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

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3 Specifications and Dimensional Drawings3.5.2 SGMSH Servomotors (3000min -1 ) With Low-backlash GearsHoldingBrake RatedVoltage24 VDCServomotorModelServomotorCapacityWCapacityWSGMSH-10 1000 7.0SGMSH-15 1500 7.0SGMSH-20 2000 7.0SGMSH-30 3000 9.85SGMSH-40 4000 9.85SGMSH-50 5000 9.85Holding 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))Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor.3.5.2 SGMSH Servomotors (3000min -1 ) With Low-backlash GearsRatedCurrentA (at 20 °C(68 °F))82.3 0.2982.3 0.2982.3 0.2958.7 0.4158.7 0.4158.7 0.41• Time Rating: Continuous• Vibration Class: 15 µm or below• Insulation Resistance: 500 VDC, 10 MΩ min.• Ambient Temperature: 0 to 40°C (32 to 104°F)• Excitation: Permanent magnet• Mounting: Flange method(can be mounted in any direction)• Gear Lubricating Method: Grease• Gear Mechanism: Planetary gear mechanism• 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: 0.05° (3 min) at the gear output shaft• Gear Rotation Direction: Same direction as servomotor• Max. Input Motor Speed for Gears: 4000 min -1ServomotorGear OutputMoment of Inertia J×10 -4 kg·m 210AAL1410DAL1410AAL2410DAL2410AAL5410DAL5410AAL7410DAL7410AAL8410DAL84ServomotorModelSGMSH-OutputWRatedSpeedmin -11.0 3000RatedTorqueN•m(lb•in)3.18(28.2)GearRatio1/51/91/201/291/45RatedTorque/Efficiency∗2N·m/%(lb·in/%)12.7/80(112/80)22.9/80(203/80)50.9/80(451/80)73.8/80(653/80)115/80(1018/80)InstantaneousPeakTorque/EffectiveN·m/%(lb·in/%)38.2/80(338/80)68.7/80(608/80)153/80(1354/80)221/80(1956/80)343/80(3036/80)RatedSpeedmin -1Max.Speed ∗1min -1600 800333 444150 200103 13866 89(×10 -3 lb·in·s 2 )Motor +Gears5.18(4.58)4.85(4.29)8.53(7.55)6.62(5.86)5.66(5.01)Gears3.44(3.04)3.11(2.75)6.79(6.01)4.88(4.32)3.92(3.47)3-36
3.5 Ratings and Specifications of SGMSH (3000min -1 )ServomotorGear OutputMoment of Inertia J×10 -4 kg·m 215AAL1415DAL1415AAL2415DAL2415AAL5415DAL5415AAL7415DAL7415AAL8415DAL8420AAL1420DAL1420AAL2420DAL2420AAL5420DAL5420AAL7420DAL7420AAL8420DAL8430AAL1430DAL1430AAL2430DAL2430AAL5430DAL5430AAL7430DAL7430AAL8430DAL8440AAL14ServomotorModelSGMSH-OutputW1.52.0RatedSpeedmin -13000RatedTorqueN•m(lb•in)4.9(43)6.36(56.4)3.0 9.8 (87)GearRatio1/51/91/201/291/451/51/91/201/291/451/51/91/201/291/451/540AAL24 1/912.64.0(112)40AAL54 1/2040AAL74 1/29RatedTorque/Efficiency∗2N·m/%(lb·in/%)19.6/80(173/80)35.3/80(312/80)78.4/80(694/80)114/80(1009/80)176/80(1558/80)25.6/80(227/80)46/80(407/80)102/80(903/80)148/80(1310/80)230/80(2036/80)39.2/80(347/80)70.5/80(624/80)157/80(1390/80)227/80(2009/80)353/80(3124/80)50.4/80(446/80)90.7/80(803/80)202/80(1788/80)292/80(2584/80)InstantaneousPeakTorque/EffectiveN·m/%(lb·in/%)58.8/80(520/80)106/80(938/80)235/80(2080/80)341/80(3018/80)529/80(4682/80)76.4/80(676/80)138/80(1221/80)306/80(2708/80)443/80(3921/80)688/80(6089/80)118/80(1044/80)212/80(1876/80)470/80(4160/80)682/80(6036/80)1058/80(9364/80)151/80(1337/80)272/80(2407/80)605/80(5355/80)877/80(7762/80)RatedSpeedmin -1600 800333 444150 200103 13866 89600 800333 444150 200103 13866 89600 800333 444150 200103 13866 89600 800333 444150 200103 138Max.Speed ∗1 Motor +min -1 Gears(×10 -3 lb·in·s 2 )5.91(5.23)7.24(6.41)9.26(8.20)7.35(6.51)9.05(8.01)6.63(5.87)7.96(7.05)9.98(8.83)13.5(11.9)9.77(8.65)17.2(15.2)14.8(13.1)27.2(24.1)20.4(18.1)16.7(14.8)19.8(17.5)22.1(19.6)29.8(26.4)23.0(20.4)Gears3.44(3.04)4.77(4.22)6.79(6.01)4.88(4.32)6.58(5.82)3.44(3.04)4.77(4.22)6.79(6.01)10.3(9.12)6.58(5.82)10.2(9.03)7.80(6.90)20.2(17.9)13.4(11.9)9.70(8.59)10.2(9.03)12.5(11.1)20.2(17.9)13.4(11.9)33-37
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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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2 Selections2.2.2 Servomotor Capaci
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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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