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

More documents

Recommendations

Info

3 Specifications and Dimensional Drawings3.11.4 SGMAH Servomotors (3000 min -1 ) With Standard Backlash Gears and Brakes3.11.4 SGMAH Servomotors (3000 min -1 ) With Standard Backlash Gears andBrakes(1) 30 W, 50 W, 100 WEncoder cable φ6 (φ0.24)UL20276300 (11.81)±30(1.18)Encoder plugMotor cable φ7 (φ0.28) (35) (1.38)Motor plugShaft EndWU9.5 (0.37)TSerial encoder22 (0.87)11 (0.43)300(11.81)±30(1.18)LLLLMLG20 (0.79)15.2 (0.60) 4L1L3LRL2QHolding brake (de-energizing operation)Power supply: 90 VDC or 24 VDC(0.0024)0.06 AQKφSh70.04A (0.0016)φBφLDφLBh7Rotating section(Hatching section)φ0.05 A(φ0.0020)4-φLZLCφLATap × Depth∗(See the following table.)ModelSGMAH-GearRatioA3AJ1 1/5A3AJ3 3/31A3AJC 1/21A3AJ7 1/33A5AJ1 1/5A5AJ3 3/31A5AJC 1/21A5AJ7 1/3301AJ1 1/501AJ3 3/3101AJC 1/2101AJ7 1/33Units: mm (in)L LL LM LR LG B LD LB L1 L2 L3 Q QK S188.5(7.42)188.5(7.42)203.5(8.01)203.5(8.01)196(7.72)206(8.11)223(8.78)223(8.78)232(9.13)232(9.13)268(10.6)268(10.6)133.5(5.26)133.5(5.26)148.5(5.85)148.5(5.85)141(5.55)146(5.75)163(6.42)163(6.42)172(6.77)172(6.77)194(7.64)194(7.64)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)98.5(3.88)98.5(3.88)120(4.72)120(4.72)55(2.17)55(2.17)55(2.17)55(2.17)55(2.17)60(2.36)60(2.36)60(2.36)60(2.36)60(2.36)74(2.91)74(2.91)8(0.31)8(0.31)8(0.31)8(0.31)8(0.31)9(0.35)9(0.35)9(0.35)9(0.35)9(0.35)10(0.39)10(0.39)47(1.85)47(1.85)47(1.85)47(1.85)47(1.85)57(2.24)57(2.24)57(2.24)25(0.98)25(0.98)69(2.72)69(2.72)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)63(2.48)63(2.48)83(3.27)83(3.27)56(2.20)56(2.20)56(2.20)56(2.20)56(2.20)65(2.56)65(2.56)65(2.56)65(2.56)65(2.56)85(3.35)85(3.35)28(1.10)28(1.10)28(1.10)28(1.10)28(1.10)30(1.18)30(1.18)30(1.18)30(1.18)30(1.18)36(1.42)36(1.42)27(1.06)27(1.06)27(1.06)27(1.06)27(1.06)30(1.18)30(1.18)30(1.18)30(1.18)30(1.18)38(1.50)38(1.50)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)14.5(0.57)14.5(0.57)19.5(0.77)19.5(0.77)25(0.98)25(0.98)25(0.98)25(0.98)25(0.98)28(1.10)28(1.10)28(1.10)28(1.10)28(1.10)36(1.42)36(1.42)20(0.79)20(0.79)20(0.79)20(0.79)20(0.79)25(0.98)25(0.98)25(0.98)25(0.98)25(0.98)32(1.26)32(1.26)14(0.55)14(0.55)14(0.55)14(0.55)14(0.55)16(0.63)16(0.63)16(0.63)16(0.63)16(0.63)20(0.79)20(0.79)3-64
3.11 Dimensional Drawings of SGMAH Servomotors (3000 min -1 )ModelSGMAH-GearRatioA3AJ1 1/5A3AJ3 3/31A3AJC 1/21A3AJ7 1/33A5AJ1 1/5A5AJ3 3/31A5AJC 1/21A5AJ7 1/3301AJ1 1/501AJ3 3/3101AJC 1/2101AJ7 1/33LC LA LZ Tap×Depth 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)M4×8LM4×8LM4×8LM4×8LM4×8LM4×8LM4×8LM4×8LM4×8LM4×8LM5×10LM5×10L3(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)AllowableRadialLoadN (lbf)1.2(2.7) 1451.2 (33)(2.7)1.3(2.9) 1851.3 (42)(2.9)1.3(2.9)1.5(3.3)1.6(3.5)1.6(3.5)1.6(3.5)1.6(3.5)2.7(6.0)2.7(6.0)145(33)215(49)230(52)245(56)175(40)215(49)AllowableThrustLoadN (lbf)125(28)145(33)455(103) 235480 (53)(109)3INFO1. The dimensionss for L and LL of a servomotor incorporating an encoder with super-capacitor (model: SGMAH-4) are as shown below.SGMAH-03, 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.• Dimensional TolerancesModelSGMAH-A3AJ1A3AJ3A3AJCA3AJ7A5AJ1A5AJ3Units: mm (in)Flange Face Dimensions Shaft-end DimensionsLBS⎛ 02.20 ⎞–0.030⎝–0.0012⎠14 0 ⎛–0.018⎝56 0⎛ 02.20 ⎞–0.030⎝–0.0012⎠14 0 ⎛–0.018⎝56 0⎛ 02.20 ⎞–0.030⎝–0.0012⎠14 0 ⎛–0.018⎝56 0⎛ 02.20 ⎞–0.030⎝–0.0012⎠14 0 ⎛–0.018⎝56 0⎛ 02.20 ⎞–0.030⎝–0.0012⎠14 0 ⎛–0.018⎝56 0⎛ 02.56 ⎞–0.030⎝–0.0012⎠16 0 ⎛–0.018⎝65 00.550.550.550.550.550.630 ⎞–0.0007⎠0 ⎞–0.0007⎠0 ⎞–0.0007⎠0 ⎞–0.0007⎠0 ⎞–0.0007⎠0 ⎞–0.0007⎠3-65
Page 1 and 2:
YASKAWASeries SGMH/SGDHUSER'S MANUA
Page 4 and 5:
• Quick access to your required i
Page 8 and 9:
WARNING• Installation, disassembl
Page 10 and 11:
• WiringCAUTION• Do not connect
Page 12 and 13:
• Maintenance and InspectionCAUTI
Page 14 and 15:
2.6.1 Special Options - - - - - - -
Page 16 and 17:
3.16 Dimensional Drawings of SGMSH
Page 18 and 19:
5 Specifications and Dimensional Dr
Page 20 and 21:
6.2.1 Connecting an Encoder (CN2) a
Page 22 and 23:
8.7.1 Setting Parameters - - - - -
Page 24 and 25:
11.3.1 Utility Functions List - - -
Page 26 and 27:
PURODUCT SERVICE1 Outline1.1.1 Chec
Page 28 and 29:
1 Outline1.2.1 Servomotors1.2 Produ
Page 30 and 31:
1 Outline1.2.2 SERVOPACKs(2) SGDH f
Page 32 and 33:
1 Outline1.3.2 Three-phase, 200 V M
Page 34 and 35:
1 Outline1.4.1 North American Safet
Page 36 and 37:
2 Selections2.1.1 Model SGMAH (3000
Page 38 and 39:
2 Selections2.1.2 Model SGMPH (3000
Page 40 and 41:
2 Selections2.1.3 Model SGMGH (1500
Page 42 and 43:
2 Selections2.1.4 Model SGMGH (1000
Page 44 and 45:
2 Selections2.1.5 Model SGMSH (3000
Page 46 and 47:
2 Selections2.1.6 Model SGMDH (2000
Page 48 and 49:
2 Selections2.2.1 Support Tool for
Page 50 and 51:
2 Selections2.2.2 Servomotor Capaci
Page 52 and 53:
2 Selections2.5.1 Cables for SGMAH
Page 54 and 55:
2 Selections2.5.1 Cables for SGMAH
Page 56 and 57:
2 Selections2.5.2 Cables for SGMGH/
Page 58 and 59:
2 Selections2.5.2 Cables for SGMGH/
Page 60 and 61:
MODE/SETCHARGEDATA/POWER67534675346
Page 62 and 63:
2 Selections2.6.1 Special OptionsNa
Page 64 and 65:
2 Selections2.6.3 Noise Filters, Ma
Page 66 and 67:
2 Selections2.6.4 Regenerative Resi
Page 68 and 69:
Page 70 and 71:
Page 72 and 73:
Page 74 and 75:
Page 76 and 77:
Page 78 and 79:
Page 80 and 81: 3 Specifications and Dimensional Dr
Page 116 and 117: φLBh7φSh6119.5(0.37)W3 Specificat
Page 118 and 119: φLBh7φSh617(0.67)9.5 (0.37)W3 Spe
Page 120 and 121: 11 (0.43)W3 Specifications and Dime
Page 122 and 123: W3 Specifications and Dimensional D
Page 180 and 181:
Page 182 and 183:
Page 184 and 185:
Page 186 and 187:
Page 188 and 189:
Page 190 and 191:
Page 192 and 193:
Page 194 and 195:
Page 196 and 197:
Page 198 and 199:
Page 200 and 201:
Page 202 and 203:
Page 204 and 205:
Page 206 and 207:
Page 208 and 209:
Page 210 and 211:
Page 212 and 213:
Page 214 and 215:
Page 216 and 217:
Page 218 and 219:
Page 220 and 221:
Page 222 and 223:
Page 224 and 225:
Page 226 and 227:
4 SERVOPACK Specifications and Dime
Page 228 and 229:
Page 230 and 231:
Page 232 and 233:
Page 234 and 235:
Page 236 and 237:
Page 238 and 239:
Page 240 and 241:
Page 242 and 243:
Page 244 and 245:
Page 246 and 247:
Page 248 and 249:
MODE/SETCHARGEDATA/POWER4 SERVOPACK
Page 250 and 251:
160 (6.30)(5) (0.20)149.5±0.5 (5.8
Page 252 and 253:
YASKAWAMODE/SETCHARGEYASKAWA SERVOP
Page 254 and 255:
Page 256 and 257:
POWERMODE/SETDATA/4 SERVOPACK Speci
Page 258 and 259:
MODE/SETDATA/4 SERVOPACK Specificat
Page 260 and 261:
Page 262 and 263:
Page 264 and 265:
MODE/SETCHANGEDATA/POWER4 SERVOPACK
Page 266 and 267:
POWERMODE/SETDATA/4 SERVOPACK Speci
Page 268 and 269:
POWERMODE/SET DATA/ BATTERY4 SERVOP
Page 270 and 271:
Page 272 and 273:
Page 274 and 275:
Page 276 and 277:
Page 278 and 279:
Page 280 and 281:
Page 282 and 283:
Page 284 and 285:
Page 286 and 287:
Page 288 and 289:
Page 290 and 291:
Page 292 and 293:
Page 294 and 295:
Page 296 and 297:
Page 298 and 299:
Page 300 and 301:
Page 302 and 303:
Page 304 and 305:
Page 306 and 307:
Page 308 and 309:
Page 310 and 311:
Page 312 and 313:
Page 314 and 315:
Page 316 and 317:
Page 318 and 319:
Page 320 and 321:
Page 322 and 323:
Page 324 and 325:
Page 326 and 327:
Page 328 and 329:
Page 330 and 331:
Page 332 and 333:
Page 334 and 335:
Page 336 and 337:
Page 338 and 339:
Page 340 and 341:
Page 342 and 343:
Page 344 and 345:
Page 346 and 347:
Page 348 and 349:
Page 350 and 351:
Page 352 and 353:
Page 354 and 355:
Page 356 and 357:
Page 358 and 359:
Page 360 and 361:
6754675346754381 2890 1 281 29090X1
Page 362 and 363:
Page 364 and 365:
Page 366 and 367:
6 Wiring6.1.1 Names and Functions o
Page 368 and 369:
6 Wiring6.1.2 Wiring Main Circuit P
Page 370 and 371:
6 Wiring6.1.3 Typical Main Circuit
Page 372 and 373:
6 Wiring6.2.1 Connecting an Encoder
Page 374 and 375:
6 Wiring6.3.1 Speed Control Mode6.3
Page 376 and 377:
6 Wiring6.3.3 Torque Control Mode6.
Page 378 and 379:
6 Wiring6.3.5 I/O Signal (CN1) Name
Page 380 and 381:
6 Wiring6.3.6 Interface Circuit6.3.
Page 382 and 383:
6 Wiring6.3.6 Interface Circuit(b)
Page 384 and 385:
6 Wiring6.4.2 Wiring for Noise Cont
Page 386 and 387:
6 Wiring6.4.2 Wiring for Noise Cont
Page 388 and 389:
6 Wiring6.4.3 Installation Conditio
Page 390 and 391:
6 Wiring6.4.4 Installation Conditio
Page 392 and 393:
6 Wiring6.4.6 Extending Encoder Cab
Page 394 and 395:
6 Wiring6.4.7 Operating Conditions
Page 396 and 397:
6 Wiring6.4.8 DC Reactor for Harmon
Page 398 and 399:
6 Wiring6.5.2 Connecting External R
Page 400 and 401:
MODE/SETCHARGEYASKAWA SERVOPACKDATA
Page 402 and 403:
7Digital Operator/Panel Operator7.1
Page 404 and 405:
7.1 Functions on Digital Operator/P
Page 406 and 407:
Page 408 and 409:
Page 410 and 411:
7.2 Operation in Utility Function M
Page 412 and 413:
Page 414 and 415:
Page 416 and 417:
Page 418 and 419:
Page 420 and 421:
7.3 Operation in Parameter Setting
Page 422 and 423:
Page 424 and 425:
Page 426 and 427:
Page 428 and 429:
Page 430 and 431:
7.4 Operation in Monitor Mode (Un)(
Page 432 and 433:
7.4 Operation in Monitor Mode (Un)S
Page 434 and 435:
8 Operation8.6 Operating Using Posi
Page 436 and 437:
YASKAWAMODE/SETCHARGEYASKAWAMODE/SE
Page 438 and 439:
MODE/SETYASKAWASERVOPACKSGDH-CHARGE
Page 440 and 441:
8 Operation8.1.1 Trial Operation fo
Page 442 and 443:
YASKAWASERVOPACKSGDH-MODE/SETCHARGE
Page 444 and 445:
Page 446 and 447:
Page 448 and 449:
8 Operation8.1.4 Servomotor with Br
Page 450 and 451:
8 Operation8.3.1 Setting the Servo
Page 452 and 453:
8 Operation8.3.3 Setting the Overtr
Page 454 and 455:
8 Operation8.3.4 Setting for Holdin
Page 456 and 457:
8 Operation8.3.4 Setting for Holdin
Page 458 and 459:
8 Operation8.3.6 Instantaneous Powe
Page 460 and 461:
8 Operation8.4.1 Interface Circuits
Page 462 and 463:
8 Operation8.4.4 Replacing Batterie
Page 464 and 465:
8 Operation8.4.6 Absolute Encoder R
Page 466 and 467:
8 Operation8.4.6 Absolute Encoder R
Page 468 and 469:
8 Operation8.4.7 Multiturn Limit Se
Page 470 and 471:
8 Operation8.5.1 Setting Parameters
Page 472 and 473:
8 Operation8.5.3 Adjusting Offset8.
Page 474 and 475:
8 Operation8.5.3 Adjusting Offset(2
Page 476 and 477:
8 Operation8.5.6 Using the Zero Cla
Page 478 and 479:
8 Operation8.5.7 Encoder Signal Out
Page 480 and 481:
Page 482 and 483:
8 Operation8.6.2 Setting the Electr
Page 484 and 485:
8 Operation8.6.2 Setting the Electr
Page 486 and 487:
8 Operation8.6.3 Position Reference
Page 488 and 489:
8 Operation8.6.3 Position Reference
Page 490 and 491:
8 Operation8.6.5 Positioning Comple
Page 492 and 493:
8 Operation8.6.7 Reference Pulse In
Page 494 and 495:
8 Operation8.7.3 Adjusting the Refe
Page 496 and 497:
8 Operation8.7.4 Limiting Servomoto
Page 498 and 499:
Page 500 and 501:
8 Operation8.8.3 Operating Using an
Page 502 and 503:
8 Operation8.9.2 External Torque Li
Page 504 and 505:
8 Operation8.9.3 Torque Limiting Us
Page 506 and 507:
8 Operation8.9.5 Checking Output To
Page 508 and 509:
8 Operation8.10.2 Switching the Con
Page 510 and 511:
8 Operation8.11.2 Warning Output (/
Page 512 and 513:
9Adjustments9.1 Autotuning - - - -
Page 514 and 515:
9.1 Autotuning9.1.2 List of Servo A
Page 516 and 517:
9.2 Online Autotuning9.2 Online Aut
Page 518 and 519:
9.2 Online Autotuning9.2.3 Selectin
Page 520 and 521:
9.2 Online Autotuning9.2.5 Method f
Page 522 and 523:
9.2 Online Autotuning9.2.7 Procedur
Page 524 and 525:
9.3 Manual Tuning9.3.2 Servo Gain M
Page 526 and 527:
9.4 Servo Gain Adjustment Functions
Page 528 and 529:
Page 530 and 531:
Page 532 and 533:
Page 534 and 535:
Page 536 and 537:
Page 538 and 539:
Page 540 and 541:
9.5 Analog Monitor• Related Param
Page 542 and 543:
10 Inspection, Maintenance, and Tro
Page 544 and 545:
Page 546 and 547:
Page 548 and 549:
Page 550 and 551:
Page 552 and 553:
Page 554 and 555:
Page 556 and 557:
Page 558 and 559:
Page 560 and 561:
Page 562 and 563:
Page 564 and 565:
11Appendix11.1 Servomotor Capacity
Page 566 and 567:
11.1 Servomotor Capacity Selection
Page 568 and 569:
Page 570 and 571:
Page 572 and 573:
Page 574 and 575:
Page 576 and 577:
Page 578 and 579:
Page 580 and 581:
11.2 Connection to Host Controller1
Page 582 and 583:
Page 584 and 585:
Page 586 and 587:
Page 588 and 589:
Page 590 and 591:
11.3 List of Parameters11.3.2 List
Page 592 and 593:
11.3 List of ParametersParameterNo.
Page 594 and 595:
Page 596 and 597:
Page 598 and 599:
Page 600 and 601:
Page 602 and 603:
Page 604 and 605:
Page 606 and 607:
11.3 List of Parameters11.3.3 Monit
Page 608 and 609:
11.4 Parameter Recording TableParam
Page 610 and 611:
IndexINDEXAabsolute encoder battery
Page 612 and 613:
IndexRrack-mounted type - - - - - -
Page 614 and 615:
IndexWWARN- - - - - - - - - - - - -
Page 616:
Series SGMH/SGDHUSER'S MANUALIRUMA
show all

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

Create successful ePaper yourself

Delete template?

Save as template?