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

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3 Specifications and Dimensional Drawings3.14.3 Servomotors SGMGH (1500 min -1 ) 400-V Specifications Without Gears and With BrakesModelSGMGH-30DA2 322(12.7)44DA2 356(14.0)L LL LM LR LT KB1 KB2 KB3 IE KL1 KL3243(9.57)277(10.9)195(7.68)229(9.02)79(3.11)79(3.11)48(1.89)48(1.89)115(4.53)149(5.87)221(8.70)255(10.0)163(6.42)197(7.76)−−140(5.51)140(5.51)123(4.84)123(4.84)Shaft-end DimensionsS S1 Q+35 – 0.010⎛ +1.38 – 0.0004 ⎞⎝ 0 ⎠+35 – 0.010⎛ +1.38 – 0.0004 ⎞⎝ 0 ⎠45(1.77)45(1.77)76(2.99)76(2.99)Units: mm (in)Approx.Masskg (lb)23.5(51.8)28.5(62.8)55DA2 424(16.7)311(12.2)263(10.4)113(4.45)48(1.89)174(6.85)289(11.4)231(9.09)123(4.84)150(5.91)123(4.84)042–0.016⎛ 01.65 ⎞⎝ –0.0006⎠45(1.77)110(4.33)35(77.2)75DA2 498(19.6)385(15.2)337(13.3)113(4.45)48(1.89)248(9.76)363(14.3)305(12.0)123(4.84)150(5.91)123(4.84)042–0.016⎛ 0⎝1.65 ⎞–0.0006⎠45(1.77)110(4.33)45.5(100)1ADA2 499(19.6)1EDA2 635(25.0)383(15.1)519(20.4)340(13.4)471(18.5)116(4.57)116(4.57)43(1.69)48(1.89)258(10.2)343(13.5)362(14.3)497(19.6)315(12.4)415(16.3)142(5.59)150(5.91)168(6.61)168(6.61)142(5.59)142(5.59)042–0.016⎛ 01.65 ⎞⎝ –0.0006⎠+55 – 0.030+ – 0.011⎛ +⎜2.17 0.0012 ⎞⎟⎝ + 0.0004⎠45(1.77)65(2.56)110(4.33)110(4.33)65(143)100(221)ModelSGMGH-05DA2 145(5.71)09DA2 145(5.71)13DA2 145(5.71)20DA2 200(7.87)30DA2 200(7.87)44DA2 200(7.87)55DA2 200(7.87)Flange Face DimensionsLA LB LC LE LF1 LF2 LG LH LJ1 LJ2 LZ0110–0.035⎛ 0⎝4.33 ⎞–0.0014⎠0110–0.035⎛ 04.33 ⎞⎝ –0.0014⎠0110–0.035⎛ 04.33 ⎞⎝ –0.0014⎠0114.3–0.025⎛ 04.50 ⎞⎝ –0.0010⎠0114.3–0.025⎛ 0⎝4.50 ⎞–0.0010⎠0114.3–0.025⎛ 04.50 ⎞⎝ –0.0010⎠0114.3–0.025⎛ 04.50 ⎞⎝ –0.0010⎠130(5.12)130(5.12)130(5.12)180(7.09)180(7.09)180(7.09)180(7.09)6(0.24)6(0.24)6(0.24)3.2(0.13)3.2(0.13)3.2(0.13)3.2(0.13)6(0.24)6(0.24)6(0.24)3(0.12)3(0.12)3(0.12)3(0.12)−−−0.5(0.02)0.5(0.02)0.5(0.02)0.5(0.02)12(0.47)12(0.47)12(0.47)18(0.71)18(0.71)18(0.71)18(0.71)3-100165(6.50)165(6.50)165(6.50)230(9.06)230(9.06)230(9.06)230(9.06)45(1.77)45(1.77)45(1.77)76(2.99)76(2.99)76(2.99)76(2.99)−−−62(2.44)62(2.44)62(2.44)62(2.44)9(0.35)9(0.35)9(0.35)13.5(0.53)13.5(0.53)13.5(0.53)13.5(0.53)AllowableRadial LoadN (lbf)490(110)490(110)686(154)1176(264)1470(331)1470(331)1764(397)Units: mm (in)AllowableThrust LoadN (lbf)98(22)98(22)343(77)490(110)490(110)490(110)588(132)
3.14 Dimensional Drawings of SGMGH Servomotors (1500 min -1 )ModelSGMGH-75DA2 200(7.87)1ADA2 235(9.25)1EDA2 235(9.25)180(7.09)220(8.66)220(8.66)Flange Face DimensionsLA LB LC LE LF1 LF2 LG LH LJ1 LJ2 LZ0114.3–0.025⎛ 04.50 ⎞⎝ –0.0010 ⎠0200–0.046⎛ 07.87 ⎞⎝ –0.0018⎠0200–0.046⎛ 07.87 ⎞⎝ –0.0018⎠3.2(0.13)4(0.16)4(0.16)3(0.12)4(0.16)4(0.16)0.5(0.02)−−18(0.71)18(0.71)20(0.79)230(9.06)270(10.6)270(10.6)76(2.99)62(2.44)85(3.35)62(2.44)−−13.5(0.53)13.5(0.53)13.5(0.53)AllowableRadial LoadN (lbf)1764(397)1764(397)4998(1125)Units: mm (in)AllowableThrust LoadN (lbf)588(132)588(132)2156(485)• Cable Specifications for Detector Connectors (17-bit Encoder)M ABLCTN PKDSJRH G F EReceptacle: MS3102A20-29PApplicable plug (purchased by the customer)Plug: MS3108B20-29SCable clamp: MS3057-12A3KLMNPRST-With an Absolute EncoderA−B−C DATA+D DATA-E−F−G 0VH +5VDCJ FG (Frame ground)−−−−−−BATT-BATT+−With an Incremental EncoderA−KB−LC DATA+ MD DATA- NE−PF−RG 0VSH +5VDC TJ FG (Frame ground) -−−−−−−−−−• Cable Specifications for Servomotor Connectors• Cable Specifications for Brake ConnectorsCDABA Phase UB Phase VC Phase WFGD(Frame ground)CABA Brake terminalB Brake terminalC −3-101
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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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