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

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3 Specifications and Dimensional Drawings3.11.4 SGMAH Servomotors (3000 min -1 ) With Standard Backlash Gears and Brakes• Dimensional TolerancesModelSGMAH-02AJ102AJ302AJC02AJ704AJ104AJ304AJC04AJ708AJ108AJ308AJC08AJ7Units: mm (in)Flange Face Dimensions Shaft-end DimensionsLBS⎛ 03.35 ⎞–0.035⎝–0.0014⎠20 0 ⎛–0.021⎝85 0⎛ 03.35 ⎞ 20 0 ⎛–0.035⎝–0.0014⎠–0.021⎝85 0⎛ 03.94 ⎞ 25 0 ⎛–0.035⎝–0.0014⎠–0.021⎝100 0⎛ 03.94 ⎞ 25 0 ⎛–0.035⎝–0.0014⎠–0.021⎝100 0⎛ 03.35 ⎞–0.035⎝–0.0014⎠20 0 ⎛–0.021⎝85 0⎛ 03.94 ⎞–0.035⎝–0.0014⎠25 0 ⎛–0.021⎝100 0⎛ 04.53 ⎞ 32 0 ⎛–0.035⎝–0.0014⎠–0.025⎝115 0⎛ 04.53 ⎞ 32 0 ⎛–0.035⎝–0.0014⎠–0.025⎝115 0⎛ 03.94 ⎞ 25 0 ⎛–0.035⎝–0.0014⎠–0.021⎝100 0⎛ 04.53 ⎞ 32 0 ⎛–0.035⎝–0.0014⎠–0.025⎝115 0⎛ 05.51 ⎞ 40 0 ⎛–0.040⎝–0.0016⎠–0.025⎝140 0⎛ 05.51 ⎞ 40 0 ⎛–0.040⎝–0.0016⎠–0.025⎝140 00.790.790.980.980.790.981.261.260.981.261.571.570 ⎞–0.0008⎠0 ⎞–0.0008⎠0 ⎞–0.0008⎠0 ⎞–0.0008⎠0 ⎞–0.0008⎠0 ⎞–0.0008⎠0 ⎞–0.0010⎠0 ⎞–0.0010⎠0 ⎞–0.0008⎠0 ⎞–0.0010⎠0 ⎞–0.0010⎠0 ⎞–0.0010⎠3-68
3.11 Dimensional Drawings of SGMAH Servomotors (3000 min -1 )(3) 300 W, 650 WEncoder cable φ6 (φ0.24)UL20276300(11.81)±30(1.18)Motor cable φ7 (φ0.28) (35) (1.38)Encoder plugMotor plugShaft EndWUT9.5(0.37)26.5 (1.04)13 (0.51) LH17(0.67)11(0.43)300(11.81)±30(1.81)LLLLMLGLE(0.0024)0.06 ALRL1 L2QL3QKA0.04(0.0016)φ0.05 A(φ0.0020)LCφLAφBφLDφLBh7Serial encoderModelSGMAH-GearRatio03DAJ1 1/503DAJ3 3/3103DAJC 1/2103DAJ7 1/3307DAJ1 1/507DAJ3 3/3107DAJC 1/2107DAJ7 1/33Holding brake (de-energizing operation)Power supply: 90 VDC or 24 VDCφSh7Rotating section(Hatching section)4-φLZTap × Depth∗(See the following table.)Units: mm (in)L LL LM LR LE LG B LD LB L1 L2 L3 Q QK S297.5(11.71)296(11.65)345(13.58)345(13.58)321.5(12.66)345.5(13.60)374.5(14.74)374.5(14.74)223.5(8.80)212(8.35)240(9.45)240(9.45)237.5(9.35)240.5(9.47)267.5(10.53)267.5(10.53)150.5(5.93139(5.47)167(6.57)167(6.57)158.5(6.24)162.5(6.40)189.5(7.46)189.5(7.46)74(2.91)84(3.31)105(4.13)105(4.13)84(3.31)105(4.13)107(4.21)107(4.21)4(0.16)4(0.16)5(0.20)5(0.20)4(0.16)5(0.20)10(0.39)10(0.39)10(0.39)12(0.47)13(0.51)13(0.51)12(0.47)13(0.51)15(0.59)15(0.59)69(2.72)82(3.23)93(3.66)93(3.66)82(3.23)93(3.66)134(5.28)134(5.28)83(3.27)98(3.86)112(4.41)112(4.41)98(3.86)112(4.41)134(5.28)134(5.28)85(3.35)100(3.94)115(4.53)115(4.53)100(3.94)115(4.53)140(5.51)140(5.51)36(1.42)40(1.57)45(1.77)45(1.77)40(1.57)45(1.77)44(1.73)44(1.73)38(1.5044(1.73)60(2.36)80(3.15)44(1.73)60(2.36)63(2.48)63(2.48)19.5(0.77)23(0.9126.5(1.04)26.5(1.04)23(0.9126.5(1.04)42(1.65)42(1.65)36(1.42)42(1.65)58(2.28)58(2.28)42(1.65)58(2.28)60(2.36)60(2.36)32(1.26)36(1.42)50(1.97)50(1.97)36(1.42)50(1.97)45(1.77)45(1.77)20(0.79)25(0.98)32(1.26)32(1.26)25(0.98)32(1.26)40(1.57)40(1.57)3ModelSGMAH-GearRatio03DAJ1 1/503DAJ3 3/3103DAJC 1/2103DAJ7 1/33LC LA LZ LH Tap×Depth ∗ U W T90(3.54)105(4.13)120(4.72)120(4.72)105(4.13)120(4.72)135(5.31)135(5.31)9(0.35)9(0.35)11(0.43)11(0.43)7(0.28)M5×10LM6×12LM8×16LM8×16L3.5(0.14)4(0.16)5(0.20)5(0.20)6(0.24)8(0.31)10(0.39)10(0.39)6(0.24)7(0.28)8(0.31)8(0.31)Approx.Masskg (lb)3.9 (8.60)4.8 (10.6)6.9 (15.2)6.9 (15.2)AllowableRadialLoadN (lbf)275(62)460(104)Units: mm (in)AllowableThrustLoadN (lbf)235(53)290(66)655(149) 310755 (710)(171)3-69
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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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