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

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3 Specifications and Dimensional Drawings3.12.2 SGMPH Servomotors (3000 min -1 ) With BrakesModelSGMPH-LC LA LZ QK U W T01260 70 5.5014(2.36) (2.76) (0.22)14016(0.55)02280 90 7024(3.15) (3.54) (0.28)16026(0.63)04280 90 7044(3.15) (3.54) (0.28)16046(0.63)082120 145 10084(4.72) (5.71) (0.39)22086(0.87)152120 145 10154(4.72) (5.71) (0.39)22156(0.87)• Dimensional TolerancesNo key1.8(0.071)3(0.12)3(0.12)3(0.12)3.5(0.14)No keyNo keyNo keyNo key3(0.12)5(0.20)5(0.20)5(0.20)6(0.24)3(0.12)5(0.20)5(0.20)5(0.20)6(0.24)Approx.Masskg (lb)0.9(2.0)1.9(4.2)2.6(5.7)5.7(12.6)8.1(17.8)AllowableRadial LoadN (lbf)78(18)245(55)392(88)490(110)Units: mm (in)AllowableThrust LoadN (lbf)49(11)68(15)147(33)ModelSGMPH-012014016022024026042044046082084086152154156Units: mm (in)Shaft-end DimensionsFlange Face DimensionsSLB8 0 ⎛0.315 – 0.0001 ⎞ 50 0 ⎛1.97 – 0.0015 ⎞–0.009⎝– 0.0003⎠–0.025⎝– 0.0025⎠⎛0.551 + – 0.0001 ⎞–0.011⎝– 0.0002⎠14 0⎛0.551 + – 0.0001 ⎞–0.011⎝– 0.0002⎠14 016 0⎛2.756 – 0.0001 ⎞–0.030⎝– 0.0013⎠70 0⎛2.756 – 0.0001 ⎞–0.030⎝– 0.0013⎠70 0⎛0.63 – 0.0001 ⎞–0.011⎝– 0.0005⎠110 0 ⎛ +4.33 – 0.0007 ⎞–0.035⎝– 0.0007⎠⎛0.75 – 0.0020 ⎞–0.013⎝– 0.0024⎠110 0 ⎛ +4.33 – 0.0007 ⎞–0.035⎝– 0.0007⎠19 03-82
3.12 Dimensional Drawings of SGMPH Servomotors (3000 min -1 )3.12.3 SGMPH Servomotors (3000 min -1 ) With Standard Backlash GearsEncoder cable φ6 (φ0.24)UL20276Motor cable φ7 (φ0.28)13 (0.51)Serial encoderLF9.5(0.37)300(11.81)±30(1.18)LH(35) (1.38)300(11.81)±30(1.18)LLLLMLGLRL1 L2L3LEEncoder plugMotor plug(0.0024)0.06 AQQKφSh60.04A (0.0016)φBφLDφLBh7Rotating section(Hatching section)φ0.05 A(φ0.0020)4-φLZShaft EndWULCTφLATap × Depth∗(See the following table.)3ModelSGMPH-GearRatio01AJ11 1/501AJ31 3/3101AJC1 1/2101AJ71 1/3302AJ11 1/502AJ31 3/3102AJC1 1/2102AJ71 1/3304AJ11 1/504AJ31 3/3104AJC1 1/2104AJ71 1/3308AJ11 1/508AJ31 3/3108AJC1 1/2108AJ71 1/3315AJ11 1/515AJ31 1/1115AJC1 1/2115AJ71 1/33Units: mm (in)L LL LM LR LE LG B LD LB L1 L2 L3 Q QK S177(6.97)177(6.97)196(7.72)196(7.72)200.5(7.89)200.5(7.89)221(8.70)221(8.70)220.5(8.68)241(9.49)269(10.59)269(10.59)240.5(9.47)268.5(10.57)281.5(11.08)281.5(11.08)296.5(11.67)309.5(12.19)325.5(12.81)325.5(12.81)117(4.61)117(4.61)122(4.80)122(4.80)126.5(4.98)126.5(4.98)137(5.39)137(5.39)146.5(5.77)157(6.18)164(6.46)164(6.46)156.5(6.16)163.5(6.44)174.5(6.87)174.5(6.87)191.5(7.54)202.5(7.97)208.5(8.21)208.5(8.21)97.5(3.84)97.5(3.84)102(4.02)102(4.02)107.6(4.24)107.6(4.24)118.1(4.65)118.1(4.65)127.6(5.02)138.1(5.44)145.1(5.71)145.1(5.71)136.7(5.38)143.7(5.66)154.7(6.09)154.7(6.09)171.7(6.76)182.7(7.19)188.7(7.43)188.7(7.43)60(2.36)60(2.36)74(2.91)74(2.91)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)107(4.21)107(4.21)105(4.13)107(4.21)117(4.61)117(4.61)4(0.16)4(0.16)4(0.16)4(0.16)4(0.16)4(0.16)4(0.16)4(0.16)4(0.16)4(0.16)5(0.20)5(0.20)4(0.16)5(0.20)10(0.39)10(0.39)5(0.20)10(0.39)16(0.63)16(0.63)9(0.35)9(0.35)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)13(0.51)15(0.59)16(0.63)16(0.63)57(2.24)57(2.24)69(2.72)69(2.72)69(2.72)69(2.72)82(3.23)82(3.23)69(2.7282(3.23)93(3.66)93(3.66)82(3.23)93(3.66)107(4.21)107(4.21)93(3.66)107(4.21)135(5.31)135(5.31)63(2.48)63(2.48)83(3.27)83(3.27)83(3.27)83(3.27)98(3.86)98(3.86)83(3.27)98(3.86)112(4.41)112(4.41)98(3.86)112(4.41)134(5.28)134(5.28)112(4.41)134(5.28)163(6.42)163(6.42)65(2.56)65(2.56)85(3.35)85(3.35)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)115(4.53)140(5.51)165(6.50)165(6.50)30(1.18)30(1.18)36(1.42)36(1.42)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)44(1.73)44(1.73)45(1.77)44(1.73)53(2.09)53(2.09)30(1.18)30(1.18)38(1.50)38(1.50)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)63(2.48)63(2.48)60(2.36)63(2.48)64(2.52)64(2.52)14.5(0.57)14.5(0.57)19.5(0.77)19.5(0.77)19.5(0.77)19.5(0.77)23(0.91)23(0.91)19.5(0.77)23(0.91)26.5(1.04)26.5(1.04)23(0.91)26.5(1.04)42(1.65)42(1.65)26.5(1.04)42(1.65)51(2.01)51(2.01)28(1.10)28(1.10)36(1.42)36(1.42)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)60(2.36)60(2.36)58(2.28)60(2.36)60(2.36)60(2.36)25(0.98)25(0.98)32(1.26)32(1.26)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)45(1.77)45(1.77)50(1.97)45(1.77)45(1.77)45(1.77)16(0.63)16(0.63)20(0.79)20(0.79)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)32(1.26)40(1.57)45(1.77)45(1.77)3-83
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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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