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

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3 Specifications and Dimensional Drawings3.12.4 SGMPH Servomotors (3000 min -1 ) With Standard Backlash Gears and Brakes3.12.4 SGMPH Servomotors (3000 min -1 ) With Standard Backlash Gears and BrakesEncoder cable φ6 (φ0.24)UL20276300(11.81)±30(1.18)Encoder plugMotor cable φ7(φ0.28)(35) (1.38)Motor plugShaft EndW9.5(0.37)Serial encoderLF13 (0.51) LH300(11.81)±30(1.18)0.06 A(0.0024)0.04LLLLRA (0.0016)LM L1 L2ZLGL3LEQKQφSh6Holding brake (de-energizing operation)Power supply: 90 VDC or 24 VDCφBφLDφLBh7φ0.05 A(φ0.0020)4-φLZRotating section(Hatching section)UTLCφLATap × Depth∗(See the following table.)ModelSGMPH-GearRatio01AJ1 1/501AJ3 3/3101AJC 1/2101AJ7 1/3302AJ1 1/502AJ3 3/3102AJC 1/2102AJ7 1/3304AJ1 1/504AJ3 3/3104AJC 1/2104AJ7 1/33Units: mm (in)L LL LM LR LE LG B LD LB L1 L2 L3 Q QK S Z206(8.11)206(8.11)224.5(8.84)224.5(8.84)232(9.13)232(9.13)252.5(9.94)252.5(9.94)252(9.92)272.5(10.73)300.5(11.83)300.5(11.83)146(5.75)146(5.75)150.5(5.93)150.5(5.93)158(6.22)158(6.22)168.5(6.63)168.5(6.63)178(7.01)188.5(7.42)195.5(7.70)195.5(7.70)92.5(3.64)92.5(3.64)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)245.1(9.65)245.1(9.65)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)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)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)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(2.72)82(3.23)93(3.66)93(3.66)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)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)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)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)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)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)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)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)18(0.71)3-86
3.12 Dimensional Drawings of SGMPH Servomotors (3000 min -1 )INFOModelSGMPH-GearRatio08AJ1 1/508AJ3 3/3108AJC 1/2108AJ7 1/3315AJ1 1/515AJ3 1/1115AJC 1/2115AJ7 1/33274(10.79)302(11.89)315(12.40)315(12.40)330(12.99)343(13.50)359(14.13)359(14.13)190(7.48)197(7.76)208(8.19)208(8.19)225(8.86)236(9.29)242(9.53)242(9.53)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)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)5(0.20)10(0.39)10(0.39)5(0.20)10(0.39)17(0.67)17(0.67)12(0.47)13(0.51)15(0.59)15(0.59)13(0.51)15(0.59)16(0.63)16(0.63)82(3.23)93(3.66)107(4.21)107(4.21)93(3.66)107(4.21)135(5.31)135(5.31)1. The dimensions for L and LL of a servomotor incorporating an encoder with super-capacitor (model: SGMPH-4)are as shown below.SGMPH-01, 02, and 04: L-dimension + 6.4 mm (0.25 in), LL-dimension +6.4 mm (0.25 in)SGMPH-08 and 15: L-dimension + 6.0 mm (0.24 in), LL-dimension +6.0 mm (0.24 in)2. The working point of the SGMPH servomotor radial load is at the position of minus 5 mm from the shaft end.98(3.86)112(4.41)134(5.28)134(5.28)112(4.41)134(5.28)163(6.42)163(6.42)100(3.94)115(4.53)140(5.51)140(5.51)115(4.53)140(5.51)165(6.50)165(6.50)40(1.57)45(1.77)44(1.73)44(1.73)45(1.77)44(1.73)53(2.09)53(2.09)44(1.73)60(2.36)63(2.48)63(2.48)60(2.36)63(2.48)64(2.52)64(2.52)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)42(1.65)58(2.28)60(2.36)60(2.36)58(2.28)60(2.36)60(2.36)60(2.36)Units: mm (in)L LL LM LR LE LG B LD LB L1 L2 L3 Q QK S Z36(1.42)50(1.97)45(1.77)45(1.77)50(1.97)45(1.77)45(1.77)45(1.77)25(0.98)32(1.26)40(1.57)40(1.57)32(1.26)40(1.57)45(1.77)45(1.77)28(1.10)3ModelSGMPH-GearRatio01AJ1 1/501AJ3 3/3101AJC 1/2101AJ7 1/3302AJ1 1/502AJ3 3/3102AJC 1/2102AJ7 1/3304AJ1 1/504AJ3 3/3104AJC 1/2104AJ7 1/33LC LA LF LZ LH Tap×Depth ∗ U W T70(2.76)70(2.76)90(3.54)90(3.54)90(3.54)90(3.54)105(4.13)105(4.13)90(3.54)105(4.13)120(4.72)120(4.72)80(3.15)80(3.15)105(4.13)105(4.13)105(4.13)105(4.13)120(4.72)120(4.72)105(4.13)120(4.72)120(4.72)105(4.13)12.5(0.49)12.5(0.49)12.5(0.49)12.5(0.49)11.9(0.47)11.9(0.47)11.9(0.47)11.9(0.47)11.9(0.47)11.9(0.47)11.9(0.47)11.9(0.47)6.6(0.26)6.6(0.26)9(0.35)9(0.35)9(0.35)9(0.35)9(0.35)9(0.35)9(0.35)9(0.35)11(0.43)11(0.43)10.55(0.42)M4 × 8L10.55(0.42)M4 × 8L10.55(0.42)M5 × 10L10.55(0.42)M5 × 10L8.25(0.32)M5 × 10L8.25(0.32)M5 × 10L8.25(0.32)M6 × 12L8.25(0.32)M6 × 12L8.25(0.32)M5 × 10L8.25(0.32)M6 × 12L8.25(0.32)M8 × 16L8.25(0.32)M8 × 16L3(0.12)3(0.12)3.5(0.14)3.5(0.14)3.5(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)5(0.20)5(0.20)6(0.24)6(0.24)6(0.24)6(0.24)8(0.31)8(0.31)6(0.24)8(0.31)10(0.39)10(0.39)5(0.20)5(0.20)6(0.24)6(0.24)6(0.24)6(0.24)7(0.28)7(0.28)6(0.24)7(0.28)8(0.31)8(0.31)Approx.Masskg (lb)1.8(4.0)1.8(4.0)2.8(6.2)2.8(6.2)3.9(8.6)3.9(8.6)5.2(11.5)5.2(11.5)4.6(10.1)5.6(12.3)7.4(16.3)7.4(16.3)AllowableRadialLoadN (lbf)Units: mm (in)AllowableThrustLoadN (lbf)175(40) 145215 (33)(49)455(103)480(109)275(62)360(82)235(53)585(133) 290635 (66)(144)275(62)460(104)235(53)290(66)655(149) 310755 (70)(171)3-87
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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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