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)3-11813AAL14ANFJ-L301/5507(20.0)190(7.48)185(7.28)139(5.47)140(5.51)46(1.81)73(2.87)21(0.83)109(4.29)322(12.7)1670(376)13DAL1413AAL241/9534(21.0)190(7.48)185(7.28)139(5.47)140(5.51)46(1.81)73(2.87)21(0.83)109(4.29)349(13.7)1960(441)13DAL2413AAL541/20538(21.2)190(7.48)185(7.28)139(5.47)140(5.51)46(1.81)73(2.87)21(0.83)109(4.29)353(13.9)2650(596)13DAL5413AAL74ANFJ-L401/29579(22.8)240(9.45)185(7.28)139(5.47)160(6.30)46(1.81)73(2.87)21(0.83)109(4.29)394(15.5)6860(1544)13DAL7413AAL841/45589(23.2)240(9.45)185(7.28)139(5.47)160(6.30)46(1.81)73(2.87)21(0.83)109(4.29)404(15.9)8040(1809)13DAL8420AAL14ANFJ-L301/5509(20.0)190(7.48)166(6.54)119(4.69)140(5.51)47(1.85)77(3.03)22(0.87)140(5.51)343(13.5)1670(376)20DAL1420AAL241/9536(21.1)190(7.48)166(6.54)119(4.69)140(5.51)47(1.85)77(3.03)22(0.87)140(5.51)370(14.6)1960(441)20DAL2420AAL54ANFJ-L401/20581(22.9)240(9.45)166(6.54)119(4.69)160(6.30)47(1.85)77(3.03)22(0.87)140(5.51)415(16.3)6080(1368)20DAL5420AAL741/29581(22.9)240(9.45)166(6.54)119(4.69)160(6.30)47(1.85)77(3.03)22(0.87)140(5.51)415(16.3)6860(1544)20DAL7430AAL141/5575(22.6)240(9.45)192(7.56)145(5.71)160(6.30)47(1.85)77(3.03)22(0.87)140(5.51)383(15.1)3820(860)30DAL1430AAL241/9607(23.9)240(9.45)192(7.56)145(5.71)160(6.30)47(1.85)77(3.03)22(0.87)140(5.51)415(16.3)4700(1058)30DAL2430AAL541/20607(23.9)240(9.45)192(7.56)145(5.71)160(6.30)47(1.85)77(3.03)22(0.87)140(5.51)415(16.3)6080(1368)30DAL5444AAL14 1/5609(24.0)240(9.45)226(8.90)179(7.05)160(6.30)47(1.85)77(3.03)22(0.87)140(5.51)383(15.1)3820(860)44AAL24 1/9641(25.2)240(9.45)226(8.90)179(7.05)160(6.30)47(1.85)77(3.03)22(0.87)140(5.51)415(16.3)4700(1058)Units: mm (in)ModelSGMGH-Gear ModelGearRatioL LB LL LM LR LT KB1 KB2 KL1 RShaft CenterAllowableRadial LoadN (lbf)ModelSGMGH-GearRatioFlange Face Dimensionsmm (in)Shaft-end Dimensionsmm (in)Approx.Masskg (lb)LA LB LC LG LZ Q QK S T U W05AAL541/20220(8.66)190(7.48)245(9.65)15(0.59)12(0.47)75(2.95)65(2.56)50(1.97)9(0.35)5.5(0.22)14(0.55)31(68.3)05DAL5405AAL741/29220(8.66)190(7.48)245(9.65)15(0.59)12(0.47)75(2.95)65(2.56)50(1.97)9(0.35)5.5(0.22)14(0.55)31(68.3)05DAL7405AAL841/45220(8.66)190(7.48)245(9.65)15(0.59)12(0.47)75(2.95)65(2.56)50(1.97)9(0.35)5.5(0.22)14(0.55)31(68.3)05DAL8409AAL541/20220(8.66)190(7.48)245(9.65)15(0.59)12(0.47)75(2.95)65(2.56)50(1.97)9(0.35)5.5(0.22)14(0.55)33(72.8)09DAL5409AAL741/29220(8.66)190(7.48)245(9.65)15(0.59)12(0.47)75(2.95)65(2.56)50(1.97)9(0.35)5.5(0.22)14(0.55)33(72.8)09DAL7409AAL841/45280(11.0)240(9.45)310(12.2)18(0.71)14(0.55)90(3.54)78(3.07)60(2.36)11(0.43)7(0.28)18(0.71)53(117)09DAL84
3.14 Dimensional Drawings of SGMGH Servomotors (1500 min -1 )ModelSGMGH-GearRatioFlange Face Dimensionsmm (in)Shaft-end Dimensionsmm (in)LA LB LC LG LZ Q QK S T U WApprox.Masskg (lb)13AAL1413DAL141/5220(8.66)190(7.48)245(9.65)15(0.59)12(0.47)75(2.95)65(2.56)50(1.97)9(0.35)5.5(0.22)14(0.55)28(61.7)13AAL2413DAL241/9220(8.66)190(7.48)245(9.65)15(0.59)12(0.47)75(2.95)65(2.56)50(1.97)9(0.35)5.5(0.22)14(0.55)35(77.2)13AAL5413DAL541/20220(8.66)190(7.48)245(9.65)15(0.59)12(0.47)75(2.95)65(2.56)50(1.97)9(0.35)5.5(0.22)14(0.55)35(77.2)13AAL7413DAL741/29280(11.0)240(9.45)310(12.2)18(0.71)14(0.55)90(3.54)78(3.07)60(2.36)11(0.43)7(0.28)18(0.71)55(121)13AAL8413DAL841/45280(11.0)240(9.45)310(12.2)18(0.71)14(0.55)90(3.54)78(3.07)60(2.36)11(0.43)7(0.28)18(0.71)55(121)20AAL1420DAL1420AAL2420DAL241/51/9220(8.66)220(8.66)190(7.48)190(7.48)245(9.65)245(9.65)15(0.59)15(0.59)12(0.47)12(0.47)75(2.95)75(2.95)65(2.56)65(2.56)50(1.97)50(1.97)9(0.35)9(0.35)5.5(0.22)5.5(0.22)14(0.55)14(0.55)32(70.5)39(86.0)320AAL5420DAL541/20280(11.0)240(9.45)310(12.2)18(0.71)14(0.55)90(3.54)78(3.07)60(2.36)11(0.43)7(0.28)18(0.71)39(86.0)20AAL7420DAL741/29280(11.0)240(9.45)310(12.2)18(0.71)14(0.55)90(3.54)78(3.07)60(2.36)11(0.43)7(0.28)18(0.71)39(86.0)30AAL1430DAL141/5280(11.0)240(9.45)310(12.2)18(0.71)14(0.55)90(3.54)78(3.07)60(2.36)11(0.43)7(0.28)18(0.71)53(117)30AAL2430DAL241/9280(11.0)240(9.45)310(12.2)18(0.71)14(0.55)90(3.54)78(3.07)60(2.36)11(0.43)7(0.28)18(0.71)63(139)30AAL5430DAL541/20280(11.0)240(9.45)310(12.2)18(0.71)14(0.55)90(3.54)78(3.07)60(2.36)11(0.43)7(0.28)18(0.71)63(139)44AAL14 1/5280(11.0)240(9.45)310(12.2)18(0.71)14(0.55)90(3.54)78(3.07)60(2.36)11(0.43)7(0.28)18(0.71)58(128)44AAL24 1/9280(11.0)240(9.45)310(12.2)18(0.71)14(0.55)90(3.54)78(3.07)60(2.36)11(0.43)7(0.28)18(0.71)68(150)INFO• Lubrication• Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.3-119
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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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