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)Units: mm (in)ModelSGMGH-1AAASB61AAASC61AAAS76GearModelCHHJ-4170CHHJ-4185CHHJ-4190GearRatio1/111/211/29L LL LM LT KB1 KB2 KL1 R A B C ∗ AllowableRadial LoadShaft Center934(36.8)984(38.7)1077(42.4)338(13.3)338(13.3)338(13.3)291(11.5)291(11.5)291(11.5)47(1.85)47(1.85)47(1.85)87(3.43)87(3.43)87(3.43)21(0.83)21(0.83)21(0.83)168(6.61)168(6.61)168(6.61)596(23.5)646(25.4)739(29.1)382(15.0)417(16.4)477(18.8)363(14.3)393(15.5)454(17.9)200(7.87)220(8.66)250(9.84)N (lbf)13800(3105)23010(5177)35810(8057)ModelSGMGH-13AAS7613DAS7620AASC620DASC620AAS7620DAS7630AASC630DASC630AAS7630DAS760-0.5* The tolerances for all models are .GearRatio1/291/211/291/211/2944AASA6 1/644AASB6 1/1144AASC6 1/2144AAS76 1/2955AASA6 1/655AASB6 1/1155AASC6 1/2155AAS76 1/2975AASB6 1/1175AASC6 1/2175AAS76 1/29Foot-mounted Dimensionsmm (in)Shaft-end Dimensionsmm (in)E F G K M N XR XC Z Q QK S T U W Tap ×Depth145(5.71)145(5.71)145(5.71)145(5.71)185(7.28)145(5.71)145(5.71)185(7.28)190(7.48)145(5.71)145(5.71)190(7.48)190(7.48)185(7.28)190(7.48)210(8.27)145(5.71)145(5.71)145(5.71)145(5.71)150(5.91)145(5.71)145(5.71)150(5.91)275(10.8)145(5.71)145(5.71)275(10.8)275(10.8)150(5.91)275(10.8)320(12.6)22(0.87)22(0.87)22(0.87)22(0.87)25(0.98)22(0.87)22(0.87)25(0.98)30(1.18)22(0.87)22(0.87)30(1.18)30(1.18)25(0.98)30(1.18)30(1.18)65(2.56)65(2.56)65(2.56)65(2.56)75(2.95)65(2.56)65(2.56)75(2.95)80(3.15)65(2.56)65(2.56)80(3.15)80(3.15)75(2.95)80(3.15)85(3.35)330(13.0)330(13.0)330(13.0)330(13.0)410(16.1)330(13.0)330(13.0)410(16.1)430(16.9)330(13.0)330(13.0)430(16.9)430(16.9)410(16.1)430(16.9)470(18.5)195(7.68)195(7.68)195(7.68)195(7.68)238(9.37)195(7.68)195(7.68)238(9.37)335(13.2)195(7.68)195(7.68)335(13.2)335(13.2)238(9.37)335(13.2)380(15.0)75(2.95)75(2.95)75(2.95)95(3.74)95(3.74)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)115(4.53)100(3.94)100(3.94)100(3.94)120(4.72)139(5.47)100(3.94)100(3.94)139(5.47)125(4.92)100(3.94)120(4.72)125(4.92)125(4.92)139(5.47)125(4.92)145(5.71)18(0.71)18(0.71)18(0.71)18(0.71)18(0.71)18(0.71)18(0.71)18(0.71)22(0.87)18(0.71)18(0.71)22(0.87)22(0.87)18(0.71)22(0.87)22(0.87)70(2.76)70(2.76)70(2.76)90(3.54)90(3.54)70(2.76)70(2.76)90(3.54)90(3.54)70(2.76)90(3.54)90(3.54)90(3.54)90(3.54)90(3.54)110(4.33)56(2.20)56(2.20)56(2.20)80(3.15)80(3.15)56(2.20)56(2.20)80(3.15)80(3.15)56(2.20)80(3.15)80(3.15)80(3.15)80(3.15)80(3.15)100(3.94)50(1.97)50(1.97)50(1.97)50(1.97)60(2.36)50(1.97)50(1.97)60(2.36)70(2.76)50(1.97)50(1.97)70(2.76)70(2.76)60(2.36)70(2.76)80(3.15)9(0.35)9(0.35)9(0.35)9(0.35)11(0.43)9(0.35)9(0.35)11(0.43)12(0.47)9(0.35)9(0.35)12(0.47)12(0.47)11(0.43)12(0.47)14(0.55)5.5(0.22)5.5(0.22)5.5(0.22)5.5(0.22)7(0.28)5.5(0.22)5.5(0.22)7(0.28)7.5(0.30)5.5(0.22)5.5(0.22)7.5(0.30)7.5(0.30)7(0.28)7.5(0.30)9(0.35)14(0.55)M10 × 1814(0.55)M10 × 1814(0.55)M10 × 1814(0.55)M10 × 1818(0.71)M10 × 1814(0.55)M10 × 1814(0.55)M10 × 1818(0.71)M10 × 1820(0.79)M12 × 2414(0.55)M10 × 1814(0.55)M10 × 1820(0.79)M12 × 2420(0.79)M12 × 2418(0.71)M10 × 1820(0.79)M12 × 2422(0.87)M12 × 24Units: mm (in)Approx.Masskg (lb)57.6(127)67(148)67(148)72(159)126(278)76(168)76(168)131(289)176(388)88(194)89(196)191(421)191(421)155(342)201(443)245(540)3-106
3.14 Dimensional Drawings of SGMGH Servomotors (1500 min -1 )ModelSGMGH-GearRatio1AAASB6 1/111AAASC6 1/211AAAS76 1/29190(7.48)210(8.27)240(9.45)275(10.8)320(12.6)380(15.0)30(1.18)30(1.18)35(1.38)80(3.15)85(3.35)90(3.54)• Dimensional TolerancesFoot-mounted Dimensionsmm (in)430(16.9)470(18.5)530(20.9)335(13.2)380(15.0)440(17.3)95(3.74)115(4.53)140(5.51)125(4.92)145(5.71)170(6.69)22(0.87)22(0.87)26(1.02)90(3.54)110(4.33)135(5.31)80(3.15)100(3.94)125(4.92)Shaft-end Dimensionsmm (in)E F G K M N XR XC Z Q QK S T U W Tap ×Depth70(2.76)80(3.15)95(3.74)12(0.47)14(0.55)14(0.55)7.5(0.30)9(0.35)9(0.35)20(0.79)M12 × 2422(0.87)M12 × 2425(0.98)M20 × 34Units: mm (in)Approx.Masskg (lb)230.5(508)276.5(610)357.5(788)ModelSGMGH-13AAS7613DAS7620AASC620DASC620AAS7620DAS7630AASC630DASC630AAS7630DAS7644AASA644AASB644AASC644AAS7655AASA655AASB655AASC655AAS7675AASB675AASC675AAS761AAASB61AAASC61AAAS76Units: mm (in)Shaft-end DimensionsS⎛–0.016⎝50 0⎛–0.016⎝50 0⎛–0.016⎝50 0⎛–0.016⎝50 0⎛–0.019⎝60 0⎛–0.016⎝50 0⎛–0.016⎝50 0⎛–0.019⎝60 0⎛–0.019⎝70 0⎛–0.016⎝50 0⎛–0.016⎝50 0⎛–0.019⎝70 0⎛–0.019⎝70 0⎛–0.019⎝60 0⎛–0.019⎝70 0⎛–0.019⎝80 0⎛–0.019⎝70 0⎛–0.019⎝80 0⎛–0.022⎝95 01.971.971.971.972.361.971.972.362.761.971.972.762.762.362.763.152.763.150 ⎞–0.0006⎠0 ⎞–0.0006⎠0 ⎞–0.0006⎠0 ⎞–0.0006⎠0 ⎞–0.0007⎠0 ⎞–0.0006⎠0 ⎞–0.0006⎠0 ⎞–0.0007⎠0 ⎞–0.0007⎠0 ⎞–0.0006⎠0 ⎞–0.0006⎠0 ⎞–0.0007⎠0 ⎞–0.0007⎠0 ⎞–0.0007⎠0 ⎞–0.0007⎠0 ⎞–0.0007⎠0 ⎞–0.0007⎠0 ⎞–0.0007⎠3.74 0⎞–0.009⎠33-107
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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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φLBh7φSh617(0.67)9.5 (0.37)W3 Spe
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11 (0.43)W3 Specifications and Dime
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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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