Yaskawa SGMSH Dimensional Sheet

400V Three-phase Sigma II Servo Systems

SGMSH Dimensions in inches (mm)

(1) 17-bit Incremental or Absolute Encoder

L

LR

LE

A

0.0016

0.0016

S

LC

LB

0.0008
4 -

MTG Holes

Flange Dimensions

ΦLA ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK

3.78

3.43

4.53

3.74

3.94

(96)

4.49

(114)

(87)

3.43
(87)

(115)

5.71
(145)

(95)

4.33

(110)

(100)

5.12

(130)

0.12
(3)

0.24
(6)

Specified Tolerances

0.9449, 1.1024 +0.0000-0.0005 3.7402, 4.3307 +0.0000 -0.0014

24.000, 28.000 +0.000 -0.013 95.000, 110.000 +0.000 -0.035

Servomotors

SGMSH

Type

SGMSH-

10DA61

15DA61

20DA61

30DA61

40DA61

50DA61

Note: 1. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal).

LL

LT

3.94 (100)

KL2

KL1

LM

LG

KB1

KB2

L LL LM LR LT KB1 KB2 KL1 KL2

7.64

5.87

(149)

6.89

(175)

7.8

(198)

7.83

(199)

9.29

(236)

10.87
(276)

4.06

(103)

5.08

(129 )

5.98

(152)

6.02

(153 )

7.48

(190)

9.06

(230)

1.77
(45)

2.48
(63)

(194)

8.66

(220)

9.57

(243)

10.31
(262)

11.77
(299)

13.35
(339)

2. Tolerances on the dimensions of flange type LB and shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 “Limits and Fits for Engineering.”

1.81
(46)

2.99
(76)

4.02

(102)

4.92

(125)

4.8

(122)

6.26

(159)

7.83

(199)

5.04

(128)

6.06

(154)

6.97

(177)

7.01

(178)

8.46

(215)

10.04
(255)

Dimension *ΦS **ΦLB

Unit Diameter Tolerance Diameter Tolerance

in

mm

A

A

LZ

0.39
(10)

0.47
(12)

L

5.12

(130)

6.5

(165)

LC

LR

LE

A

H

L

Shaft End

Dimension

Q

Approximate

Mass

(kg)

lb

f

QK

Allowable

Radial Load

S

0.28 (7)

(N)

lb

f

0.31 (8)

0.16 (4)

Allowable

Thrust Load

(N)

lb

f

10.1 (4.6)

0.28

0.94

1.57

(7)

(24)

(40)

1.26
(32)

12.8 (5.8)

154

(686)

44

(196)

15.4 (7.0)

220

(980)

265

(1176)

88

(392)

0.35
(9)

1.1

(28)

2.17
(55)

1.96
(50)

24.3 (11)

30.9 (14)

37.5 (17)

Encoder Plug

M

B

N

L

P

A

K

R

S

J

H

F

G

MS3102A20-29P

140

Connector Wiring on the Incremental Encoders

A
B

C

D

CData +M

E

D Data − N
E
F

—
—

—
—

G0VS Battery − (Note*)

J

+5V

dc

FG (Frame

Ground)

H

Non-Environmental Mating Connector:
MS3108B20-29S (L Type)
MS3106B20-29S (Straight Type)
Cable Clamp: MS3057-12A

K
L

—
—
—
—

P
R

—
—

T Battery + (Note*)

*Note: Used with an absolute

encoder only.

Motor Plug

A

D

B

C

Connector Wiring on the Motor Side

AU Phase
B V Phase
CW Phase
D Ground Terminal

400V Three-phase Sigma II Servo Systems

(2) 17-bit Incremental or Absolute Encoder, with Brake

L

3.94 (100)

KL1

KL3

KL2

LL

LT

KB2

LM

KB1

KB3

LR

LG

LE

S

A

0.0016

A

0.04

0.0016

A

0.04

L

LZ

4 -

MTG Holes

LC

LB

0.0008

0.02

Type

SGMSH-

10DA6C

15DA6C

20DA6C

30DA6C

40DA6C

50DA6C

L LL LM LR LT KB1 KB2 KB3 KL1 KL2 KL3

ΦLA ΦLB**

9.37

7.6

5.79

(238)

(193)

10.39

8.62

(264)

(219)

11.3

9.53

(287)

(242)

11.81

9.33

(300)

(237)

10.79
(274)

13.27
(337)

12.36

Note: 1. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal)..

(314)

2. Tolerances on the dimensions of flange type LB and of shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 “Limits and Fits for Engineering.”

(147)

6.81

(173)

7.72

(196)

7.52

(191)

8.98

(228)

10.55
(268)

1.77
(45)

1.77
(45)

1.77
(45)

2.48
(63)

2.99

6.77

(172)

7.80

(198)

8.7

(221)

8.50

(216)

4.72

(120)

5.75

(146)

6.65

(169)

6.69

(170)

378

(96)

4.49

(114)

(76)

4.02

(102)

4.92

(125)

1.81
)

(46)

4.80

(122)

——— — —

——— — —

3.46
(88)

3.35
(85)

3.86
(98)

4.53

(115)

5.71

(145)

Flange Dimensions

LC LE LG

3.74

3.94

(95)

(100)

4.33

5.12

(110)

(130)

0.12
(3)

0.24
(6)

LC

H

0.39
(10)

0.47
(12)

W

T

A

L

IE

ΦLH ΦLZ ΦS*

5.12

0.28
(7)

0.35
(9)

0.94
(24)

1.1

(28)

(130)

6.5

(165)

Shaft End

Dimension

Q QK

1.57
(40)

2.17
(55)

U

LR

LE

QK

Q

1.26
(32)

1.96
(50)

W = 0.31 (8)
T = 0.28 (7)
U = 0.16 (4)

S

Approximate

Mass

(kg)

lb

f

13.2

(6.0)

16.5
(7.5)

18.7
(8.5)

30.9
(14)

37.5
(17)

44.1
(20)

Allowable

Allowable

Radial

Load

(N)

lb

f

154

(686)44 (196)

220

(980)

265

(1176)

Thrust

Load

(N)

lb

f

88

(392)

SGMSH

Servomotors

Plug for Holding Brake

C

B

MS3102A10SL-3P

Specified Tolerances

Dimension *ΦS **ΦLB

Unit Diameter Tolerance Diameter Tolerance

in 0.9449, 1.1024 +0.0000-0.0005 3.7402, 4.3307 +0.0000 -0.0014

mm 24.000, 28.000 +0.000 -0.013 95.000, 110.000 +0.000 -0.035

Connector Wiring on the Brake, Motor Side

A

A
B

Brake Terminal
Brake Terminal

Motor Plug

A

D

C —

B

Non-Environmental Mating Connector:

MS3108A10SL-3S (L Type)
MS3106A10SL-3S (Straight Type)

Cable Clamp: MS3057-4A

C

Connector Wiring on the Motor Side

A U Phase
B V Phase
C W Phase
D Ground Terminal

141

400V Three-phase Sigma II Servo Systems

SGMUH Dimensions in inches (mm)

(1) 17-bit Incremental or Absolute Encoder

L

LR

LE

A

0.0016

0.0016

S

LB

0.0008
4 -

MTG Holes

Servomotors

SGMUH

3.94 (100)

KL2

KL1

LL

LT

LM

LG

KB1

KB2

A

A

LC

LZ

LC

LR

LE

A

L

H

L

Q

QK

S

0.31 (8)

0.28 (7)

0.16 (4)

Type

SGMUH-

10DA61

15DA61

30DA61

Note: 1. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal)..

L LL LM LR LT KB1 KB2 KL1 KL2

ΦLA ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK

7.64

5.87

(149)

6.89

(175)

7.95

(202)

4.06

(103)

5.08

(129)

6.14

(156)

1.77
(45)

2.36
(60)

(194)

8.66

(220)

10.31
(262)

2. Tolerances on the dimensions of flange type LB and shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 “Limits and Fits for Engineering.”

1.81
(46)

2.99
(76)

4.02

(102)

5.00

(127)

5.04

(128)

6.06

(154)

7.13

(181)

3.78
(96)

4.49

(114)

3.46
(88)

5.12

(130)

6.50

(165)

Flange Dimensions

4.33

4.57

(110)

(116)

5.12

6.10

(130)

(155)

0.14
(3.5)

0.39
(10)

0.47
(12)

5.91

(150)

7.48

(190)

Specified Tolerances

Dimension *ΦS **ΦLB

Unit Diameter To le r an c e Diameter Tolerance

0.9449, 1.1024 +0.0000-0.0005

24.000, 28.000 +0.000 -0.013

T Battery + (Note*)

*Note: Used with an absolute
encoder only.

Motor Plug

D

C

Encoder Plug

M

B

N

L

K

J

MS3102A20-29P

C

P

A

H

D

R

S

E

F

G

in

mm

Connector Wiring on the Incremental Encoders

A—K—
B—L—
C Data + M—
D Data − N—
E—P—
F—R—
G0V S Battery − (Note*)
H

J

Non-Environmental Mating Connector:
MS3108B20-29S (L Type)
MS3106B20-29S (Straight Type)
Cable Clamp: MS3057-12A

+5V

dc

FG (Frame

Ground)

Shaft End
Dimension

0.35

0.94
(24)

1.1

(28)

1.57
(40)

2.17
(55)

(9)

0.43
(11)

4.3307 +0.0005 -0.00035

5.12 +0.00055 -0.00043

110.000 +0.013 -0.009
130 +0.014 -0.011

A

B

Connector Wiring on the Motor Side

1.26
(32)

1.96
(50)

Approximate

Mass

lb

10.1 (4.6)

12.8 (5.8)

24.3 (11)

(kg)

f

Allowable

Radial Load

(N)

lb

f

110

(490)

154

(686)

A U Phase
B V Phase
C W Phase
D Ground Terminal

Allowable

Thrust Load

(N)

lb

f

22

(98)

44.1

(196)

142

400V Three-phase Sigma II Servo Systems

(2) 17-bit Incremental or Absolute Encoder, with Brake

L

3.94 (100)

KL1

LL

LT

KL2

KL3

KB2

LM

KB1

KB3

LR

LG

LE

S

A

0.0016

A

0.04

0.0016

A

0.04

LZ

4 -

MTG Holes

LC

LB

0.0008

0.02

Type

SGMUH-

10DA6C

15DA6C

30DA6C

L LL LM LR LT KB1 KB2 KB3 KL1 KL2 KL3

ΦLA ΦLB**

9.37

7.6

(193)

8.62

(219)

9.33

(237)

5.79

(147)

6.81

(173)

7.52

(191)

1.77

(45).

2.36

(60)

(238)

10.39
(264)

11.81
(300)

Note: 1. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal)..

2. Tolerances on the dimensions of flange type LB and of shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 “Limits and Fits for Engineering.”

1.81
(46)

2.99
(76)

4.02

(102)

4.80

(122)

6.77

(172)

7.80

(198)

8.50

(216)

4.72

(120)

5.75

(146)

6.69

(170)

3.78
(96)

4.49

(114)

3.46
(88)

3.35
(85)

3.86
(98)

5.12

(130)

6.50

(165)

Flange Dimensions

LC LE LG

4.33

4.57

(110)

(116)

5.12

6.10

(130)

(155)

W

LC

L

H

T

A

L

IE

U

LE

W = 0.31 (8)
T = 0.28 (7)
U = 0.16 (4)

LR

QK

S

Q

SGMUH

Servomotors

0.14
(3.5)

0.24

(6)

ΦLH ΦLZ ΦS*

0.39

5.91

(10)

(150)

0.47

7.48

(12)

(190)

0.35
(9)

0.43

(11)

Shaft End
Dimension

0.94
(24)

1.1

(28)

Q QK

1.57
(40)

2.17
(55)

1.26
(32)

1.96
(50)

Approximate

Mass

lb

(kg)

f

13.2
(6.0)

16.5
(7.5)

30.9
(14)

Allowable

Allowable

Radial

Load

(N)

lb

f

110

(490)22 (98)

154

(686)44 (196)

Thrust

Load

(N)

lb

f

Plug for Holding Brake

C

B

MS3102A10SL-3P

Specified Tolerances

Dimension *ΦS **ΦLB

Unit Diameter Tolerance Diameter Tolerance

in 0.9449, 1.1024 +0.0000-0.0005

mm 24.000, 28.000 +0.000 -0.013

4.3307 +0.0005 -0.00035

5.12 +0.00055 -0.00043

110.000 +0.013 -0.009
130 +0.014 -0.011

Connector Wiring on the

A

Brake, Motor Side

Motor Plug

A

D

A Brake Terminal

B

B Brake Terminal

C

C—

Non-Environmental Mating Connector:
MS3108A10SL-3S (L Type)
MS3106A10SL-3S (Straight Type)
Cable Clamp: MS3057-4A

Connector Wiring on the

Motor Side

A U Phase
B V Phase
C W Phase
D Ground Terminal

143