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

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φLBh7φSh617(0.67)9.5 (0.37)W3 Specifications and Dimensional Drawings3.11.1 SGMAH Servomotors (3000 min -1 ) Without Gears(3) 300 W, 650 WEncoder cable φ6 ( φ0.24)UL20276300 (11.81) ±30 (±1.18)Motor cable φ7 ( φ0.28)35 (1.38)Motor plugEncoder plugShaft EndU26.5 (1.04)LH300 (11.81) ±30 (±1.18)LLL LRLM 3(0.12)(0.0016)0.04 Aφ0.04 A( φ0.0016)TLC21 (0.83)φ14 (0.55)13 (0.51)LGQKφLASerial encoderA0.02 (0.0008)4-φLZTap × Depth∗(See the following table.)ModelSGMAH-03DA2103DA4103DA6107DA2107DA4107DA61Units: mm (in)L LL LM LR LG LC LA LZ LH154.5(6.08)185(7.28)124.5(4.90)145(5.71)91(3.58)111.5(4.39)30(1.18)40(1.57)6(0.24)8(0.31)60(2.36)80(3.15)70(2.76)90(3.54)5.5(0.22)7 (0.28)7(0.28)8(0.31)ModelSGMAH-Tap×Depth ∗ QK U W T03DA21No tap03DA41 2003DA61 M5×8L07DA21No tap07DA41 3007DA61 M5×8L(0.79)(1.18)No key3 (0.12) 5 (0.20) 5 (0.20)No key3 (0.12) 5 (0.20) 5 (0.20)Approx.Masskg (lb)1.7(3.75)3.4(7.50)AllowableRadial LoadN (lbf)245(55)392(88)Units: mm (in)AllowableThrust LoadN (lbf)74(17)147(33)1. The dimensions for L and LL of a servomotor incorporating an encoder with super-capacitor (model: SGMAH-4) are as shown below.SGMAH-03: L-dimension + 8.2 mm (0.32 in), LL-dimension +8.2 mm (0.32 in).SGMAH-07: L-dimension + 0 mm, LL-dimension +0 mm.2. The working point of the SGMAH servomotor radial load is at the position of minus 5 mm from the shaft end.3-52
3.11 Dimensional Drawings of SGMAH Servomotors (3000 min -1 )• Dimensional TolerancesModelSGMAH-03DA2103DA4103DA6107DA2107DA4107DA61Units: mm (in)Shaft-end DimensionsFlange Face DimensionsSLB⎛ 00.5512 ⎞ 50 0 ⎛–0.011⎝–0.00043⎠–0.025⎝14 0⎛ 00.6299 ⎞ 70 0 ⎛–0.011⎝–0.00043⎠–0.030⎝16 01.96852.7560 ⎞–0.00098⎠0 ⎞–0.00012⎠3.11.2 SGMAH Servomotors (3000 min -1 ) With Brakes(1) 30 W, 50 W, 100 WEncoder cable φ6 (φ0.24)UL20276300 (11.81) ±30 (±1.18)Encoder plug3Motor cable φ7 (φ0.28)(35) (1.38)Motor plugShaft EndU9.6 ( 0.37 )W22 (0.87)300 (11.81) ±30 (±1.18)LLL25 (0.98)LM 2.5 (0.098)20 (0.79)15.2 5 (0.20)(0.60)14(0.55)0.04(0.0016)φSh6Aφ0.04(φ0.0016)A2-φ4.3 (φ0.17)T40 (1.57)21.5 (0.85)11 (0.43)4(0.16)Serial encoder0φ30h7Holding brake (de-energization operation)Power supply: 90 VDC or 24 VDCA0.02(0.0008)φ45 (φ1.77)φ1.19 0-0.0008Tap × Depth∗(See the following table.)-0.021 ( )ModelSGMAH-L LL LM Tap×Depth ∗ U W TA3A2126.0 101.0 36.5 No tapA3A4(4.96) (3.98) (1.44)1.2A3A6M2.5×5L(0.047)A5A2133.5 108.5 44.0 No tapA5A4(5.26) (4.27) (1.73)1.2A5A6M2.5×5L(0.047)01A2160.0 135.0 61.5 No tap01A4(6.30) (5.31) (2.42)1.801A6M3×6L(0.071)No key2(0.079)No key2(0.079)No key3(0.12)2(0.079)2(0.079)3(0.12)Approx.Masskg (lb)0.6(1.32)0.7(1.54)0.8(1.76)AllowableRadial LoadN (lbf)68(15)78(18)Units: mm (in)AllowableThrust LoadN (lbf)54(12)3-53
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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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2 Selections2.5.2 Cables for SGMGH/
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MODE/SETCHARGEDATA/POWER67534675346
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2 Selections2.6.1 Special OptionsNa
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2 Selections2.6.3 Noise Filters, Ma
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2 Selections2.6.4 Regenerative Resi
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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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