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

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W3 Specifications and Dimensional Drawings3.11.2 SGMAH Servomotors (3000 min -1 ) With Brakes(3) 300 W, 650 WEncoder cable φ6 (φ0.24)UL20276300 (11.81) ± 30 (±1.15)Encoder plugMotor cable φ7 (φ0.28)(35) (1.38)Motor plugShaft EndU9.5 (0.37)26.5 (1.04)13 (0.51)17(0.67)LH300 (11.81) ±30 (±1.15)LLLLMLGLR3QKφSh6(0.0016)0.04 Aφ0.04 A(φ0.0016)TLC21 (0.83)φ14 (φ0.55)φLAφLBh7Serial encoderHolding brake(de-energization operation)Power supply: 90 VDC or 24 VDCA0.02(0.0008)4-φLZTap × Depth∗(See the following table.)Units: mm (in)ModelSGMAH-03DA203DA403DA6Units: mm (in)L LL LM LR LG LC LA LZ LH194(7.64)164(6.46)90.5(3.56)30(1.18)6(0.24)60(2.36)70(2.76)5.5(0.22)7(0.28)07DA2229.507DA4(9.04)07DA6189.5(7.46)111(4.37)40(1.57)8(0.31)80(3.15)90(3.54)7(0.28)8(0.31ModelSGMAH-Tap×Depth ∗ QK U W T03DA2No tap03DA4 2003DA6 M5×8L(0.79)07DA2No tap07DA4 3007DA6 M5×8L(1.18)No key3(0.12)5(0.20)No key3(0.12)5(0.20)5(0.20)5(0.20)Approx.Masskg (lb)2.2(4.85)4.3(9.48)AllowableRadial LoadN (lbf)245(55)392(88)Units: mm (in)AllowableThrust LoadN (lbf)74(17)147(33)INFO1. 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 mm2. The working point of the SGMAH servomotor radial load is at the position of minus 5 mm from the shaft end.3-56
3.11 Dimensional Drawings of SGMAH Servomotors (3000 min -1 )• Dimensional TolerancesModelSGMAH-03DA203DA403DA607DA207DA407DA6Units: 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⎠3.11.3 SGMAH Servomotors (3000 min -1 ) With Standard Backlash Gears(1) 30 W, 50 W, 100 WEncoder cable φ6 (φ0.24)UL20276300 (11.81) ±30 (1.18)(35) (1.38)Motor cable φ7 (φ0.28)Encoder plugMotor plugUShaft EndWT3300 (11.81)±30 (1.18)9.5 (0.37)22(0.87)20 (0.79)15.2 (0.60)LLLLMLG4(0.16)0.06 A(0.0024)LRL1 L2L3 Q AQK0.04(0.0016)φ0.05 A(φ0.0020)LCφSh7φBφLDφLBh711φLASerial encoderRotating section(Hatching section)4-φLZTap × Depth∗(See the following table.)ModelSGMAH-GearRatioA3AJ11 1/5A3AJ31 3/31A3AJC1 1/21A3AJ71 1/33A5AJ11 1/5A5AJ31 3/31A5AJC1 1/21A5AJ71 1/33Units: mm (in)L LL LM LR LG B LD LB L1 L2 L3 Q QK S156.5(6.16)156.5(6.16)171.5(6.75)171.5(6.75)164(6.46)174(6.85)191(7.52)191(7.52)101.5(4.00)101.5(4.00)116.5(4.59)116.5(4.59)109(4.29)114(4.49)131(5.16)131(5.16)68.5(2.70)68.5(2.70)83.5(3.29)83.5(3.29)76.0(2.99)77.0(3.03)94.0(3.70)94.0(3.70)55(2.17)55(2.17)55(2.17)55(2.17)55(2.17)60(2.36)60(2.36)60(2.36)8(0.31)8(0.31)8(0.31)8(0.31)8(0.31)9(0.35)9(0.35)9(0.35)47(1.85)47(1.85)47(1.85)47(1.85)47(1.85)57(2.24)57(2.24)57(2.24)55.5(2.19)55.5(2.19)55.5(2.19)55.5(2.19)55.5(2.19)63(2.48)63(2.48)63(2.48)56(2.20)56(2.20)56(2.20)56(2.20)56(2.20)65(2.56)65(2.56)65(2.56)28(1.10)28(1.10)28(1.10)28(1.10)28(1.10)30(1.18)30(1.18)30(1.18)27(1.06)27(1.06)27(1.06)27(1.06)27(1.06)30(1.18)30(1.18)30(1.18)17(0.67)17(0.67)17(0.67)17(0.67)17(0.67)14.5(0.57)14.5(0.57)14.5(0.57)25(0.98)25(0.98)25(0.98)25(0.98)25(0.98)28(1.10)28(1.10)28(1.10)20(0.79)20(0.79)20(0.79)20(0.79)20(0.79)25(0.98)25(0.98)25(0.98)14(0.55)14(0.55)14(0.55)14(0.55)14(0.55)16(0.63)16(0.63)16(0.63)3-57
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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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