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

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2.6.1 Special Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-262.6.2 Molded-case Circuit Breaker and Fuse Capacity- - - - - - - - - - - - - - - 2-292.6.3 Noise Filters, Magnetic Contactors, Surge Suppressors andDC Reactors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-302.6.4 Regenerative Resistors and Brake Power Supply Units - - - - - - - - - - 2-313 Specifications and Dimensional Drawings3.1 Ratings and Specifications of SGMAH (3000 min -1 )- - - - - - - 3-43.1.1 SGMAH Servomotors Without Gears - - - - - - - - - - - - - - - - - - - - - - - - 3-43.1.2 SGMAH Servomotors With Standard Backlash Gears - - - - - - - - - - - - 3-63.1.3 SGMAH Servomotors With Low-backlash Gears- - - - - - - - - - - - - - - - 3-83.2 Ratings and Specifications of SGMPH (3000min -1 ) - - - - - - 3-113.2.1 SGMPH Servomotors Without Gears - - - - - - - - - - - - - - - - - - - - - - - 3-113.2.2 SGMPH Servomotors With Standard Backlash Gears - - - - - - - - - - - 3-133.2.3 SGMPH Servomotors With Low-backlash Gears- - - - - - - - - - - - - - - 3-153.3 Ratings and Specifications of SGMGH (1500min -1 ) - - - - - - 3-173.3.1 SGMGH Servomotors (1500min -1 ) Without Gears- - - - - - - - - - - - - - 3-173.3.2 SGMGH Servomotors (1500min -1 ) With Standard Backlash Gears - - 3-213.3.3 SGMGH Servomotors (1500min -1 ) With Low-backlash Gears - - - - - 3-233.4 Ratings and Specifications of SGMGH (1000min -1 ) - - - - - - 3-263.4.1 SGMGH Servomotors (1000min -1 ) Without Gears - - - - - - - - - - - - - 3-263.4.2 SGMGH servomotors (1000min -1 ) With Standard Backlash Gears - 3-293.4.3 SGMGH Servomotors (1000 min -1 ) With Low-backlash Gears - - - - - 3-313.5 Ratings and Specifications of SGMSH (3000min -1 )- - - - - - 3-333.5.1 SGMSH Servomotors (3000min -1 ) Without Gears - - - - - - - - - - - - - - 3-333.5.2 SGMSH Servomotors (3000min -1 ) With Low-backlash Gears - - - - - 3-363.6 Ratings and Specifications of SGMDH (2000min -1 )- - - - - - 3-393.6.1 SGMDH Servomotors (2000min -1 ) With Holding Brakes - - - - - - - - - 3-393.7 Ratings and Specifications of SGMUH (6000min -1 )- - - - - - 3-413.7.1 SGMUH Servomotors (6000min -1 ) Without Holding Brakes - - - - - - - 3-413.8 Mechanical Specifications of Servomotors - - - - - - - - - - - - 3-433.8.1 Precautions on Servomotor Installation - - - - - - - - - - - - - - - - - - - - - 3-433.8.2 Mechanical Tolerance- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-443.8.3 Direction of Servomotor Rotation- - - - - - - - - - - - - - - - - - - - - - - - - - 3-453.8.4 Impact Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-453.8.5 Vibration Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-453.8.6 Vibration Class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-453.9 Terms and Data for Servomotors With Gears - - - - - - - - - - 3-463.10 Servomotor Dimensional Drawings - - - - - - - - - - - - - - - - 3-48xiv
3.11 Dimensional Drawings of SGMAH Servomotors(3000 min -1 )- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-493.11.1 SGMAH Servomotors (3000 min -1 ) Without Gears - - - - - - - - - - - - -3-493.11.2 SGMAH Servomotors (3000 min -1 ) With Brakes- - - - - - - - - - - - - - -3-533.11.3 SGMAH Servomotors (3000 min -1 ) With Standard Backlash Gears -3-573.11.4 SGMAH Servomotors (3000 min -1 ) With Standard Backlash Gearsand Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-643.11.5 SGMAH Servomotors (3000 min -1 ) With Low-backlash Gears- - - - -3-713.12 Dimensional Drawings of SGMPH Servomotors(3000 min -1 )- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-793.12.1 SGMPH Servomotors (3000 min -1 ) Without Gears and Brake - - - - -3-793.12.2 SGMPH Servomotors (3000 min -1 ) With Brakes - - - - - - - - - - - - - -3-813.12.3 SGMPH Servomotors (3000 min -1 ) With Standard Backlash Gears -3-833.12.4 SGMPH Servomotors (3000 min -1 ) With Standard Backlash Gearsand Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-863.12.5 SGMPH Servomotors (3000 min -1 ) With Low-backlash Gears- - - - -3-893.13 Dimensional Drawing of Output Shafts With Oil Seals forSGMAH and SGMPH Servomotors - - - - - - - - - - - - - - - - 3-933.13.1 SGMAH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-933.13.2 SGMPH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-933.14 Dimensional Drawings of SGMGH Servomotors(1500 min -1 )- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-943.14.1 SGMGH Servomotors (1500 min -1 ) Without Gears and Brakes - - - - 3-943.14.2 SGMGH Servomotors (1500 min -1 ) 200-V SpecificationsWithout Gears and With Brakes - - - - - - - - - - - - - - - - - - - - - - - - -3-963.14.3 Servomotors SGMGH (1500 min -1 ) 400-V SpecificationsWithout Gears and With Brakes - - - - - - - - - - - - - - - - - - - - - - - - - -3-993.14.4 SGMGH Servomotors (1500min -1 ) With Standard Backlash Gearsand Without Brakes (Foot-mound Type) - - - - - - - - - - - - - - - - - - - 3-1023.14.5 SGMGH Servomotors (1500min -1 ) With Standard Backlash Gearsand Without Brakes (Flange-mounted Type) - - - - - - - - - - - - - - - - 3-1083.14.6 SGMGH Servomotors (1500min -1 ) With Low-backlash Gears andWithout Brakes (Flange-mounted Type) - - - - - - - - - - - - - - - - - - - 3-1163.15 Dimensional Drawings of SGMGH Servomotors(1000 min -1 )- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-1203.15.1 SGMGH Servomotors (1000 min -1 ) Without Gears and Brakes - - - 3-1203.15.2 SGMGH Servomotors (1000 min -1 ) Without Gears and With Brakes3-1223.15.3 SGMGH Servomotors (1000 min -1 ) With Standard Backlash Gearsand Without Brakes (Foot-mounted Type) - - - - - - - - - - - - - - - - - - 3-1253.15.4 SGMGH Servomotors (1000 min -1 ) With Standard Backlash Gearsand Without Brakes (Flange-mounted Type) - - - - - - - - - - - - - - - - 3-1303.15.5 SGMGH Servomotors (1000 min -1 ) With Low-backlash Gears andWithout Brakes (Flange-mounted Type) - - - - - - - - - - - - - - - - - - - 3-137xv
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 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
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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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3 Specifications and Dimensional Dr
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φLBh7φSh6119.5(0.37)W3 Specificat
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φLBh7φSh617(0.67)9.5 (0.37)W3 Spe
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11 (0.43)W3 Specifications and Dime
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W3 Specifications and Dimensional D
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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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