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

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3 Specifications and Dimensional Drawings3.12.5 SGMPH Servomotors (3000 min -1 ) With Low-backlash GearsModelSGMPH-GearRatio04AHB1 1/1104AHC1 1/2104AH71 1/3308AH11 1/508AHB1 1/1108AHC1 1/2108AH71 1/3315AH11 1/515AHB1 1/1115AGC1 1/2115AG71 1/33235(9.25)263(10.35)264(10.39)234.5(9.23)263.5(10.37)316.5(12.46)316.5(12.46)328.5(12.93)344.5(13.56)364.5(14.35)364.5(14.35)151(5.94)158(6.22)159(6.26)150.5(5.93)158.5(6.24)174.5(6.87)174.5(6.87)186.5(7.34)202.5(7.97)208.5(8.21)208.5(8.21)132.1(5.20)139.1(5.48)140.1(5.52)130.7(5.15)138.7(5.46)154.7(6.09)154.7(6.09)166.7(6.56)182.7(7.19)188.7(7.43)188.7(7.43)84(3.31)105(4.13)105(4.13)84(3.31)105(4.13)142(5.59)142(5.59)142(5.59)142(5.59)156(6.14)156(6.14)12(0.47)14(0.55)12.5(0.49)12(0.47)14(0.55)10(0.39)10(0.39)12.5(0.49)10(0.39)16(0.63)16(0.63)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)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)135(5.31)135(5.31)96(3.78)112(4.41)114(4.49)96(3.78)112(4.41)134(5.28)134(5.28)114(4.49)134(5.28)163(6.42)163(6.42)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)40(1.57)45(1.77)45(1.77)40(1.57)45(1.77)57(2.24)57(2.24)45(1.77)57(2.24)70(2.76)70(2.76)44(1.73)60(2.36)60(2.36)44(1.73)60(2.36)85(3.35)85(3.35)60(2.36)85(3.35)86(3.39)86(3.39)29(1.14)33(1.30)33(1.30)29(1.14)33(1.30)40(1.57)40(1.57)33(1.30)40(1.57)51(2.01)51(2.01)42(1.65)58(2.28)58(2.28)42(1.65)58(2.28)82(3.23)82(3.23)58(2.28)82(3.23)82(3.23)82(3.23)36(1.42)50(1.97)50(1.97)36(1.42)50(1.97)70(2.76)70(2.76)50(1.97)70(2.76)70(2.76)70(2.76)Units: mm (in)L LL LM LR LE LG B LD LB L1 L2 L3 Q QK S Z25(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)18(0.71)28(1.10)INFO1. 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.ModelSGMPH-01AH11 1/501AHB1 1/1101AHC1 1/2101AH71 1/3302AH11 1/502AHB1 1/1102AHC1 1/2102AH71 1/3304AH11 1/504AHB1 1/11GearRatio LC LA LZ LF 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)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)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)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)10.5(0.41)10.5(0.41)10.5(0.41)10.5(0.41)8.5(0.33)8.5(0.33)8.5(0.33)8.5(0.33)8.5(0.33)8.5(0.33)M4 × 8LM4 × 8LM5 × 10LM5 × 10LM5 × 10LM5 × 10LM6 × 12LM6 × 12LM5 × 10LM6 × 12L3-903(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)6(0.24)6(0.24)6(0.24)6(0.24)8(0.31)8(0.31)6(0.24)8(0.31)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)Approx.Masskg (lb)1.5(3.3)1.5(3.3)3.0(6.6)3.0(6.6)3.5(7.7)3.8(8.4)4.1(9.0)4.1(9.0)4.2(9.3)4.8(10.6)AllowableRadiaLoadN (lbf)Units: mm (in)AllowableThrustLoadN (lbf)167(38) 147216 (33)(49)392(89)431(98)245(56)323(73)235(53)549(124) 294608 (67)(138)245(56)441(100)235(53)294(67)
3.12 Dimensional Drawings of SGMPH Servomotors (3000 min -1 )ModelSGMPH-GearRatio04AHC1 1/2104AH71 1/3308AH11 1/508AHB1 1/1108AHC1 1/2108AH71 1/3315AH11 1/515AHB1 1/1115AGC1 1/2115AG71 1/33LC LA LZ LF LH Tap×Depth ∗ U W T120(4.72)120(4.72)105(4.13)120(4.72)145(5.71)145(5.71)120(4.72)145(5.71)170(6.69)170(6.69)135(5.31)135(5.31)120(4.72)135(5.31)165(6.50)165(6.50)135(5.31)165(6.50)190(7.48)190(7.48)11(0.43)11(0.43)9(0.35)11(0.43)14(0.55)14(0.55)11(0.43)14(0.55)14(0.55)14(0.55)• Dimensional Tolerances11.9(0.47)11.9(0.47)12.8(0.50)12.8(0.50)12.8(0.50)12.8(0.50)12.8(0.50)12.8(0.50)12.8(0.50)12.8(0.50)8.5(0.33)8.5(0.33)10.5(0.41)10.5(0.41)10.5(0.41)10.5(0.41)10.5(0.41)10.5(0.41)10.5(0.41)10.5(0.41)M8 × 16LM8 × 16LM6 × 12LM8 × 16LM10 × 20LM10 × 20LM8 × 16LM10 × 20LM10 × 20LM10 × 20L5(0.20)5(0.20)4(0.16)5(0.20)5(0.20)5(0.20)5(0.20)5(0.20)5.5(0.22)5.5(0.22)10(0.39)10(0.39)8(0.31)10(0.39)12(0.47)12(0.47)10(0.39)12(0.47)14(0.55)14(0.55)8(0.31)8(0.31)7(0.28)8(0.31)8(0.31)8(0.31)8(0.31)8(0.31)9(0.35)9(0.35)Approx.Masskg (lb)5.2(11.5)7.7(16.6)6.9(15.2)8.0(17.6)11.0(24.3)11.0(24.3)9.2(20.3)11.3(24.9)AllowableRadiaLoadN (lbf)568(129) 314657 (71)(149)343(78)451(102)294(67)314(71)813(184) 490921 (111)(209)353(80)647(147)23.6(52.0) 124723.6 (283)(52.0)Units: mm (in)AllowableThrustLoadN (lbf)314(71)490(111)882(200)3ModelSGMPH-01AH1101AHB101AHC101AH7102AH1102AHB102AHC102AH7104AH1104AHB104AHC104AH71Units: mm (in)Flange Face DimensionsShaft-end DimensionsLBS⎛ 02.56 ⎞ 16 0 ⎛–0.030⎝–0.0012⎠–0.018⎝65 0⎛ 02.56 ⎞ 16 0 ⎛–0.030⎝–0.0012⎠–0.018⎝65 0⎛ 03.35 ⎞–0.035⎝–0.0014⎠20 0 ⎛–0.021⎝85 0⎛ 03.35 ⎞–0.035⎝–0.0014⎠20 0 ⎛–0.021⎝85 0⎛ 03.35 ⎞–0.035⎝–0.0014⎠20 0 ⎛–0.021⎝85 0⎛ 03.35 ⎞–0.035⎝–0.0014⎠20 0 ⎛–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 ⎞ 25 0 ⎛–0.035⎝–0.0014⎠–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 00.630.630.790.790.790.790.980.980.790.981.261.260 ⎞–0.0004⎠0 ⎞–0.0004⎠0 ⎞–0.0005⎠0 ⎞–0.0005⎠0 ⎞–0.0005⎠0 ⎞–0.0005⎠0 ⎞–0.0005⎠0 ⎞–0.0005⎠0 ⎞–0.0005⎠0 ⎞–0.0005⎠0 ⎞–0.0006⎠0 ⎞–0.0006⎠3-91
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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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