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

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3 Specifications and Dimensional Drawings3.15.5 SGMGH Servomotors (1000 min -1 ) With Low-backlash Gears and Without Brakes (Flange-mounted Type)• Dimensional TolerancesIMT 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 ⎞ 60 0 ⎛–0.046⎝–0.0018⎠–0.019⎝240 01.381.972.360 ⎞–0.0006⎠0 ⎞–0.0006⎠0 ⎞–0.0007⎠ModelSGMGH-03ABL14Gear TypeGearRatio1/503ABL24 1/903ABL54 1/20ANFJ-L2006ABL14 1/506ABL24 1/909ABL14 1/5L LL LM R394(15.5)406(16.0)425(16.7)417(16.4)429(16.9)441(17.4)138(5.43)138(5.43)138(5.43)161(6.34)161(6.34)185(7.28)92(3.62)92(3.62)92(3.62)115(4.53)115(4.53)139(5.47)256(10.1)268(10.6)287(11.3)256(10.1)268(10.6)256(10.1)Approx.Masskg (lb)14(30.9)14(30.9)16(35.3)16(35.3)16(35.3)18(39.7)Units: mm (in)Shaft CenterAllowableRadial LoadN (lbf)833(187)980(221)1270(286)833(187)980(221)833(187)INFO• Lubrication• Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.(2) Large Grease Lubricating TypeLTLLLMLRLGLRQQKφSh6φLAShaft EndTKL188(3.46)R1φLBh7φLCWUKB1KB25 (0.20)• Applied Specifications of Shaft-end Tap6-φLZ MountingholesQd-tap×LφSFrame No.ANFJ-L20ANFJ-L30ANFJ-L40Dia.S Length Q d × L mm355060557590M8 × 16M10 × 20M12 × 243-138
3.15 Dimensional Drawings of SGMGH Servomotors (1000 min -1 )Units: mm (in)ModelSGMGH-03ABL74Gear ModelGearRatio1/2903ABL84 1/45ANFJ-L3006ABL54 1/2006ABL74 1/2906ABL84 ANFJ-L40 1/4509ABL241/9ANFJ-L3009ABL54 1/2009ABL741/29ANFJ-L4009ABL84 1/4512ABL141/5ANFJ-L3012ABL24 1/912ABL541/2012ABL74 ANFJ-L40 1/2912ABL84 1/4520ABL141/5ANFJ-L3020ABL24 1/920ABL541/2030ABL14 ANFJ-L40 1/530ABL24 1/9L LL LM LR LT KB1 KB2 KL1 R491(19.3)501(19.7)514(20.2)514(20.2)565(22.2)534(21.0)538(21.2)579(22.8)589(23.2)509(20.0)536(21.1)581(22.9)581(22.9)591(23.3)535(21.1)562(22.1)607(23.9)609(24.0)641(25.2)138(5.43)138(5.43)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)166(6.54)166(6.54)166(6.54)192(7.56)192(7.56)192(7.56)226(8.90)226(8.90)92(3.62)92(3.62)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)119(4.69)119(4.69)119(4.69)145(5.71)145(5.71)145(5.71)179(7.05)179(7.05)140(5.51)140(5.51)140(5.51)140(5.51)160(6.30)140(5.51)140(5.51)160(6.30)160(6.30)140(5.51)140(5.51)160(6.30)160(6.30)160(6.30)140(5.51)140(5.51)160(6.30)160(6.30)160(6.30)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)47(1.85)47(1.85)47(1.85)47(1.85)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)77(3.03)77(3.03)77(3.03)77(3.03)77(3.03)77(3.03)77(3.03)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)22(0.87)22(0.87)22(0.87)22(0.87)22(0.87)22(0.87)22(0.87)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)140(5.51)140(5.51)140(5.51)140(5.51)140(5.51)140(5.51)140(5.51)140(5.51)140(5.51)140(5.51)353(13.9)363(14.3)353(13.9)353(13.9)404(15.9)349(13.7)353(13.9)394(15.5)404(15.9)343(13.5)370(14.6)415(16.3)415(16.3)425(16.7)343(13.5)370(14.6)415(16.3)383(15.1)415(16.3)Shaft CenterAllowableRadial LoadN (lbf)2940(662)3430(772)2650(596)2940(662)8040(1809)1960(441)2650(596)6860(1544)8040(1809)1670(376)1960(441)6080(1368)6860(1544)8040(1809)1670(376)1960(441)6080(1368)3820(860)4700(1058)3ModelSGMGH-GearRatio03ABL74 1/2903ABL84 1/45220(8.66)220(8.66)Flange Face Dimensionsmm (in)Shaft-end Dimensionsmm (in)LA LB LC LG LZ Q QK S T U W190 245 15 12 75 65 50 9 5.5(7.48) (9.65) (0.59) (0.47) (2.95) (2.56) (1.97) (0.35) (0.22)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)14(0.55)Approx.Masskg (lb)31(68.3)31(68.3)3-139
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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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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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