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

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5 Specifications and Dimensional Drawings of Cables andPeripheral Devices5.1 Specifications and Dimensional Drawings of ServomotorMain Circuit Cable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35.1.1 Cables for SGMAH and SGMPH Servomotors Without Brakes- - - - - - 5-35.1.2 Cables for SGMAH and SGMPH Servomotors With Brakes - - - - - - - - 5-35.1.3 Flexible Cables for SGMAH and SGMPH Servomotors Without Brakes5-45.1.4 Flexible Cables for SGMAH and SGMPH Servomotors With Brakes - - 5-55.1.5 Cables for 400 V SGMAH and SGMPH Servomotors Without Brakes - 5-55.1.6 Cables for 400 V SGMAH and SGMPH Servomotors With Brakes - - - 5-65.2 Servomotor Main Circuit Wire Size and Connectors- - - - - - - 5-75.2.1 Wire Size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-75.2.2 SGMAH and SGMPH Servomotor Connectors for StandardEnvironments - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-85.2.3 SGMGH, SGMSH, SGMDH, and SGMUH Servomotor ConnectorConfigurations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-115.2.4 SGMGH Servomotor (1500 min -1 ) Connectors for StandardEnvironments - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-125.2.5 SGMGH Servomotor (1000 min -1 ) Connectors for StandardEnvironments - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-155.2.6 SGMSH Servomotor (3000 min -1 ) Connectors for StandardEnvironments - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-175.2.7 SGMDH Servomotor (2000 min -1 ) Connectors for StandardEnvironments - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-195.2.8 SGMUH Servomotor (6000 min -1 ) Connectors for StandardEnvironments - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-195.2.9 SGMGH Servomotor (1500 min -1 ) Connectors Conforming to IP67and European Safety Standards - - - - - - - - - - - - - - - - - - - - - - - - - - 5-225.2.10 SGMGH Servomotor (1000 min -1 ) Connectors Conforming to IP67and European Safety Standards - - - - - - - - - - - - - - - - - - - - - - - - - 5-275.2.11 SGMSH Servomotors (3000 min -1 ) Connectors Conforming to IP67and European Safety Standards - - - - - - - - - - - - - - - - - - - - - - - - - 5-305.2.12 SGMDH Servomotors (2000 min -1 ) Connectors Conforming to IP67and European Safety Standards - - - - - - - - - - - - - - - - - - - - - - - - - 5-345.2.13 SGMUH Servomotors (6000 min -1 ) Connectors Conforming to IP67and European Safety Standards - - - - - - - - - - - - - - - - - - - - - - - - - 5-355.2.14 Connector Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - 5-385.3 SERVOPACK Main Circuit Wire Size - - - - - - - - - - - - - - - - 5-455.3.1 Cable Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-455.3.2 Single-phase 100 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-465.3.3 Single-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-465.3.4 Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-465.3.5 Three-phase 400 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-475.4 Encoder Cables for CN2 Connector - - - - - - - - - - - - - - - - - 5-485.4.1 Encoder Cable With Connectors For SGMAH and SGMPHServomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-48xviii
5.4.2 Encoder Cable for SGMGH, SGMSH, SGMDH, and SGMUHServomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-485.4.3 Encoder Cable With a SERVOPACK Connector and Encoder LooseLeads for SGMAH and SGMPH Servomotors - - - - - - - - - - - - - - - - -5-495.4.4 Encoder Cable with a SERVOPACK Connector and Encoder LooseLeads for SGMGH, SGMSH, SGMDH, and SGMUH Servomotors - -5-505.4.5 Encoder Flexible Cables for SGMAH and SGMPH Servomotors - - - - 5-525.4.6 Encoder Flexible Cables for SGMGH, SGMSH, SGMDH, and SGMUHServomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-535.5 Connectors and Cables for Encoder Signals - - - - - - - - - - - 5-555.5.1 Connectors and Cables for SGMAH and SGMPH Servomotors - - - -5-555.5.2 Connectors and Cables for SGMGH, SGMSH, SGMDH, and SGMUHServomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-575.6 Flexible Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-595.7 I/O Signal Cables for CN1 Connector - - - - - - - - - - - - - - - - 5-605.7.1 Standard Cables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-605.7.2 Connector Type and Cable Size- - - - - - - - - - - - - - - - - - - - - - - - - - -5-605.7.3 Connection Diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-625.8 Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-635.8.1 Cables for Connecting Personal Computers - - - - - - - - - - - - - - - - - - 5-635.8.2 Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-645.8.3 Cables for Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-655.8.4 Connector Terminal Block Converter Unit - - - - - - - - - - - - - - - - - - - -5-665.8.5 Brake Power Supply Unit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-675.8.6 External Regenerative Resistor - - - - - - - - - - - - - - - - - - - - - - - - - - -5-695.8.7 Regenerative Resistor Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-715.8.8 Absolute Encoder Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-725.8.9 Molded-case Circuit Breaker (MCCB) - - - - - - - - - - - - - - - - - - - - - - - 5-735.8.10 Noise Filter- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-755.8.11 Magnetic Contactor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-805.8.12 Surge Suppressor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-845.8.13 DC Reactor for Harmonic Suppression - - - - - - - - - - - - - - - - - - - - -5-865.8.14 Variable Resistor for Speed and Torque Setting - - - - - - - - - - - - - - -5-885.8.15 Encoder Signal Converter Unit - - - - - - - - - - - - - - - - - - - - - - - - - - -5-895.8.16 MECHATROLINK-I I/F Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-905.8.17 DeviceNet I/F Unit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-915.8.18 PROFIBUS-DP I/F Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-925.8.19 INDEXER Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-945.8.20 Setup Support Tool <strong>Sigma</strong>Indexer - - - - - - - - - - - - - - - - - - - - - - - -5-955.8.21 Fully-closed I/F Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-966 Wiring6.1 Wiring Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26.1.1 Names and Functions of Main Circuit Terminals - - - - - - - - - - - - - - - -6-26.1.2 Wiring Main Circuit Power Supply Connector (Spring Type) - - - - - - - -6-46.1.3 Typical Main Circuit Wiring Examples - - - - - - - - - - - - - - - - - - - - - - - -6-56.2 Wiring Encoders- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8xix
Page 1 and 2: YASKAWASeries SGMH/SGDHUSER'S MANUA
Page 4 and 5: • Quick access to your required i
Page 8 and 9: WARNING• Installation, disassembl
Page 10 and 11: • WiringCAUTION• Do not connect
Page 12 and 13: • Maintenance and InspectionCAUTI
Page 14 and 15: 2.6.1 Special Options - - - - - - -
Page 16 and 17: 3.16 Dimensional Drawings of SGMSH
Page 20 and 21: 6.2.1 Connecting an Encoder (CN2) a
Page 22 and 23: 8.7.1 Setting Parameters - - - - -
Page 24 and 25: 11.3.1 Utility Functions List - - -
Page 26 and 27: PURODUCT SERVICE1 Outline1.1.1 Chec
Page 28 and 29: 1 Outline1.2.1 Servomotors1.2 Produ
Page 30 and 31: 1 Outline1.2.2 SERVOPACKs(2) SGDH f
Page 32 and 33: 1 Outline1.3.2 Three-phase, 200 V M
Page 34 and 35: 1 Outline1.4.1 North American Safet
Page 36 and 37: 2 Selections2.1.1 Model SGMAH (3000
Page 38 and 39: 2 Selections2.1.2 Model SGMPH (3000
Page 40 and 41: 2 Selections2.1.3 Model SGMGH (1500
Page 42 and 43: 2 Selections2.1.4 Model SGMGH (1000
Page 44 and 45: 2 Selections2.1.5 Model SGMSH (3000
Page 46 and 47: 2 Selections2.1.6 Model SGMDH (2000
Page 48 and 49: 2 Selections2.2.1 Support Tool for
Page 50 and 51: 2 Selections2.2.2 Servomotor Capaci
Page 52 and 53: 2 Selections2.5.1 Cables for SGMAH
Page 54 and 55: 2 Selections2.5.1 Cables for SGMAH
Page 56 and 57: 2 Selections2.5.2 Cables for SGMGH/
Page 58 and 59: 2 Selections2.5.2 Cables for SGMGH/
Page 60 and 61: MODE/SETCHARGEDATA/POWER67534675346
Page 62 and 63: 2 Selections2.6.1 Special OptionsNa
Page 64 and 65: 2 Selections2.6.3 Noise Filters, Ma
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3 Specifications and Dimensional Dr
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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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