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

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3 Specifications and Dimensional Drawings3.6.1 SGMDH Servomotors (2000min -1 ) With Holding Brakes(2) Torque-motor Speed Characteristics3000SGMDH-22AAB3000SGMDH-32AAB3000SGMDH-40AABMotorspeed2000(min -1 ) 1000ABMotor 2000speed(min -1 ) 1000ABMotor 2000speed(min -1 ) 1000ABAB: Continuous Duty Zone: Intermittent Duty Zone00 10 20 30 40Torque (N•m)0 0 20 40 60Torque (N•m)00 20 40 60 80Torque (N•m)0 100 200 3000 200 4000 200 400 600Torque (lb•in)Torque (lb•in)Torque (lb•in)(3) Holding Brake Electrical SpecificationsHoldingBrake RatedVoltage90VDC24VDCServomotorModelServomotorCapacityWCapacityWSGMDH-22 2200 16.0SGMDH-32 3200 16.0SGMDH-40 4000 16.0SGMDH-22 2200 16.0SGMDH-32 3200 16.0SGMDH-40 4000 16.0Holding Brake SpecificationsHoldingTorqueN·m (lb·in)29.4(260)29.4(260)29.4(260)29.4(260)29.4(260)29.4(260)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.RatedCurrentA (at 20 °C(68 °F))505 0.18505 0.18505 0.1836.0 0.6736.0 0.6736.0 0.673-40
3.7 Ratings and Specifications of SGMUH (6000min -1 )3.7 Ratings and Specifications of SGMUH (6000min -1 )3.7.1 SGMUH Servomotors (6000min -1 ) Without 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: 1800 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 driveVoltage400 VServomotor ModelSGMUH-10DA 15DA 30DA 40DARated Output ∗1 kW 1.0 1.5 3.0 4.0N·m 1.59 2.45 4.9 6.3Rated Torque ∗1 lb·in ∗2 14.1 21.7 43.5 55.8Instantaneous Peak N·m 6.5 11 21.5 29Torque ∗1 lb·in ∗2 57.6 97.5 190 257Rated Current ∗1 A (rms) 2.7 4.1 8.1 9.6Instantaneous Max.Current ∗1 A (rms) 8.5 14 28 38.5Rated Speed ∗1 min -1 6000Max. Speed ∗1 min -1 6000Torque Constant×10Rotor Moment of InertiaJ -4 kg·m 2∗3N·m/A (rms) 0.81 0.83 0.81 0.80lb·in/A (rms) ∗2 7.2 7.4 7.2 7.11.74 2.47 7.0 9.6(2.07) (2.80) (9.1) (11.7)x10 -3 lb·in·s 2 ∗2 1.54 2.19 6.2 8.5(1.83) (2.48) (8.06) (10.4)Rated Power Rate ∗1 kW/s 14.5 24.3 34.3 41.3Rated Angular Accelerationrad/s 2 9130 9910 7000 6550* 1. These items and torque-motor speed characteristics quoted in combination with <strong>SGDH</strong> SERVO-PACK are at an armature winding temperature of 20°C (68°F).* 2. These values are reference values.* 3. The values in the parentheses are those for motors with holding brakes.Note: These characteristics are values with the following aluminum plates (heat sinks) attached for cooling.SGMUH-10 and 15: 300 × 300 × 12 (mm) [11.81 × 11.81 × 0.47 (in)]SGMUH-30 and 40: 400 × 400 × 20 (mm) [15.75 × 15.75 × 0.79 (in)]33-41
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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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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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