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

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3 Specifications and Dimensional Drawings3.7.1 SGMUH Servomotors (6000min -1 ) Without Holding Brakes(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)ServomotorSGMUH-10DA 15DA 30DA 40DABrake Moment of kg·m 2 ×10 -4 0.25 2.10Inertialb·in·s 2 x10 -3 ∗ 0.221 1.86* These values are reference values.(3) Torque-motor Speed Characteristics6000SGMUH-10DA6000SGMUH-15DA6000SGMUH-30DA6000SGMUH-40DAMotorspeed4000(min -1 ) 2000ABMotor 4000speed(min -1 ) 2000ABMotor 4000speed(min -1 ) 2000ABMotorspeed4000(min -1 ) 2000AB00 4 8 12Torque (N•m)00 5 10 15Torque (N•m)00 10 20 30Torque (N•m)00 10 20 30Torque (N•m)0 40 800 50 1000 100 2000 100 200Torque (lb•in)Torque (lb•in)Torque (lb•in)Torque (lb•in)A: Continuous Duty Zone B : Intermittent Duty Zone(4) Holding Brake Electrical SpecificationsHoldingBrake RatedVoltage24 VDCServomotorModelServomotorCapacityWCapacityWSGMSH-10 1000 7.0SGMSH-15 1500 7.0SGMSH-30 3000 9.85SGMSH-40 4000 9.85Holding Brake SpecificationsHoldingTorqueN·m (lb·in)4.3(38.1)4.3(38.1)10.0(88.5)10.0(88.5)CoilResistanceΩ (at 20 °C(68 °F))RatedCurrentA (at 20 °C(68 °F))82 0.2982 0.2959 0.4159 0.413-42
3.8 Mechanical Specifications of Servomotors3.8 Mechanical Specifications of Servomotors3.8.1 Precautions on Servomotor InstallationServomotors can be installed either horizontally or vertically.The service life of the servomotor will be shortened or unexpected problems will occur if the servomotor isinstalled incorrectly or in an inappropriate location. Always observe the following installation instructions.CAUTION• Do not connect the servomotor directly to a commercial power line. Thiswill damage the servomotor.The servomotor cannot operate without the proper SERVOPACK.Do not connect3StorageTemperatureand HumidityInstallation SiteStore the servomotor within the following temperature range if it is stored with the power cable disconnected.Ambient temperature during storage: -20 to 60°C (-4 to 140°F)Ambient humidity during storage: 80%RH or less (with no condensation)Servomotors are designed for indoor use. Install the servomotor in environments that satisfy the followingconditions.• Free of corrosive or explosive gases.• Well-ventilated and free of dust and moisture.• Ambient temperature of 0 to 40°C (32 to 104° F)• Relative humidity of 20 to 80% with no condensation.• Facilitates inspection and cleaningAlignment AccuracyMeasure this distance at fourdifferent positions on thecircumference. The differencebetween the maximum andminimum measurements must be0.03 mm (0.0012 in) or less.(Turn together with coupling.)Align the shaft of the servomotor with the shaft of the equipment,and then couple the shafts. Install the servomotor sothat alignment accuracy falls within the range described onthe left.Vibration may occur and damage the bearings and encoders ifthe shafts are not correctly aligned.AlignmentOrientationServomotors can be installed either horizontally or vertically.3-43
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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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2 Selections2.5.2 Cables for SGMGH/
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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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