Yaskawa Sigma I User Manual

Yaskawa Electric Co.

Motion Control Division

Solution & Support center

Marketing section

Procedure for Replacing ∑I with ∑V

Applicable Model
Motor ∑ ( SGM , SGMP , SGMG )
Servo Amplifier ∑ ( SGDA- S , SGDA-	P ,
SGD- N , SGD- H , SGDBAD	)

Table of Contents

Notes on application………………………………………..…………………………………………………..2 1-1. Check List at updating……………………………………………………………..…………………….. …4 1-2. Concept of replacement…………………………………………………...……………………………..…6 1-3. Replacement list…………………………………………………………………………………………..…7

Motor

2-1. Type comparison table ………………………………………………...………………………..…………11

2-2. Characteristics

(1)Standard product without reduction gears….………..…………………………………….…………. 15 2-3. Installation sizes

(1)Without reduction gearas (standard)…………………….…….………………………………….……17

(2)With general-purpose reduction gears……………………………………….…………………………19

(3)With precise reduction gears……………………………………………………….……………………24 2-4. Notes on machine installation……………………………………………………………………..………….28

Servo Amplifier

3-1. Type comparison table………………………………………………………………..……………………29

3-2. Terminal table …………………………………………………………………………...…………….……29

(1)Main circuit terminal…………………………………………………..………………………………..…29

(2)Control circuit terminal……………………………………………………..…………………………..…30 3-3. Installation size …………………………………………………………….…………………………….…35

3-4. Notes on control board installation …………………………………………..……………………………38

Cable and peripherals………………………………………………………………………………...………39Parameter converter…………………………………………………………………………..………………43 Revision history……………………………………………………………………………….………….…………44

1/47

Notes on Application
Check Item	Notes
	Usage condition in ∑		Usage of ∑-V
Using SGD/SGDA/SGDB	Using S-phase output of absolute		S-phase output is not available in
Type Servo Amplifier	encoder		SGDV. There are no alternatives.
	Using auto tuning function		The same auto-tuning function as Σ is
			not provided in SGDV. The tuneless
			function is the alternative function.
			Please use the advanced auto-tuning
			function or moment of inertia
			identification function of SigmaWin+
			when you need to know the moment of
			inertia ratio.
	Using speed bias function		The speed bias function is not provided
			in SGDV. The positioning time can be
			shortened by using "Positioning setting
			(model following control)" of the
			advanced auto tuning function.
	The main circuit power supply input		The main circuit power supply input
	terminal and control power supply		terminal and control power supply input
	input terminal are common in the		terminal are separated. Please
	SGD/SGDA series		confirm the method of power activation.
	Using SGD(A)-	S (speed torque	There is no distinction between the
	control type)		speed torque control type and
			positional control type in SGDV. It is
			possible to use either control type.
			There is no distinction between the
	Using SGD(A)-	P (position
	control type)		speed torque control type and
			positional control type in SGDV. It is
			possible to use either control type.

2/47

	Using SGD-	N or SGDBAN	Please use MECHATROLINK-II
	(MECHATROLINK communication		communication reference servo
	support type)		amplifier (SGDV-		1	type).
			SGDV-	1 type servo amplifier
			corresponds to MECHATROLINK-II
			communication (4Mbps).
			Changing software of the host controller
			may become necessary when using the
			SGDV-	1 type to replace
			SGD-	N type, SGDB-		AN type,
			because the corresponding
			MECHATROLINK command is
			different.
			There is no option module with the
	Using SGD-	H (RS-422
	communication support type) or		interface that can replace these. Please
	SGDBAM (for multi-function		consider the replacement with
	position control)		MECHATROLINK-II communication
			reference servo amplifier
			(SGDV-	1 type).
			Please inquire to the factory. Although
	Using SGDB-	-P (duct
	ventilation type)		there is a model that corresponds to the
			duct ventilation type but the capacity is
			limited and the installation size is
			different.

The following functions and performances were improved by replacing ∑ with ∑- V.Added the small capacity medium inertia series (SGMJV type) to the motor lineup.

Increased the peak speed of the motor from 4500rpm to 6000 rpm. (SGMJV type and SGMAV type)Improved the speed frequency response characteristic for performance.

SGDA / SGDB 250Hz SGDV 1.6kHz (Load inertia Rotor inertia of motorSupports pulse train command input frequency of 4Mpps.

SIGN+PULSE and CW/CCW are 4Mpps. The A/B-phase 2-phase pulse train becomes 4Mpps at 1x2, 2Mpps at 2x2, and 1Mpps at 4x2.

However, it is 200kpps when connecting with open collector output.RoHS compliant as standard product.

Safety standard (Safety Stop-0) embedded in standard products.PC connection changed from RS-232C communication to USB.

3/47

Check List when replacing ∑ with ∑

Category	Item	Where to check	Checked
Motor	Main Body	<Confirmation of main body installation dimension/position>
		Please confirm installation dimensions of the motor in-use and
		machine in-use.
		Inside low diameter
		Mounting hole pitch
		Mounting hole diameter
		Axis diameter
		Axis shape (straight, key, center tap, and taper)
		< Confirmation of special specification >
		Please confirm whether the motor you are using now is a special
		type.
		Please confirm the specification with the delivery specifications if
		you are using a special type.
	Voltage	Correspondence of AC100V specification
		Selected the both servo motor and servo amplifier which were for
		100V when using the AC100V power supply in ∑-I. However, only
		AC200V motor is available in the ∑ V. Select the proper servo
		amplifier when using AC100V power supply.
	Cable	Confirmation of wiring direction
		Please confirm how to wire, and also confirm that the machine has no
		interference.
Servo	Main Body	< Confirmation of main body mounting position >
Amplifier		Please confirm the size (W H D) and the mounting hole position of
Hardware		the servo amplifier in-use.
		< Confirmation of special specification >
		Please confirm whether the servo amplifier in-use does not have your
		own NP, and product shape, and also confirm that any special
		processes etc. are not done by referring the delivery specification.
	Main	< Confirmation of wiring >
	Circuit	Changed to the connector connection from the terminal block for
		models of 1.5kW or less.
		The main circuit connector, terminal block position, terminal marking
		and order are different between the servo amplifier in-use and the
		replacement servo amplifier.
		Please consider the substitution of extension of wiring when there is
		not enough room in wiring.

4/47

		<Regenerative process>
		Regenerative processing unit (JUSP-RG08/JUSP-RG08C) is used
		when regeneration processing is necessary in SGD/SGDA. In the
		SGDV, the regeneration processing is possible by connecting the
		regenerative resistor between the terminal B1 and B2.
		AC100V specification
		Corresponds with the voltage specification "F" (Input 100V, Output
		200V) servo amplifier. The servo motors are AC200V.
		Single phase AC200V specification
		Three-phase circuit AC200V is standard in the ∑-V series servo
		amplifier.
		Change the parameter "Function selection switch B" when using
		single-phase power supply. (Pn00B.2=1)
		Connect to terminal L1 and L2 when using the single-phase power
		supply.
		Please note that the torque-speed characteristic is different from the
		three-phase circuit power supply specifications.
		Also please note that the size of the1.5kW single-phase AC200V
		servo amplifier (SGDV-120A A008000) is the same as the 3kW
		three-phase AC200V amplifier (SGDV-200A	A).
		DC power supply input
		Change the parameter "Function selection switch 1" when using
		DC power supply input. (Pn001.2=1)
		Note) Connect the main circuit DC power supply only after changing
		the parameter.
	Control	Confirmation of wiring
	circuit	The control circuit power supply input terminal is separated in the
		SGDV type when it is replaced from the SGD type and SGDA type.
Servo	Software	Confirmation of special software existence
amplifier		Confirm whether the software of the servo amplifier in-use is
software		standard software from the version number.	Contact Yaskawa with
		the version number if you are not sure the software is standard or
		not.
	Constant	Confirmation of user constant
		Confirm the user constant of the servo amplifier in-use.
		SigmaWin + has a function to convert from the user constant of ∑
		into the parameter of ∑- V.
	Peripherals	Confirmation of the digital operator
		The digital operators for ∑ and ∑-V are different. Please purchase a
		new digital operator if needed.

5/47

		Confirmation of PC connection cable
		The PC connection cables for ∑ and ∑-V are different.
		Please purchase a new cable when using SigmaWin+.
	Others	In the Σ series, the stopping method is DB stop or free-run stop when
		an alarm is detected. On the other hand, factory setting for G2 is 0
		speed stop in Σ-V series. It is possible to change to the DB stop or
		free-run stop when the parameter Pn00B.1=0 is set to . The user
		constant conversion function of SigmaWin + is not able to convert this.

6/47

Concept of Replacement

When replacing ∑ series servo motor/servo amplifier with ∑-V series, the following methods are available.

Encoder Cable

Motor Cable

●Case 1

Replacing all the motors, servo amplifier, and cables with ∑-V series.

Encoder Cable

Motor Cable

●Case 2

Only the motor or amplifier cannot be replaced by itself and the existing cable of ∑ series cannot be used as is.

7/47

1-3. Replacement List

Replacing SGM with SGMJV

Type in-use of ∑ series

Replacing type ∑-V series

Replacing Method

Note

Servo Amplifier

Servo Motor

Servo Amplifier

Servo Motor

Case 1

Case 2

SGDA-A3AS

SGM-A3A

SGDV-R70A01A

SGDA-A3AP

30W version is not

SGD-A3AN

SGDV-R70A11A

SGMJV-A5A

Applicable

N/A

available. Use 50W .

SGDA-A3BS

SGDV-R70F01A

Axis diameter changes

φ

φ

SGDA-A3BP

SGM-A3B

to 8 from

6

SGD-A3BN

SGDVR70F11A

SGDA-A5AS

SGDV-R70A01A

SGDA-A5AP

SGM-A5A

SGD-A5AN

SGDV-R70A11A

SGMJV-A5A

Applicable

N/A

Axis diameter changes

SGDA-A5BS

SGDV-R70F01A

to φ8 from φ6

SGDA-A5BP

SGM-A5B

SGD-A5BN

SGDVR70F11A

SGDA-01AS

SGDV-R90A01A

SGDA-01AP

SGM-01A

SGD-01AN

SGDV-R90A11A

SGMJV-01A

Applicable

N/A

-

SGDA-01BS

SGDV-R90F01A

SGDA-01BP

SGM-01B

SGD-01BN

SGDVR90F11A

SGDA-02AS

SGDV-1R6A01A

SGDA-02AP

SGM-02A

SGD-02AN

SGDV-1R6A11A

SGDB-02AM

SGMJV-02A

Applicable

N/A

-

SGDA-02BS

SGDV-2R1F01A

SGDA-02BP

SGM-02B

SGD-02BN

SGDV-2R1F11A

SGDA-03BS

SGDV-2R8F01A

300W version is not

SGDA-03BP

SGM-03B

SGMJV-04A

Applicable

N/A

available. Use 400W .

SGD-03BN

SGDV-2R8F11A

SGDA-04AS

SGDV-2R8A01A

SGDA-04AP

SGM-04A

SGMJV-04A

Applicable

N/A

-

SGD-04AN

SGDV-2R8A11A

SGDB-05AM

SGDA-08AS

SGDV-5R5A01A

Axis diameter changes

SGDA-08AP

SGM-08A

SG0MJV-08

Applicable

N/A

SGD-08AN

SGDV-5R5A11A

to φ19 from φ16

SGDB-10AM

8/47

Replacing SGM with SGMAV

Type in-use of ∑ series

Replacing type ∑-V series

Replacing Method

Note

Servo Amplifier

Servo Motor

Servo Amplifier

Servo Motor

Case 1

Case 2

SGDA-A3AS

SGDV-R70A01A

SGDA-A3AP

SGM-A3A

30W version is not

SGD-A3AN

SGDV-R70A11A

SGMAV-A5A

Applicable

N/A

available. Use 50W .

SGDA-A3BS

SGDV-R70F01A

Axis diameter changes

to φ8 from φ6

SGDA-A3BP

SGM-A3B

SGD-A3BN

SGDVR70F11A

SGDA-A5AS

SGDV-R70A01A

SGDA-A5AP

SGM-A5A

SGD-A5AN

SGDV-R70A11A

SGMAV-A5A

Applicable

N/A

Axis diameter changes

SGDA-A5BS

SGDV-R70F01A

to

φ8 from φ6

SGDA-A5BP

SGM-A5B

SGD-A5BN

SGDVR70F11A

SGDA-01AS

SGDV-R90A01A

SGDA-01AP

SGM-01A

SGD-01AN

SGDV-R90A11A

SGMAV-01A

Applicable

N/A

-

SGDA-01BS

SGDV-R90F01A

SGDA-01BP

SGM-01B

SGD-01BN

SGDVR90F11A

SGDA-02AS

SGDV-1R6A01A

SGDA-02AP

SGM-02A

SGD-02AN

SGDV-1R6A11A

SGDB-02AM

SGMAV-02A

Applicable

N/A

-

SGDA-02BS

SGDV-2R1F01A

SGDA-02BP

SGM-02B

SGD-02BN

SGDV-2R1F11A

SGDA-03BS

SGDV-2R8F01A

300W version is not

SGDA-03BP

SGM-03B

SGMAV-04A

Applicable

N/A

available. Use 400W .

SGD-03BN

SGDV-2R8F11A

SGDA-04AS

SGDV-2R8A01A

SGDA-04AP

SGM-04A

SGMAV-04A

Applicable

N/A

-

SGD-04AN

SGDV-2R8A11A

SGDB-05AM

SGDA-08AS

SGDV-5R5A01A

Axis diameter changes

SGDA-08AP

SGM-08A

SGMAV-08A

Applicable

N/A

SGD-08AN

SGDV-5R5A11A

to φ19 from φ16

SGDB-10AM

9/47

Replacing SGMP with SGMJV or SGMPS

Type in-use of ∑ series

Replacing type ∑-V series

Replacing Method

Note

Servo

Servo

Servo Amplifier

Servo Motor

Case 1

Case 2

Amplifier

Motor

SGDA-01AS

SGDV-R90A01A

Flange angle changes to 40° from 60° when

SGMP-01A

replacing with SGMJV.

SGDA-01AP

SGMJV encoder is either the incremental

SGD-01AN

SGDV-R90A11A

SGMJV-01A

encoder 20bit, incremental encoder 13bit or

or

Available

N/A

absolute encoder 20bit.

SGDA-01BS

SGDV-R90F01A

SGMPS-01A

Flange angle is 60° (no change) when

replacing with SGMPS.

SGDA-01BP

SGMP-01B

SGMPS encoder is either the incremental

SGD-01BN

SGDVR90F11A

encoder 17bit or absolute encoder 17bit.

SGDA-02AS

SGDV-1R6A01A

Flange angle changes to 60° from 80° when

replacing with SGMJV.

SGDA-02AP

SGMP-02A

SGMJV encoder is either the incremental

SGD-02AN

SGDV-1R6A11A

SGMJV-02A

encoder 20bit, incremental encoder 13bit or

absolute encoder 20bit.

SGDB-02AM

N/A

or

Available

Flange angle is 80° (no change) when

SGDA-02BS

SGDV-2R1F01A

SGMPS-02A

replacing with SGMPS.

SGMPS encoder is either the incremental

SGDA-02BP

SGMP-02B

encoder 17bit or absolute encoder 17bit.

SGD-02BN

SGDV-2R1F11A

300W version is not available. Use 400W.

SGDA-03BS

Flange angle changes to 60° from 80° when

SGDV-2R8F01A

replacing with SGMJV.

SGMJV-04A

SGMJV encoder is either the incremental

encoder 20bit, incremental encoder 13bit or

SGDA-03BP

SGMP-03B

or

Available

N/A

absolute encoder 20bit.

SGMPS-04A

Flange angle is 80° (no change) when

SGD-03BN

SGDV-2R8F11A

replacing with SGMPS.

SGMPS encoder is either the incremental

encoder 17bit or absolute encoder 17bit.

SGDA-04AS

Flange angle changes to 60° from 80° when

SGDV-2R8A01A

replacing with SGMJV.

SGDA-04AP

SGMJV-04A

SGMJV encoder is either the incremental

encoder 20bit, incremental encoder 13bit or

SGDB-05ADP

SGMP-04A

or

Available

N/A

absolute encoder 20bit.

SGD-04AN

SGMPS-04A

Flange angle is 80° (no change) when

SGDV-2R8A11A

replacing with SGMPS.

SGDB-05AN

SGMPS encoder is either the incremental

SGDB-05AM

encoder 17bit or absolute encoder 17bit.

SGDA-08AS

Flange angle changes to 80° from 120° and

SGDV-5R5A01A

shaft diameter changes to 19 from 16

SGDA-08AP

when replacing with SGMJV.

SGMJV-08A

SGDB10ADP

SGMJV encoder is either the incremental

SGMP-08A

or

Available

N/A

encoder 20bit, incremental encoder 13bit or

SGD-08AN

SGMPS-08A

absolute encoder 20bit.

SGDV-5R5A11A

Flange angle is 80° (no change) and shaft

SGDB-10AN

diameter is 16 (no change) when replacing

SGDB-10AM

with SGMPS.

SGDB-15ADP

SGDV-120A01A

SGMPS encoder is either the incremental

SGMP-15A

SGMPS-15A

Available

N/A

encoder 17bit or absolute encoder 17bit.

SGDB-15AN

SGDV-120A11A

SGDB-15AM

10/47

Replacing SGMG (1500min-1) with SGMGV

Type in-use of ∑ series

Replacing type ∑-V series

Replacing Method

Note

Servo Amplifier

Servo Motor

Servo Amplifier

Servo Motor

Case 1

Case 2

-

-

SGDV-3R8A01A

SGMGV-03A

N/A

N/A

Flange angle: 90mm

SGDV-3R8A11A

Shaft diameter: 14mm

SGDB-05ADG

SGDV-3R8A01A

SGMGV-05A

Available

N/A

Flange angle: 130 90(mm)

SGMG-05A A

Shaft diameter: 19 16(mm)

SGDB-05AN

SGDV-3R8A11A

Rotar inertia moment: 7.24 3.33(x10-

SGDB-10ADG

SGMG-09A A

SGDV-7R6A01A

SGMGV-09A

Available

N/A

-

SGDB-10AN

SGDV-7R6A11A

SGDB-15ADG

SGMG-13A A

SGDV-120A01A

SGMGV-13A

Available

N/A

Rotar inertia moment: 20.5 19.9(x10-

SGDB-15AN

SGDV-120A11A

4kg m2)

SGDB-20ADG

SGDV-180A01A

Flange angle: 180 130(mm)

SGMG-20A A

SGMGV-20A

Available

N/A

Shaft diameter: 35 24(mm)

SGDB-20AN

SGDV-180A11A

Rotar inertia moment: 31.7 26.0(x10-

SGDB-30ADG

SGDV-330A01A

4kg m2)

SGMG-30A A

SGMGV-30A

Available

N/A

-

SGDB-30AN

SGDV-330A11A

SGDB-44ADG

SGMG-44A A

SGDV-330A01A

SGMGV-44A

Available

N/A

-

SGDB-44AN

SGDV-330A11A

Replacing SGMG (1000min-1) with SGMGV

Capacity of the servo motor SGMGV and servo amplifier go up

Type in-use of ∑ series

Replacing type ∑-V series

Replacing

Note

Servo

Servo Motor

Servo

Servo

Case 1

Case 2

Amplifier

Amplifier

Motor

SGDB-03ADM

SGDV-

SGMGV-

Flange angle: 130 90(mm)

SGMG-03A

Β

3R8A01A

Available

N/A

Shaft diameter: 19 16(mm)

SGDB-05AN

SGDV-

05A

Rotar inertia moment: 7.24 3.33(x10-

3R8A11A

SGDB-07ADM

SGDV-

SGMGV-

Rated torque: 5.68 5.39(N m)

SGMG-06A Β

7R6A01A

Available

N/A

Peak torque: 14.1 13.8(N m)

SGDB-10AN

SGDV-

09A

7R6A11A

SGDB-10ADM

SGDV-120A01A

SGMGV-

Available

N/A

Rotar inertial moment: 20.5 19.9(x10-

SGMG-09A

Β

13A

4kg m2)

SGDB-10AN

SGDV-120A11A

Rated torque: 8.62 8.34(N m)

SGDB-15ADM

SGMG-12A

Β

SGDV-180A01A

SGMGV-

Available

N/A

Flange angle: 180 130(mm)

20A

Shaft diameter: 35 24(mm)

SGDB-15AN

SGDV-180A11A

Rotar inertia moment: 31.7 26.0(x10-

SGDB-20ADM

SGMG-20A Β

SGDV-330A01A

SGMGV-

Available

N/A

Rated torque: 19.1 18.6(N

SGDB-20AN

SGDV-330A11A

30A

SGDB-30ADM

SGMG-30A

Β

SGDV-330A01A

SGMGV-

Available

N/A

-

SGDB-30AN

SGDV-330A11A

44A

SGDB-44ADM

SGMG-44A Β

-

-

-

-

SGDB-44AN

11/47

2. Motor

2-1. Type Comparison Table

Comparison Table of SGM, SGMP and SGMAV, SGMJV (w/o reduction gears)

□□ □ □ □ □ □Type Name

	SeriesName				∑		∑			Supplement
	Servo MotorType			SGM-		SGMP-	SGMAV-		SGMJV-
	30			A3		-	-		-	50Wsetting(30W settingisnotavailable)
	50			A5		-	A5		A5	-
Capacity	100			01		01	01		01	-
	200	W		02		02	02		02	-
	300			03		03	-		-	400Wsetting(300W setting isnotavailable)
	400			04		04	04		04	-
	750			08		08	08		08	-
		Standard			B					Correspondsbycombiningthe Servoamplifier100Vpower
	100V	UL certified			L			-
Voltabe										supplyspec. "F"andmotor for200V
		CE certified			W
Spec.
		Standard			A
	200	UL certified			U			A		-
		CE certified
	2048p/r	incremental encoder			3			-		0bitserial incremental encoder (13bitisselectable for SGMJV
	8192p/rincremental encoder				2			-		20bitserial incremental encoder
Detector	13bitserial incremental encode				-		-		A	-
	20bitserial incremental encode				-					-
	12bitabsolute encoder				W			-		20bit serial absolute encoder
	15bitabsolute encoder				S			-		20bit serial absolute encoder
	20bitserial absolute encoder				-			3		-
Design										SGMJV Standard: Fully-closed,Self-coolingIP65 (excluding
										shaftpenetratedpart)
Order	Standard				1			A
										SGMAV Standard: Fully-closed,Self-cooling IP55 (excluding
										shaftpenetratedpart)
Shaft-	w/ostraightkey				2			2		-
end	w/ straight key				4			-		Handle with straightkeytap
Spec.	w/ straight keytap				6			6		-
	w/ostraightkey w/tap				8			8		-
	Nooption				-			1		Setto "1" for nooptioninsteadofleavingasablank
	90 brake				B			-		24Vbrake (90V brake settingisnotavailable)
Option	24 brake				C			C		-
	Oil seal				S			S		-
	90 brake,Oil seal							-		24Vbrake (90V brake settingisnotavailable)
	24 brake,Oil seal				E			E		-

100Vinputtype onlyfor300W ofSGM andSGMP

12/47

Comparison Table of SGMG and SGMGV (w/o reduction gears)

G □□ □ □ □ □ □

Type Name

	Series Name		∑	∑	Supplement
	Servo Motor Type		SGMG-	SGMGV-	Rating 1000min-1model is not provided in
	0.3		03	03	SGMGV. If you are using SGMG rating
	0.45		05	05	1000min-1 model (SGMG-	B) please use
	0.6		06	-	the rating 1500min-1 model though the rated torque
Capacity	0.85/0.9	kW	09	09	and externals are different.
	1.2		12	-
	1.3		13	13
	1.8/2.0		20	20
	2.9/3.0		30	30
	4.4		44	44
Voltabe		200	A	A
Spec.
	4096p/r incremental encoder		6	-	20bit serial incremental encoder
	8192p/r incremental encoder		2	-	20bit serial incremental encoder
Detector	13bit serial incremental encod		-	-	-
	20bit serial incremental encod		-		-
	12bit absolute encoder		W	-	20bit serial absolute encoder
	15bit absolute encoder		S	-	20bit serial absolute encoder
	20bit serial absolute encoder		-	3	-
Design	1500min-1		A	A	Standard: Fully-closed, Self-cooling IP67
					(excluding shaft penetrated part)
Order
	1000min-1		B	-	Rating 1000min-1model is not provided please
					use the rating 1500min-1 model.
Shaft-	w/o straight key		A	2	-
end	w/ straight key tap		B	6	-
Spec.	1/10 taper w/ key		C,D	-	No taper is available. Use straight key.
	No option		-	1	Set to "1" for no option instead of leaving as a
Option	DC90 brake		B	B	Use 24V Brake version
	DC24 brake		C	C	-
	DC90V brake, Oil seal		F	D	Use 24V Brake version
	DC24V brake, Oil seal		G	E	-
	Oil seal		S	S	-

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ComparisonTableofSGM,SGMPandSGMAV,SGMJV(w/reductiongears)

						□□ □ □ □ □ □ □ □
						TypeName
	SeriesName			∑		∑				Supplement
	ServoMotorType		SGM-		SGMP-	SGMAV-		SGMJV-
	30		A3		-	-		-		50Wsetting(30Wsettingisnotavailable)
	50		A5		-	A5		A5		-
Capacity	100		01		01	01		01		-
	200	W	02		02	02		02		-
	300		03		03	-		-		400Wsetting(300Wsettingisnotavailable)
	400		04		04	04		04		-
	750		08		08	08		08		-
		Standard		B						CombiningtheServoamplifier100Vpowersupplyspec."F"
Voltage	100V	ULcertified		L		-
										andmotorfor200V
		CEcertified		W
Spec.
		Standard		A
	200	ULcertified		U		A				-
		CEcertified
	2048p/r	incrementalencoder		3		-				20bitserialincrementalencoder(13bisisselectableforSGMJV
	8192p/rincrementalencoder			2		-				20bitserialincrementalencoder
Detector	13bitserialincrementalencoder			-		-		A		-
	20bitserialincrementalencoder			-						-
	12bitabsoluteencoder			W		-				20bitserialabsoluteencoder
	15bitabsoluteencoder			S		-				20bitserialabsoluteencoder
	20bitserialabsoluteencoder			-		3				-
Design										SGMJVStandard:Fully-closed,Self-coolingIP55(excluding
										shaftpenetratedpart)
Order	Standard			1		A
										SGMAVStandard:Fully-closed,Self-coolingIP55(excluding
										shaftpenetratedpart)
Reduction	Precisionreductiongears			H		H				-
Gears
Spec.	General-purposereductiongears			J		-				Usetheprecisionreductiongears(general-purposereduction
										gearsarenotavailable)
		1/5		1		1				-
Reduction		1/9	2			2				Correspondingto50W
		3/31	2			-				Correspondby1/9(only50W)or1/11
Ratio
		1/11	2							Notcorrespondingto50W
		1/21		3						-
		1/33		4		7				-
Shaft-	Flangemounting			0		0				-
	w/ostraightkey			2		2				-
endSpec.	w/straightkey			4		-				Handlewithstraightkeytap
	w/straightkeytap			6		6				-
	w/straighttap			8		8				-
Option	NoOption			-		1				Setto"1"fornooptioninsteadofleavingasablank
	90 brake			B		-				24Vbrake(90Vbrakesettingisnotavailable)
	24 brake			C		C				-

●∑series

SGM Precision 1/5 1/9(50 100W 1/11(except50 100W 1/21 1/33

General-Purpose 1/5 3/31 1/21 1/33SGMPPrecision 1/5 1/11 1/21 1/33

General-Purpose 1/5 3/31 1/21 1/33

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Comparison Table of SGMG and SGMGV (w/ reduction gears)

G □□ □ □ □ □ □ □ □

Type Name

	Series Name		∑	∑
	Servo Motor Type		SGMG-	SGMGV-
	0.3		03
	0.45		05
	0.6		06
Capacity	0.85/0.9	kW	09
	1.2		12
	1.3		13
	1.8/2.0		20
	2.9/3.0		30
	4.4		44
Voltabe		200	A
Spec.
	4096p/r incremental encoder		6
Detector	8192p/r incremental encoder		2
	20bit serial incremental encode		-
	12bit absolute encoder		W
	15bit absolute encoder		S
	20bit serial absolute encoder		-
Design	1500min-1		A
Order
	1000min-1		B	Quotes in each case
Reduction	Precision reduction gears		L
Gears
Spec.	General-purpose reduction gea		S,T
		1/5	1
		1/6	A
Reduction		1/9	2
		1/11	B
Ratio
		1/20	5
		1/21	C
		1/29	7
		1/45	8
Shaft-end	Flange mounting (w/o shaft)		-
	w/o straight key		-
Spec.	w/ straight key		K
	w/ straight key tap		R
	w/ straight tap		-
Option	No option		-
	DC90 brake		B
	DC24 brake		C

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