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

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3 Specifications and Dimensional Drawings3.11.5 SGMAH Servomotors (3000 min -1 ) With Low-backlash Gears(2) 200 W, 400 W, 750 WEncoder cable φ7 (φ0.28)UL2027626.5 (1.04)13 20(0.51)(0.79)9.5(0.37)300(11.81)±30(1.18)Motor cableφ7(φ0.28)11(0.43)(35)(1.38)300±30LLLLMLGLEEncoder plugMotor plugL1L3(0.0024)0.06 ALRL2QQKA 0.04(0.0016)φ0.05 A(φ0.0020)Shaft EndWUTLCφBφLDφLBh7Serial encoderφSh7Rotating section(Hatching section)4-φLZφLATap × Depth∗(See the following table.)ModelSGMAH-GearRatio02AH11 1/502AHB1 1/1102AHC1 1/2102AH71 1/3304AH11 1/504AHB1 1/1104AHC1 1/2104AH71 1/3308AH11 1/508AHB1 1/1108AHC1 1/2108AH71 1/33Units: mm (in)L LL LM LR LE LG B LD LB L1 L2 L3 Q QK S208.5(8.21)225.5(8.88)243.5(9.59)243.5(9.59)236.5(9.31)271.5(10.69)300.5(11.83)300.5(11.83)271(10.67)321(12.64)365(14.37)365(14.37)134.5(5.30)151.5(5.97)159.5(6.28)159.5(6.28)162.5(6.40)187.5(7.38)195.5(7.70)195.5(7.70)187(7.36)216(8.50)223(8.78)223(8.78)101(3.98)118(4.65)126(4.96)126(4.96)129(5.08)154(6.06)162(6.38)162(6.38)153.5(6.04)182.5(7.19)189.5(7.46)189.5(7.46)74(2.91)74(2.91)84(3.31)84(3.31)74(2.91)84(3.31)105(4.13)105(4.13)84(3.31)105(4.13)142(5.59)142(5.59)7.5(0.30)7.5(0.30)12(0.47)12(0.47)7.5(0.30)12(0.47)14(0.55)12.5(0.49)12(0.47)14(0.55)10(0.39)10(0.39)10(0.39)10(0.39)12(0.47)12(0.47)10(0.39)12(0.47)13(0.51)13(0.51)12(0.47)13(0.51)15(0.59)15(0.59)59(2.32)59(2.32)59(2.32)59(2.32)59(2.32)59(2.32)59(2.32)84(3.31)59(2.32)59(2.32)84(3.31)84(3.31)84(3.31)84(3.31)96(3.78)96(3.78)84(3.31)96(3.78)112(4.41)114(4.49)96(3.78)112(4.41)134(5.28)134(5.28)85(3.35)85(3.35)100(3.94)100(3.94)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)36(1.42)40(1.57)40(1.57)36(1.42)40(1.57)45(1.77)45(1.77)40(1.57)45(1.77)57(2.24)57(2.24)38(1.50)38(1.50)44(1.73)44(1.73)38(1.50)44(1.73)60(2.36)60(2.36)44(1.73)60(2.36)85(3.35)85(3.35)26(1.02)26(1.02)29(1.14)29(1.14)26(1.02)29(1.14)33(1.30)33(1.30)29(1.14)33(1.30)40(1.57)40(1.57)36(1.42)36(1.42)42(1.65)42(1.65)36(1.42)42(1.65)58(2.28)58(2.28)42(1.65)58(2.28)82(3.23)82(3.23)32(1.26)32(1.26)36(1.42)36(1.42)32(1.26)36(1.42)50(1.97)50(1.97)36(1.42)50(1.97)70(2.76)70(2.76)20(0.79)20(0.79)25(0.98)25(0.98)20(0.79)25(0.98)32(1.26)32(1.26)25(0.98)32(1.26)40(1.57)40(1.57)3-74
3.11 Dimensional Drawings of SGMAH Servomotors (3000 min -1 )ModelSGMAH-GearRatio02AH11 1/502AHB1 1/1102AHC1 1/2102AH71 1/3304AH11 1/504AHB1 1/1104AHC1 1/2104AH71 1/3308AH11 1/508AHB1 1/1108AHC1 1/2108AH71 1/33LC LA LZ Tap×Depth ∗ U W T90(3.54)90(3.54)105(4.13)105(4.13)90(3.54)105(4.13)120(4.72)120(4.72)105(4.13)120(4.72)145(5.71)145(5.71)105(4.13)105(4.13)120(4.72)120(4.72)105(4.13)120(4.72)135(5.31)135(5.31)120(4.72)135(5.31)165(6.50)165(6.50)9(0.35)9(0.35)9(0.35)9(0.35)9(0.35)9(0.35)11(0.43)11(0.43)9(0.35)11(0.43)14(0.55)14(0.55)M5×10LM5×10LM6×12LM6×12LM5×10LM6×12LM8×16LM8×16LM6×12LM8×16LM10×20LM10×20L3.5(0.14)3.5(0.14)4(0.16)4(0.16)3.5(0.14)4(0.16)5(0.20)5(0.20)4(0.16)5(0.20)5(0.20)5(0.20)6(0.24)6(0.24)8(0.31)8(0.31)6(0.24)8(0.31)10(0.39)10(0.39)8(0.31)10(0.39)12(0.47)12(0.47)6(0.24)6(0.24)7(0.28)7(0.28)6(0.24)7(0.28)8(0.31)8(0.31)7(0.28)8(0.31)8(0.31)8(0.31)Approx.Masskg (lb)3.0(6.6)3.5(7.7)3.7(8.2)3.8(8.4)3.6(7.9)4.3(9.5)4.7(10.4)7.1(15.7)5.8(12.8)6.6(14.6)9.9(21.8)9.9(21.8)AllowableRadialLoadN (lbf)Units: mm (in)AllowableThrustLoadN (lbf)245(56) 235323 (53)(73)549(124) 294608 (67)(138)245(56)441(100)235(53)294(67)568(129) 314657 (71)(149)343(78)451(102)294(67)314(71)813(184) 490921 (111)(209)3INFO1. The dimensions for L and LL of a servomotor incorporating an encoder with super-capacitor (model: SGMAH4)are as shown below.SGMAH-02 and 04: L-dimension + 8.2 mm (0.32 in), LL-dimension +8.2 mm (0.32 in)SGMAH-08: 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.3-75
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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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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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