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

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3 Specifications and Dimensional Drawings3.14.4 SGMGH Servomotors (1500min -1 ) With Standard Backlash Gears and Without Brakes (Foot-mound Type)3.14.4 SGMGH Servomotors (1500min -1 ) With Standard Backlash Gears and WithoutBrakes (Foot-mound Type)(1) Grease Lubricating TypeKB2KB1KL188(3.46)LTLLLMLRQQKG φSh6ACBWTUShaft EndTap × Depth(See thefollowingtable.)FNXCXR4-φZ MountingholesKEMEKUnits: mm (in)05AASA605DASA605AASB605DASB605AASC605DASC605AAS7605DAS7609AASA609DASA609AASB609DASB609AASC609DASC609AAS7609DAS7613AASA613DASA613AASB613DASB613AASC613DASC620AASA620DASA620AASB620DASB630AASA630DASA6GearModelModelSGMGH-CNHX-4095CNHX-4095CNHX-4105CNHX-4105CNHX-4105CNHX-4105CNHX-4115CNHX-4115CNHX-4105CNHX-4115CNHX-4115CNHX-4115CNHX-4115CNHX-4115GearRatio1/61/111/211/291/61/111/211/291/61/111/211/61/111/6L LL LM LT KB1 KB2 KL1 R A B C ∗ AllowableRadial LoadShaft CenterN (lbf)380(15.0)380(15.0)394(15.5)394(15.5)417(16.4)417(16.4)449(17.7)449(17.7)441(17.4)473(18.6)473(18.6)477(18.8)477(18.8)503(19.8)138(5.43)138(5.43)138(5.43)138(5.43)161(6.34)161(6.34)161(6.34)161(6.34)185(7.28)185(7.28)185(7.28)166(6.54)166(6.54)192(7.56)92(3.62)92(3.62)92(3.62)92(3.62)115(4.53)115(4.53)115(4.53)115(4.53)139(5.47)139(5.47)139(5.47)119(4.69)119(4.69)145(5.71)46(1.81)46(1.81)46(1.81)46(1.81)46(1.81)46(1.81)46(1.81)46(1.81)46(1.81)46(1.81)46(1.81)47(1.85)47(1.85)47(1.85)73(2.87)73(2.87)73(2.87)73(2.87)73(2.87)73(2.87)73(2.87)73(2.87)73(2.87)73(2.87)73(2.87)77(3.03)77(3.03)77(3.03)21(0.83)21(0.83)21(0.83)21(0.83)21(0.83)21(0.83)21(0.83)21(0.83)21(0.83)21(0.83)21(0.83)22(0.87)22(0.87)22(0.87)109(4.29)109(4.29)109(4.29)109(4.29)109(4.29)109(4.29)109(4.29)109(4.29)109(4.29)109(4.29)109(4.29)140(5.51)140(5.51)140(5.51)242(9.53)242(9.53)256(10.08)256(10.1)256(10.1)256(10.1)288(11.3)288(11.3)256(10.1)288(11.3)288(11.3)311(12.2)311(12.2)311(12.2)209(8.23)209(8.23)209(8.23)209(8.23)209(8.23)209(8.23)257(10.1)257(10.1)209(8.23)257(10.1)257(10.1)260(10.2)260(10.2)260(10.2)152(5.98)152(5.98)152(5.98)152(5.98)152(5.98)152(5.98)204(8.03)204(8.03)152(5.98)204(8.03)204(8.03)204(8.03)204(8.03)204(8.03)100(3.94)100(3.94)100(3.94)100(3.94)100(3.94)100(3.94)120(4.72)120(4.72)100(3.94)120(4.72)120(4.72)120(4.72)120(4.72)120(4.72)2050(461)2520(567)4940(1111)5360(1206)3240(729)3840(864)6190(1393)6870(1546)3240(729)4970(1118)6190(1393)4050(911)4970(1118)4050(911)3-102
3.14 Dimensional Drawings of SGMGH Servomotors (1500 min -1 )Units: mm (in)ModelSGMGH-30AASB630DASB6GearModelCNHX-4115GearRatio1/11L LL LM LT KB1 KB2 KL1 R A B C ∗ AllowableRadial LoadShaft CenterN (lbf)503(19.8)192(7.56)145(5.71)47(1.85)77(3.03)22(0.87)140(5.51)311(12.2)260(10.2)204(8.03)120(4.72)4970(1118)0-0.5* The tolerances for all models are .ModelSGMGH-05AASA605DASA605AASB605DASB605AASC605DASC605AAS7605DAS7609AASA609DASA609AASB609DASB609AASC609DASC609AAS7609DAS7613AASA613DASA613AASB613DASB613AASC613DASC620AASA620DASA620AASB620DASB630AASA630DASA630AASB630DASB6GearRatio1/61/111/211/291/61/111/211/291/61/111/211/61/111/61/11Foot-mounted Dimensionsmm (in)Shaft-end Dimensionsmm (in)E F G K M N XR XC Z Q QK S T U W Tap ×Depth75(2.95)75(2.95)75(2.95)75(2.95)75(2.95)75(2.95)95(3.74)95(3.74)75(2.95)95(3.74)95(3.74)95(3.74)95(3.74)95(3.74)95(3.74)90(3.54)90(3.54)90(3.54)90(3.54)90(3.54)90(3.54)115(4.53)115(4.53)90(3.54)115(4.53)115(4.53)115(4.53)115(4.53)115(4.53)115(4.53)12(0.47)12(0.47)12(0.47)12(0.47)12(0.47)12(0.47)15(0.59)15(0.59)12(0.47)15(0.59)15(0.59)15(0.59)15(0.59)15(0.59)15(0.59)40(1.57)40(1.57)40(1.57)40(1.57)40(1.57)40(1.57)55(2.17)55(2.17)40(1.57)55(2.17)55(2.17)55(2.17)55(2.17)55(2.17)55(2.17)180(7.09)180(7.09)180(7.09)180(7.09)180(7.09)180(7.09)230(9.06)230(9.06)180(7.09)230(9.06)230(9.06)230(9.06)230(9.06)230(9.06)230(9.06)130(5.12)130(5.12)135(5.31)135(5.31)135(5.31)135(5.31)155(6.10)155(6.10)135(5.31)155(6.10)155(6.10)155(6.10)155(6.10)155(6.10)155(6.10)45(1.77)45(1.77)45(1.77)45(1.77)45(1.77)45(1.77)62(2.44)62(2.44)45(1.77)62(2.44)62(2.44)62(2.44)62(2.44)62(2.44)62(2.44)60(2.36)60(2.36)60(2.36)60(2.36)60(2.36)60(2.36)82(3.23)82(3.23)60(2.36)82(3.23)82(3.23)82(3.23)82(3.23)82(3.23)82(3.23)11(0.43)11(0.43)11(0.43)11(0.43)11(0.43)11(0.43)14(0.55)14(0.55)11(0.43)14(0.55)14(0.55)14(0.55)14(0.55)14(0.55)14(0.55)35(1.38)35(1.38)35(1.38)35(1.38)35(1.38)35(1.38)55(2.17)55(2.17)35(1.38)55(2.17)55(2.17)55(2.17)55(2.17)55(2.17)55(2.17)32(1.26)32(1.26)32(1.26)32(1.26)32(1.26)32(1.26)50(1.97)50(1.97)32(1.26)50(1.97)50(1.97)50(1.97)50(1.97)50(1.97)50(1.97)28(1.10)28(110)28(1.10)28(1.10)28(1.10)28(1.10)38(1.50)38(1.50)28(1.10)38(1.50)38(1.50)38(1.50)38(1.50)38(1.50)38(1.50)7(0.28)7(0.28)7(0.28)7(0.28)7(0.28)7(0.28)8(0.31)8(0.31)7(0.28)8(0.31)8(0.31)8(0.31)8(0.31)8(0.31)8(0.31)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)5(0.20)5(0.20)5(0.20)5(0.20)5(0.20)8(0.31)8(0.31)8(0.31)8(0.31)8(0.31)8(0.31)10(0.39)10(0.39)8(0.31)10(0.39)10(0.39)10(0.39)10(0.39)10(0.39)10(0.39)M8 × 19M8 × 19M8 × 19M8 ×19M8 × 19M8 × 19M10 × 22M10 ×22M8 × 19M10 ×22M10 × 22M10 × 22M10 ×22M10 × 22M10 × 22Approx.Masskg (lb)20.5(45.2)20.5(45.2)22.5(49.6)22.5(49.6)24.6(54.2)24.6(54.2)34.6(76.3)34.6(76.3)26.6(58.6)36.6(80.7)36.6(80.7)43(94.8)43(94.8)47(104)47(104)33-103
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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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φLBh7φSh6119.5(0.37)W3 Specificat
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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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