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)ModelSGMGH-GearRatio06ABL54 1/2006ABL74 1/2906ABL84 1/4509ABL24 1/909ABL54 1/2009ABL74 1/2909ABL84 1/4512ABL14 1/512ABL24 1/912ABL54 1/2012ABL74 1/2912ABL84 1/4520ABL14 1/520ABL24 1/920ABL54 1/2030ABL14 1/530ABL24 1/9220(8.66)220(8.66)280(11.0)220(8.66)220(8.66)280(11.0)280(11.0)220(8.66)220(8.66)280(11.0)280(11.0)280(11.0)220(8.66)220(8.66)280(11.0)280(11.0)280(11.0)Flange Face Dimensionsmm (in)190(7.48)190(7.48)240(9.45)190(7.48)190(7.48)240(9.45)240(9.45)190(7.48)190(7.48)240(9.45)240(9.45)240(9.45)190(7.48)190(7.48)240(9.45)240(9.45)240(9.45)245(9.65)245(9.65)310(12.2)245(9.65)245(9.65)310(12.2)310(12.2)245(9.65)245(9.65)310(12.2)310(12.2)310(12.2)245(9.65)245(9.65)310(12.2)310(12.2)310(12.2)15(0.59)15(0.59)18(0.71)15(0.59)15(0.59)18(0.71)18(0.71)15(0.59)15(0.59)18(0.71)18(0.71)18(0.71)15(0.59)15(0.59)18(0.71)18(0.71)18(0.71)12(0.47)12(0.47)14(0.55)12(0.47)12(0.47)14(0.55)14(0.55)12(0.47)12(0.47)14(0.55)14(0.55)14(0.55)12(0.47)12(0.47)14(0.55)14(0.55)14(0.55)75(2.95)75(2.95)90(3.54)75(2.95)75(2.95)90(3.54)90(3.54)75(2.95)75(2.95)90(3.54)90(3.54)90(3.54)75(2.95)75(2.95)90(3.54)90(3.54)90(3.54)Shaft-end Dimensionsmm (in)LA LB LC LG LZ Q QK S T U W65(2.56)65(2.56)78(3.07)65(2.56)65(2.56)78(3.07)78(3.07)65(2.56)65(2.56)78(3.07)78(3.07)78(3.07)65(2.56)65(2.56)78(3.07)78(3.07)78(3.07)50(1.97)50(1.97)60(2.36)50(1.97)50(1.97)60(2.36)60(2.36)50(1.97)50(1.97)60(2.36)60(2.36)60(2.36)50(1.97)50(1.97)60(2.36)60(2.36)60(2.36)9(0.35)9(0.35)11(0.43)9(0.35)9(0.35)11(0.43)11(0.43)9(0.35)9(0.35)11(0.43)11(0.43)11(0.43)9(0.35)9(0.35)11(0.43)11(0.43)11(0.43)5.5(0.22)5.5(0.22)7(0.28)5.5(0.22)5.5(0.22)7(0.28)7(0.28)5.5(0.22)5.5(0.22)7(0.28)7(0.28)7(0.28)5.5(0.22)5.5(0.22)7(0.28)7(0.28)7(0.28)14(0.55)14(0.55)18(0.71)14(0.55)14(0.55)18(0.71)18(0.71)14(0.55)14(0.55)18(0.71)18(0.71)18(0.71)14(0.55)14(0.55)18(0.71)18(0.71)18(0.71)Approx.Masskg (lb)33(72.8)33(72.8)53(117)35(77.2)35(77.2)55(121)55(121)32(70.5)39(86.0)59(130)59(130)59(130)36(79.4)43(94.8)63(139)58(128)68(150)INFO• Lubrication• Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.3-140
3.16 Dimensional Drawings of SGMSH Servomotors (3000min -1 )3.16 Dimensional Drawings of SGMSH Servomotors (3000min -1 )3.16.1 SGMSH Servomotors (3000min -1 ) Without Gears and Without BrakesModels with oil seals are of the same configuration.46(1.81)100(3.94)KL188(3.46)LLLLMKB1KB2LGLEAφSLRφLB(0.0016)0.04 Aφ0.04 A(φ0.0016)0.02(0.0008)4-φLZ MountingholesLCφLAφLHφ30(φ1.18)LFShaft EndLER1LRQφSφ45 (1.77)Note: For the specifications of the other shaft ends, refer to3.19 Shaft End Specifications for SGMGH, SGMSHand SGMDH Servomotors.3Units: mm (in)ModelsSGMSH-L LL LM LR KB1 KB2 KL1Shaft-end DimensionsSQApprox. Masskg (lb)10AA2110DA21194(7.64)149(5.87)103(4.06)45(1.77)76(2.99)128(5.04)96(3.78)024–0.013⎛ 00.94 ⎞⎝ –0.0005⎠40(1.57)4.6(10.1)15AA2115DA21220(8.66)175(6.89)129(5.08)45(1.77)102(4.02)154(6.06)96(3.78)024–0.013⎛ 00.94 ⎞⎝ –0.0005⎠40(1.57)5.8(12.8)20AA2120DA21243(9.57)198(7.80)152(5.98)45(1.77)125(4.92)177(6.97)96(3.78)024–0.013⎛ 00.94 ⎞⎝ –0.0005⎠40(1.57)7.0(15.4)30AA2130DA21262(10.3)199(7.83)153(6.02)63(2.48)124(4.88)178(7.01)114(4.49)028–0.013⎛ 0⎝1.10 ⎞–0.0005⎠55(2.17)11(24.3)40AA2140DA21299(11.8)236(9.29)190(7.48)63(2.48)161(6.34)215(8.46)114(4.49)028–0.013⎛ 0⎝1.10 ⎞–0.0005⎠55(2.17)14(30.9)50AA2150DA21339(13.3)276(10.9)230(9.06)63(2.48)201(7.91)255(10.0)114(4.49)028–0.013⎛ 0⎝1.10 ⎞–0.0005⎠55(2.17)17(37.5)3-141
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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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Page 156 and 157: 3 Specifications and Dimensional Dr
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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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