Sigma-II Series SGM*H/SGDH USER'S MANUAL - Esco Drives ...

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3 Specifications and Dimensional Drawings(b) 400-V ClassVoltage400 VServomotor ModelSGMSH-10DA 15DA 20DA 30DA 40DA 50DARated Output ∗1 kW 1.0 1.5 2.0 3.0 4.0 5.0N·m 3.18 4.9 6.36 9.8 12.6 15.8Rated Torque ∗1 lb·in ∗3 28.2 43 56.4 87 112 140N·m 9.54 14.7 19.1 29.4 37.8 47.6Instantaneous Peak Torque ∗1 lb·in ∗3 84.4 130 169 260 336 422Rated Current ∗1 A (rms) 2.8 4.7 6.2 8.9 12.5 13.8Instantaneous Max. Current ∗1 A (rms) 8.5 14 19.5 28 38 42Rated Speed ∗1 min -1 3000Max. Speed ∗1 min -1 5000N·m/A (rms) 1.27 1.15 1.12 1.19 1.07 1.24Torque Constantlb·in/A (rms)∗311.2 10.2 9.9 10.5 9.5 11.0Rotor Moment of Inertia J ∗2 x10 -31.54 2.19 2.83 6.20 8.50 10.9x10 -4 kg·m 2 1.74 2.47 3.19 7.0 9.60 12.3(2.07) (2.80) (3.52) (9.10) (11.7) (14.4)lb·in·s 2 ∗3 (1.83) (2.48) (3.11) (8.06) (10.4) (12.8)Rated Power Rate ∗1 kW/s 57.9 97.2 127 137 166 202Rated Angular Acceleration ∗1 rad/s 2 18250 19840 19970 14000 13160 12780* 1. These items and torque-motor speed characteristics quoted in combination with an SGDM/<strong>SGDH</strong>SERVOPACK are at an armature winding temperature of 20°C (68°F).* 2. The values in the parentheses are those for motors with holding brakes.* 3. These values are reference values.Note: These characteristics are values with the following aluminum plates (heat sinks) attached for cooling.SGMSH-10, 15, and 20: 300 × 300 × 12 (mm) [11.81 × 11.81 × 0.47 (in)]SGMSH-30, 40, and 50: 400 × 400 × 20 (mm) [15.75 × 15.75 × 0.79 (in)](2) Holding Brake Moment of InertiaThe 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)Brake Moment ofInertiaServomotorSGMSH-10AA10DA15AA15DA20AA20DA30AA30DA40AA40DAkg·m 2 ×10 -4 0.325 2.10lb·in·s 2 x10 -3 ∗ 0.288 1.8650AA50DA* These values are reference values.3-34
3.5 Ratings and Specifications of SGMSH (3000min -1 )(3) Torque-motor Speed CharacteristicsMotor 3000speed2000(min -1 )1000SGMSH-10A A, -10D A50004000AB4000Motor 3000speed2000(min -1 )1000SGMSH-15A A, -15D A5000ABMotor 3000speed2000(min -1 )1000SGMSH-20A A, -20D A500000 000 2 4 6 8 100 5 10 150 5 10 15 200 10 20 30Torque (N•m)Torque (N•m) Torque (N•m) Torque (N•m)0 20 40 60 80 0 50 1000 50 100 1500 100 200Torque (lb•in) Torque (lb•in) Torque (lb•in) Torque (lb•in)4000AB4000Motor 3000speed2000(min -1 )1000SGMSH-30A A, -30D A5000ABMotor3000speed2000(min -1 ) 1000SGMSH-40A A, -40D A50004000AB00 10 20 30 40Torque (N•m)40003000Motorspeed 2000(min -1 ) 1000SGMSH-50A A, -50D A50000 0 10 20 30 40 50Torque (N•m)0 100 200 3000 100 200 300 400Torque (lb•in)Torque (lb•in)(4) Holding Brake Electrical SpecificationsABA: Continuous Duty Zone B : Intermittent Duty Zone3HoldingBrake RatedVoltage90 VDCServomotorModelServomotorCapacityWCapacityWSGMSH-10 1000 7.0SGMSH-15 1500 7.0SGMSH-20 2000 7.0SGMSH-30 3000 10.1SGMSH-40 4000 10.1SGMSH-50 5000 10.1Holding Brake SpecificationsHoldingTorqueN·m (lb·in)7.84(69.4)7.84(69.4)7.84(69.4)20.0(177)20.0(177)20.0(177)CoilResistanceΩ (at 20 °C(68 °F))RatedCurrentA (at 20 °C(68 °F))1150 0.081150 0.081150 0.08804 0.11804 0.11804 0.113-35
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YASKAWASeries SGMH/SGDHUSER'S MANUA
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• Quick access to your required i
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WARNING• Installation, disassembl
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• WiringCAUTION• Do not connect
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• Maintenance and InspectionCAUTI
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2.6.1 Special Options - - - - - - -
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3.16 Dimensional Drawings of SGMSH
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5 Specifications and Dimensional Dr
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6.2.1 Connecting an Encoder (CN2) a
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8.7.1 Setting Parameters - - - - -
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11.3.1 Utility Functions List - - -
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PURODUCT SERVICE1 Outline1.1.1 Chec
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1 Outline1.2.1 Servomotors1.2 Produ
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1 Outline1.2.2 SERVOPACKs(2) SGDH f
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1 Outline1.3.2 Three-phase, 200 V M
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1 Outline1.4.1 North American Safet
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2 Selections2.1.1 Model SGMAH (3000
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2 Selections2.1.2 Model SGMPH (3000
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2 Selections2.1.3 Model SGMGH (1500
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2 Selections2.1.4 Model SGMGH (1000
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2 Selections2.1.5 Model SGMSH (3000
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2 Selections2.1.6 Model SGMDH (2000
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2 Selections2.2.1 Support Tool for
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4 SERVOPACK Specifications and Dime
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MODE/SETCHARGEDATA/POWER4 SERVOPACK
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160 (6.30)(5) (0.20)149.5±0.5 (5.8
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YASKAWAMODE/SETCHARGEYASKAWA SERVOP
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POWERMODE/SETDATA/4 SERVOPACK Speci
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MODE/SETDATA/4 SERVOPACK Specificat
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MODE/SETCHANGEDATA/POWER4 SERVOPACK
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POWERMODE/SETDATA/4 SERVOPACK Speci
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POWERMODE/SET DATA/ BATTERY4 SERVOP
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6754675346754381 2890 1 281 29090X1
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6 Wiring6.1.1 Names and Functions o
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6 Wiring6.1.2 Wiring Main Circuit P
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6 Wiring6.1.3 Typical Main Circuit
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6 Wiring6.2.1 Connecting an Encoder
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6 Wiring6.3.1 Speed Control Mode6.3
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6 Wiring6.3.3 Torque Control Mode6.
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6 Wiring6.3.5 I/O Signal (CN1) Name
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6 Wiring6.3.6 Interface Circuit6.3.
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6 Wiring6.3.6 Interface Circuit(b)
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6 Wiring6.4.2 Wiring for Noise Cont
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6 Wiring6.4.2 Wiring for Noise Cont
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6 Wiring6.4.3 Installation Conditio
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6 Wiring6.4.4 Installation Conditio
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6 Wiring6.4.6 Extending Encoder Cab
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6 Wiring6.4.7 Operating Conditions
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6 Wiring6.4.8 DC Reactor for Harmon
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6 Wiring6.5.2 Connecting External R
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MODE/SETCHARGEYASKAWA SERVOPACKDATA
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7Digital Operator/Panel Operator7.1
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7.1 Functions on Digital Operator/P
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7.2 Operation in Utility Function M
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7.3 Operation in Parameter Setting
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7.4 Operation in Monitor Mode (Un)(
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7.4 Operation in Monitor Mode (Un)S
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8 Operation8.6 Operating Using Posi
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YASKAWAMODE/SETCHARGEYASKAWAMODE/SE
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MODE/SETYASKAWASERVOPACKSGDH-CHARGE
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8 Operation8.1.1 Trial Operation fo
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YASKAWASERVOPACKSGDH-MODE/SETCHARGE
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8 Operation8.1.4 Servomotor with Br
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8 Operation8.3.1 Setting the Servo
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8 Operation8.3.3 Setting the Overtr
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8 Operation8.3.4 Setting for Holdin
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8 Operation8.3.4 Setting for Holdin
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8 Operation8.3.6 Instantaneous Powe
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8 Operation8.4.1 Interface Circuits
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8 Operation8.4.4 Replacing Batterie
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8 Operation8.4.6 Absolute Encoder R
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8 Operation8.4.6 Absolute Encoder R
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8 Operation8.4.7 Multiturn Limit Se
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8 Operation8.5.1 Setting Parameters
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8 Operation8.5.3 Adjusting Offset8.
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8 Operation8.5.3 Adjusting Offset(2
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8 Operation8.5.6 Using the Zero Cla
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8 Operation8.5.7 Encoder Signal Out
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8 Operation8.6.2 Setting the Electr
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8 Operation8.6.2 Setting the Electr
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8 Operation8.6.3 Position Reference
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8 Operation8.6.3 Position Reference
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8 Operation8.6.5 Positioning Comple
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8 Operation8.6.7 Reference Pulse In
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8 Operation8.7.3 Adjusting the Refe
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8 Operation8.7.4 Limiting Servomoto
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8 Operation8.8.3 Operating Using an
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8 Operation8.9.2 External Torque Li
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8 Operation8.9.3 Torque Limiting Us
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8 Operation8.9.5 Checking Output To
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8 Operation8.10.2 Switching the Con
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8 Operation8.11.2 Warning Output (/
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9Adjustments9.1 Autotuning - - - -
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9.1 Autotuning9.1.2 List of Servo A
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9.2 Online Autotuning9.2 Online Aut
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9.2 Online Autotuning9.2.3 Selectin
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9.2 Online Autotuning9.2.5 Method f
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9.2 Online Autotuning9.2.7 Procedur
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9.3 Manual Tuning9.3.2 Servo Gain M
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9.4 Servo Gain Adjustment Functions
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9.5 Analog Monitor• Related Param
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10 Inspection, Maintenance, and Tro
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11Appendix11.1 Servomotor Capacity
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11.1 Servomotor Capacity Selection
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11.2 Connection to Host Controller1
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11.3 List of Parameters11.3.2 List
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11.3 List of ParametersParameterNo.
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11.3 List of Parameters11.3.3 Monit
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11.4 Parameter Recording TableParam
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IndexINDEXAabsolute encoder battery
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IndexRrack-mounted type - - - - - -
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IndexWWARN- - - - - - - - - - - - -
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Series SGMH/SGDHUSER'S MANUALIRUMA
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