.8 Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-59

5.8.1 Cables for Connecting Personal Computers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-59

5.8.2 Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-60

5.8.3 Cables for Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-61

5.8.4 Connector Terminal Block Converter Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-62

5.8.5 Brake Power Supply Unit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-63

5.8.6 External Regenerative Resistor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-65

5.8.7 Regenerative Resistor Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-68

5.8.8 Absolute Encoder Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-69

5.8.9 Molded-case Circuit Breaker (MCCB) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-70

5.8.10 Noise Filter- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-71

5.8.11 Magnetic Contactor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-75

5.8.12 Surge Absorber (for switching surge) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-77

5.8.13 Surge Absorber (for lightning surge) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-79

5.8.14 DC Reactor for Harmonic Suppression - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-80

5.8.15 Variable Resistor for Speed and Torque Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-81

5.8.16 Encoder Signal Converter Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-82

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6 Wiring

6.1 Wiring Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2

6.1.1 Names and Functions of Main Circuit Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2

6.1.2 Wiring Main Circuit Power Supply Connector (Spring Type) - - - - - - - - - - - - - - - - - - - - - - - - 6-4

6.1.3 Typical Main Circuit Wiring Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5

6.2 Wiring Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7

6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1) - - - - - - - - - 6-7

6.2.2 Encoder Connector (CN2) Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8

6.3 Examples of I/O Signal Connections- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9

6.3.1 Speed Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9

6.3.2 Position Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10

6.3.3 Torque Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11

6.3.4 I/O Signal Connector (CN1) Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12

6.3.5 I/O Signal (CN1) Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13

6.3.6 Interface Circuit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15

6.4 Others - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18

6.4.1 Wiring Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18

6.4.2 Wiring for Noise Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-19

6.4.3 Installation Conditions of EMC Directives- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-22

6.4.4 Installation Conditions of UL Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24

6.4.5 Using More Than One SERVOPACK- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-25

6.4.6 Extending Encoder Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26

6.4.7 Operating Conditions on 400-V Power Supply Voltage - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-28

6.4.8 DC Reactor for Harmonic Suppression - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-29

6.5 Connecting Regenerative Resistors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30

6.5.1 Regenerative Power and Regenerative Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30

6.5.2 Connecting External Regenerative Resistors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30

7 Digital Operator/Panel Operator

7.1 Functions on Digital Operator/Panel Operator - - - - - - - - - - - - - - - - - - - - - - - - - 7-2

7.1.1 Connecting the Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2

7.1.2 Key Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3

7.1.3 Basic Mode Selection and Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4

7.1.4 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5

7.2 Operation in Utility Function Mode (Fn) - - - - - - - - - - - - - - - - - - - - - - - - - 7-7

7.2.1 List of Utility Function Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7

7.2.2 Alarm Traceback Data Display (Fn000) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-8

7.2.3 Zero-point Search Mode (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9

7.2.4 Parameter Settings Initialization (Fn005) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-10

7.2.5 Alarm Traceback Data Clear (Fn006) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-11

7.2.6 Manual Zero-adjustment of Analog Monitor Output (Fn00C) - - - - - - - - - - - - - - - - - - - - - - - 7-12

7.2.7 Manual Gain-adjustment of Analog Monitor Output (Fn00D) - - - - - - - - - - - - - - - - - - - - - - - 7-13

7.2.8 Automatic Offset-adjustment of Motor Current Detection Signal (Fn00E) - - - - - - - - - - - - - - 7-14

7.2.9 Manual Offset-adjustment of Motor Current Detection Signal (Fn00F) - - - - - - - - - - - - - - - - 7-15

7.2.10 Password Setting (Protects Parameters from Being Changed) (Fn010) - - - - - - - - - - - - - - 7-16

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7.2.11 Motor Models Display (Fn011) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-17

7.2.12 Software Version Display (Fn012) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-18

7.3 Operation in Parameter Setting Mode (Pn)- - - - - - - - - - - - - - - - - - - - - - 7-19

7.3.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-19

7.3.2 Input Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-23

7.3.3 Output Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-26

7.4 Operation in Monitor Mode (Un) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-28

7.4.1 List of Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-28

8 Operation

8.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4

Trial Operation for Servomotor without Load - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-6

8.1.1

8.1.2 Trial Operation for Servomotor without Load from Host Reference - - - - - - - - - - - - - - - - - - - -8-9

Trial Operation with the Servomotor Connected to the Machine

8.1.3

8.1.4 Servomotor with Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16

8.1.5 Position Control by Host Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-16

- - - - - - - - - - - - - - - - - - - - -8-15

8.2 Control Mode Selection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-17

8.3 Setting Common Basic Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-18

8.3.1 Setting the Servo ON Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-18

8.3.2 Switching the Servomotor Rotation Direction- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-19

8.3.3 Setting the Overtravel Limit Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-20

8.3.4 Setting for Holding Brakes- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-22

8.3.5 Selecting the Stopping Method After Servo OFF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-27

8.3.6 Instantaneous Power Loss Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-28

8.4 Absolute Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-29

8.4.1 Interface Circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-30

8.4.2 Selecting an Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-31

8.4.3 Handling Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-31

8.4.4 Replacing Batteries- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-32

8.4.5 Absolute Encoder Setup (Fn008) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-32

8.4.6 Absolute Encoder Reception Sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-34

8.4.7 Multiturn Limit Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-37

8.4.8 Multiturn Limit Setting When Multiturn Limit Disagreement (A.CC) Occurred - - - - - - - - - - - -8-38

8.5 Operating Using Speed Control with Analog Reference - - - - - - - - - - - - - - - - - 8-39

8.5.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-39

8.5.2 Setting Input Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-40

8.5.3 Adjusting Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-41

8.5.4 Soft Start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-44

8.5.5 Speed Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-44

8.5.6 Using the Zero Clamp Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-44

8.5.7 Encoder Signal Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-46

8.5.8 Speed Coincidence Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-48

8.6 Operating Using Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-49

8.6.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-49

8.6.2 Setting the Electronic Gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-51

Page 21

8.6.3 Position Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-54

8.6.4 Smoothing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-57

8.6.5 Positioning Completed Output Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-58

8.6.6 Positioning Near Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-59

8.6.7 Reference Pulse Inhibit Function (INHIBIT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-60

8.7 Operating Using Torque Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-61

8.7.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-61

8.7.2 Torque Reference Input - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-61

8.7.3 Adjusting the Reference Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-62

8.7.4 Limiting Servomotor Speed during Torque Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-64

8.8 Operating Using Speed Control with an Internally Set Speed - - - - - - - - - - - - - 8-66

8.8.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-66

8.8.2 Input Signal Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-66

8.8.3 Operating Using an Internally Set Speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-67

8.9 Limiting Torque- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-69

8.9.1 Internal Torque Limit (Limiting Maximum Output Torque) - - - - - - - - - - - - - - - - - - - - - - - - - - 8-69

8.9.2 External Torque Limit (Output Torque Limiting by Input Signals)- - - - - - - - - - - - - - - - - - - - - 8-70

8.9.3 Torque Limiting Using an Analog Voltage Reference- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-71

8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference- - - - - - - - - - 8-72

8.9.5 Checking Output Torque Limiting during Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-73

8.10 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-74

8.10.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-74

8.10.2 Switching the Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-74

8.11 Other Output Signals- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-75

8.11.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3)- - - - - - - - - - - - - 8-75

8.11.2 Warning Output (/WARN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-76

8.11.3 Running Output Signal (/TGON) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-76

8.11.4 Servo Ready (/S-RDY) Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-77

9 Adjustments

9.1 Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2

9.1.1 Servo Gain Adjustment Methods- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2

9.1.2 List of Servo Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3

9.2 Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5

9.2.1 Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5

9.2.2 Online Autotuning Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6

9.2.3 Selecting the Online Autotuning Execution Method- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-7

9.2.4 Machine Rigidity Setting for Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-7

9.2.5 Method for Changing the Machine Rigidity Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8

9.2.6 Saving the Results of Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-9

9.2.7 Procedure for Saving the Results of Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-9

9.3 Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10

9.3.1 Explanation of Servo Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10

9.3.2 Servo Gain Manual Tuning- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-11

9.3.3 Position Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-11

xxi

Page 22

9.3.4 Speed Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-12

9.3.5 Speed Loop Integral Time Constant - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-12

9.4 Servo Gain Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13

9.4.1 Feed-forward Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-13

9.4.2 Torque Feed-forward- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-13

9.4.3 Speed Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-14

9.4.4 Proportional Control Operation (Proportional Operation Reference)- - - - - - - - - - - - - - - - - - - 9-15

9.4.5 Using the Mode Switch (P/PI Switching) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-16

9.4.6 Setting the Speed Bias - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-19

9.4.7 Speed Feedback Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-19

9.4.8 Speed Feedback Compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-19

9.4.9 Switching Gain Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-21

9.4.10 Torque Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-22

9.5 Analog Monitor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-24

10 Upgraded Versions

10.1 Upgraded Versions for SGDM SERVOPACK- - - - - - - - - - - - - - - - - - - - - - - - 10-2

10.2 Upgraded Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3

10.2.1 Additional Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-3

10.2.2 Improved Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-3

10.3 Additional Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4

10.3.1 SGMCS Direct-drive Motor Supporting Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-4

10.3.2 Improvement of Dividing Output Resolution- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-7

10.3.3 Reference Pulse Input Multiplication Switching Function- - - - - - - - - - - - - - - - - - - - - - - - - - 10-9

10.3.4 Second Stage Notch Filter and Changeable Q Value - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-11

10.3.5 Automatic Gain Switching Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-13

10.4 Improved Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-15

10.4.1 Moment of Inertia Ratio Setting Range - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-15

10.4.2 Adaptation to Single-turn Data Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-15

10.4.3 Serial Number and Manufactured Data Reading Function- - - - - - - - - - - - - - - - - - - - - - - - 10-17

10.5 Additional and Improved Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-18

10.5.1 Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-18

10.5.2 Switches - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-19

10.5.3 Input Signal Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-19

10.5.4 Output Signal Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20

10.5.5 Utility Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20

10.5.6 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-21

xxii

11 Inspection, Maintenance, and Troubleshooting

11.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2

11.1.1 Alarm Display Table- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2

11.1.2 Warning Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-4

11.1.3 Troubleshooting of Alarm and Warning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-5

11.1.4 Troubleshooting for Malfunction without Alarm Display - - - - - - - - - - - - - - - - - - - - - - - - - - 11-14

Page 23

11.2 Inspection and Maintenance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-18

11.2.1 Servomotor Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11-18

11.2.2 SERVOPACK Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11-18

11.2.3 SERVOPACK’s Parts Replacement Schedule- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11-19

12 Appendix

12.1 Servomotor Capacity Selection Examples - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2

12.1.1 Selection Example for Speed Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2

12.1.2 Selection Example for Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-4

12.1.3 Calculating the Required Capacity of Regenerative Resistors - - - - - - - - - - - - - - - - - - - - - 12-7

12.2 Connection to Host Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-15

12.2.1 Example of Connection to MP920 4-axes Analog Module SVA-01 - - - - - - - - - - - - - - - - - 12-15

12.2.2 Example of Connection to CP-9200SH Servo Controller Module SVA (SERVOPACK in Speed Control Mode) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-16

12.2.3 Example of Connection to MEMOCON GL120/130 Series Motion Module MC20- - - - - - - 12-17

12.2.4 Example of Connection to MEMOCON GL60/70 Series Positioning Module B2813 (SERVOPACK in Position Control Mode)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-18

12.2.5 Example of Connection to OMRON’s Motion Control Unit - - - - - - - - - - - - - - - - - - - - - - - 12-19

12.2.6 Example of Connection to OMRON’s Position Control Unit - - - - - - - - - - - - - - - - - - - - - - 12-20

12.2.7 Example of Connection to OMRON’s Position Control Unit C500-NC221 (SERVOPACK in Speed Control Mode)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-21

12.2.8 Example of Connection to OMRON’s Position Control Unit C500-NC112 (SERVOPACK in Position Control Mode) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-22

12.2.9 Example of Connection to MITSUBISHI’s AD72 Positioning Unit (SERVOPACK in Speed Control Mode) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-23

12.2.10 Example of Connection to MITSUBISHI’s AD75 Positioning Unit (SERVOPACK in Position Control Mode)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-24

12.3 List of Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-25

12.3.1 Utility Functions List- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-25

12.3.2 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-26

12.3.3 Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-43

12.4 Parameter Recording Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-44

INDEX

Revision History

xxiii

Page 24

1

Outline

Outline

1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2

1.1.1 Check Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.2 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.3 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3

1.2 Product Part Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-4

1.2.1 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.2.2 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6

1.3 Examples of Servo System Configurations - - - - - - - - - - - - - - - - - - - - - - - 1-8

1.3.1 Single-phase, 100 V and 200 V Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8

1.3.2 Three-phase, 200 V Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9

1.3.3 Connecting to SGMCS Servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10

1.4 Applicable Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

1.4.1 North American Safety Standards (UL, CSA) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

1.4.2 CE Marking - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

1.5 Σ-II Series SGDM SERVOPACK Upgraded Functions - - - - - - - - - - - - - - 1-12

1-1

Page 25

1 Outline

AC SERVO MOTOR

YASKAWA ELECTRIC MADE IN JAPAN

TYPE SGMSH-10ACA21

O/N 9W0774 002A

S/N BB2 753000039 DATE 0002

-039

1000 W

5.7

3.18 N m 200 V CONT ins F

3000 min

-1

Manufacturing date

PURODUCT SERVICE

Bauart

gepruft

SGMAH and SGMPH

SGMGH / SGMSH / SGMDH

AC SERVO MOTOR

SGMCS-04C3C11

200

2.1

N࡮O

200

4.0

min

Ins.

O/N 9271316-1

S/N DD 9964567890012

YASKAWA ELECTRIC CORPORATION JAPAN

Nameplate

-1

SGMCS (Small-capacity series)

AC SERVO MOTOR

SGMAH-02AAA21

200

2.1

N࡮O

3000

0.637

min

Ins.

O/N 9271316-1

S/N DD 9964567890012

YASKAWA ELECTRIC CORPORATION JAPAN

Servomotor model

Ratings

Serial number

Nameplate

-1

Order number

Servomotor model

Ratings

Order number Serial number

Servomotor model

Ratings

Order number Serial number

1.1.1 Check Items

1.1 Checking Products

The following procedure is used to check the AC servo drives of Σ-ΙΙ Series products on delivery.

1.1.1 Check Items

Check the following items when Σ-ΙΙ Series products are delivered.

Check Items Comments

Are the delivered products the ones that were ordered?

Does the servomotor shaft rotate smoothly?

Is there any damage?

If any of the above items are faulty or incorrect, contact your Yaskawa representative or the dealer from whom you purchased the products.

1.1.2 Servomotors

Check the model numbers marked on the nameplates on the servomotor and SERVOPACK. (Refer to the descriptions of model numbers in the following section.)

The servomotor shaft is normal if it can be turned smoothly by hand. Servomotors with brakes, however, cannot be turned manually.

Check the overall appearance, and check for damage or scratches that may have occurred during shipping.

1-2

Page 26

Outline

1.1.3 SERVOPACKs

AC SERVO MOTOR

TYPE

707 W

5.8 A

45 N m 200 V

150 min CONT ins F

O/N 252909-101

S/N 842000045

YASKAWA ELECTRIC MADE IN JAPAN

DATE 0306

SGMCS-45M3A11

Servomotor model

Ratings

Serial number

Nameplate

-1

Order number



SGMCS (Middle-capacity series)

Serial number

S/N

YASKAWA ELECTRIC

MADE IN JAPAN

412808-15-1

SERVOPACK

MODEL

AC-INPUT AC-OUTPUT VOLTS Hz PHASE AMPS

200-230 60/60 3

18.6

VOLTS PHASE AMPS KU (MP)

0-230 3

24.8

3.0 (4.0)

SGDM-30ADA

 SGDM for 30 W to 5.0 kW  SGDM for 6.0 kW to 15.0 kW

SERVOPACK model

Applicable power supply

Applicable motor capacity

1.1 Checking Products

1-3

Page 27

1 Outline

Flange

Output shaft

Nameplate

Encoder connector

Servomotor connector

Servomotor main circuit cable

Encoder cable

Encoder (Detecting section)

Flange

Nameplate

Encoder connector

Encoder (Detecting section)

Servomotor connector

Output shaft

1.2.1 Servomotors

1.2 Product Part Names

1.2.1 Servomotors

(1) SGMAH and SGMPH Without Gears and Brakes

(2) SGMGH/SGMSH/SGMDH Without Gears and Brakes

(3) SGMCS Direct-drive Motor (Small-capacity series)

Rotating axis

Encoder connector

Nameplate

Servomotor connector

1-4

Nameplate

Encoder connector

Servomotor connector

Frame

Mounting flange

View

Page 28

Outline

(4) SGMCS Direct-drive (Middle-capacity series)

Rotating axis

Mounting flange

Frame

Motor connector

Encoder connector

Nameplate

1.2 Product Part Names

1-5

Page 29

1 Outline

Refer to 2.1 SERVOPACK Model Designations.

With the front cover open

SERVOPACK model

Battery holder

Used to house the backup battery for an absolute encoder. Refer to 5.8.8 Absolute Encoder Battery,

8.4.3 Handing Batteries, and 8.4.4 Battery Replacement Procedure.

YASKAWA

SERVOPACK

SGDM-

MODE/SET

CHARGE POWER

DATA/

MODE/SET DATA/

CHARGE POWER

Panel display

5-digit, 7-segment LED used to display SERVOPACK status, alarm status, and other values when parameters are input. Refer to 7.1.2 Key Names and Functions.

Panel operator

Charge indicator

Lights when the main circuit power supply is ON and stays lit as long as the main circuit power supply capacitor remains charged. Therefore, do not touch the SERVOPACK even after the power supply is turned OFF if the indicator is lit.

Main circuit power supply terminals

Used for main circuit power supply input. Refer to 6.1 Wiring Main Circuit.

Used for control power supply input. Refer to 6.1 Wiring Main Circuit.

Control power supply terminals

Used to connect external regenerative resistors. Refer to 6.5 Connecting Regenerative Resistors.

Regenerative resistor connecting terminals

Refer to 6.1 Wiring Main Circuit.

Ground terminal

Be sure to connect to protect against electrical shock.

Servomotor terminals

Connects to the servomotor power line. Refer to 6.1 Wiring Main Circuit.

CN5 Analog monitor connector

Used to monitor motor speed, torque reference, and other values through a special cable. Refer to 5.8.3 Cables for Analog Monitor or

9.5 Analog Monitor.

CN8 Battery connector

Used to connect to the backup battery for an absolute encoder. Refer to 5.8.8 Absolute Encoder Battery,

8.4.3 Handing Batteries, and 8.4.4 Battery Replacement Procedure.

Front cover

Power ON indicator

Lights when the control power supply is ON.

Panel keys

Used to set parameters. Refer to 7.1.2 Key Names and Functions.

Refer to 5.8.1 Cables for Connecting Personal Computer and 5.8.2 Digital Operator.

CN3 Connector for personal computer monitoring and digital operator

Used to communicate with a personal computer or to connect a digital operator.

CN1 I/O signal connector

Used for reference input signals and sequence I/O signals. Refer to 6.3 Examples of I/O Signal Connections.

Nameplate (side view)

Indicates the SERVOPACK model and ratings. Refer to 1.1.3 SERVOPACKs.

CN2 Encoder connector

Connects to the encoder in the servomotor. Refer to 6.2 Wiring Encoders.

INFO

1.2.2 SERVOPACKs

(1) SGDM for 30 W to 5.0 kW

 Connecting terminal of DC Reactor

For connecting a reactor, refer to 6.4.8 DC Reactor for Harmonic Suppression.

1-6

Page 30

Outline

(2) SGDM for 6.0 kW to 15.0 kW

L1 L2 L3

B2B1

WARNING

MODE/SET DATA/

Ve r.

POWER

BATTERY

CHARGE

SGDM-

SERVOPACK 200V

YASKAWA

Panel display

Power indicator

Panel operator

Charge indicator

L1C

CN1 CN2

L2C

Main circuit power supply terminals: L1, L2, L3

Servomotor terminals: U, V, W

Regenerative resistor connecting terminals: B1, B2

CN3 Connector for personal computer monitoring and digital operator

CN8 Battery connector

CN5 Analog monitor connector

Panel switch

Battery holder

Nameplate (side view)

CN2 Encoder connector

CN1 I/O signal connector

Control circuit terminal

SERVOPACK model

Ground terminal

CN8

CN5

CN3

∗

1.2 Product Part Names

* Control circuit terminal and regenerative resistor connecting terminals differ the position of the terminal block by

the SERVOPACK model. Refer to Chapter 4 SERVOPACK Specifications and Dimensional Drawings for details.

SERVOPACK Model Reference

SGDM-60ADA, 75ADA 4.7.7, 4.9.1

SGDM-1AADA, 1EADA 4.7.8, 4.9.2

1-7

Page 31

1 Outline

Noise filter

Molded-case circuit breaker (MCCB)

Protects the power supply line by shutting the circuit OFF when overcurrent is detected. (Refer to 5.8.9.)

Used to eliminate external noise from the power line. (Refer to 5.8.10.)

(

Refer to

5.8.1.)

Servomotor

SGMH

SGDM-AD SGDM-ADA SGDM-BD SGDM-BDA SERVOPACK

Power supply Single-phase 100/200 VAC

R T

C N 3

C N 1

L1C L2C

B1 B2

MODE/SET

DATA/

CHARGE POWER

C N

SGDM-

SERVOPACK

200V

YASKAWA

+ 2

Regenerative resistor

Magnetic contactor

Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient. (Refer to 5.8.6.)

Turns the servo ON and OFF. Install a surge absorber. (Refer to 5.8.11.)

Brake power supply

Magnetic contactor

Used for a servomotor with a brake. (Refer to 5.8.5.)

Turns the brake power supply ON or OFF. Install a surge absorber. (Refer to 5.8.11.)

Servomotor main circuit cable

(Refer to 5.1, 5.2.)

Encoder cable

(

Refer to

5.4, 5.5.)

Host controller

(

Refer to

5.7.)

I/O signal cable

Personal computer

Connection cable for digital operator

Connection cable for personal computer

Digital operator

(

Refer to

5.8.2.)

(

Refer to

5.8.2.)

∗

For connecting a DC reactor, refer to 6.4.8 DC Reactor for Harmonic Suppression.

1.3.1 Single-phase, 100 V and 200 V Main Circuit

1.3 Examples of Servo System Configurations

1.3.1 Single-phase, 100 V and 200 V Main Circuit

This section describes examples of basic servo system configuration.

1-8

Page 32

Outline

1.3.2 Three-phase, 200 V Main Circuit

Noise filter

Molded-case circuit breaker (MCCB)

Power supply Three-phase 200 VAC

Protects the power supply line by shutting the circuit OFF when overcurrent is detected. (Refer to 5.8.9.)

Used to eliminate external noise from the power line. (Refer to 5.8.10.)

R S T

L1C

L2C

C N 3

C N 1

C N 2

MODE/SET

DATA/

CHARGE POWER

YASKAWA SERVOPACK

SGDM-

200V

Magnetic contactor

SGDM-AD SGDM-ADA SERVOPACK

Turns the servo ON and OFF. Install a surge absorber. (Refer to

5.8.11.)

Brake power supply

Magnetic contactor

Regenerative resistor

Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient. (Refer to 5.8.6.)

Used for a servomotor with a brake. (Refer to 5.8.5.)

Turns the brake power supply ON and OFF. Install a surge absorber. (Refer to 5.8.11.)

∗2

∗1 ∗3

Servomotor main circuit cable

Encoder cable

SGMH Servomotor

(Refer to 5.1, 5.2.)

(Refer to 5.4, 5.5.)

Host controller

I/O signal cable

(Refer to 5.7.)

(Refer to 5.8.1.)

Connection cable for digital operator

Connection cable for personal computer

Personal computer

(Refer to 5.8.2.)

Digital operator

(Refer to 5.8.2.)

∗2

∗1

∗3

The main circuit positive-side terminal is only available to use at three-phase 200 VAC, 6 kW SERVOPACK. Do not use 1 or 2.

Be sure to disconnect the lead between B2 and B3, before connecting an external regenerative registor to the SERVOPACK. For connecting a DC reactor, refer to 6.4.8 DC Reactor for Harmonic Suppression.

1.3 Examples of Servo System Configurations

1-9

Page 33

1 Outline

View A

Servomotor main circuit cable

Encoder cable

SGDM-ADA SERVOPACK

SGMCS Servomotor

R T

Nameplate

(Refer to 5.7.)

(Refer to 5.8.1.)

C N 3

C N 1

L1C L2C

B1 B2

MODE/SET

DATA/

CHARGE POWER

C N

SGDM-

SERVOPACK

200V

YASKAWA

+ 2

Noise filter

Molded-case circuit breaker (MCCB)

Protects the power supply line by shutting the circuit OFF when overcurrent is detected. (Refer to 5.8.9.)

Used to eliminate external noise from the power line. (Refer to 5.8.10.)

Magnetic contactor

Turns the servo ON and OFF. Install a surge absorber. (Refer to

5.8.11.)

Regenerative resistor

Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient. (Refer to 5.8.6.)

Servomotor main circuit cable

(Refer to 5.1, 5.2.)

Encoder cable

(Refer to 5.4, 5.5.)

For connecting a DC reactor, refer to 6.4.8 DC Reactor for Harmonic Suppression.

Note:

Connection cable for personal computer

Connection cable for digital operator

Personal computer

(Refer to 5.8.2.)

Digital operator

(Refer to 5.8.2.)

Host controller

I/O signal cable

Power supply

Single-phase or

Three-phase

100/200VAC

1.3.3 Connecting to SGMCS Servomotor

1-10

Page 34

Outline

1.4 Applicable Standards

LISTED

Σ-II Series servo drives conform to the following overseas standards.

1.4.1 North American Safety Standards (UL, CSA)

1.4 Applicable Standards

SERVOPACK • SGDM

Servomotor

* 1. Underwriters Laboratories Inc. * 2. Canadian Standards Association.

1.4.2 CE Marking

SERVOPACK • SGDM

Servomotor

Model

• SGMAH

• SGMPH

• SGMGH

• SGMSH

• SGMDH

• SGMCS

Model

• SGMAH

• SGMPH

• SGMGH

• SGMSH

• SGMDH

• SGMCS

∗1

Standards (UL File No.) CSA∗2 Standards

UL508C(E147823)

UL1004(E165827)

Low Voltage

Directive

EN50178

IEC60034-1 IEC60034-5 IEC60034-8 IEC60034-9

EMI EMS

EN55011

group 1 class A

CSA C22.2

No.14

CSA C22.2

No.100

EMC Directive

EN50082-2

EN61000-6-2

Certifications

TÜV PS

∗

* TÜV Product Services GmbH Note: For installation conditions, refer to 6.4.2 Wiring for Noise Control.

Because SERVOPACKs and servomotors are built-in type, reconfirmation is required after being installed in the final product.

1-11

Page 35

1 Outline

1.5 Σ-II Series SGDM SERVOPACK Upgraded Functions

The following functions have been added or upgraded on the SGDM SERVOPACK with software version 32 or later.

Refer to the following table for the added or improved functions for each model.

Function Item Description

Applicable capacity range

Speed feed forward

Torque limit using an external torque limit and analog voltage reference

Input signal polarity reversal

Output signal polarity reversal

Multiturn limit setting

“Multiturn limit disagreement” alarm detection

Average movement filter of position reference

Notch filter

Second stage notch filter and changeable Q value

Direct-drive motor for SGMCS

Single-turn data for absolute encoder

Enhanced dividing output resolution

Reference pulse input multiplication switching

30W to 3.0 KW 30W to 15.0 kW In the position control mode, the

speed feed forward reference using an analog voltage can be input by the speed reference (VREF) input.

To enable the torque limit function using analog voltage reference only when either /P-CL or / N-CL signal is ON.

To reverse the “Enabled” logic polarity of sequence input signal

To reverse the “Enabled” logic polarity of sequence output signal

To set the upper limit of multiturn data when using an absolute encoder.

To detect the alarm A.CC when the multiturn limit value set in the encoder does not agree with that in the SERVOPACK.

To filter the position reference pulse of constant frequency inside the SERVOPACK. Either acceleration/deceleration filter or average movement filter can be selected.

Filtering function to suppress vibration according to the machine’s vibration frequency.

A second stage notch filter is added. And the Q value (sharpness of notching) can be changed.

Applicable to the SGMCS directdrive motors

Adapted to single-turn data absolute encoders that are mounted on direct-drive motors as standard

The upper limit of diving output 16384 [P/R] (equivalent to 16-bit) of feedback pulse is increased to 262144 [P/R] (equivalent to 20bit).

The reference pulse multiplication can be selected from 1 to 99.

Software Version

31 or earlier

Applicable Applicable −

N/A Applicable −

N/A Applicable 9.4.3

N/A Applicable 8.9.4

N/A Applicable 7.3.2

N/A Applicable 7.3.3

N/A Applicable 8.4.7

N/A Applicable 8.4.8

N/A Applicable 8.6.4

N/A Applicable 9.4.10

N/A Applicable 10.3.4

N/A Applicable 10.3.1

N/A Applicable 10.4.2

N/A Applicable 10.3.2

N/A Applicable 10.3.3

Software Version

32 or later

Reference

Section

1-12

Page 36

1.5 Σ-II Series SGDM SERVOPACK Upgraded Functions

Outline

Function Item Description

The switching between Gain Set-

Automatic gain switching

Increase moment of inertia ratio range

Read serial number and date of manufacture

* SigmaWin+ is a Windows-compatible software tool used to set up and tune Yaskawa servo drives. SigmaWin+

can be downloaded from the e-mechatronics site (http://www.e-mechatronics.com/en).

ting 1 and Gain Setting 2 is automatically carried out according to the conditions of position reference and position error.

The setting range “0 to 10,000%” of moment of inertia ratio is extended to “0 to 20,000%”.

The serial number and manufacture for the data of SERVOPACK can be read with “SigmaWin+ *.”

Software Version

31 or earlier

N/A Applicable 10.3.5

N/A Applicable 10.4.1

N/A Applicable 10.4.3

Software Version

32 or later

Reference

Section

(Cont’d)

1-13

Page 37

2

Selections

Selections

2.1 Servomotor Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.1.1 Model SGMAH (3000 min-1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.1.2 Model SGMPH (3000 min-1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4

2.1.3 Model SGMGH (1500 min-1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6

2.1.4 Model SGMGH (1000 min-1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-8

2.1.5 Model SGMSH (3000 min-1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-10

2.1.6 Model SGMDH (2000 min-1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12

2.1.7 Model SGMCS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13

2.2 SERVOPACK Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-14

2.3 Σ-II Series SERVOPACKs and Applicable Servomotors - - - - - - - - - - - - - 2-15

2.3.1 SGDM SERVOPACKs and SGMH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - 2-15

2.3.2 SGDM SERVOPACKs and SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - 2-16

2.4 Selecting Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-17

2.4.1 Cables for SGMAH and SGMPH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-17

2.4.2 Cables for SGMGH/SGMSH/SGMDH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - 2-20

2.4.3 Cables for SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-23

2.5 Selecting Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-26

2.5.1 Special Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-26

2.5.2 Molded-case Circuit Breaker and Fuse Capacity - - - - - - - - - - - - - - - - - - - - - - - - - - 2-28

2.5.3 Noise Filters, Magnetic Conductors, Surge Absorbers and DC Reactors - - - - - - - - - 2-29

2.5.4 Regenerative Resistors and Brake Power Supply Units - - - - - - - - - - - - - - - - - - - - - - 2-30

2-1

Page 38

2 Selections

SGMAH − 02 A A A 2 1

4th digit: Serial Encoder

7th digit: Brake and Oil Seal

Code

Specifications

Without brake

With 90-VDC brake

With 24-VDC brake

With oil seal and 90-VDC brake

With oil seal and 24-VDC brake

With oil seal

1st + 2nd digits:

Rated Output

(kW)

Code

Rated Output

0.03

0.05

0.1

0.2

0.4

0.75

−

3rd digit:

Voltage

A:200V,B:100V

Code

Remarks

Standard

Option

ޓޓSpecifications

16-bit absolute encoder

16-bit absolute encoder with super capacitor

13-bit incremental encoder

16-bit incremental encoder

∗1. The number of encoder pulses: 16384 P/Rev. ∗2. The number of encoder pulses: 2048 P/Rev.

: Available

Option

∗1

∗2

5th digit: Design Revision Order

Code

Specifications

Standard

6th digit: Shaft End

Code

Remarks

Standard

Option

ޓޓSpecifications

Straight without key

Straight with key

Straight with key and tap

Straight with tap

1st + 2nd digits

3rd digit

4th digit

5th digit

6th digit

7th digit

8th digit: Connector

Code

Blank

Specifications

Standard

Waterproof connector

8th digit

2.1.1 Model SGMAH (3000 min

-1

)

2.1 Servomotor Model Designations

This section explains how to check the servomotor model and ratings. The alphanumeric codes after SGMH indicate the specifications.

2.1.1 Model SGMAH (3000 min-1)

(1) Without Gears

2-2

Page 39

Selections

(2) With Gears

SGMAH

−

01 A A H 1 2 BA

1st + 2nd digits:

Rated Output

(kW)

Code

Rated Output

0.03

0.05

0.1

0.2

0.4

0.75



−

3rd digit: Voltage

A:200V,B:100V

4th digit: Serial Encoder

Remarks

Standard

Option

Standard

Option

ޓޓSpecifications

16-bit absolute encoder

16-bit absolute encoder with super capacitor

13-bit incremental encoder

16-bit incremental encoder

∗1

∗2

5th digit:

Design Revision Order

Code

Specifications

Standard

9th digit: Brake

Code

ޓ

Specifications

Without brake

With 90-VDC brake

With 24-VDC brake

The number of encoder pulses: 16384 P/Rev.

The number of encoder pulses: 2048 P/Rev.

: Available

1st + 2nd digits

3rd digit

4th digit

5th digit

6th digit

7th digit

8th digit

9th digit

∗1

∗2

10th digit: Connector

Code

Blank

Specifications

Standard

Waterproof connector

10th digit

6th digit:

Gear Type

7th digit:

Gear Ratio

8th digit: Shaft End

2 (Straight without key)

6 (Straight with key and tap)

8 (Straight with tap)

(Low-

backlash

Gear)

(Low-

backlash

Gear)

(Standard

Backlash

Gear)

1 (1/5)

3 (3/31)

7 (1/33)

C (1/21)

1 (1/5)

2 (1/9)

7 (1/33)

B (1/11)

C (1/21)

1 (1/5)

2 (1/9)

7 (1/33)

B (1/11)

C (1/21)

−



−



−



−



−



−



−



−



−



−



(No Shaft)

Rated Output: A3, A5

(0.03 kW, 0.05 kW)

Rated Output: 01 to 08

(0.1 kW to 0.75 kW)

∗3

2 (Straight without key)

6 (Straight with key and tap)

8 (Straight with tap)

∗3

: Available

Shaft end specification 8 (straight with tap) is available only for SGMAH servomotors with low-backlash gears.

∗3

Code

2.1 Servomotor Model Designations

2-3

Page 40

2 Selections

SGMPH − 02 A A A 2 1

1st + 2nd digits:

Rated Output

(kW)

Code

Rated Output

0.1

0.2

0.4

0.75

1.5

−

3rd digit

: Voltage

A:200V,B:100V

Specifications

Standard

IP67 water-proof specifications

Code

4th digit:

Serial Encoder

Code

Remarks

Standard

Option

ޓSpecifications

16-bit absolute encoder

16-bit absolute encoder with super capacitor

13-bit incremental encoder

16-bit incremental encoder

The number of encoder pulses: 16384 P/Rev.

The number of encoder pulses: 2048 P/Rev.

Option

∗1

∗2

∗1

∗2

5th digit: Design Revision Order

6th digit: Shaft End

Code

Remarks

Standard

Option

ޓޓSpecifications

Straight without key

Straight with key

Straight with key and tap

Straight with tap

7th digit: Brake and Oil Seal

Code

Specifications

Without options

With 90-VDC brake

With 24-VDC brake

With oil seal and 90-VDC brake

With oil seal and 24-VDC brake

With oil seal

1st + 2nd digits

3rd digit

4th digit

5th digit

6th digit

7th digit

: Available

8th digit: Connector

Code

Blank

Specifications

Standard

Waterproof connector

8th digit

2.1.2 Model SGMPH (3000 min

-1

)

2.1.2 Model SGMPH (3000 min-1)

(1) Without Gears

2-4

Page 41

Selections

(2) With Gears

SGMPH

−

01 A A H 1 2 BA

1st + 2nd digit:

Rated Output

(kW)

Code

01 02 04 08 15

Rated Output

0.1

0.2

0.4

0.75

1.5

    

 

−

3rd digit:

Voltage

A:200V,B:100V

4th digit:

Serial Encoder

Code

Remarks

Standard

Option

Standard

Option

ޓSpecifications

16-bit absolute encoder

16-bit absolute encoder with super capacitor

13-bit incremental encoder

16-bit incremental encoder

The number of encoder pulses: 16384 P/Rev. The number of encoder pulses: 2048 P/Rev.

∗1

∗2

∗1

∗2

Specifications

Standard

IP67 water-proof specifications

Code

5th digit:

Design Revision Order

9th digit:

Brake

Code

ޓSpecifications

Without brake

With 90-VDC brake

With 24-VDC brake

1st + 2nd digits

3rd digit

4th digit

5th

digit

6th digit

7th digit

8th digit

9th digit

: Available

∗1

10th digit:

Connector

Code

Blank

Specifications

Standard

Waterproof connector

10th digit

7th digit:

Gear Ratio

6th digit:

Gear Type

(Low-

backlash

Gear)

(Low-

backlash

Gear)

(Standard

Backlash

Gear)

Rated Output: 01, 02, 04, 08

(0.1 kW to 0.75 kW)

Rated Output: 15

(1.5 kW)

(No Shaft)

2 (Straight without key)

6 (Straight with key and tap)

8 (Straight with tap)

(No Shaft)

8th digit:

Shaft End

2 (Straight without key)

6 (Straight with key and tap)

8 (Straight with tap)

: Available

Shaft end specification 8 (straight with tap) is available only for SGMPH servomotors with low-backlash gears.

∗3

1 (1/5)

3 (3/31)

7 (1/33)

C (1/21)

1 (1/5)

7 (1/33)

B (1/11)

C (1/21)

1 (1/5)

7 (1/33)

B (1/11)

C (1/21)

−



−



−



−



−



−



−



−



−

2.1 Servomotor Model Designations

2-5

Page 42

2 Selections

SGMGH−13 A C A 2 1

∗

1st + 2nd digits:

Rated Output (kW)

Code

Rated Output

0.45

0.85

1.3

1.8

2.9

4.4

5.5

7.5

11. 0

15.0



3rd digit: Voltage

A:200V

5th digit: Design Revision Order

6th digit: Shaft End

Code

Remarks

Standard

Option

ޓޓSpecifications

Straight without key

Taper 1/10, with parallel key

Taper 1/10, with woodruff key

Straight with key and tap

4th digit: Serial Encoder

Code

Remarks

ޓSpecifications

17-bit absolute encoder

17-bit incremental encoder

Code

Specifications

Standard

For high-performance machine tool

Standard

∗

The number of encoder pulses: 32768 P/Rev.

∗

Applicable only for models SGMGH-05 to -44.

∗

Applicable only for models SGMGH-05 and 09.

7th digit: Brake and Oil Seal

Code

Specifications

Without options

With 90-VDC brake

With 24-VDC brake

With oil seal and 90-VDC brake

With oil seal and 24-VDC brake

With oil seal

1st + 2nd digits

3rd digit

4th digit

5th digit

6th digit

7th digit

: Available

2.1.3 Model SGMGH (1500 min

-1

)

2.1.3 Model SGMGH (1500 min-1)

(1) Without Gears

2-6

Page 43

Selections

(2) With Gears

SGMGH

−

20 A A L 1 4 BC

6th digit: Gear Type

Code

ޓ

Specifications

Planetary low-backlash gear (Flange type)

Standard backlash gear (Foot mounting type) Standard backlash gear (

Flange type)

8th digit: Shaft End

6th digit:

Gear Type Code

Code

−



−



−

ޓޓ

Specifications

Straight with key

Straight with key and tap

75P

−

  

6th digit: Gear

Type Code

1 2 5 7 8

1/5

1/9 1/20 1/29 1/45

05A

    

09A

    

13A

    

20A

   

−

30A

  

−

44A

 

−

1st + 2nd + 3rd digits: Code of the Rated Output and Voltage7th digit: Gear Ratio

Code Specifications

4th digit: Serial Encoder

Code

Remarksޓޓޓ Specifications

17-bit absolute encoder

17-bit incremental encoder

Code

Specifications

Standard

For high-performance machine tool

(Low-

backlash)

The number of encoder pulses: 32768 P/Rev.

∗

Applicable only for models SGMGH-05 to -44.

∗

With standard backlash gears: P

∗

5th digit: Design Revision Order

9th digit: Brake

Code

ޓ

Specifications

Without brake

With 90-VDC brake

With 24-VDC brake

∗

Standard

1st + 2nd digits

3rd digit

4th digit

5th digit

6th digit

7th digit

8th digit

9th digit

1st + 2nd digits:

Rated Output

(kW)

Code

05 09 13 20 30 44 55 75 1A

Rated Output

0.45

0.85

1.3

1.8

2.9

4.4

5.5

7.5

11. 0

        

3rd digit: Voltage

A:200V

: Available

6th digit: Gear

Type Code

A B C

1/6 1/11 1/21 1/29

05P

   

09P

   

13P

   

20P

   

30P

   

44P

   

1st + 2nd + 3rd digits: Code of the Rated Output and Voltage7th digit: Gear Ratio

Code Specifications

(Standard)

55P

   

75P

−

  

6th digit: Gear

Type Code

A B C 7

1/6

1/11 1/21 1/29

05P

   

09P

   

13P

   

20P

   

30P

   

44P

   

1st + 2nd + 3rd digits: Code of the Rated Output and Voltage7th digit: Gear Ratio

Code Specifications

(Standard)

1AP

−

  

1AP

−

  

55P

   

2.1 Servomotor Model Designations

2-7

Page 44

2 Selections

∗

1st + 2nd digits:

Rated Output

(kW)

4th digit: Serial Encoder

Code

RemarksޓޓޓSpecifications

17-bit absolute encoder

17-bit incremental encoder

Standard

The number of encoder pulses: 32768 P/Rev.

∗

Applicable only for models SGMGH-03 and -06.

∗

Applicable only for models SGMGH-03 to -30.

∗

Code

Rated Output

0.3

0.6

0.9

1.2

2.0

3.0

4.0

5.5

5th digit: Design Revision Order

Code

Specifications

Standard

For high-performance machine tool

SGMGH − 12 A C B 2 1

7th digit: Brake and Oil Seal

Code

Specifications

Without options

With 90-VDC brake

With 24-VDC brake

With oil seal and 90-VDC brake

With oil seal and 24-VDC brake

With oil seal

3rd digit: Voltage

A: 200V

6th digit: Shaft End

Code

Remarks

Standard

Option

ޓޓSpecifications

Straight without key

Taper 1/10, with parallel key

Taper 1/10, with woodruff key

Straight with key and tap

1st + 2nd digits

3rd digit

4th digit

5th digit

6th digit

7th digit

: Available

2.1.4 Model SGMGH (1000 min

-1

)

2.1.4 Model SGMGH (1000 min-1)

(1) Without Gears

2-8

Page 45

Selections

(2) With Gears

SGMGH

−

20 A B L 1 4 BC

6th digit: Gear Type

Code

Specifications

Planetary low-backlash gear (Flange type)

Standard backlash gear (Foot mounting type) Standard

backlash gear (Flange type)

8th digit: Shaft End

6th digit:

Gear Type Code

Code

−



−



−

ޓޓ

Specifications

Straight with key

Straight with key and tap

4th digit: Serial Encoder

Code

Remarksޓޓޓ Specifications

17-bit absolute encoder

17-bit incremental encoder

Code

B D

Specifications Standard For high-performance machine tool

∗

(Standard)

Specifications

Code

The number of encoder pulses: 32768 P/Rev.

∗

5th digit: Design Revision Order

9th digit: Brake

Code

ޓ

Specifications

Without brake

With 90-VDC brake

With 24-VDC brake

∗

A B C 7

1/6

1/11 1/21 1/29

03P

   

06P

   

09P

   

12P

   

20P

   

30P

   

40P

   

55P

−

  

03P

   

06P

   

09P

   

12P

   

20P

   

30P

   

40P

   

55P

−

  

A B C 7

1/6

1/11 1/21 1/29

Standard

1st + 2nd digits

3rd digit

4th digit

5th digit

6th digit

7th digit

8th digit

9th digit

6th digit: Gear

Type Code

1st + 2nd + 3rd digits: Code of the Rated Output and Voltage

7th digit: Gear Ratio

6th digit: Gear

Type Code

1st + 2nd + 3rd digits: Code of the Rated Output and Voltage

7th digit: Gear Ratio

1st + 2nd digits:

Rated Output

(kW)

Code

03 06 09 12 20 30 40 55

Rated Output

0.3

0.6

0.9

1.2

2.0

3.0

4.0

5.5

       

3rd digit: Voltage

A:200V

: Available

With standard backlash gears: P

∗

Applicable only for models SGMGH-03 to -30.

∗

6th digit: Gear

Type Code

1 2 5 7 8

1/5 1/9

1/20 1/29 1/45

03A

    

06A

    

09A

    

12A

    

20A

  

−

30A

 

−

40A

−

55A

−

1st + 2nd + 3rd digits: Code of the Rated Output and Voltage

7th digit: Gear Ratio

Code

Specifications

(Low-

backlash)

2.1 Servomotor Model Designations

2-9

Page 46

2 Selections

∗

1st + 2nd digits:

Rated Output

(kW)

4th digit: Serial Encoder

Code

Remarks Specifications

17-bit absolute encoder

17-bit incremental encoder

Standard

The number of encoder pulses: 32768 P/Rev.

∗

SGMSH − 10 A C A 2 1

7th digit: Brake and Oil Seal

Code

Specifications

Without options

With 90-VDC brake

With 24-VDC brake

With oil seal and 90-VDC brake

With oil seal and 24-VDC brake

With oil seal

Code

Rated Output

1.0

1.5

2.0

3.0

4.0

5.0



3rd digit: Voltage

A:200V

5th digit: Design Revision Order

Code

Specifications

Standard

6th digit: Shaft End

Code

ޓRemarks

Standard

ޓޓޓSpecifications

Straight without key

Taper 1/10, with parallel key

Straight with key and tap

Option

1st + 2nd digits

3rd digit

4th digit

5th digit

6th digit

7th digit

: Available

2.1.5 Model SGMSH (3000 min

-1

)

2.1.5 Model SGMSH (3000 min-1)

(1) Without Gears

2-10

Page 47

Selections

(2) With Gears

1st + 2nd digits

3rd digit

4th digit

5th digit

6th digit

7th digit

8th digit

2.1 Servomotor Model Designations

9th digit

SGMSH

1st + 2nd digits:

Rated Output

(kW)

Rated Output

Code

{: Available

Code

∗

The number of encoder pulses: 32768 P/Rev.

1.0

1.5

2.0

3.0

4.0

5.0

4th digit: Serial Encoder

Specifications

17-bit absolute encoder

17-bit incremental encoder

10 A A L 1 4 BC

−

3rd digit: Voltage

A:200V

{

∗

Remarks

Standard

∗

Code

8th digit: Shaft End

Code4 Specifications

Straight with key

6th digit:

7th digit: Gear Ratio

Gear Type

Code

(Low-

backlash)

{: Available

1 2 5 7 8

Specifications

1/5

1/9 1/20 1/29 1/45

9th digit: Brake

Specifications

Without brake

With 90-VDC brake

With 24-VDC brake

1st + 2nd + 3rd digits:

Code of the Rated Output and Voltage

10A

15A

{

20A

{ { { { {

30A

{ { { { {

40A

{ { { {

−

50A

{ { {

−

5th digit: Design Revision Order

Specifications

Code

Standard

6th digit: Gear Type

CodeL Specifications

Planetary low-backlash gear (Flange type)

2-11

Page 48

2 Selections

SGMDH − 22 A C A 2 B

7th digit: Brake and Oil Seal

Code

Specifications

Without options

With 90-VDC brake

With 24-VDC brake

With oil seal and 90-VDC brake

With oil seal and 24-VDC brake

With oil seal

CodeA Specifications

Standard

6th digit: Shaft End

Code

Remarks

Standard

Option

ޓޓޓSpecifications

Straight without key

Straight with key and tap

Code

Rated Output

2.2

3.2

4.0



Remarks

Option

Standard

Option

1st + 2nd digits

3rd digit

4th digit

5th digit

6th digit

7th digit

Code

Remarks

Standard

5th digit: Design Revision Order

∗

1st + 2nd digits:

Rated Output

(kW)

4th digit: Serial Encoder

Specifications

17-bit absolute encoder

17-bit incremental encoder

3rd digit: Voltage

A:200V

: Available

The number of encoder pulses: 32768 P/Rev.

∗

2.1.6 Model SGMDH (2000 min

-1

)

2.1.6 Model SGMDH (2000 min-1)

• SGMDH servomotors are provided with 90-VDC brakes as standard. (The seventh digit: B)

• Servomotors with backlash gears are not available for the model SGMDH.

2-12

Page 49

Selections

2.1.7 Model SGMCS

1st + 2nd digits

3rd digit

4th digit

5th digit

6th digit

7th digit

SGMCS − 02 B 3 C 1 1

02 04 05 07 08 10 14 16 17 25 35

45 80 1A 1E 2Z

2.0

4.0

5.0

7.0

8.0

10.0

14.0

16.0

17.0

25.0

35.0

45.0

80.0

110.0

150.0

200.0

SGMCS Direct-drive motor

(φ135)C(φ175)D(φ230)E(φ290)M(φ280)N(φ360)

4th digit: Encoder

Code

Specifications

20-bit abs

olute encoder

(Single-turn data absolut

e encoder)

20-bit incremental encoder

7th digit: Brake

Code

Specifications

Without brake



 



 



1st + 2nd digits:

Rated Torque (Nm)

3rd digit: Servomotor Outer Diameter (mm)

Code

Specifi-

cations

Remarks

Standard

Option

5th digit: Design Revision Order

Code

Specifications

Servomotor outer diameter M, N

Servomotor outer diameter E

Servomotor outer diameter B, C, D

6th digit: Flange

Code

Specifications

C-face

C-face with cable on side

C-face on the opposite drive end (servomotor outer diameter B, C, D, E) C-face on the drive end (servomotor outer diameter M, N)

C-face on the opposite drive end (servomotor outer diameter M, N)

Only for servomotor outer diameter B, C, D, E

∗1

∗2

∗3

2.1 Servomotor Model Designations

2-13

Page 50

2 Selections

1st + 2nd digits

3rd digit

4th digit

5th digit

Code

Rated Output

0.03

0.05

0.10

0.20

0.40

0.45

0.75

1.0

Code

Rated Output

1.5

2.0

3.0

5.0

6.0

7.5

11. 0

15.0

4th digit: Model (Fixed)

Code

Remarks

For torque, speed, and position control

Code

Voltage

6th digit: Option

Code

−

-P

-R

Specificatioins

Base-mounted

Duct-ventilated

Rack-mounted

Rated Output of

Applicable Servomotor (kW)

0.03 to 15.0kW

6.0 to 15.0kW

0.03 to 5.0kW

10SGDM - D 

Single/Three-phase 200V

Single-phase 100V *

5th digit: Design Revision Order *

Blank or A, 

* The SGMAH and SGMPH Servomotors of 200W or less can be used with a 100V SERVOPACK.

6th digit

1st + 2nd digits:

Rated Output of Applicable Servomotor (kW)

3rd digit: Power Supply Voltage

* Refer to 1.5 Σ-II Series SGDM SERVOPACK Upgraded Functions for more information on the specification variances for different design revision order.

2.2 SERVOPACK Model Designations

Select the SERVOPACK according to the applied servomotor.

2-14

Page 51

2.3 Σ-II Series SERVOPACKs and Applicable Servomotors

Selections

2.3 Σ-

II Series SERVOPACKs and Applicable Servomotors

2.3.1 SGDM SERVOPACKs and SGMH Servomotors

Σ-II Series SGDM SERVOPACK

Σ-II Series SGMH Servomotor

A3(30 W)

SGMAH (Super High Power Capacity)

3000 min-1 8 models

SGMPH (Flat Type)

-1

3000 min

SGMGH (High Speed Feed)

1500 min

SGMGH (High Speed Feed)

1000 min

SGMSH (Super High Power Capacity)

3000 min

SGMDH (Flat Type)

2000 min

Note: 1. =A: 200 V, B: 100 V (Be sure to match the voltage ratio on the servomotor and the SERVOPACK.)

5 models

-1

10 models

-1

8 models

-1

6 models

-1

3 models

2. Servomotors with low-backlash gears are available.

A5 (50 W) 01 (100 W) 02 (200 W) 04 (400 W) 08 (750 W) 01 (100 W) 02 (200 W)

04A (400 W) − 04AD, 04ADA − 08A (750 W) −−08AD, 08ADA

15A (1.5 kW) −−15AD, 15ADA

05A (450 W) −−05AD, 05ADA

09A (850 W) −−10AD, 10ADA 13A (1.3 kW) −−15AD, 15ADA 20A (1.8 kW) −−20AD, 20ADA 30A (2.9 kW) −−30AD, 30ADA 44A (4.4 kW) −−50ADA 55A (5.5 kW) −−60ADA 75A (7.5 kW) −−75ADA

1AA (11.0 kW) −−1AADA

1EA (15.0 kW) −−1EADA

03A (300 W) −−05ADA

06A (600 W) −−08ADA

09A (900 W) −−10ADA 12A (1.2 kW) −−15ADA 20A (2.0 kW) −−20ADA 30A (3.0 kW) −−30ADA 40A (4.0 kW) −−50ADA 55A (5.5 kW) −−60ADA 10A (1.0 kW) −−10ADA 15A (1.5 kW) −−15ADA 20A (2.0 kW) −−20ADA 30A (3.0 kW) −−30ADA 40A (4.0 kW) −−50ADA 50A (5.0 kW) −−50ADA 22A (2.2 kW) −−30ADA 32A (3.2 kW) −−50ADA 40A (4.0 kW) −−50ADA

Single-phase

100 VAC

A3BD, A3BDA A3AD, A3ADA − A5BD, A5BDA A5AD, A5ADA −

01BD, 01BDA 01AD, 01ADA − 02BD, 02BDA 02AD, 02ADA −

− 04AD, 04ADA −

−−08AD, 08ADA

01BD, 01BDA 01AD, 01ADA − 02BD, 02BDA 02AD, 02ADA −

Single-phase

200 VAC

Three-phase

200 VAC

2-15

Page 52

2 Selections

2.3.2 SGDM SERVOPACKs and SGMCS Servomotors

The SGMCS Servomotor can be combined only with a SGDM SERVOPACK with software version 32 or later. Note that SGMCS Servomotor can’t be used with the SGDM-D and SGDM SERVOPACK with software

version 31 or earlier.

Σ-II Series SGMCS Servomotor

SGMCS (Direct-drive series)

-1

150 min 200 min

8 models

-1

9 models

02B 05B 07B 04C 10C 14C 08D 17D 25D 16E

35E 45M 80M 1AM

80N 1EN 2ZN

Σ-II Series SGDM SERVOPACK

Single-phase 200 VAC Three-phase 200 VAC

02ADA − 02ADA − 02ADA − 04ADA − 04ADA − 04ADA − 04ADA − 04ADA − 04ADA −

− 08ADA

− 10ADA

− 15ADA

− 20ADA

− 15ADA

− 30ADA

2-16

Page 53

Selections

2.4 Selecting Cables

L1C

C N 3

C N 1

C N

2.4.1 Cables for SGMAH and SGMPH Servomotors

Contact Yaskawa Controls. Co., Ltd.

YASKAWA

200V

SERVOPACK

SGDM-

MODE/SET DATA/

POWER

CHARGE

CN2



2.4 Selecting Cables



2-17

Page 54

2 Selections

CN2

SERVOPACK

end

Servomotor

end

Servomotor

end

SERVOPACK

end

2.4.1 Cables for SGMAH and SGMPH Servomotors

Encoder Cable

Name Length Type Specifications

3 m JZSP-CMP00-03

Cable with connectors on both ends

5 m JZSP-CMP00-05 10 m JZSP-CMP00-10 15 m JZSP-CMP00-15 20 m JZSP-CMP00-20 3 m JZSP-CMP03-03

Cable with loose wire at encoder end

5 m JZSP-CMP03-05 10 m JZSP-CMP03-10 15 m JZSP-CMP03-15 20 m JZSP-CMP03-20 3 m JZSP-CMP10-03

Flexible type cable with connectors on both ends

5 m JZSP-CMP10-05 10 m JZSP-CMP10-10 15 m JZSP-CMP10-15

SERVOPACK

end

Servomotor

20 m JZSP-CMP10-20 3 m JZSP-CMP13-03

Flexible type cable with loose

wire at encoder end

5 m JZSP-CMP13-05 10 m JZSP-CMP13-10 15 m JZSP-CMP13-15

SERVOPACK

end

Servomotor

20 m JZSP-CMP13-20 3 m DP9325256-1

Cable with a waterproof connector

5 m DP9325256-2 10 m DP9325256-3 15 m DP9325256-4

SERVOPACK

end

20 m DP9325256-5

Soldered

SERVOPACK end connector kit

JZSP-CMP9-1

end

Servomoto

end

Refer-

ence

5.4.1

5.4.3

5.4.5

5.4.7

5.5.1

Encoder end connector kit JZSP-CMP9-2

5 m JZSP-CMP09-05 10 m JZSP-CMP09-10 15 m JZSP-CMP09-15

Cables

20 m JZSP-CMP09-20 30 m JZSP-CMP19-30 40 m JZSP-CMP19-40 50 m JZSP-CMP19-50

Soldered

5.4.3

5.4.5

5.5.1

20 m max.

5.5.1

50 m max.

2-18

Page 55

2.4 Selecting Cables

Selections

Servomotor

end

SERVOPACK

end

Servomotor

end

SERVOPACK

end

Servomotor

end

SERVOPACK

end

Servomotor

end

SERVOPACK

end

Servomotor

end

SERVOPACK

end

Servomotor

end

SERVOPACK

end

Servomotor

end

SERVOPACK

end

Servomotor Main Circuit Cables and Connectors

Name Servomotor Model Length Type Specifications

SGMAH 200 V: 30 W to 750 W 100 V: 30 W to 200 W

SGMPH 200 V:100 W to 750 W 100 V: 100 W and 200 W

3 m JZSP-CMM00-03

5 m JZSP-CMM00-05

10 m JZSP-CMM00-10

15 m JZSP-CMM00-15

20 m JZSP-CMM00-20

3 m JZSP-CMM20-03 5 m JZSP-CMM20-05

SGMPH-15A

1.5 kW

10 m JZSP-CMM20-10 15 m JZSP-CMM20-15 20 m JZSP-CMM20-20

Without brakes

400 V SGMAH 300 W, 650 W

3 m JZSP-CMM40-03 5 m JZSP-CMM40-05 10 m JZSP-CMM40-10

400 V SGMPH 200 W to 1.5 kW

Flexible type SGMAH

200 V: 30 W to 750 W 100 V: 30 W to 200 W

SGMPH 200 V: 100 W to 750 W

15 m JZSP-CMM40-15 20 m JZSP-CMM40-20

3 m JZSP-CMM01-03

5 m JZSP-CMM01-05

10 m JZSP-CMM01-10

15 m JZSP-CMM01-15

SERVOPACK

end

Servomotor

100 V: 100 W and 200 W

SGMAH 200 V: 30 W to 750 W 100 V: 30 W to 200 W

SGMPH 200 V: 100 W to 750 W 100 V: 100 W and 200 W

20 m JZSP-CMM01-20

3 m JZSP-CMM10-03

5 m JZSP-CMM10-05

10 m JZSP-CMM10-10

15 m JZSP-CMM10-15

20 m JZSP-CMM10-20

3 m JZSP-CMM30-03 5 m JZSP-CMM30-05

SGMPH-15A

1.5 kW

10 m JZSP-CMM30-10 15 m JZSP-CMM30-15 20 m JZSP-CMM30-20

With brakes

400 V SGMAH 300 W, 650 W

3 m JZSP-CMM50-03 5 m JZSP-CMM50-05 10 m JZSP-CMM50-10

400 V SGMPH 200 W to 1.5 kW

Flexible type SGMAH

200 V: 30 W to 750 W 100 V: 30 W to 200 W

SGMPH 200 V: 100 W to 750 W

15 m JZSP-CMM50-15 20 m JZSP-CMM50-20

3 m JZSP-CMM11-03

5 m JZSP-CMM11-05

10 m JZSP-CMM11-10

15 m JZSP-CMM11-15

100 V: 100 W and 200 W

20 m JZSP-CMM11-20

end

Refer-

ence

5.1.1

5.1.6

5.1.3

5.1.2

5.1.4

Note: When using the cable for the moving section such as robots, use a flexible type cable. For the safety precau-

tions, see 5.7 I/O Signal Cables for CN1 Connector.

2-19

Page 56

2 Selections

YASKAWA SERVOPACK

SGDM-

200V

L1C

C N 3

C N 1

C N

MODE/SET DATA/

CHARGE

POWER

CN2





2.4.2 Cables for SGMGH/SGMSH/SGMDH Servomotors

Servomotor Main Circuit Cables and Connectors (Cont’d)

* For servomotors with brakes, cut the brake leads for use.

Name

With a waterproof connector

For standard environment connector kit without brakes

For standard environment connector kit with brakes

Servomotor

Model

SGMAH 30 W to 750 W SGMPH 100 W to 750 W

SGMPH-15

1.5 kW

SGMAH 30 W to 750 W SGMPH 100 W to 750 W

SGMPH

1.5 kW SGMAH

30 W

750 W SGMPH 100 W

750 W

SGMPH

1.5 kW

Length Type Specifications

3 m DP9328645-1 5 m DP9328645-2 10 m DP9328645-3 15 m DP9328645-4

SERVOPACK end Servomotor end

)

∗

20 m DP9328645-5 3 m DP9328646-1 5 m DP9328646-2 10 m DP9328646-3 15 m DP9328646-4

SERVOPACK end Servomotor end

)

∗

20 m DP9328646-5

JZSP-CMM9-1

JZSP-CMM9-3

JZSP-CMM9-2

JZSP-CMM9-4

Refer-

ence

5.1.5

5.2.2

2.4.2 Cables for SGMGH/SGMSH/SGMDH Servomotors

Contact Yaskawa Controls. Co., Ltd.

2-20

Page 57

2.4 Selecting Cables

Selections

CN2

SERVOPACK end Encoder end SERVOPACK end Encoder end

SERVOPACK end Encoder end

20 m max.

50 m max.

Name Length Type Specifications

3 m JZSP-CMP03-03

Cable with loose wires at encoder end

Cable with connectors on both ends

For standard environment encoder end connector

5 m JZSP-CMP03-05 10 m JZSP-CMP03-10 15 m JZSP-CMP03-15 20 m JZSP-CMP03-20 3 m JZSP-CMP01-03 5 m JZSP-CMP01-05 10 m JZSP-CMP01-10 15 m JZSP-CMP01-15 20 m JZSP-CMP01-20 3 m JZSP-CMP02-03 5 m JZSP-CMP02-05 10 m JZSP-CMP02-10 15 m JZSP-CMP02-15 20 m JZSP-CMP02-20

MS3106B20-29S*

MS3108B20-29S*

With an straight plug

With an L-shaped plug

Straight plug

L-shaped plug

Refer-

ence

5.4.4

5.4.2

5.4.4

5.5.2

Encoder Cables

* Applicable for

every type and capacity.

For IP67 specification encoder end connector

SERVOPACK end connector kit

Cables

* Contact DDK Electronics, Inc.

MS3057-12A*

JA06A-20-29S-J1-EB

JA08A-20-29S-J1-EB

JL04-2022CKE (09) Cable diameter:

6.5 to φ9.5 mm

JL04-2022CKE (12) Cable diameter:

9.5 to φ13 mm

JL04-2022CKE (14) Cable diameter:

12.9 to φ15.9 mm

JZSP-CMP9-1

5 m JZSP-CMP09-05 10 m JZSP-CMP09-10 15 m JZSP-CMP09-15 20 m JZSP-CMP09-20 30m JZSP-CMP19-30 40m JZSP-CMP19-40 50m JZSP-CMP19-50

Cable clamp

Straight plug

L-shaped plug

5.5.2

Cable clamp

Soldered

5.5.2

2-21

Page 58

2 Selections

CN2

Encoder

end

SERVOPACK

end

SERVOPACK

end

Encoder

end

SERVOPACK

end

Encoder

end

2.4.2 Cables for SGMGH/SGMSH/SGMDH Servomotors

Encoder Cables

(Cont’d)

* Applicable for

every type and capacity.

dServomotor

Main Circuit Cables and Connectors

Note: When using the cable for the moving section such as robots, use a flexible type cable. For the safety precau-

Name Length Type Specifications

3m JZSP-CMP11-03 5 m JZSP-CMP11-05

With a straight plug

10 m JZSP-CMP11-10

Flexible type cable with connectors on both ends

15 m JZSP-CMP11-15 20 m JZSP-CMP11-20 3m JZSP-CMP12-03 With an L-shaped plug 5 m JZSP-CMP12-05 10 m JZSP-CMP12-10 15 m JZSP-CMP12-15 20 m JZSP-CMP12-20 3m JZSP-CMP13-03

Flexible type cable with loose wire at encoder end

5 m JZSP-CMP13-05 10 m JZSP-CMP13-10 15 m JZSP-CMP13-15 20 m JZSP-CMP13-20

Cables with connectors are not avail-

Cables and connectors

able. Refer to Chapter 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices.

tions, see 5.7 I/O Signal Cables for CN1 Connector.

Refer-

ence

5.4.6

−

2-22

Page 59

Selections

2.4.3 Cables for SGMCS Servomotors

View A

SGDM SERVOPACK

Servomotor main circuit cable

Encoder cable





SGMCS Servomotor

C N 3

C N 1

L1C

L2C

+ 1

MODE/SET

DATA/

CHARGE POWER

C N

SGDM -

SERVOPACK

200V

YASKAWA

+ 2

Relay encoder cable (Encoder end)





C N 3

C N 1

L1C L2C B1 B2

MODE/SET

DATA/

CHARGE POWER

C N

SGDM-

SERVOPACK

200V

YASKAWA

+ 2

View A

SGDM SERVOPACK

Servomotor main circuit cable

Encoder cable

SGMCS Servomotor

Relay encoder cable extension *

* To be assembled by the customer.

2.4 Selecting Cables

• Encoder cable extension from 20 m up to 50 m

2-23

Page 60

2 Selections

CN2

SERVOPACK end Encoder end

SERVOPACK end

Encoder end

SERVOPACK end Encoder end

2.4.3 Cables for SGMCS Servomotors

Encoder Cables

* Applica-

ble for every type.

Servomotor main circuit cables and connectors

Name

Servomo-

tor Model

Cable with connectors on both ends (Same for incremental and absolute encoder)

Cable with loose wires at encoder end (Same for incremental and absolute encoder)

SERVOPACK-end Connector kit

Encoder-end Connector (Straight plug)

Encoder-end Connector (Socket contact)

Cables

Without Brakes (For smallcapacity se-

SGMCS-

B,C,D,E



ries)

Without Brakes (For middle-

SGMCS-M,N capacity series)

Servomotor-end Connector

Type

Length

3 m 5 m 10 m 15 m 20 m 3 m JZSP-CMP00-03 JZSP-CMP10-03 5 m JZSP-CMP00-05 JZSP-CMP10-05 10 m JZSP-CMP00-10 JZSP-CMP10-10 15 m JZSP-CMP00-15 JZSP-CMP10-15 20 m JZSP-CMP00-20 JZSP-CMP10-20 3 m 5 m 10 m 15 m 20 m

Standard type

JZSP-CMP60-03 JZSP-CSP60-03 JZSP-CMP60-05 JZSP-CSP60-05 JZSP-CMP60-10 JZSP-CSP60-10 JZSP-CMP60-15 JZSP-CSP60-15 JZSP-CMP60-20 JZSP-CSP60-20

JZSP-CMP03-03 JZSP-CMP13-03 JZSP-CMP03-05 JZSP-CMP13-05 JZSP-CMP03-10 JZSP-CMP13-10 JZSP-CMP03-15 JZSP-CMP13-15 JZSP-CMP03-20 JZSP-CMP13-20

Flexible

Type

JZSP-CMP9-1

JN1DS10SL1

JN1-22-22S-PKG100

5 m 10 m 15 m 20 m 3 m 5 m 10 m 15 m 20 m 3 m JZSP-CMM00-03 JZSP-CMM01-03 5 m JZSP-CMM00-05 JZSP-CMM01-05 10 m JZSP-CMM00-10 JZSP-CMM01-10 15 m JZSP-CMM00-15 JZSP-CMM01-15 20 m JZSP-CMM00-20 JZSP-CMM01-20

JZSP-CMP09-05 JZSP-CSP39-05 JZSP-CMP09-10 JZSP-CSP39-10 JZSP-CMP09-15 JZSP-CSP39-15

JZSP-CMP09-20 JZSP-CSP39-20 JZSP-CMM60-03 JZSP-CSM60-03 JZSP-CMM60-05 JZSP-CSM60-05 JZSP-CMM60-10 JZSP-CSM60-10 JZSP-CMM60-15 JZSP-CSM60-15 JZSP-CMM60-20 JZSP-CSM60-20

JN1DS04FK1

Specifications

Applicable flange

SERVOPACK

end

:1, 3

: 4

Encoder

end

Solder type

Crimping type

20 m max.

Applicable flange

: 1

: 4

Cables with connectors and cables/connector are not available.

Applicable flange*3:1, 3

Solder type

Refer-

ence

5.4.8

5.5.3

5.1.6

5.1.1

5.2.12

5.1.6

5.2.12

Cables

Relay Encoder Cables

2-24

Encoder-end (Same for incremental and absolute encoder)

SGMCSB,C,D,E

5 m 10 m 15 m 20 m

0.3 m

JZSP-CSM90-05 JZSP-CSM80-05

JZSP-CSM90-10 JZSP-CSM80-10

JZSP-CSM90-15 JZSP-CSM80-15

JZSP-CSM90-20 JZSP-CSM80-20

JZSP-CSP13

20 m max.

5.1.6

−

Page 61

2.4 Selecting Cables

Selections

Wires and Connectors for Relay Encoder Cable Extensions

Name

Wires and connectors for relay encoder cable extensions are available for assembly by the customer.

* 1. Use flexible cables for movable sections such as robot arms.

Refer to 5.6 Flexible Cables. * 2. Contact Japan Aviation Electronics Industry, Ltd. * 3. For applicable flanges, refer to 2.1.7 Model SGMCS.

Servomo-

tor Model

Length

30 m

40 m

50 m

Standard type

Type

JZSP-CMP19-30

JZSP-CMP19-40

JZSP-CMP19-50

Flexible

Type

50 m max.

Specifications

Refer-

ence

6.4.6

2-25

Page 62

2 Selections

Personal computer



Digital operator

Host controller

I/O signal cable



Connection cable for digital operator

Connection cable for personal computer

YASKAWA SERVOPACK

SGDM-

200V

L1C

C N 3

C N 1

C N

MODE/SET DATA/

CHARGE

POWER

CN3

CN1





CN5

CN8



Analog monitor cable



Battery for absolute encoder

CN1

CN3

Operator

end

SERVOPACK

end

2.5.1 Special Options

2.5 Selecting Peripheral Devices

2.5.1 Special Options

2-26

Name Length Type Specifications

Terminal block and 0.5 m connection cable

Connector terminal block converter unit

JUSP-TA50P

I/O Signal Cables

Cable with loose wires at one end

1 m JZSP-CKI01-1 Loose wires at host controller end 2 m JZSP-CKI01-2

3 m JZSP-CKI01-3

With connection cable (1 m)

d Digital Operator

Connection Cable for Digital Operator

* Order your cable from Yaskawa Controls Co., Ltd. in the following cases.

∗

•

When you need a longer cable than the one supplied with the digital operator.

•

When you need additional cables.

•

When you use the digital operator for the Σ-I series (model: JUSP-OP02A-1).

1 m JZSP-CMS00-1

1.5 m JZSP-CMS00-2

2 m JZSP-CMS00-3

JUSP-OP02A-2

Refer-

ence

5.8.4

5.7.1

5.8.2

Page 63

2.5 Selecting Peripheral Devices

Selections

CN3

Personal

computer end

SERVOPACK

end

Personal

computer end

SERVOPACK

end

Personal

computer end

SERVOPACK

end

CN5

SERVOPACK end

Monitor end

CN8

Name Length Type Specifications

Connection Cable for Personal Computer

Analog Monitor Cable

2 m JZSP-CMS01

2 m JZSP-CMS02

2 m JZSP-CMS03

1 m

JZSP-CA01 or DE9404559

JZSP-BA01

JZSP-BA01-1

Refer-

ence

D-Sub 25-pin (For PC98)

D-Sub 9-pin (For DOS/V)

5.8.1

Half-pitch 14-pin (For PC 98)

5.8.3

To mount in the SERVOPACK (30 W to 5.0 kW)

To mount in the SERVOPACK (6.0 kW to 15.0 kW)

Battery for Absolute Encoder

ER6VC3

To connect to a host controller (provided by a customer)

3.6 V 2000 mAh

, manufactured by Toshiba Battery Co., Ltd.

5.8.8

2-27

Page 64

2 Selections

IMPORTANT

2.5.2 Molded-case Circuit Breaker and Fuse Capacity

Current Capacity of the

Main Circuit Power

Supply

Singlephase 100 V

Singlephase 200 V

Threephase 200 V

SERVOPACK Model

Power Supply

Capacity per

SERVOPACK

Capacity

(kW)

SGDM-

(kVA)

0.03 A3BD, A3BDA 0.15

0.05 A5BD, A5BDA 0.25

0.10 01BD, 01BDA 0.40

0.20 02BD, 02BDA 0.60 6

0.03 A3AD, A3ADA 0.20

0.05 A5AD, A5ADA 0.25

0.10 01AD, 01ADA 0.40

0.20 02AD, 02ADA 0.75

0.40 04AD, 04ADA 1.2 8

0.45 05AD, 05ADA 1.4 4

0.75 08AD, 08ADA 1.9

1.0 10AD, 10ADA 2.3

1.5 15AD, 15ADA 3.2 10

2.0 20AD, 20ADA 4.3 13

3.0 30AD, 30ADA 5.9 17

5.0 50ADA 7.5 28 67A

6.0 60ADA 12.5 32

7.5 75ADA 15.5 41

11.0 1AADA 22.7 60

15.0 1EADA 30.9 81

* 1. Nominal value at the rated load. The specified derating is required to select an appropriate fuse

capacity. * 2. Cutoff characteristics (25°C): 300% five seconds min. and inrush current of 20 ms. * 3. Make sure the current capacity is accurate. For the SERVOPACK with the cooling fan built-in, an

inrush current flows; 200% of the current capacity in the table above for two seconds, when turning ON

the control circuit power supply to start the fan working. Note: Do not use a fast-acting fuse. Because the SERVOPACK’s power supply is a capacitor input type, a

fast-acting fuse may blow when the power is turned ON.

Molded-case Circuit Breaker

and the Fuse (A

Refer to 5.8.9

（

Main Circuit

Power Supply

rms

*1, *2

)

Inrush Current

）

Control Cir-

cuit Power

Supply

Main Circuit

Power Supply

0.26 32A 30A

0.13 63A 60A

118A

∗

0.15

63A

0.27

0.3

∗

40A

80A

Control Cir-

cuit Power

Supply

60A

2-28

The SGDM SERVOPACK does not include a protective grounding circuit. Install a ground-fault protector to protect the system against overload and short-circuit or protective grounding combined with the molded-case circuit breaker.

Page 65

2.5 Selecting Peripheral Devices

Selections

2.5.3 Noise Filters, Magnetic Conductors, Surge Absorbers and DC Reactors

Main Cir-

cuit Power

Supply

Singlephase 100 V

Singlephase 200 V

Threephase 200 V

SERVOPACK Model

Capacity

(kW)

0.03

0.05

0.10

0.20

0.03

0.05

0.10

0.20

0.40

0.45

0.75

1.0

1.5

2.0

3.0

5.0 50ADA

6.0 60ADA

7.5 75ADA

11.0 1AADA

15.0 1EADA

SGDM

A3BD,

A3BDA

A5BD,

A5BDA

01BD,

01BDA

02BD,

02BDA

A3AD,

A3ADA

A5AD,

A5ADA

01AD,

01ADA

02AD,

02ADA

04AD,

04ADA

05AD,

05ADA

08AD,

08ADA

10AD,

10ADA

15AD,

15ADA

20AD,

20ADA

30AD,

30ADA

Recommended Noise Filter

(Refer to 5.8.10.)

Type Specifications

FN2070-6/07

FN2070-10/07

FN2070-6/07

FN2070-10/07

FN258L-7/07

FN258L-16/07

FN258L-30/07

FMAC-0934-

5010

FMAC-0953-

6410

FS5559-150-35

Single-phase

250 VAC, 6 A

Single-phase

250 VAC, 10 A

Single-phase

250 VAC, 6 A

Single-phase

250 VAC, 10 A

Three-phase

480 VAC, 7 A

Three-phase

480 VAC, 16 A

Three-phase

480 VAC, 30 A

Three-phase

440 VAC, 50 A

Three-phase

440 VAC, 64 A

Three-phase

480 VAC, 150 A

Magnetic

Contactor

(Refer to

5.8.11.)

HI-11J

(20 A)

HI-11J

(20 A)

HI-11J

(20 A)

HI-15J

(35 A)

HI-20J

(35 A)

HI-25J

(50 A)

HI-35J

(65 A)

HI-50J

(75 A)

HI-65J

(100 A)

Surge Absorber

Surge

Suppressor

(Refer to

5.8.12.)

TU-25C120

TU-25C240

TU-65C240

Surge

Protector

(Refer to

5.8.13.)

xCxM

-601BQZ-4

xCxM

-601BQZ-4

xCxM

-601BUZ-4

Reactor

(Refer to

5.8.14.)

X5063

X5062

X5071

X5070

X5069

X5061

X5060

X5059

X5068

Note: 1. If some SERVOPACKs are wired at the same time, select the proper magnetic contactors according to the

total capacity.

2. The following table shows the manufacturers of each device.

Peripheral Device Manufacturer

Noise Filter

Magnetic Contactor Yaskawa Controls Co., Ltd.

Surge Absorber

DC Reactor Yaskawa Controls Co., Ltd.

FN, FS type: Schaffner Electronic FMAC type: SCHURTER (formerly Timonta AG)

Yaskawa Controls Co., Ltd. (Sold as surge suppressor) Okaya Electric Industries Co., Ltd. (Sold as surge protector)

2-29

Page 66

2 Selections

2.5.4 Regenerative Resistors and Brake Power Supply Units

Regenerative Resistor

(Refer to 5.8.6, 5.8.7, and 6.5.)

(Ω)

Built-in

Capacity

(W)

Externally

connected

−−

Brake Power Supply

(Refer to 5.8.5.)

24 VDC brake (provided by a customer)

90 VDC brake

−

• LPDE-1H01 for 100 VAC input

• LPSE-2H01 for 200 VAC input

Main Circuit

Power Supply

Single-phase 100 V

Single-phase 200 V

SERVOPACK Model

Capacity

(kW)

SGDM-

0.03 A3BD, A3BDA

0.05 A5BD, A5BDA

0.10 01BD, 01BDA

0.20 02BD, 02BDA

0.03 A3AD, A3ADA

0.05 A5AD, A5ADA

0.10 01AD, 01ADA

0.20 02AD, 02ADA

Resistance

0.40 04AD, 04ADA

0.45 05AD, 05ADA

0.75 08AD, 08ADA

50 60

1.0 10AD, 10ADA

1.5 15AD, 15ADA 30 70

−

2.0 20AD, 20ADA 25 140

Three-phase 200 V

3.0 30AD, 30ADA 12.5 140

5.0 50ADA 8 280

6.0 60ADA

(6.25

）

∗

(880)

∗

JUSP-RA04

7.5 75ADA (3.13)

∗

(1760)

∗

JUSP-RA0511.0 1AADA

15.0 1EADA

* 1. For the optional JUSP-RA04 Regenerative Resistor Unit. * 2. For the optional JUSP-RA05 Regenerative Resistor Unit. * 3. Be careful when connecting the power supply for 24 VDC brake to the local power supply. The local power

supply cannot apply the overvoltage such as surge to the output side, and the output side may be damaged even if the voltage is applied. Never fail to use the surge absorber.

Unit

∗

Note: 1. If the SERVOPACK cannot process the regenerative power, an external regenerative resistor is required.

Refer to 5.8.6 External Regenerative Resistor, 5.8.7 Regenerative Resistor Unit, and 6.5 Connecting Regen- erative Resistors.

2. The following table shows the manufacturers of each device.

Peripheral Device Manufacturer External Regenerative Resistor Iwaki Wireless Research Institute External Regenerative Unit Yaskawa Electric Corporation Brake Power Supply Unit Yaskawa Controls Co., Ltd.

2-30

Page 67

3

Servomotor Specifications and Dimensional Drawings

Servomotor Specifications and Dimensional

Drawings

3.1 Ratings and Specifications of SGMAH (3000 min-1) - - - - - - - - - - - - - - - -3-4

3.1.1 SGMAH Servomotors Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4

3.1.2 SGMAH Servomotors With Standard Backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - 3-6

3.1.3 SGMAH Servomotors With Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8

3.2 Ratings and Specifications of SGMPH (3000 min-1) - - - - - - - - - - - - - - - - 3-10

3.2.1 SGMPH Servomotors Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10

3.2.2 SGMPH Servomotors With Standard Backlash Gears - - - - - - - - - - - - - - - - - - - - - - - 3-13

3.2.3 SGMPH Servomotors With Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14

3.3 Ratings and Specifications of SGMGH (1500 min-1) - - - - - - - - - - - - - - - - 3-15

3.3.1 SGMGH Servomotors (1500 min-1) Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - 3-15

3.3.2 SGMGH Servomotors (1500 min-1) With Standard Backlash Gears - - - - - - - - - - - - - 3-18

3.3.3 SGMGH Servomotors (1500 min-1) With Low-backlash Gears - - - - - - - - - - - - - - - - - 3-20

3.4 Ratings and Specifications of SGMGH (1000 min-1) - - - - - - - - - - - - - - - - 3-22

3.4.1 SGMGH Servomotors (1000 min-1) Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - 3-22

3.4.2 SGMGH servomotors (1000 min-1) With Standard Backlash Gears - - - - - - - - - - - - - 3-24

-1

3.4.3 SGMGH Servomotors (1000 min

) With Low-backlash Gears - - - - - - - - - - - - - - - - - 3-26

3.5 Ratings and Specifications of SGMSH (3000 min-1) - - - - - - - - - - - - - - - - 3-27

3.5.1 SGMSH Servomotors (3000 min-1) Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - 3-27

3.5.2 SGMSH Servomotors (3000 min

-1

) With Low-backlash Gears - - - - - - - - - - - - - - - - - 3-29

3.6 Ratings and Specifications of SGMDH (2000 min-1) - - - - - - - - - - - - - - - - 3-31

3.6.1 SGMDH Servomotors (2000 min-1) With Holding Brakes - - - - - - - - - - - - - - - - - - - - - 3-31

3.7 Ratings and Specifications of SGMCS Servomotors - - - - - - - - - - - - - - - - 3-33

3.7.1 Small-capacity Series SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-33

3.7.2 Middle-capacity Series SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-36

3.8 Mechanical Specifications of SGMAH, SGMPH, SGMGH, SGMSH, and SGMDH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-38

3.8.1 Precautions on Servomotor Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-38

3.8.2 Mechanical Tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-39

3.8.3 Direction of Servomotor Rotation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-39

3.8.4 Impact Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-40

3.8.5 Vibration Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-40

3.8.6 Vibration Class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-40

3-1

Page 68

3 Servomotor Specifications and Dimensional Drawings

3.9 Mechanical Specifications of SGMCS Servomotors - - - - - - - - - - - - - - - - 3-41

3.9.1 Allowable Loads - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-41

3.9.2 Mechanical Tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-42

3.9.3 Direction of Servomotor Rotation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-42

3.9.4 Impact Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-43

3.9.5 Vibration Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-43

3.9.6 Vibration Class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-43

3.9.7 Enclosure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-43

3.9.8 Heating Conditions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-43

3.10 Terms and Data for Servomotors With Gears - - - - - - - - - - - - - - - - - - - - 3-44

3.11 Servomotor Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-46

3.12 Dimensional Drawings of SGMAH Servomotors (3000 min

3.12.1 SGMAH Servomotors (3000 min-1) Without Gears - - - - - - - - - - - - - - - - - - - - - - - - -3-47

3.12.2 SGMAH Servomotors (3000 min

3.12.3 SGMAH Servomotors (3000 min

3.12.4 SGMAH Servomotors (3000 min-1) With Standard Backlash Gears and Brakes - - - -3-57

3.12.5 SGMAH Servomotors (3000 min-1) With Low-backlash Gears - - - - - - - - - - - - - - - - -3-62

-1

) - - - - - - - - 3-47

-1

) Without Gears and With Brakes - - - - - - - - - - - -3-50

-1

) With Standard Backlash Gears - - - - - - - - - - - - -3-53

3.13 Dimensional Drawings of SGMPH Servomotors (3000 min-1) - - - - - - - - 3-66

3.13.1 SGMPH Servomotors (3000 min-1) Without Gears and Brakes - - - - - - - - - - - - - - - -3-66

3.13.2 SGMPH Servomotors (3000 min-1) With Brakes - - - - - - - - - - - - - - - - - - - - - - - - - -3-68

3.13.3 SGMPH Servomotors (3000 min-1) With Standard Backlash Gears and Without Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-70

3.13.4 SGMPH Servomotors (3000 min

3.13.5 SGMPH Servomotors (3000 min-1) With Low-backlash Gears - - - - - - - - - - - - - - - - -3-76

-1

) With Standard Backlash Gears and Brakes - - - -3-73

3.14 Dimensional Drawing of Output Shafts With Oil Seals for SGMAH and SGMPH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-79

3.14.1 SGMAH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-79

3.14.2 SGMPH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-79

3.15 Dimensional Drawings of SGMGH Servomotors (1500 min-1) - - - - - - - - 3-80

3.15.1 SGMGH Servomotors (1500 min-1) Without Gears and Brakes - - - - - - - - - - - - - - - -3-80

3.15.2 SGMGH Servomotors (1500 min-1) 200-V Specifications Without Gears and With Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-82

3.15.3 SGMGH Servomotors (1500 min Without Brakes (Foot-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-84

3.15.4 SGMGH Servomotors (1500 min Without Brakes (Flange-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-89

3.15.5 SGMGH Servomotors (1500 min Brakes (Flange-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-95

-1

) With Standard Backlash Gears and

-1

) With Standard Backlash Gears and

-1

) With Low-backlash Gears and Without

3-2

3.16 Dimensional Drawings of SGMGH Servomotors (1000 min-1) - - - - - - - - 3-98

3.16.1 SGMGH Servomotors (1000 min-1) Without Gears and Brakes - - - - - - - - - - - - - - - -3-98

3.16.2 SGMGH Servomotors (1000 min-1) Without Gears and With Brakes - - - - - - - - - - - 3-100

-1

3.16.3 SGMGH Servomotors (1000 min Without Brakes (Foot-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-103

3.16.4 SGMGH Servomotors (1000 min Without Brakes (Flange-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-108

3.16.5 SGMGH Servomotors (1000 min Brakes (Flange-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-113

) With Standard Backlash Gears and

-1

) With Standard Backlash Gears and

-1

) With Low-backlash Gears and Without

Page 69

Servomotor Specifications and Dimensional Drawings

3.17 Dimensional Drawings of SGMSH Servomotors (3000 min-1) - - - - - - - 3-116

3.17.1 SGMSH Servomotors (3000 min-1) Without Gears and Without Brakes - - - - - - - - 3-116

3.17.2 SGMSH Servomotors (3000 min-1) 200-V Specifications Without Gears and With Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-118

3.17.3 SGMSH Servomotors (3000 min Brakes (Flange-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-120

-1

) With Low-backlash Gears and Without

3.18 Dimensional Drawings of SGMDH Servomotors (2000 min-1) - - - - - - - 3-124

3.18.1 SGMDH Servomotors (2000 min-1) Without Gears and With/Without Brakes - - - - - 3-124

3.19 Dimensional Drawings of SGMCS Servomotors - - - - - - - - - - - - - - - - - 3-126

3.19.1 SGMCS Servomotors φ135 Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-126

3.19.2 SGMCS Servomotors φ175 Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-127

3.19.3 SGMCS Servomotors φ230 Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-128

3.19.4 SGMCS Servomotors φ290 Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-129

3.19.5 SGMCS Servomotors φ280 Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-130

3.19.6 SGMCS Servomotors φ360 Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-131

3.20 Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-135

3.20.1 SGMGH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-136

3.20.2 SGMSH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-137

3.20.3 SGMDH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-138

3-3

Page 70

3 Servomotor Specifications and Dimensional Drawings

3.1.1 SGMAH Servomotors Without Gears

3.1 Ratings and Specifications of SGMAH (3000 min-1)

3.1.1 SGMAH Servomotors Without Gears

(1) Ratings and Specifications

• Time Rating: Continuous

• Vibration Class: 15 μm or below

• Insulation Resistance: 500 VDC, 10 M Ω min.

• Surrounding Air Temperature: 0 to 40°C

• Excitation: Permanent magnet

• Mounting: Flange-mounted

• Thermal Class: B

• Withstand Voltage: 100 V, 200 V Servomotors: 1500 VAC for one minute

• Enclosure: Totally enclosed, self-cooled, IP55 (except for shaft opening)

• Ambient Humidity: 20% to 80% (no condensation)

• Drive Method: Direct drive

Voltage 100 V 200 V

Servomotor Model SGMAH- A3B A5B 01B 02B A3A A5A 01A 02A 04A 08A

Rated Output

Rated Torque

∗1

∗1,∗2

Instantaneous Peak Torque

Rated Current

∗1

Instantaneous Max. Current

Rated Speed

Max. Speed

∗1

Torque Constant Rotor Moment of

Inertia J Rated Power Rate

∗1

Rated Angular Acceleration

∗1

N·m

rms

-1

min

-1

min N·m/A

-4

x10

kW/s

rad/s

rms

kg·m

0.03 0.05 0.1 0.2 0.03 0.05 0.1 0.2 0.4 0.75

0.0955 0.159 0.318 0.637 0.0955 0.159 0.318 0.637 1.27 2.39

0.286 0.477 0.955 1.91 0.286 0.477 0.955 1.91 3.82 7.16

0.66 0.95 2.4 3.0 0.44 0.64 0.91 2.1 2.8 4.4

2.0 2.9 7.2 9.0 1.3 2.0 2.8 6.5 8.5 13.4

3000

5000

0.157 0.182 0.146 0.234 0.238 0.268 0.378 0.327 0.498 0.590

0.0166 0.0220 0.0364 0.106 0.0166 0.0220 0.0364 0.106 0.173 0.672

5.49 11.5 27.8 38.2 5.49 11.5 27.8 38.2 93.7 84.8

57500 72300 87400 60100 57500 72300 87400 60100 73600 35500

* 1. These items and torque-motor speed characteristics quoted in combination with an SGDM SERVO-

PACK are at an armature winding temperature of 100°C. Other values quoted at 20°C. All values are typical.

* 2. Rated torques are continuous allowable torque values at 40°C with an 250 × 250 × 6 (mm) aluminum

plate (heat sink) attached.

3-4

Page 71

3.1 Ratings and Specifications of SGMAH (3000 min-1)

Servomotor Specifications and Dimensional Drawings

SGMAH-A3B SGMAH-A5B

SGMAH-01B SGMAH-02B

AB A B

AB AB

1000

2000

3000

4000

5000

0 0.1 0.2 0.3 0.4

1000

2000

3000

4000

5000

0 0.15 0.3 0.45 0.6

1000

2000

3000

4000

5000

0 0.25 0.5 0.75 1

1000

2000

3000

4000

5000

0 0.5 1 1.5 2

(min

-1

) (min-1)

(min

-1

) (min-1)

Torque (N

Torque



Torque



Torque



Motor speed

Motor

speed

Motor speed

Motor

speed

SGMAH-A3A SGMAH-A5A

SGMAH-01A SGMAH-02A

1000

2000

3000

4000

5000

0 0.1 0.2 0.3 0.4

1000

2000

3000

4000

5000

0 0.15 0.3 0.45 0.6

1000

2000

3000

4000

5000

0 0.25 0.5 0.75 1

1000

2000

3000

4000

5000

0 0.5 1 1.5 2

AB A B

AB AB

SGMAH-04A SGMAH-08A

1000

2000

3000

4000

5000

01234

1000

2000

3000

4000

5000

02468

Torque (N

Torque



Torque



Torque



(min

-1

)

(min

-1

)

(min

-1

)

(min

-1

)

Torque (Nm)

Torque (N



(min-1)

(min

-1

)

㧦Continuous Duty Zone

㧦Intermittent Duty Zone

Motor speed

Motor

speed

Motor

speed

Motor speed

(2) Holding Brake Moment of Inertia

The moment of inertia of the servomotor with holding brake is expressed using the following equation. (The moment of inertia of the servomotor with holding brake) = (rotor moment of inertia) +

(brake moment of inertia)

Servomotor Model

SGMAH-

Holding Brake Moment of Inertia J

×10

-4

kgxm

A3A

A5A

01A

02A

A3B

A5B

01B

02B

0.0085 0.058 0.14

04A 08A

(3) Derating Rate for Servomotor With Oil Seal

For a motor with oil seal, use the following derating rate because of the higher friction torque.

Servomotor Model

SGMAH-

Derating Rate (%)

A3A

A5A

01A

02A

A3B

A5B

01B

02B

04A 08A

70 80 90 95

(4) Torque-motor Speed Characteristics

(a) 100-V Class

(b) 200-V Class

3-5

Page 72

3 Servomotor Specifications and Dimensional Drawings

3.1.2 SGMAH Servomotors With Standard Backlash Gears

(5) Holding Brake Electrical Specifications

Holding Brake Rated Voltage

90 VDC

24 VDC

Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor.

Servomotor

Model

SGMAH-A3 30 6 0.0955 1350 0.067 SGMAH-A5 50 6 0.159 1350 0.067 SGMAH-01 100 6 0.318 1350 0.067 SGMAH-02 200 7.4 0.637 1095 0.082 SGMAH-04 400 7.4 1.27 1095 0.082 SGMAH-08 750 9 2.39 900 0.1 SGMAH-A3 30 6 0.0955 96 0.25 SGMAH-A5 50 6 0.159 96 0.25 SGMAH-01 100 6 0.318 96 0.25 SGMAH-02 200 6.5 0.637 89 0.27 SGMAH-04 400 6.5 1.27 89 0.27 SGMAH-08 750 7.7 2.39 75.2 0.32

Servomotor

Capacity

Holding Brake Specifications

Holding

To rq u e

3.1.2 SGMAH Servomotors With Standard Backlash Gears

• Time Rating: Continuous • Thermal Class: B

• Vibration Class: 15 μm or below • Withstand Voltage: 100 V, 200 V Servomotors: 1500 VAC for one minute

• Insulation Resistance: 500 VDC, 10 MΩ min. • Enclosure: Totally enclosed, self-cooled, IP55 (except for shaft opening)

• Surrounding Air Temperature: 0 to 40°C • Ambient Humidity: 20% to 80% (no condensation)

• Excitation: Permanent magnet • Drive Method: Direct drive

• Mounting: Flange-mounted • Backlash: 15 to 20 min max.

• Gear Mechanism: Planetary gear mechanism • Gear Rotation Direction: Same direction as servomotor

Coil

Resistance

Ω (at 20°C)

Rated

Current

A (at 20°C)

3-6

Page 73

3.1 Ratings and Specifications of SGMAH (3000 min-1)

Servomotor Specifications and Dimensional Drawings

gear ratio

( )

IMPORTANT

Servomotor

Model

SGMAH-

A3AJ1 A3AJ3 A3AJC A3AJ7 A5AJ1 A5AJ3 A5AJC A5AJ7 01AJ1 01AJ3 01AJC 01AJ7 02AJ1 02AJ3 02AJC 02AJ7 04AAJ1 04AAJ3 04AAJC 04AAJ7 08AAJ1 08AAJ3 08AAJC 08AAJ7

Servomotor Gear Output

Out-

put

Rated

Speed

-1

min

Rated

Torque

Nxm

Gear

Ratio

Rated

Torque/

Effi-

ciency

N·m/%

∗

Instanta-

neous

Peak

To rq u e

N·m

1/5 0.238/50 1.16 600 800 0.044 0.028

0.0955

3/31 0.687/70 2.37 290 387 0.033 0.016 1/21 1.60/80 5.48 143 190 0.023 0.007 1/33 2.51/80 8.61 91 121 0.021 0.005

1/5 0.557/70 1.92 600 800 0.050 0.028

50 0.159

3/31 1.15/70 3.95 290 387 0.040 0.018 1/21 2.67/80 9.07 143 190 0.036 0.014 1/33 4.20/80 14.3 91 121 0.032 0.010

1/5 1.27/80 4.32 600 800 0.099 0.063

100 0.318

3000

200 0.637

3/31 2.63/80 8.88 290 387 0.054 0.018 1/21 5.34/80 18.1 143 190 0.071 0.035 1/33 8.40/80 28.4 91 121 0.057 0.021

1/5 2.55/80 8.60 600 800 0.299 0.193 3/31 5.27/80 17.8 290 387 0.196 0.090 1/21 10.7/80 36.1 143 190 0.211 0.105 1/33 16.8/80 56.7 91 121 0.181 0.075

1/5 5.08/80 17.2 600 800 0.366 0.193

400 1.27

3/31 10.5/80 35.5 290 387 0.353 0.180 1/21

21.3/80 72.2 143 190 0.403 0.230

1/33 33.5/80 113.0 91 121 0.338 0.165

1/5 9.56/80 32 600 800 1.12 0.450

750 2.39

3/31 19.8/80 66.6 290 387 1.10 0.425 1/21 40.2/80 134 143 190 1.15 0.475 1/33 63.1/80 213 91 121 0.972 0.300

* 1. Maximum motor speed is up to 4000 min

-1

at the shaft.

* 2. Gear output torque is expressed using the following equation.

Rated

Speed

-1

min

Max.

Speed

min

Moment of Inertia J

-4

kg·m

Gears

×10

Motor +

∗1

-1

Gears

(Gear output torque) = (servomotor output torque) × × (efficiency)

The no-load torque for a servomotor with gears is high immediately after the servomotor starts, and it then decreases and becomes stable a few minutes later. This is a common phenomenon caused by grease being circulated in the gear and not by a faulty gear. The speed control range of SERVOPACKs in the Σ-II series is 1:5000. When using servomotors at

extremely low speeds (for example, 0.02 min with one pulse feed reference for extended periods and in other situations that are less than optimum, the lubrication of the gear bearing may be insufficient. This may cause deterioration of the bearing or increase the load ratio.

Contact your Yaskawa representative if you are using your servomotor under such conditions.

-1

max. at the gear output shaft) or when using servomotors

3-7

Page 74

3 Servomotor Specifications and Dimensional Drawings

gear ratio

( )

3.1.3 SGMAH Servomotors With Low-backlash Gears

• Time Rating: Continuous • Thermal Class: B

• Vibration Class: 15 μm or below • Withstand Voltage: 100V, 200V Servomotors: 1500 VAC for one minute

• Insulation Resistance: 500 VDC, 10 MΩ min. • Enclosure: Totally enclosed, self-cooled, IP55 (except for shaft opening)

• Surrounding Air Temperature: 0 to 40°C • Ambient Humidity: 20% to 80% (no condensation)

• Excitation: Permanent magnet • Drive Method: Direct drive

• Mounting: Flange-mounted • Backlash: 3 min max.

• Gear Mechanism: Planetary gear mechanism • Gear Rotation Direction: Same direction as servomotor

Servomotor

Model

SGMAH-

A3AH1 A3AH2 A3AHC A3AH7 A5AH1 A5AH2 A5AHC A5AH7 01AH1 01AHB 01AHC 01AH7 02AH1 02AHB 02AHC 02AH7 04AAH1 04AAHB 04AAHC 04AAH7 08AAH1 08AAHB 08AAHC 08AAH7

Servomotor Gear Output

Rated

Speed

min

Rated

To rq u e

-1

Nxm

0.0955

Out-

put

50 0.159

100 0.318

3000

200 0.637

400 1.27

750 2.39

Moment of Inertia J

-4

kg·m

Gears

Gear Ratio

Rated

Torque/Effi-

∗

ciency

N·m/%

Instanta-

neous

Peak

To rq u e

N·m

Rated

Speed

-1

min

Max.

Speed

min

×10

Motor +

∗1

Gears

-1

1/5 0.238/50 1.16 600 800 0.053 0.036

1/9 0.599/70 2.35 333 444 0.029 0.013 1/21 1.60/80 5.48 143 190 0.025 0.008 1/33 2.51/80 8.61 91 121 0.023 0.006

1/5 0.557/70 1.92 600 800 0.058 0.036

1/9 1.00/70 3.89 333 444 0.055 0.033 1/21 2.67/80 9.12 143 190 0.040 0.018 1/33 4.20/80 14.3 91 121 0.035 0.013

1/5 1.27/80 4.34 600 800 0.114 0.078 1/11 2.80/80 9.55 273 363 0.084 0.048 1/21 5.34/80 18.2 143 190 0.079 0.043 1/33 8.40/80

28.7

∗3

91 121 0.069 0.033

1/5 2.55/80 8.4 600 800 0.441 0.335 1/11 5.96/85 19.3 273 363 0.191 0.085 1/21 11.4/85 37.3 143 190 0.216 0.110 1/33 17.9/85

58.6

∗3

91 121 0.171 0.065

1/5 5.4/85 17.6 600 800 0.508 0.335 1/11 11.9/85 39.1 273 363 0.368 0.195 1/21 22.7/85 72.2 143 190 0.368 0.195 1/33 33.5/80

115

∗3

91 121 0.346 0.173

1/5 10.2/85 33.3 600 800 1.25 0.583 1/11 22.3/85

∗3

273 363 1.20 0.528 1/21 42.7/85 140 143 190 1.26 0.593 1/33 67/85

206

∗3

91 121 0.935 0.263

3-8

* 1. Maximum motor speed is up to 4000 min-1 at the shaft. * 2. Gear output torque is expressed using the following equation.

(Gear output torque) = (servomotor output torque) × × (efficiency)

* 3. The instantaneous peak torque values indicated with ∗3 are limited by the gear, so use the following

servomotor instantaneous peak torque. In this case, set torque limit parameters Pn402 and 403 for the SERVOPACK at 250%.

Page 75

3.1 Ratings and Specifications of SGMAH (3000 min-1)

Servomotor Specifications and Dimensional Drawings

IMPORTANT

-1

max. at the gear output shaft) or when using servomotors

3-9

Page 76

3 Servomotor Specifications and Dimensional Drawings

3.2.1 SGMPH Servomotors Without Gears

3.2 Ratings and Specifications of SGMPH (3000 min-1)

3.2.1 SGMPH Servomotors Without Gears

(1) Ratings and Specifications

• Time Rating: Continuous • Thermal Class: B

• Vibration Class: 15 μm or below • Withstand Voltage: 100 V, 200 V Servomotors: 1500 VAC for one minute

• Insulation Resistance: 500 VDC, 10 MΩ min. • Enclosure: Totally enclosed, self-cooled, IP55 (except for shaft opening)

• Surrounding Air Temperature: 0 to 40°C • Ambient Humidity: 20% to 80% (no condensation)

• Excitation: Permanent magnet • Drive Method: Direct drive

• Mounting: Flange-mounted

Voltage 100 V 200 V

Servomotor Model

SGMPH-

Rated Output

Rated Torque

∗1

∗1,∗2

Instantaneous Peak Torque

Rated Current

∗1

Instantaneous Max. Current

Rated Speed

Max. Speed

∗1

Torque Constant

Rotor Moment of Inertia J

Rated Power Rate

∗1

Rated Angular Acceleration ∗1rad/s

N·m

∗1

N·m A

rms

∗1

rms

-1

min

-1

min N·m/A

rms

-4

kg·m

x10 kW/s

* 1. These items and torque-motor speed characteristics quoted in combination with an SGDM SERVO-

PACK are at an armature winding temperature of 100°C. Other values quoted at 20°C. All values are typical.

* 2. Rated torques are continuous allowable torque values at 40°C with an alminum plate (heat sink)

attached. Heat sink dimensions: SGMPH-01, 02, and 04: 250 × 250 × 6 (mm) SGMPH-08, and 15: 300 × 300 × 12 (mm)

01B 02B 01A 02A 04A 08A 15A

0.1 0.2 0.1 0.2 0.4 0.75 1.5

0.318 0.637 0.318 0.637 1.27 2.39 4.77

0.955 1.91 0.955 1.91 3.82 7.16 14.3

2.2 2.7 0.89 2.0 2.6 4.1 7.5

7.1 8.4 2.8 6.0 8.0 13.9 23.0

3000

5000

0.160 0.258 0.392 0.349 0.535 0.641 0.687

0.0491 0.193 0.0491 0.193 0.331 2.10 4.02

20.6 21.0 20.6 21.0 49.0 27.1 56.7

64800 33000 64800 33000 38500 11400 11900

3-10

Page 77

3.2 Ratings and Specifications of SGMPH (3000 min-1)

Servomotor Specifications and Dimensional Drawings

SGMPH-01B SGMPH-02B

AB AB

1000

2000

3000

4000

5000

0 0.25 0.5 0.75 1

1000

2000

3000

4000

5000

0 0.5 0.1 1.5 2

Torque (Nm)

(min

-1

)

(min

-1

)

Motor speed

Motor

speed

SGMPH-01A

SGMPH-02A

SGMPH-04A SGMPH-08A

1000

2000

3000

4000

5000

0 0.25 0.5 0.75 1

1000

2000

3000

4000

5000

0 0.5 1 1.5 2

1000

2000

3000

4000

5000

01234

1000

2000

3000

4000

5000

02468

AB A B

AB AB

SGMPH-15A

1000

2000

3000

4000

5000

0 4 8 12 16

Torque (Nm)Torque (Nm)

(min

-1

)

Torque (Nm)

: Continuous Duty Zone

: Intermittent Duty Zone

Torque (Nm)

(min

-1

) (min-1)

(min

-1

)

(min

-1

)

Motor

speed

Motor

speed

Motor

speed

Motor speed

(2) Holding Brake Moment of Inertia

The moment of inertia of the servomotor with holding brake is expressed using the following equation. (The moment of inertia of the servomotor with holding brake) =

(rotor moment of inertia) + (brake moment inertia)

Servomotor Model

SGMPH-

Holding Brake Moment of Inertia J

×10

-4

kgxm

01A 01B

02A 02B

04A 08A 15A

0.029 0.109 0.875

(3) Derating Rate for Servomotor With Oil Seal

For a motor with oil seal, use the following derating rate because of the higher friction torque.

Servomotor Model

SGMPH-

Derating Rate (%)

01A 01B

02A 02B

90 95

04A 08A 15A

(4) Torque-motor Speed Characteristics

(a) 100-V Class

(b) 200-V Class

3-11

Page 78

3 Servomotor Specifications and Dimensional Drawings

3.2.1 SGMPH Servomotors Without Gears

(5) Holding Brake Electrical Specifications

Holding

Brake Rated

Voltage

90 VDC

24 VDC

Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor.

Servomotor

Model

SGMPH-01 100 8.1 0.318 1000 0.09 SGMPH-02 200 7.6 0.637 1062 0.085 SGMPH-04 400 7.2 1.27 1125 0.08 SGMPH-08 750 7.5 2.39 1083 0.083 SGMPH-15 1500 10 4.77 832 0.108 SGMPH-01 100 6 0.318 114 0.25 SGMPH-02 200 5 0.637 115 0.21 SGMPH-04 400 7.6 1.27 76 0.32 SGMPH-08 750 7.5 2.39 76.8 0.31 SGMPH-15 1500 10 4.77 57.6 0.42

Servomotor

Capacity

Holding Brake Specifications

Holding

To rq u e

N·m

Coil

Resistance

Ω (at 20 °C)

Rated

Current

A (at 20 °C)

3-12

Page 79

3.2 Ratings and Specifications of SGMPH (3000 min-1)

Servomotor Specifications and Dimensional Drawings

gear ratio

( )

IMPORTANT

3.2.2 SGMPH Servomotors With Standard Backlash Gears

• Time Rating: Continuous • Thermal Class: B

• Vibration Class: 15 μm or below • Withstand Voltage: 100V, 200V Servomotors: 1500 VAC for one minute

• Insulation Resistance: 500 VDC, 10 MΩ min. • Enclosure: Totally enclosed, self-cooled, IP55 (except for shaft opening)

• Surrounding Air Temperature: 0 to 40°C • Ambient Humidity: 20% to 80% (no condensation)

• Excitation: Permanent magnet • Drive Method: Direct drive

• Mounting: Flange-mounted • Backlash: 15 min max.

• Gear Mechanism: Planetary gear mechanism • Gear Rotation Direction: Same direction as servomotor

Servomotor

Model

SGMPH-

01J1 01J3 01JC 01J7 02J1 02J3 02JC 02J7 04J1 04J3 04JC 04J7 08J1 08J3 08JC 08J7 15J1 15J3 15

JC

15J7

* 1. Maximum motor speed is up to 4000 min-1 at the shaft. * 2. Gear output torque is expressed using the following equation.

Servomotor Gear Output

Rated

Speed

-1

min

Rated

To rq u e

Nxm

0.318

Out-

put

100

200 0.637

400 1.27

3000

750 2.39

1500 4.77

Moment of Inertia J

-4

kg·m

Gears

Gear Ratio

Rated

Torque/

Effi-

ciency

N·m/%

∗

Instanta-

neous

Peak

Torque

N·m

Rated

Speed

-1

min

Max.

Speed

min

×10

Motor +

∗1

Gears

-1

1/5 1.27/80 4.32 600 800 0.112 0.063 3/31 2.63/80 8.88 290 387 0.067 0.018 1/21 5.34/80 18.1 143 190 0.084 0.035 1/33 8.40/80 28.4 91 121 0.070 0.021

1/5 2.55/80 8.6 600 800 0.386 0.193 3/31 5.27/80 17.8 290 387 0.283 0.090 1/21 10.7/80 36.1 143 190 0.298 0.105 1/33 16.8/80 56.7 91 121 0.268 0.075

1/5 5.08/80 17.2 600 800 0.524 0.193 3/31 10.5/80 35.5 290 387 0.511 0.180 1/21 21.3/80 72.2 143 190 0.561 0.230 1/33 33.5/80 113 91 121 0.496 0.165

1/5 9.56/80 32 600 800 2.55 0.450 3/31 19.8/80 66.6 290 387 2.53 0.425 1/21 40.2/80 134 143 190 2.58 0.475 1/33 63.1/80 213 91 121 2.4 0.300

1/5 19.1/80 64.4 600 800 4.97 0.950 1/11 42.5/80 144 269 359 5.27 1.250 1/21 80.1

/80 270 143 190 5.33 1.300

1/33 126/80 425 91 121 4.82 0.800

(Gear output torque) = (servomotor output torque) × × (efficiency)

The speed control range of SERVOPACKs in the Σ-II series is 1:5000. When using servomotors at extremely low speeds (for example, 0.02 min

with one pulse feed reference for extended periods and in other situations that are less than optimum, the lubrication of the gear bearing may be insufficient. This may cause deterioration of the bearing or increase the load ratio.

Contact your Yaskawa representative if you are using your servomotor under such conditions.

-1

max. at the gear output shaft) or when using servomotors

3-13

Page 80

3 Servomotor Specifications and Dimensional Drawings

gear ratio

( )

IMPORTANT

3.2.3 SGMPH Servomotors With Low-backlash Gears

Servomotor

Model

SGMPH-

01H1 01HB 01HC 01H7 02H1 02HB 02HC 02H7 04H1 04HB 04HC 04H7 08H1 08HB 08HC 08H7 15H1 15HB 15GC 15G7

* 1. Maximum motor speed is up to 4000 min-1 at the shaft. * 2. Gear output torque is expressed using the following equation.

• Time Rating: Continuous

• Vibration Class: 15 μm or below

• Insulation Resistance: 500 VDC, 10 MΩ min.

• Surrounding Air Temperature: 0 to 40°C

• Excitation: Permanent magnet

• Mounting: Flange-mounted

• Gear Mechanism: Planetary gear mechanism

Servomotor Gear Output

Rated

Speed

min

Rated

To rq u e

-1

Nxm

Gear Ratio

Out-

put

1/5 1.27/80 4.34 600 800 0.142 0.093

100

0.318

1/11 2.80/80 9.55 273 363 0.097 0.048 1/21 5.34/80 18.2 143 190 0.092 0.043 1/33 8.40/80

1/5 2.55/80 8.4 600 800 0.553 0.360

200 0.637

1/11 5.96/85 19.3 273 363 0.281 0.088 1/21 11.4/85 37.3 143 190 0.303 0.110

1/33 17.9/85

1/5 5.4/85 17.6 600 800 0.691 0.360

400 1.27

3000

1/11 11.9/85 1/21 22.7/85 72.2 143 190 0.526 0.195 1/33 33.5/80

1/5 10.2/85 33.3 600 800 2.87 0.765

750 2.39

1/11 22.3/85 1/21 42.7/85 140 143 190 2.76 0.663 1/33 67/85

1/5 20.3/85 65.9 600 800 5.56 1.54

1500 4.77

1/11 44.6/85 148 273 363 6.11 2.09 1/21 80.1/80 270 143 190 6.00 1.98

1/33 126/80

• Thermal Class: B

• Withstand Voltage: 100V, 200V Servomotors: 1500 VAC for one minute

• Enclosure: Totally enclosed, self-cooled, IP55 (except for shaft opening)

• Ambient Humidity: 20% to 80% (no condensation)

• Drive Method: Direct drive

• Backlash: 3 min max.

• Gear Rotation Direction: Same direction as servomotor

Rated

Torque/Effi-

ciency

N·m/%

∗

Instanta-

neous

Peak

To rq u e

N·m

∗3

28.7

∗3

58.6

∗3

39.1

∗3

115

∗3

206

∗3

353

Rated

Speed

-1

min

Max.

Speed

min

∗1

-1

91 121 0.082 0.033

91 121 0.258 0.065

273 363 0.526 0.195

91 121 0.504 0.172

273 363 2.62 0.523

91 121 2.56 0.455

91 121 5.14 1.12

Moment of Inertia J

-4

kg·m

×10

Motor +

Gears

3-14

(Gear output torque) = (servomotor output torque) × × (efficiency)

* 3. The instantaneous peak torque values indicated with ∗3 are limited by the gear, so use the following

servomotor instantaneous peak torque. In this case, set torque limit parameters Pn402 and 403 for the SERVOPACK at 250%.

The speed control range of SERVOPACKs in the Σ-II series is 1:5000. When using servomotors at

-1

extremely low speeds (for example, 0.02 min

max. at the gear output shaft) or when using servomotors with one pulse feed reference for extended periods and in other situations that are less than optimum, the lubrication of the gear bearing may be insufficient. This may cause deterioration of the bearing or increase the load ratio.

Contact your Yaskawa representative if you are using your servomotor under such conditions.

Page 81

3.3 Ratings and Specifications of SGMGH (1500 min-1)

Servomotor Specifications and Dimensional Drawings

3.3 Ratings and Specifications of SGMGH (1500 min-1)

3.3.1 SGMGH Servomotors (1500 min-1) Without Gears

(1) Ratings and Specifications

• Time Rating: Continuous

• Vibration Class: 15 μm or below

• Insulation Resistance: 500 VDC, 10 MΩ min.

• Surrounding Air Temperature: 0 to 40°C

• Excitation: Permanent magnet

• Mounting: Flange-mounted

• Thermal Class: F

• Withstand Voltage: 200 V Servomotors: 1500 VAC for one minute

• Enclosure: Totally enclosed, IP67 self-cooled (except for shaft opening)

• Ambient Humidity: 20% to 80% (no condensation)

• Drive Method: Direct drive

Voltage 200 V

Servomotor Model SGMGH- 05AA 09AA 13AA 20AA 30AA44AA55AA75AA1AAA1EAA

Rated Output

Rated Torque Instantaneous Peak Torque Rated Current

∗1

Instantaneous Max. Current

Rated Speed

Max. Speed

∗1

Torque Constant

Rotor Moment

of Inertia J

∗

Rated Power

∗1

Rate Rated Angular Acceleration

∗1

N·m

∗1

rms

∗1

-1

min

-1

min

N·m/A

-4

×10 kg·m

rms

kW/s

rad/s

0.45 0.85 1.3 1.8 2.9 4.4 5.5 7.5 11 15

2.84 5.39 8.34 11.5 18.6 28.4 35.0 48.0 70.0 95.4

8.92 13.8 23.3 28.7 45.1 71.1 87.6 119 175 224

3.8 7.1 10.7 16.7 23.8 32.8 42.1 54.7 58.6 78.0

11 17 28 42 56 84 110 130 140 170

1500

3000 2000

0.82 0.83 0.84 0.73 0.83 0.91 0.88 0.93 1.25 1.32

7.24 13.9 20.5 31.7 46.0 67.5 89.0 125 281 315

(9.34) (16.0) (22.6) (40.2) (54.5) (76.0) (97.5) (134) (300) (353)

11.2 20.9 33.8 41.5 75.3 120 137 184 174 289

3930 3880 4060 3620 4050 4210 3930 3850 2490 3030

* 1. These items and torque-motor speed characteristics quoted in combination with an SGDM SERVO-

PACK are at an armature winding temperature of 20°C. * 2. The values in the parentheses are those for motors with holding brakes. Note: These characteristics are values with the following iron plate (heat sink) attached for cooling.

SGMGH-05, 09, and 13: 400 × 400 × 20 (mm) SGMGH-20, 30, 44, 55, and 75: 550 × 550 × 30 (mm) SGMGH-1A and 1E:

650 × 650 × 35

(mm)

3-15

Page 82

3 Servomotor Specifications and Dimensional Drawings

3.3.1 SGMGH Servomotors (1500 min

-1

) Without Gears

(2) Holding Brake Moment of Inertia

The moment of inertia of the servomotor with holding brake is expressed using the following equation. (The moment of inertia of the servomotor with holding brake) =

(rotor moment of inertia) + (brake moment of inertia)

Servomotor Model

SGMGH-

Holding Brake Moment of Inertia J

Servomotor Model

SGMGH-

Holding Brake Moment of Inertia J

×10

-4

kgxm

05AA09AA 13AA20AA 30AA44AA 55AA75AA

1AAA1EAA

18.8 37.5

(3) Torque-motor Speed Characteristics

Motor speed

(min

SGMGH-05AA

0246810

Torque (Nm)

SGMGH-30AA

-1

)

3000

2000

1000

Motor

speed

(min

-1

3000

2000

)

1000

3000

SGMGH-09AA

0 5 10 15 20

Torque (Nm)

SGMGH-44AA

2.10 8.50

SGMGH-13AA

0102030

Torque (Nm)

3000

SGMGH-55AA

Motor speed

(min

-1

3000

2000

1000

)

3000

Motor

speed

(min

-1

3000

2000

)

1000

SGMGH-20AA

010203040

Torque (Nm)

SGMGH-75AA

Motor speed

(min-1)

Motor speed

(min

2000

1000

0 1020304050

Torque (Nm) Torque (Nm) Torque (Nm) Torque (Nm)

SGMGH-1AAغA

0 50 100 150 200 250

-1

3000

2000

)

1000

Motor

speed

(min

Motor

speed

(min

2000

-1

)

1000

020406080

3000

2000

-1

)

1000

SGMGH-1EAغA

0 50 100 150 200 250

Motor

2000

speed

(min

-1

) (min-1)

1000

0 20406080100

: Continuous Duty Zone

Motor

2000

speed

1000

050

: Intermittent Duty Zone

100 150

3-16

Page 83

Servomotor Specifications and Dimensional Drawings

(4) Holding Brake Electrical Specifications

3.3 Ratings and Specifications of SGMGH (1500 min-1)

Holding

Brake Rated

Voltage

90 VDC

24 VDC

Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor.

Servomotor

Model

SGMGH-05 450 10.1 4.41 804 0.11 SGMGH-09 850 10.1 12.7 804 0.11 SGMGH-13 1300 10.1 12.7 804 0.11 SGMGH-20 1800 18.5 43.1 438 0.21 SGMGH-30 2900 18.5 43.1 438 0.21 SGMGH-44 4400 18.5 43.1 438 0.21 SGMGH-55 5500 23.5 72.6 327 0.28 SGMGH-75 7500 23.5 72.6 327 0.28

SGMGH-1A 11000 32.0 84.3 253 0.36

SGMGH-1E 15000 35.0 115 231 0.39 SGMGH-05 450 9.85 4.41 58.7 0.41 SGMGH-09 850 9.85 12.7 58.7 0.41 SGMGH-13 1300 9.85 12.7 58.7 0.41 SGMGH-20 1800 18.5 43.1 31.1 0.77 SGMGH-30 2900 18.5 43.1 31.1 0.77 SGMGH-44 4400 18.5 43.1 31.1 0.77 SGMGH-55 5500 23.5 72.6 24.5 0.98 SGMGH-75 7500 23.5 72.6 24.5 0.98

SGMGH-1A 11000 32.0 84.3 18.0 1.33

SGMGH-1E 15000 35.0 115 16.4 1.46

Servomotor

Capacity

Holding Brake Specifications

Holding

To rq u e

N·m

Coil

Resistance

Ω (at 20 °C)

Rated

Current

A (at 20 °C)

3-17

Page 84

3 Servomotor Specifications and Dimensional Drawings

3.3.2 SGMGH Servomotors (1500 min

-1

) With Standard Backlash Gears

3.3.2 SGMGH Servomotors (1500 min-1) With Standard Backlash Gears

Servomotor

Model

SGMGH-

05PAA6 05PAB6 05PAC6 05PA76 09PAA6 09PAB6 09PAC6 09PA76 13PAA6 13PAB6 13PAC6 13PA76 20PAA6 20PAB6 20PAC6 20PA76 30PAA6 30PAB6 30PAC6 30PA76 44PAA6 44PAB6 44PAC6 44PA76

• Time Rating: Continuous

• Vibration Class: 15 μm or below

• Insulation Resistance: 500 VDC, 10 MΩ min.

• Surrounding Air Temperature: 0 to 40°C

• Excitation: Permanent magnet Mounting: Foot and flange-mounted

•

Type 6090 to 6125: Omni-directional mounting Type 6130 to 6190: Horizontal mounting to shaft

• Gear Mechanism: Cyclo gear mechanism

• Thermal Class: F

• Withstand Voltage: 200 V Servomotors: 1500 VAC for one minute

• Enclosure: Totally enclosed, IP44 self-cooled (or the equivalent)

• Ambient Humidity: 20% to 80% (no condensation)

• Drive Method: Direct drive

• Backlash: Roughly 0.6 to 2° at the gear output shaft

• Gear Rotation Direction: Reverse direction of servomotor

• Gear Lubricating Method: Type 6090 to 6125: Grease

Type 6130 to 6190: Oil

∗

* For oil lubrication, the motor should be mounted horizontal to the shaft. Contact your Yaskawa

representative about lubrication for angle mounting.

Note: Contact your Yaskawa representative regarding the use of servomotors in cases such as

when the servomotor is frequently started and stopped, or when impact is generated on the gear output shaft by acceleration and deceleration.

Servomotor Gear Output

Instanta-

Out-

put

Rated

Speed

min

Rated

To rq u e

-1

Nxm

Gear Ratio

Rated

Torque/

Efficiency

N·m/%

neous

Peak

Torque/

Effective

Rated

Speed

-1

min

Max.

Speed

min

N·m/%

1/6 12.8/75 40.1/75 250 500 9.20 1.96

0.45

2.84

1/11 25.0/80 78.5/80 136 272 8.84 1.6 1/21 47.7/80 150/80 71 142 8.39 1.15 1/29 65.9/80 207/80 51 103 8.41 1.17

1/6 25.9/80 66.2/80 250 500 15.7 1.78

0.85 5.39

1/11 47.4/80 121/80 136 272 15.3 1.35 1/21 90.6/80 232/80 71 142 15.9 1.97 1/29 125/80 320/80 51 103 16.1 2.19

1/6 40.0/80 112/80 250 500 22.3 1.84

1.3 8.34

1500

1.8 11.5

1/11 73.4/80 205/80 136 272 23.4 2.89 1/21 140/80 391/80 71 142 22.5 2.03 1/29 206/85 574/85 51 103 24.2 3.67

1/6 58.7/85 146/85 250 500 38.0 6.3 1/11 108/85 268/85 136 272 36.5 4.76 1/21 205/85 512/85 71 142 37.6 5.93 1/29

283/85

707/85 51 103 37.3 5.58

1/6 94.9/85 230/85 250 500 52.3 6.3

2.9 18.6

1/11 174/85 422/85 136 272 50.8 4.76 1/21 332/85 805/85 71 142 51.9 5.93 1/29 458/85 1110/85 51 103 78.5 32.5

1/6 145/85 363/85 250 500 79.5 12.0

4.4 28.4

1/11 266/85 665/85 136 272 75.2 7.73 1/21 507/85 1270/85 71 142 101 33.6 1/29 700/85 1750/85 51 103 121 53.3

Moment of Inertia J

×10

Motor +

Gears

-1

-4

kg·m

Gears

3-18

Page 85

Servomotor Specifications and Dimensional Drawings

Servomotor

Output torque

Efficiency

Output torque

Model

SGMGH-

55PAA6 55PAB6 55PAC6 55PA76 75PAB6 75PAC6 75PA76 1APAB6 1APAC6 1APA76

Servomotor Gear Output

Out-

put

Rated Speed

-1

min

Rated

Torque

Nxm

Gear Ratio

Rated

Torque/

Efficiency

N·m/%

1/6 179/85 447/85 250 500 103 13.7

5.5

35.0

1/11 327/85 819/85 136 272 98.8 9.78 1/21 625/85 1560/85 71 142 157 68.0 1/29 863/85 2160/85 51 103 155 66.0

7.5 48.0

1500

1/11 449/85 1110/85 136 272 175 50.2 1/21 857/85 2120/85 71 142 193 68.0 1/29 1180/85 2930/85 51 103 207 81.5 1/11 655/85 1640/85 136 182 360 78.8

11 70

1/21 1250/85 3120/85 71 95 367 85.8 1/29 1730/85 4310/85 51 69 478 197.0

3.3 Ratings and Specifications of SGMGH (1500 min-1)

Moment of Inertia J

×10

Instanta-

neous

Peak

Torque/

Effective

Rated

Speed

-1

min

Max.

Speed

-1

min

Motor +

Gears

N·m/%

-4

kg·m

(Cont’d)

Gears

Note: 1. For the shaft center allowable radial load, refer to the servomotor dimensional drawing.

2. Output torque and motor speed produce the following trends in efficiency. Values in the table are at the rated motor speed.

3. 15-kW servomotors do not equipped with gears.

4. The no-load torque for a servomotor with gears is high immediately after the servomotor starts, and it then decreases and becomes stable a few minutes later. This is a common phenomenon caused by grease being circulated in the gear and not by a faulty gear.

3-19

Page 86

3 Servomotor Specifications and Dimensional Drawings

3.3.3 SGMGH Servomotors (1500 min

-1

) With Low-backlash Gears

3.3.3 SGMGH Servomotors (1500 min-1) With Low-backlash Gears

Servomotor

Model

SGMGH-

05AAL14 05AAL24 05AAL54 05AAL74 05AAL84 09AAL14 09AAL24 09AAL54 09AAL74 09AAL84 13AAL14 13AAL24 13AAL54 13AAL74 13AAL84 20AAL14 20AAL24 20AAL54 20AAL74 30AAL14 30AAL24 30AAL54 44AAL14 44AAL24

• Time Rating: Continuous

• Vibration Class: 15 μm or below

• Insulation Resistance: 500 VDC, 10 MΩ min.

• Surrounding Air Temperature: 0 to 40°C

• Excitation: Permanent magnet

• Mounting: Flange-mounted (Omni-directional mounting)

• Gear Lubricating Method: Grease

• Gear Mechanism: Planetary gear mechanism

Servomotor Gear Output

Out-

put

Rated

Speed

min

Rated

To rq u e

-1

Nxm

Gear Ratio

Rated

To rq u e/

Efficiency

N·m/%

∗

1/5 11.4/80 35.7/80 300 600 8.50 1.26 1/9 20.4/80 64.2/80 167 334 8.18 0.94

0.45

2.84

1/20 45.4/80 143/80 75 150 11.9 4.66 1/29 65.9/80 207/80 51 102 10.0 2.76 1/45 102/80 321/80 33 66 9.05 1.81

1/5 21.6/80 55.2/80 300 600 15.2 1.30 1/9 38.8/80 99.4/80 167 334 14.8 0.90

0.85 5.39

1/20 86.2/80 221/80 75 150 18.6 4.70 1/29 125/80 320/80 51 102 16.7 2.80 1/45 194/80 497/80 33 66 18.4 4.50

1/5 33.4/80 93.2/80 300 600 27.7 7.20

1.3 8.34

1500

1/9 60.0/80 168/80 167 334 25.3 4.80 1/20 133/80 373/80 75 150 27.4 6.90 1/29 193/80 541/80 51 102 30.9 10.4 1/45 300/80 839/80 33 66 27.2 6.70

1/5 46.0/80 115/80 300 600 41.9 10.2

1.8 11.5

1/9 82.8/80 207/80 167 334 39.5 7.80 1/20 184/80 459/80 75 150 51.9 20.2 1/29 267/80 666/80 51 102 45.1 13.4

1/5 74.4/80 182/80 300 600 66.4 20.4

2.9 18.6

1/9 134/80 328/80 167 334 58.5 12.5 1/20 298/80 730/80 75 150 66.2 20.2

4.4

28.4

1/5 114/80 284/80 300 600 87.9 20.4

1/9 204/80 512/80 167 334 80.0 12.5

• Thermal Class: F

• Withstand Voltage: 200 V Servomotors: 1500 VAC for one minute

• Enclosure: Totally enclosed, IP44 self-cooled (or the equivalent)

• Ambient Humidity: 20% to 80% (no condensation)

• Drive Method: Direct drive

• Backlash: 0.05° (3 min) at the gear output shaft

• Gear Rotation Direction: Same direction as servomotor

Moment of Inertia J

-4

kg·m

×10

Instanta-

neous

Peak

Torque/

Effective

Rated

Speed

-1

min

Max.

Speed

-1

min

Motor +

Gears

N·m/%

3-20

Page 87

3.3 Ratings and Specifications of SGMGH (1500 min-1)

Servomotor Specifications and Dimensional Drawings

Output torque

Efficiency

Output torque

* Output torque and motor speed produce the following trends in efficiency. Values in the table are at the

rated motor speed.

Note: 1. For the shaft center allowable radial load, refer to the servomotor dimensional drawing.

2. The no-load torque for a servomotor with gears is high immediately after the servomotor starts, and it then decreases and becomes stable a few minutes later. This is a common phenomenon caused by grease being circulated in the gear and not by a faulty gear.

3-21

Page 88

3 Servomotor Specifications and Dimensional Drawings

3.4.1 SGMGH Servomotors (1000 min

-1

) Without Gears

3.4 Ratings and Specifications of SGMGH (1000 min-1)

3.4.1 SGMGH Servomotors (1000 min-1) Without Gears

(1) Ratings and Specifications

• Time Rating: Continuous

• Vibration Class: 15 μm or below

• Insulation Resistance: 500 VDC, 10 MΩ min.

• Surrounding Air Temperature: 0 to 40°C

• Excitation: Permanent magnet

• Mounting: Flange-mounted

• Thermal Class: F

• Withstand Voltage: 1500 VAC for one minute

• Enclosure: Totally enclosed, IP67 self-cooled (except for shaft opening)

• Ambient Humidity: 20% to 80% (no condensation)

• Drive Method: Direct drive

Voltage 200 V

Servomotor Model

SGMGH-

Rated Output

Rated Torque

∗1

Instantaneous Peak Torque

Rated Current

∗1

Instantaneous Max. Current

Rated Speed

Max. Speed

∗1

Torque Constant Rotor Moment of

Inertia J

∗

Rated Power

∗1

Rate Rated Anglar Acceleration

∗1

N·m

rms

-1

min

-1

min N·m/A

-4

x10

kW/s

rad/s

rms

kg·m

03AB06AB 09AB12AB 20AB30AB40AB 55AB

0.3 0.6 0.9 1.2 2.0 3.0 4.0 5.5

2.84 5.68 8.62 11.5 19.1 28.4 38.2 52.6

7.17 14.1 19.3 28.0 44.0 63.7 107 136.9

3.0 5.7 7.6 11.6 18.5 24.8 30 43.2

7.3 13.9 16.6 28 42 56 84 110

1000

2000

1.03 1.06 1.21 1.03 1.07 1.19 1.34 1.26

7.24 13.9 20.5 31.7 46.0 67.5 89.0 125

(9.34) (16.0) (22.6) (40.2) (54.5) (76.0) (97.5) (134)

11.2 23.2 36.3 41.5 79.4 120 164 221

3930 4080 4210 3620 4150 4210 4290 4200

* 1. These items and torque-motor speed characteristics quoted in combination with an SGDM SERVO-

SGMGH-03, 06, and 09: 400 × 400 × 20 (mm) SGMGH-12, 20, 30, 40 and 55: 550 × 550 × 30 (mm)

3-22

(2) Holding Brake Moment of Inertia

The moment of inertia of the servomotor with holding brake is expressed using the following equation. (The moment of inertia of the servomotor with holding brake) =

(rotor moment of inertia) + (brake moment of inertia)

Servomotor Model

SGMGH-

Holding Brake Moment of Inertia J

×10

-4

kgxm

03AB06AB 09AB12AB 20AB30AB 40AB55AB

2.10 8.50

Page 89

Servomotor Specifications and Dimensional Drawings

(3) Torque-motor Speed Characteristics

SGMGH-30AB

1000

500

1500

2000

020406080

SGMGH-20AB

1000

500

1500

2000

0204060

SGMGH-55AB

1000

500

1500

2000

0 50 100 150

SGMGH-40AB

1000

500

1500

2000

0 50 100 150

SGMGH-03AB

1000

500

1500

2000

024 6 8

SGMGH-09AB

1000

500

1500

2000

0 5 10 15 20

SGMGH-06AB

1000

500

1500

2000

0 5 10 15

SGMGH-12AB

1000

500

1500

2000

0102030

Torque (Nm)

(min

-1

)

(min

-1

)

(min

-1

) (min

-1

)

(min

-1

) (min-1)

(min

-1

) (min-1)

Torque (Nm)

Torque (Nm) Torque (Nm)

Torque (Nm)

: Continuous Duty Zone

: Intermittent Duty Zone

Torque (Nm)

Motor

speed

Motor

speed

Motor

speed

Motor

speed

Motor

speed

Motor

speed

Motor

speed

Motor

speed

3.4 Ratings and Specifications of SGMGH (1000 min-1)

(4) Holding Brake Electrical Specifications

Holding Brake

Rated Voltage

Servomotor

Model

Servomotor

Capacity

SGMGH-03 300 10.1 4.41 804 0.11 SGMGH-06 600 10.1 12.7 804 0.11 SGMGH-09 900 10.1 12.7 804 0.11

90 VDC

SGMGH-12 1200 18.5 43.1 438 0.21 SGMGH-20 2000 18.5 43.1 438 0.21 SGMGH-30 3000 18.5 43.1 438 0.21 SGMGH-40 4000 23.5 72.6 327 0.28 SGMGH-55 5500 23.5 72.6 327 0.28 SGMGH-03 300 9.85 4.41 58.7 0.41 SGMGH-06 600 9.85 12.7 58.7 0.41

24 VDC

Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor.

SGMGH-09 900 9.85 12.7 58.7 0.41 SGMGH-12 1200 18.5 43.1 31.1 0.77 SGMGH-20 2000 18.5 43.1 31.1 0.77 SGMGH-30 3000 18.5 43.1 31.1 0.77 SGMGH-40 4000 23.5 72.6 22.8 1.05 SGMGH-55 5500 23.5 72.6 22.8 1.05

Holding Brake Specifications

Holding

Torque

N·m

Coil

Resistance

Ω (at 20 °C)

Rated

Current

A (at 20 °C)

3-23

Page 90

3 Servomotor Specifications and Dimensional Drawings

3.4.2 SGMGH servomotors (1000 min

-1

) With Standard Backlash Gears

3.4.2 SGMGH servomotors (1000 min-1) With Standard Backlash Gears

• Time Rating: Continuous • Excitaton: Permanent magnet

• Vibration Class: 15 μm or below

• Insulation Resistance: 500 VDC, 10 MΩ min.

• Surrounding Air Temperature: 0 to 40°C

• Mounting: Foot and flange-mounted

Type 6090 to 6125: Omni-directional mounting Type 6130 to 6190: Horizontal mounting to shaft

• Gear Lubricating Method:

Type 6090 to 6125: Grease Type 6130 to 6190: Oil

∗

* For oil lubrication, the motor should be mounted horizontal to the shaft. Contact your Yaskawa

representative about lubrication for angle mounting.

Note: Contact your Yaskawa representative regarding the use of servomotors in cases such as

when the servomotor is frequently started and stopped, or when impact is generated on the gear output shaft by acceleration and deceleration.

• Thermal Class: F

• Withstand Voltage: 1500 VAC for one minute

• Enclosure: Totally enclosed, IP44 self-cooled (or the equivalent)

• Ambient Humidity: 20% to 80% (no condensation)

• Drive Method: Direct drive

• Backlash: Roughly 0.6 to 2° at gear output shaft

• Gear Rotation Direction: Reverse direction of servomotor

• Gear Mechanism: Cyclo gear mechanism

Servomotor

Model

SGMGH-

03PBA6 03PBB6 03PBC6 03PB76 06PBA6 06PBB6 06PBC6 06PB76 09PBA6 09PBB6 09PBC6 09PB76 12PBA6 12PBB6 12PBC6 12PB76 20PBA6 20PBB6 20PBC6 20PB76 30PBA6 30PBB6 30PBC6 30PB76

Servomotor Gear Output

Out-

put

Rated

Speed

min

Rated

To rq u e

-1

Nxm

Gear Ratio

Rated

Torque/

Efficiency

N·m/%

1/6 12.8/75 32.3/75 166 333 9.20 1.96

0.3

2.84

1/11 25.0/80 63.1/80 90 181 8.84 1.6 1/21 47.7/80 120/80 47 95 8.39 1.15 1/29 65.9/80 166/80 34 68 8.41 1.17

1/6 27.3/80 67.7/80 166 333 15.7 1.78

0.6 5.68

1/11 50.0/80 124/80 90 181 15.3 1.35 1/21 95.4/80 237/80 47 95 15.9 1.97 1/29 132/80 327/80 34 68 16.1 2.19

1/6 41.4/80 92.6/80 166 333 22.3 1.84

0.9 8.62

1000

1.2 11.5

1/11 75.9/80 170/80 90 181 21.9 1.41 1/21 145/80 324/80 47 95 22.5 2.03 1/29 200/80 448/80 34 68 22.7 2.24

1/6 58.7/85 143/85 166 333 38.0 6.3 1/11 108/85 262/85 90 181 36.5 4.76 1/21 205/85 500/85 47 95 37.6 5.93 1/29

283/85 690/85 34 68 37.3 5.58

1/6 97.4/85 224/85 166 333 52.3 6.3

2.0 19.1

1/11 179/85 411/85 90 181 50.8 4.76 1/21 341/85 785/85 47 95 51.9 5.93 1/29 471/85 1080/85 34 68 78.5 32.5

1/6 145/85 325/85 166 333 79.5 12.0

3.0 28.4

1/11 266/85 596/85 90 181 75.2 7.73 1/21 507/85 1140/85 47 95 101 33.6 1/29 700/85 1570/85 34 68 121 53.3

Instanta-

neous

Peak

Torque/

Effective

N·m/%

Rated

Speed

-1

min

Max.

Speed

-1

min

Moment of Inertia J

-4

×10

Motor +

Gears

kg·m

Gears

3-24

Page 91

Servomotor Specifications and Dimensional Drawings

Servomotor

Output torque

Efficiency

Output torque

Model

SGMGH-

40PBA6 40PBB6 40PBC6 40PB76 55PBB6 55PBC6 55PB76

When using a servomotor with oil lubrication, the servomotor can be installed horizontally onto the shaft. Contact your Yaskawa representative for more information regarding the sliding installation of a servomotor.

Note: 1. Output torque and motor speed produce the following trends in efficiency. Values in the table are

Servomotor Gear Output

Out-

put

Rated Speed

-1

min

Rated

Torque

Nxm

Gear Ratio

Rated

Torque/

Efficiency

N·m/%

1/6 195/85 546/85 166 333 103 13.7

4.0

38.2

1000

1/11 357/85 1000/85 90 181 98.8 9.78 1/21 682/85 1910/85 47 95 157 68.0 1/29 940/85 2640/85 34 68 155 66.0 1/11 492/85 1280/85 90 181 175 50.2

5.5 52.6

1/21 940/85 2450/85 47 95 193 68.0 1/29 1297/85 3380/85 34 68 207 81.5

at the rated motor speed.

3.4 Ratings and Specifications of SGMGH (1000 min-1)

Moment of Inertia J

×10

Instanta-

neous

Peak

Torque/

Effective

Rated

Speed

-1

min

Max.

Speed

-1

min

Motor +

Gears

N·m/%

-4

kg·m

(Cont’d)

Gears

3-25

Page 92

3 Servomotor Specifications and Dimensional Drawings

Output torque

Efficiency

Output torque

3.4.3 SGMGH Servomotors (1000 min

-1

) With Low-backlash Gears

3.4.3 SGMGH Servomotors (1000 min-1) With Low-backlash Gears

• Time Rating: Continuous • Thermal Class: F

• Vibration Class: 15 μm or below • Withstand Voltage: 1500 VAC for one minute

• Insulation Resistance: 500 VDC, 10 MΩ min. • Enclosure: Totally enclosed, IP44 self-cooled (or the equivalent)

• Surrounding Air Temperature: 0 to 40°C • Ambient Humidity: 20% to 80% (no condensation)

• Excitation: Permanent magnet • Drive Method: Direct drive

• Mounting: Flange-mounted (can be mounted in any direction)

• Gear Mechanism: Planetary gear mechanism

• Gear Lubricating Method: Grease

• Backlash: 0.05° (3 min) at the gear output shaft

• Gear Rotation Direction: Same direction as servomotor

Servomotor

Model

SGMGH-

03ABL14 03ABL24 03ABL54 03ABL74 03ABL84 06ABL14 06ABL24 06ABL54 06ABL74 06ABL84 09ABL14 09ABL24 09ABL54 09ABL74 09ABL84 12ABL14 12ABL24 12ABL54 12ABL74 12ABL84 20ABL14 20ABL24 20A

BL54 30ABL14 30ABL24

Servomotor Gear Output

Moment of Inertia J

Instanta-

Out-

put

Rated

Speed

min

Rated

To rq u e

-1

Nxm

Gear Ratio

Rated

Torque/

Efficiency

N·m/%

neous

Peak

Torque/

Effective

Rated

Speed

-1

min

Max.

Speed

-1

min

Motor +

Gears

N·m/%

1/5 11.4/80 28.7/80 200 400 8.50 1.26 1/9 20.4/80 51.6/80 111 222 8.18 0.96

0.3

2.84

1/20 45.4/80 115/80 50 100 8.64 1.40 1/29 65.9/80 166/80 34 68 10.0 2.76 1/45 102/80 258/80 22 44 9.05 1.81

1/5 22.7/80 56.4/80 200 400 15.2 1.30 1/9 40.9/80 101/80 111 222 14.8 0.90

0.6 5.68

1/20 90.9/80 226/80 50 100 18.6 4.70 1/29 132/80 327/80 34 68 16.7 2.80 1/45 204/80 508/80 22 44 18.4 4.50

1/5 34.5/80 77.2/80 200 400 23.9 3.40 1/9 62.1/80 139/80 111 222 25.3 4.80

0.9 8.62

1000

1/20 138/80 309/80 50 100 27.4 6.90 1/29 200/80 448/80 34 68 30.9 10.4 1/45 310/80 695/80 22 44 27.2 6.70

1/5 46/80 112/80 200 400 41.9 10.2 1/9 82.8/80 202/80 111 222 39.5 7.80

1.2 11.5

1/20 184/80 448/80 50 100 51.9 20.2 1/29 267/80 650/80 34 68 45.1 13.4 1/45 414/80 1008/80 22 44 41.4 9.70

1/5 76.4/80 176/80 200 400 56.2 10.2

2.0 19.1

3.0 28.4

1/9 138/80 317/80 111 222 53.8 7.80

1/20

306/80 704/80 50 100 66.2 20.2 1/5 114/80 255/80 200 400 87.9 20.4 1/9 204/80 459/80 111 222 80.0 12.5

Note: 1. Output torque and motor speed produce the following trends in efficiency. Values in the table are

at the rated motor speed.

×10

-4

kg·m

Gears

3-26

Page 93

3.5 Ratings and Specifications of SGMSH (3000 min-1)

Servomotor Specifications and Dimensional Drawings

3.5 Ratings and Specifications of SGMSH (3000 min-1)

3.5.1 SGMSH Servomotors (3000 min-1) Without Gears

(1) Ratings and Specifications

• Time Rating: Continuous

• Vibration Class: 15 μm or below

• Insulation Resistance: 500 VDC, 10 MΩ min.

• Surrounding Air Temperature: 0 to 40°C

• Excitation: Permanent magnet

• Mounting: Flange-mounted

• Thermal Class: F

• Withstand Voltage: 200 V Servomotors: 1500 VAC for one minute

• Enclosure: Totally enclosed, IP67 self-cooled (except for shaft opening)

• Ambient Humidity: 20% to 80% (no condensation)

• Drive Method: Direct drive

Voltage 200 V

Servomotor Model

SGMSH-

Rated Output

Rated Torque

∗1

Instantaneous Peak Torque

Rated Current

∗1

Instantaneous Max. Current

Rated Speed

Max. Speed

∗1

Torque Constant

Rotor Moment of Inertia J

Rated Power Rate

∗1

N·m

∗1

N·m A

rms

∗1

rms

min

min N·m/A

∗2

x10

kW/s

Rated Angular Acceleration ∗1rad/s

-1

-4

rms

kg·m

10AA 15AA 20AA 30AA40AA50AA

1.01.52.03.04.05.0

3.18 4.9 6.36 9.8 12.6 15.8

9.54 14.7 19.1 29.4 37.8 47.6

5.7 9.7 12.7 18.8 25.4 28.6

17 28 42 56 77 84

3000

5000

0.636 0.561 0.544 0.573 0.53 0.60

1.74 2.47 3.19 7.00 9.60 12.3

(2.07) (2.80) (3.52) (9.10) (11.7) (14.4)

57.9 97.2 127 137 166 202

18250 19840 19970 14000 13160 12780

* 1. These items and torque-motor speed characteristics quoted in combination with an SGDM SERVO-

ing. SGMSH-10, 15, and 20: 300 × 300 × 12 (mm) SGMSH-30, 40, and 50: 400 × 400 × 20 (mm)

(2) Holding Brake Moment of Inertia

The moment of inertia of the servomotor with holding brake is expressed using the followtin equation. (The moment of inertia of the servomotor with holding brake) = (rotor moment of inertia) + (brake moment of inertia)

Servomotor

SGMSH-

Brake Moment of Inertia

×10

-4

kg·m

10AA15AA 20AA 30AA40AA50AA

0.325 2.10

3-27

Page 94

3 Servomotor Specifications and Dimensional Drawings

SGMSH-10AغA

3000

2000

1000

4000

5000

3000

2000

1000

4000

5000

024 6810

SGMSH-20AغA

3000

2000

1000

4000

5000

3000

2000

1000

4000

5000

0 5 10 15 20

SGMSH-15AغA

0 5 10 15

SGMSH-30AغA

0102030

SGMSH-40AغA

3000

2000

1000

4000

5000

010203040

SGMSH-50AغA

Torque (Nm)

(min

-1

)

(min

-1

)

(min

-1

)

(min

-1

)

(min

-1

)

(min

-1

)

Torque (Nm)

Torque (Nm)Torque (Nm)

: Continuous Duty Zone

: Intermittent Duty Zone

Motor speed

Motor

speed

Motor speed

Motor

speed

Motor speed

3000

2000

1000

4000

5000

01020 5030 40

3.5.1 SGMSH Servomotors (3000 min

-1

) Without Gears

(3) Torque-motor Speed Characteristics

(4) Holding Brake Electrical Specifications

Holding

Brake Rated

Voltage

Servomotor

Model

Servomotor

Capacity

Holding Brake Specifications

Holding

To rq u e

N·m

Coil

Resistance

Ω (at 20 °C)

SGMSH-10 1000 12 7.84 675 0.13 SGMSH-15 1500 12 7.84 675 0.13

90 VDC

SGMSH-20 2000 12 7.84 675 0.13 SGMSH-30 3000 10.1 20.0 804 0.11 SGMSH-40 4000 10.1 20.0 804 0.11 SGMSH-50 5000 10.1 20.0 804 0.11 SGMSH-10 1000 12 7.84 48 0.5 SGMSH-15 1500 12 7.84 48 0.5

24 VDC

SGMSH-20 2000 12 7.84 48 0.5 SGMSH-30 3000 9.85 20.0 58.7 0.41 SGMSH-40 4000 9.85 20.0 58.7 0.41 SGMSH-50 5000 9.85 20.0 58.7 0.41

Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor.

Rated

Current

A (at 20 °C)

3-28

Page 95

3.5 Ratings and Specifications of SGMSH (3000 min-1)

Servomotor Specifications and Dimensional Drawings

3.5.2 SGMSH Servomotors (3000 min-1) With Low-backlash Gears

• Time Rating: Continuous • Thermal Class: F

• Vibration Class: 15 μm or below • Withstand Voltage: 1500 VAC for one minute

• Insulation Resistance: 500 VDC, 10 MΩ min. • Enclosure: Totally enclosed, IP44 self-cooled (or the equivalent)

• Surrounding Air Temperature: 0 to 40°C • Ambient Humidity: 20% to 80% (no condensation)

• Excitation: Permanent magnet • Drive Method: Direct drive

• Mounting: Flange-mounted (can be mounted in any direction)

• Gear Lubricating Method: Grease

• Gear Mechanism: Planetary gear mechanism

• Backlash: 0.05° (3 min) at the gear output shaft

• Gear Rotation Direction: Same direction as servomotor

• Max. Input Motor Speed for Gears: 4000

min

-1

Servomotor

Model

SGMSH-

10AAL14 10AAL24 10AAL54 10AAL74 10AAL84 15AAL14 15AAL24 15AAL54 15AAL74 15AAL84 20AAL14 20AAL24 20AAL54 20AAL74 20AAL84 30AAL14 30AAL24 30AAL54 30AAL74 30AAL84 40AAL14 40AAL24 40AAL54 40AAL74 50AAL14 50AAL24 50AAL54

Servomotor Gear Output

Out-

put

Rated Speed

-1

min

Rated

Torque

Nxm

Gear Ratio

Rated

Torque/Effi-

∗2

ciency

N·m/%

1/5 12.7/80 38.2/80 600 800 5.18 3.44 1/9 22.9/80 68.7/80 333 444 4.85 3.11

1.0

3.18

1/20 50.9/80 153/80 150 200 8.53 6.79 1/29 73.8/80 221/80 103 138 6.62 4.88 1/45 114/80 343/80 66 89 5.66 3.92

1/5 19.6/80 58.8/80 600 800 5.91 3.44 1/9 35.3/80 106/80 333 444 7.24 4.77

1.5 4.9

1/20 78.4/80 235/80 150 200 9.26 6.79 1/29 114/80 341/80 103 138 7.35 4.88 1/45 176/80 529/80 66 89 9.05 6.58

1/5 25.6/80 76.4/80 600 800 6.63 3.44 1/9 45.8/80 138/80 333 444 7.96 4.77

2.0 6.36 3000

1/20 102/80 306/80 150 200 9.98 6.79 1/29 148/80 443/80 103 138 13.5 10.3 1/45 230/80 688/80 66 89 9.77 6.58

1/5 39.2/80 118/80 600 800 17.2 10.2 1/9 70.5/80 212/80 333 444 14.8 7.80

3.0 9.8

1/20 157/80 470/80 150 200 27.2 20.2 1/29 227/80 682/80 103 138 20.4 13.4 1/45 353/80 1058/80 66 89 16.7 9.70

1/5 50.4/80 151/80 600 800 19.8 10.2

4.0 12.6

1/9 90.7/80 272/80 333 444 22.1 12.5

1/20

202/80 605/80

1/29 292/80 877/80 103 138 23.0 13.4

1/5 63.2/80 190/80 600 800 32.7 20.4

5.0 15.8

1/9 114/80 343/80 333 444 24.8 12.5

1/20 253/80 762/80 150 200 32.5 20.2

Instanta-

neous

Peak

Torque/

Effective

N·m/%

Moment of Inertia J

-4

×10

kg·m

Rated

Speed

-1

min

Max.

Speed

min

Motor +

∗1

Gears

-1

150 200 29.8 20.2

Gears

3-29

Page 96

3 Servomotor Specifications and Dimensional Drawings

Output torque

Efficiency

Output torque

3.5.2 SGMSH Servomotors (3000 min

-1

) With Low-backlash Gears

* 1. The maximum input motor speed of the gears is 4000 * 2. Output torque and motor speed produce the following trends in efficiency. Values in the table are at

the rated motor speed.

Note: 1. For the shaft center allowable radial load, refer to the servomotor dimensional drawing.

min

-1

3-30

Page 97

3.6 Ratings and Specifications of SGMDH (2000 min-1)

Servomotor Specifications and Dimensional Drawings

3.6 Ratings and Specifications of SGMDH (2000 min-1)

3.6.1 SGMDH Servomotors (2000 min-1) With Holding Brakes

(1) Ratings and Specifications

• Time Rating: Continuous • Thermal Class: F

• Vibration Class: 15 μm or below • Withstand Voltage: 1500 VAC for one minute

• Insulation Resistance: 500 VDC, 10 MΩ min. • Enclosure: Totally enclosed, IP67 self-cooled (except for the shaft opening)

• Surrounding Air Temperature: 0 to 40°C • Ambient Humidity: 20% to 80% (no condensation)

• Excitation: Permanent magnet • Drive Method: Direct drive

• Mounting: Flange-mounted • Holding Brake: 90 VDC, static friction torque 29.4 N·m

Voltage 200 V

Servomotor Model

SGMDH-

Rated Output

Rated Torque

∗1

Instantaneous Peak Torque

Rated Current

∗1

Instantaneous Max. Current

Rated Speed

Max. Speed

∗1

Torque Constant

∗1

N·m

N·m A

rms

-1

min

-1

min N·m/A

rms

Rotor Moment of Inertia J (Including Holding Brake

x10

-4

kg·m

Moment of Inertia) Rated Power Rate kWs Rated Angular Acceleration

∗1

rad/s

* 1. These items and torque-motor speed characteristics quoted in combination with an SGDM SERVO-

PACK are at an armature winding temperature of 20°C.

Note: These characteristics are values with the following iron plates (heat sinks) attached for cooling.

650 × 650 × 35 (mm)

22AAB32AAB40AAB

2.2 3.2 4.0

10.5 15.3 19.1

36.7 53.5 66.9

15.7 20.9 23.2

54 73 77

2000

3000

0.72 0.78 0.92

56.6 74.2 91.8

19.5 31.5 39.7

1850 2060 2080

3-31

Page 98

3 Servomotor Specifications and Dimensional Drawings

SGMDH-22AAB

2000

1000

3000

2000

1000

3000

010203040

SGMDH-40AAB

2000

1000

3000

020406080

SGMDH-32AAB

0 204060

Torque (Nm)

: Continuous Duty Zone

: Intermittent Duty Zone

(min-1)

(min

-1

) (min-1)

Torque (Nm)

Motor speed

Motor

speed

Motor

speed

3.6.1 SGMDH Servomotors (2000 min

-1

) With Holding Brakes

(2) Torque-motor Speed Characteristics

(3) Holding Brake Electrical Specifications

Holding

Brake Rated

Voltage

Servomotor

Model

Servomotor

Capacity

Holding Brake Specifications

Holding

To rq u e

N·m

Coil

Resistance

Ω (at 20 °C)

SGMDH-22 2200 16.0 29.4 505 0.18

90VDC

SGMDH-32 3200 16.0 29.4 505 0.18 SGMDH-40 4000 16.0 29.4 505 0.18 SGMDH-22 2200 16.0 29.4 36.0 0.67

24VDC

SGMDH-32 3200 16.0 29.4 36.0 0.67 SGMDH-40 4000 16.0 29.4 36.0 0.67

Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor.

Rated

Current

A (at 20 °C)

3-32

Page 99

3.7 Ratings and Specifications of SGMCS Servomotors

Servomotor Specifications and Dimensional Drawings

3.7 Ratings and Specifications of SGMCS Servomotors

3.7.1 Small-capacity Series SGMCS Servomotors

(1) Ratings and Specifications

• Time Rating: Continuous

• Vibration Class: 15 μm or below

• Insulation Resistance: 500 VDC, 10 MΩ min.

• Surrounding Air Temperature: 0 to 40°C

• Excitation: Permanent magnet

• Mounting: Flange-mounted

• Thermal Class: A

• Withstand Voltage: 1500 VAC for one minute

• Enclosure: Totally enclosed, IP42 self-cooled (except for shaft opening)

• Ambient Humidity: 20% to 80% (no condensation)

• Drive Method: Direct drive

Ratings and Specifications for Small-capacity Series SGMCS Servomotors

Voltage 200 V Servomotor Model SGMCS-

Rated Output

Rated Torque

∗1

∗1, ∗2

Instantaneous Peak Torque

Stall torque

Rated Current

∗1

Instantaneous Max. Current

Rated Speed

Max. Speed

∗1

Torque Constant Rotor Moment of Inertia

Rated Power Rate

∗1

Rated Angular Acceleration

Nxm

∗1

Nxm

Nxm A

rms

∗1

rms

-1

min

-1

min Nxm/A

-4

×10

kgxm

KW/s

∗1

rad/s

Absolute Accuracy second Repeatability second Applicable SERVOPACK SGDM-

rms

02BC 05BC07BC 04CC10CC 14CC

42 105 147 84 209 293

2.0 5.0 7.0 4.0 10.0 14.0

6.0 15.0 21.0 12.0 30.0 42.0

2.05 5.15 7.32 4.09 10.1 14.2

1.8 1.7 1.4 2.2 2.2 2.8

5.4 5.1 4.1 7.0 7.0 8.3

200 200

500 500 400 300

1.18 3.17 5.44 2.04 5.05 5.39

28 51 77 77 140 220

1.4 4.9 6.4 2.1 7.1 8.9

710 980 910 520 710 640

±15 ±15

±1.3 ±1.3

02 04

Voltage 200 V Servomotor Model SGMCS- 08DC 17DC25DC 16EB35EB

Rated Output

Rated Torque

∗1

∗1, ∗2

Instantaneous Peak Torque

Stall torque

Rated Current

∗1

Instantaneous Max. Current

Rated Speed

Max. Speed

∗1

Torque Constant N Rotor Moment of Inertia

Rated Power Rate

∗1

Rated Angular Acceleration ∗1rad/s Absolute Accuracy second Repeatability second Applicable SERVOPACK SGDM-

Note: 1. SGMCS servomotor with holding brake is not available.

2. For the bearings used in SGMCS servomotors, loss varies according to the bearing temperature. At low temperatures, the amount of heat loss will be large.

Nxm

∗1

Nxm

rms

∗1

rms

-1

min

-1

min

xm/A

rms

-4

kgxm

×10 KW/s

168 356 393 335 550

8.0 17.0 25.0 16.0 35.0

24.0 51.0 75.0 48.0 105

8.23 17.4 25.4 16.5 35.6

1.9 2.5 2.6 3.3 3.5

5.6 7.5 8.0 9.4 10.0

200 150 200 150

500 350 250 500 250

5.1 7.8 10.8 5.58 11.1

285 510 750 930 1430

2.2 5.7 8.3 2.75 8.57

280 330 330 170 240

±15 ±15

±1.3 ±1.3

04 08

3-33

Page 100

3 Servomotor Specifications and Dimensional Drawings

Motor speed

(min

-1

)

Torque

(Nm)

SGMCS-02BC

100

1.5 3.0 4.5 6.0 7.5

200

300

400

500

Motor speed

(min

-1

)

Torque

(Nm)

SGMCS-05BC

100

91215

200

300

400

500

Motor speed

(min

-1

)

Torque

(Nm)

SGMCS-07BC

Motor speed

(min

-1

)

Torque

(Nm)

SGMCS-04CC

100

91215

200

300

400

500

B : Intermittent Duty Zone

A : Continuous Duty Zone

Motor speed

(min

-1

)

Torque

(Nm)

SGMCS-10CC

100

51015

20 25

200

300

400

500

100

12 18

200

300

400

500

3.7.1 Small-capacity Series SGMCS Servomotors

* 1. These items and torque-motor speed characteristics quoted in combination with an SGDM

SERVOPACK are at an armature winding temperature of 100°C. Other values quoted at 20°C. All values are typical.

* 2. Rated torques are continuous allowable torque values at 40°C with a iron heat sink attached.

Servomotor Model

SGMCSHeat Sink Units: mm

350 × 350 × 12 450 × 450 × 12 550 × 550 × 12 650 × 650 × 12

(2) Torque-motor Speed Characteristics

B C D E

3-34

Yaskawa SGMAH, SGMPH, SGMGH, SGMSH, SGMDH Users Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

About this Manual

Related Manuals

Safety Information

Notes for Safe Operation

CONTENTS

1 Outline

1.1.1 Check Items

1.1 Checking Products

1.1.2 Servomotors

1.1.3 SERVOPACKs

1.2.1 Servomotors

1.2 Product Part Names

1.2.2 SERVOPACKs

1.3.1 Single-phase, 100 V and 200 V Main Circuit

1.3 Examples of Servo System Configurations

1.3.2 Three-phase, 200 V Main Circuit

1.3.3 Connecting to SGMCS Servomotor

1.4 Applicable Standards

1.4.1 North American Safety Standards (UL, CSA)

1.4.2 CE Marking

2 Selections

2.1 Servomotor Model Designations

2.1.1 Model SGMAH (3000 min-1)

2.1.2 Model SGMPH (3000 min-1)

2.1.3 Model SGMGH (1500 min-1)

2.1.4 Model SGMGH (1000 min-1)

2.1.5 Model SGMSH (3000 min-1)

2.1.6 Model SGMDH (2000 min-1)

2.1.7 Model SGMCS

2.2 SERVOPACK Model Designations

2.3.2 SGDM SERVOPACKs and SGMCS Servomotors

2.4 Selecting Cables

2.4.1 Cables for SGMAH and SGMPH Servomotors

2.4.2 Cables for SGMGH/SGMSH/SGMDH Servomotors

2.4.3 Cables for SGMCS Servomotors

2.5.1 Special Options

2.5 Selecting Peripheral Devices

2.5.2 Molded-case Circuit Breaker and Fuse Capacity

2.5.3 Noise Filters, Magnetic Conductors, Surge Absorbers and DC Reactors

2.5.4 Regenerative Resistors and Brake Power Supply Units

3 Servomotor Specifications and Dimensional Drawings

3.1.1 SGMAH Servomotors Without Gears

3.1 Ratings and Specifications of SGMAH (3000 min-1)

3.1.2 SGMAH Servomotors With Standard Backlash Gears

3.1.3 SGMAH Servomotors With Low-backlash Gears

3.2.1 SGMPH Servomotors Without Gears

3.2 Ratings and Specifications of SGMPH (3000 min-1)

3.2.2 SGMPH Servomotors With Standard Backlash Gears

3.2.3 SGMPH Servomotors With Low-backlash Gears

3.3 Ratings and Specifications of SGMGH (1500 min-1)

3.3.1 SGMGH Servomotors (1500 min-1) Without Gears

3.3.2 SGMGH Servomotors (1500 min-1) With Standard Backlash Gears

3.3.3 SGMGH Servomotors (1500 min-1) With Low-backlash Gears

3.4 Ratings and Specifications of SGMGH (1000 min-1)

3.4.1 SGMGH Servomotors (1000 min-1) Without Gears

3.4.2 SGMGH servomotors (1000 min-1) With Standard Backlash Gears

3.4.3 SGMGH Servomotors (1000 min-1) With Low-backlash Gears

3.5 Ratings and Specifications of SGMSH (3000 min-1)

3.5.1 SGMSH Servomotors (3000 min-1) Without Gears

3.5.2 SGMSH Servomotors (3000 min-1) With Low-backlash Gears

3.6 Ratings and Specifications of SGMDH (2000 min-1)

3.6.1 SGMDH Servomotors (2000 min-1) With Holding Brakes

3.7 Ratings and Specifications of SGMCS Servomotors

3.7.1 Small-capacity Series SGMCS Servomotors

1

Outline

2

Selections

3

Servomotor Specifications and Dimensional Drawings