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

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3 Specifications and Dimensional Drawings3.15.2 SGMGH Servomotors (1000 min -1 ) Without Gears and With Brakes(2) 4.0 kW to 5.5 kWModels with oil seals are of the same configuration.100(3.94)150(5.91)88(3.46)123(4.84)LLL 113(4.45)48(1.89) LM18(0.71) 3.2(0.13)KB2KB1KB3A0(φ1.65 -0.0006 )φ42 -0.01600(4.50 -0.0010 )φ114.3 -0.0250(0.0016)0.04 Aφ0.04 A(φ0.0016)0.04(0.0016)φ230(φ9.06)4-φ13.5 Mountingholes180(7.09)φ200(φ7.87)123 (4.84)0.5(0.02)φ45(φ1.77)Shaft End113(4.45)3.2(0.13)3(0.12)R1110(4.33)0(φ1.65 -0.0006 )φ42 -0.0160φ62(φ2.44)φ76(φ2.99)Note: For the specifications of the other shaft ends, refer to3.19 Shaft End Specifications for SGMGH, SGMSHand SGMDH Servomotors.ModelSGMGH-40AB2 424(16.7)55AB2 498(19.6)L LL LM KB1 KB2 KB3311(12.2)385(15.2)263(10.4)337(13.3)174(6.85)248(9.76)289(11.4)363(14.3)231(9.09)305(12.0)Approx.Masskg (lb)AllowableRadial LoadN (lbf)35(77.2) 176445.5 (397)(100)Units: mm (in)AllowableThrust LoadN (lbf)588(132)• Cable Specifications for Detector Connectors (17-bit Encoder)LKJM ABTN C PDS RH G F EReceptacle: MS3102A20-29PApplicable plug (Purchased by the customer)Plug: MS3108B20-29SCable clamp: MS3057-12AKLMNPRST−With an Absolute EncoderA−B−C DATA+D DATA-E−F−G 0VH +5VDCJ FG (Frame ground)−−−−−−BATT-BATT+−With an Incremental EncoderA−KB−LC DATA+ MD DATA- NE−PF−RG 0VSH +5VDC TJ FG (Frame ground) −−−−−−−−−−• Cable Specifications for ServomotorConnectorsA Phase UD AB Phase VC Phase WC BFGD(Frame ground)• Cable Specifications for Brake ConnectorsCABA Brake terminalB Brake terminalC −3-124
3.15 Dimensional Drawings of SGMGH Servomotors (1000 min -1 )3.15.3 SGMGH Servomotors (1000 min -1 ) With Standard Backlash Gears and WithoutBrakes (Foot-mounted Type)(1) Grease Lubricating TypeKB2KB1LTLLLMLRBKL188(3.46)QQKφSh6AShaft EndTap × DepthCTFNXCXRG4-φZ MountingholesKEMEKWUUnits: mm (in)303ABSA603ABSB603ABSC603ABS7606ABSA606ABSB606ABSC606ABS7609ABSA609ABSB609ABSC609ABS7612ABSA612ABSB620ABSA6GearModelModelSGMGH-CNHX-4095CNHX-4095CNHX-4105CNHX-4105CNHX-4105CNHX-4105CNHX-4115CNHX-4115CNHX-4105CNHX-4105CNHX-4115CNHX-4115CNHX-4115CNHX-4115CNHX-4115GearRatio1/61/111/211/291/61/111/211/291/61/111/211/291/61/111/6L 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)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)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)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)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)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)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)109(4.29)140(5.51)140(5.51)140(5.51)242(9.53)242(9.53)256(10.1)256(10.1)256(10.1)256(10.1)288(11.3)288(11.3)256(10.1)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)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)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)100(3.94)120(4.72)120(4.72)120(4.72)120(4.72)120(4.72)2360(531)2890(650)5390(1213)5390(1213)3720(837)4550(1024)7070(1591)7860(1769)3720(837)4550(1024)7070(1591)7860(1769)4660(1049)5700(1283)4660(1049)3-125
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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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