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

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3 Specifications and Dimensional Drawings3.14.6 SGMGH Servomotors (1500min -1 ) With Low-backlash Gears and Without Brakes (Flange-mounted Type)3.14.6 SGMGH Servomotors (1500min -1 ) With Low-backlash Gears and WithoutBrakes (Flange-mounted Type)(1) Grease Lubricating Type for Small109(4.29)88(3.46)LL46(1.81) LMLR100(3.94)12(0.47) 3(0.12)φSh6Q47(1.85)φ130h71 (0.04)140(5.51)φ160(φ6.30)φ185(φ7.28)• Applied Specifications of Shaft-end Tap10(0.39)Shaft End8(0.31)5(0.20)QφSd-tap×LFrame No. Dia.S Length Q d × L mmANFJ-L20 35 (1.38) 55 (2.17)ANFJ-L30 50 (1.97) 75 (2.95)ANFJ-L40 60 (2.36) 90 (3.54)M8 × 16M10 × 20M12 × 2421(0.83)73(2.87)4-φ12 Mounting holes• Detailed Dimensions of IMT Gears(Motor)(Motor)ANFJ-L20φ132(φ5.20)φ126(φ4.96)φ132(φ5.20)R344(1.73) A17(0.67)12(0.47)3(0.12)ANFJ-L40φ240(φ9.45)φ234(φ9.21)φ240(φ9.45)φ310(φ12.2)R360(2.36) A27(1.06)18(0.71)5(0.20)55(2.17)2(0.08)20(0.79)20(0.79)φSh6φ45(φ1.77)φ91(φ3.58)φ94(φ3.70)φLBh7φ140(φ5.51)90(3.54)2(0.08)25(0.98)38(1.50)φSh6• Dimensional TolerancesGear Ratio1/51/91/20, 1/291/45φ90(φ3.54)φ182(φ7.17)φ186(φ7.32)φLBh7A6 (0.24)18 (0.71)39 (1.54)47 (1.85)Gear Ratio(Motor)A1/5 16 (0.63)1/9 48 (1.89)1/20, 1/29 55 (2.17)1/45 58 (2.28)ANFJ-L30φ190(φ7.48)φ184(φ7.24)φ190(φ7.48)φ245(φ9.65)R352(2.05) A23 (0.91)15 (0.59)5 (0.20)75 (2.95)φSh62 (0.08)25 (0.98)33 (1.30)φ70(φ2.76)φ130(φ5.12)φ135(φ5.31)φLBh7Gear RatioA1/5 11 (0.43)1/9 38 (1.50)1/20, 1/29 46 (1.81)1/45 52 (2.05)IMT GearANFJ-L20ANFJ-L30ANFJ-L40Units: mm (in)Flange Face DimensionsShaft-end DimensionsLBS⎛ 05.12 ⎞ 35 0 ⎛–0.040⎝–0.0016⎠–0.016⎝130 0⎛ 07.48 ⎞ 50 0 ⎛–0.046⎝–0.0018⎠–0.016⎝190 0⎛ 09.45 ⎞–0.046⎝–0.0018⎠60 0 ⎛–0.019⎝240 01.381.972.360 ⎞–0.0006⎠0 ⎞–0.0006⎠0 ⎞–0.0007⎠3-116
3.14 Dimensional Drawings of SGMGH Servomotors (1500 min -1 )ModelSGMGH-05AAL1405DAL1405AAL2405DAL2409AAL1409DAL1409AAL2409DAL24GearModelANFJ-L20GearRatio1/51/91/51/9L LL LM R394(15.5)406(16.0)417(16.4)429(16.9)138(5.43)138(5.43)161(6.34)161(6.34)92(3.62)92(3.62)115(4.53)115(4.53)256(10.1)268(10.6)256(10.1)268(10.6)Shaft CenterAllowableRadial LoadN (lbf)833(187)980(221)833(187)980(221)Units: mm (in)Approx.Masskg (lb)14(30.9)14(30.9)16(35.3)16(35.3)INFO• Lubrication• Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.3(2) Large Grease Lubricating TypeLTLLLMLRLGLR5QQKφSh6φLAShaft EndTKL188(3.46)φLBh7φLCWUKB1KB216-φLZUnits: mm (in)ModelSGMGH-05AAL5405DAL5405AAL7405DAL7405AAL8405DAL8409AAL5409DAL5409AAL7409DAL7409AAL8409DAL84Gear ModelANFJ-L30GearRatio1/201/291/451/201/29ANFJ-L40 1/45L LB LL LM LR LT KB1 KB2 KL1 R491(19.3)491(19.3)501(19.7)514(20.2)514(20.2)565(22.2)190(7.48)190(7.48)190(7.48)190(7.48)190(7.48)240(9.45)138(5.43)138(5.43)138(5.43)161(6.34)161(6.34)161(6.34)92(3.62)92(3.62)92(3.62)115(4.53)115(4.53)115(4.53)140(5.51)140(5.51)140(5.51)140(5.51)140(5.51)160(6.30)46(1.81)46(1.81)46(1.81)46(1.81)46(1.81)46(1.81)73(2.87)73(2.87)73(2.87)73(2.87)73(2.87)73(2.87)21(0.83)21(0.83)21(0.83)21(0.83)21(0.83)21(0.83)109(4.29)109(4.29)109(4.29)109(4.29)109(4.29)109(4.29)353(13.9)353(13.9)363(14.3)353(13.9)353(13.9)404(15.9)Shaft CenterAllowableRadial LoadN (lbf)2650(596)2940(662)3430(772)2650(596)2940(662)8040(1809)3-117
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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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W3 Specifications and Dimensional D
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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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