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 GearsServomotorModelSGMSH-OutputWServomotorRatedSpeedmin -1RatedTorqueN•m(lb•in)GearRatio50AAL141/550AAL24 5.0 300015.8(140)1/950AAL54 1/20RatedTorque/Efficiency∗2N·m/%(lb·in/%)63.2/80(559/80)114/80(1009/80)253/80(2239/80)Gear OutputInstantaneousPeakTorque/EffectiveN·m/%(lb·in/%)190/80(1682/80)343/80(3036/80)762/80(6744/80)RatedSpeedmin -1600 800333 444150 200Max.Speed ∗1 Motor +min -1 GearsNote: For the shaft center allowable radial load, refer to the servomotor dimensional drawing.* 1. The maximum input motor speed of the gears is 4000 min -1 .* 2. Output torque and motor speed produce the following trends in efficiency. Values in the table are atthe rated motor speed.Moment of Inertia J×10 -4 kg·m 2(×10 -3 lb·in·s 2 )32.7(28.9)24.8(22.0)32.5(28.8)Gears20.4(18.1)12.5(11.1)20.2(17.9)EfficiencyEfficiencyOutput torqueOutput torque3-38
3.6 Ratings and Specifications of SGMDH (2000min -1 )3.6 Ratings and Specifications of SGMDH (2000min -1 )3.6.1 SGMDH Servomotors (2000min -1 ) With Holding Brakes(1) Ratings and Specifications• 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• Thermal Class: F• Withstand Voltage: 1500 VAC for one minute• Enclosure: Totally enclosed, IP67 self-cooled(except for the shaft opening)• Ambient Humidity: 20% to 80% (no condensation)• Drive Method: Direct drive• Holding Brake: 90 VDC, static friction torque 29.4 N·mVoltage200 VServomotor ModelSGMDH-22AAB 32AAB 40AABRated Output ∗1 kW 2.2 3.2 4.0N·m 10.5 15.3 19.1Rated Torque ∗1 lb·in ∗2 92.9 135 169Instantaneous Peak N·m 36.7 53.5 66.9Torque ∗1 lb·in ∗2 325 474 592Rated Current ∗1 A (rms) 15.7 20.9 23.2Instantaneous Max.Current ∗1 A (rms) 54 73 77Rated Speed ∗1 min -1 2000Max. Speed ∗1 min -1 3000Torque ConstantN·m/A (rms) 0.72 0.78 0.92lb·in/A (rms) ∗2 6.4 6.9 8.1Rotor Moment of x10 -4 kg·m 2 56.6 74.2 91.8Inertia J (IncludingHolding BrakeMoment of Inertia)x10 -3 lb·in·s 2 ∗2 50.1 65.7 81.3Rated Power Rate ∗1 kW/s 19.5 31.5 39.7Rated AngularAcceleration ∗1 rad/s 2 1850 2060 20803* 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. These values reference values.Note: These characteristics are values with the following iron plates (heat sinks) attached for cooling.650 × 650 × 35 (mm) [25.59 × 25.59 × 1.38 (in)]3-39
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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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2 Selections2.5.1 Cables for SGMAH
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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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Sigma-II Series SGM*H/SGDH USER'S MANUAL - Esco Drives ...

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