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

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3 Specifications and Dimensional Drawings3.11.3 SGMAH Servomotors (3000 min -1 ) With Standard Backlash GearsModelSGMAH-GearRatio01AJ11 1/501AJ31 3/3101AJC1 1/2101AJ71 1/33191.5(7.54)191.5(7.54)227(8.94)227(8.94)131.5(5.18)131.5(5.18)153(6.02)153(6.02)98.5(3.88)98.5(3.88)120(4.72)120(4.72)60(2.36)60(2.36)74(2.91)74(2.91)9(0.35)9(0.35)10(0.39)10(0.39)57(2.24)57(2.24)69(2.72)69(2.72)63(2.48)63(2.48)83(3.27)83(3.27)65(2.56)65(2.56)85(3.35)85(3.35)30(1.18)30(1.18)36(1.42)36(1.42)30(1.18)30(1.18)38(1.50)38(1.50)14.5(0.57)14.5(0.57)19.5(0.77)19.5(0.77)28(1.10)28(1.10)36(1.42)36(1.42)Units: mm (in)L LL LM LR LG B LD LB L1 L2 L3 Q QK S25(0.98)25(0.98)32(1.26)32(1.26)16(0.63)16(0.63)20(0.79)20(0.79)ModelSGMAH-GearRatioA3AJ11 1/5 M4×8LA3AJ31 3/31 M4×8LA3AJC1 1/21 M4×8LA3AJ71 1/33 M4×8LA5AJ11 1/5 M4×8LA5AJ31 3/31 M4×8LA5AJC1 1/21 M4×8LA5AJ71 1/33 M4×8L01AJ11 1/5 M4×8L01AJ31 3/31 M4×8L01AJC1 1/21 M5×10L01AJ71 1/33 M5×10LTap×Depth ∗ LC LA LZ U W T60(2.36)60(2.36)60(2.36)60(2.36)60(2.36)70(2.76)70(2.76)70(2.76)70(2.76)70(2.76)90(3.54)90(3.54)70(2.76)70(2.76)70(2.76)70(2.76)70(2.76)80(3.15)80(3.15)80(3.15)80(3.15)80(3.15)105(4.13)105(4.13)5.5(0.22)5.5(0.22)5.5(0.22)5.5(0.22)5.5(0.22)6.6(0.26)6.6(0.26)6.6(0.26)6.6(0.26)6.6(0.26)9(0.35)9(0.35)3(0.12)3(0.12)3(0.12)3(0.12)3(0.12)3(0.12)3(0.12)3(0.12)3(0.12)3(0.12)3.5(0.14)3.5(0.14)5(0.20)5(0.20)5(0.20)5(0.20)5(0.20)5(0.20)5(0.20)5(0.20)5(0.20)5(0.20)6(0.24)6(0.24)5(0.20)5(0.20)5(0.20)5(0.20)5(0.20)5(0.20)5(0.20)5(0.20)5(0.20)5(0.20)6(0.24)6(0.24)Approx.Masskg (lb)AllowableRadial LoadN (lbf)0.9(2.0) 1450.9 (33)(2.0)1.0(2.2) 1851.0 (42)(2.2)1.0(2.2)1.2(2.7)1.3(2.9)1.3(2.9)1.3(2.9)1.3(2.9)2.4(5.3)2.4(5.3)145(33)215(49)230(52)245(56)175(40)215(49)AllowableThrust LoadN (lbf)125(28)145(33)455(103) 235480(53)(109)INFO1. The dimensions for L and LL of a servomotor incorporating an encoder with super-capacitor (model: SGMAH-4) are as shown below.SGMAH-A3, A5, and 01: L-dimension +12 mm (0.47 in), LL-dimension +12 mm (0.47 in)2. The working point of the SGMAH servomotor radial load is at the position of minus 5 mm from the shaft end.3-58
3.11 Dimensional Drawings of SGMAH Servomotors (3000 min -1 )• Dimensional TolerancesModelSGMAH-A3AJ11A3AJ31A3AJC1A3AJ71A5AJ11A5AJ31A5AJC1A5AJ7101AJ1101AJ3101AJC101AJ71Units: mm (in)Flange Face Dimensions Shaft-end DimensionsLBS⎛ 02.20 ⎞ 14 0 ⎛–0.030⎝–0.0012⎠–0.018⎝56 0⎛ 02.20 ⎞ 14 0 ⎛–0.030⎝–0.0012⎠–0.018⎝56 0⎛ 02.20 ⎞ 14 0 ⎛–0.030⎝–0.0012⎠–0.018⎝56 0⎛ 02.20 ⎞ 14 0 ⎛–0.030⎝–0.0012⎠–0.018⎝56 0⎛ 02.20 ⎞ 14 0 ⎛–0.030⎝–0.0012⎠–0.018⎝56 0⎛ 02.56 ⎞ 16 0 ⎛–0.030⎝–0.0012⎠–0.018⎝65 0⎛ 02.56 ⎞ 16 0 ⎛–0.030⎝–0.0012⎠–0.018⎝65 0⎛ 02.56 ⎞ 16 0 ⎛–0.030⎝–0.0012⎠–0.018⎝65 0⎛ 02.56 ⎞ 16 0 ⎛–0.030⎝–0.0012⎠–0.018⎝65 0⎛ 02.56 ⎞ 16 0 ⎛–0.030⎝–0.0012⎠–0.018⎝65 0⎛ 03.35 ⎞ 20 0 ⎛–0.035⎝–0.0014⎠–0.021⎝85 0⎛ 03.35 ⎞ 20 0 ⎛–0.035⎝–0.0014⎠–0.021⎝85 00.550.550.550.550.550.630.630.630.630.630.790.790 ⎞–0.0007⎠0 ⎞–0.0007⎠0 ⎞–0.0007⎠0 ⎞–0.0007⎠0 ⎞–0.0007⎠0 ⎞–0.0007⎠0 ⎞–0.0007⎠0 ⎞–0.0007⎠0 ⎞–0.0007⎠0 ⎞–0.0007⎠0 ⎞–0.0008⎠0 ⎞–0.0008⎠33-59
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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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