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

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3 Specifications and Dimensional Drawings3.16.1 SGMSH Servomotors (3000min -1 ) Without Gears and Without BrakesModelSGMSH-Flange Face Dimensionsmm (in)LA LB LC LE LF LG LH LZAllowableRadial LoadN (lbf)AllowableThrust LoadN (lbf)10AA2110DA21115(4.53)095–0.035⎛ 0⎝3.74 ⎞–0.0014⎠100(3.94)3(0.12)3(0.12)10(0.39)130(5.12)7(0.28)686(154)196(44)15AA2115DA21115(4.53)095–0.035⎛ 03.74 ⎞⎝ –0.0014⎠100(3.94)3(0.12)3(0.12)10(0.39)130(5.12)7(0.28)686(154)196(44)20AA2120DA21115(4.53)095–0.035⎛ 03.74 ⎞⎝ –0.0014⎠100(3.94)3(0.12)3(0.12)10(0.39)130(5.12)7(0.28)686(154)196(44)30AA2130DA21145(5.71)0110–0.035⎛ 04.33 ⎞⎝ –0.0014⎠130(5.12)6(0.24)6(0.24)12(0.47)165(6.50)9(0.35)980(221)392(88)40AA2140DA21145(5.71)0110–0.035⎛ 04.33 ⎞⎝ –0.0014⎠130(5.12)6(0.24)6(0.24)12(0.47)165(6.50)9(0.35)1176(265)392(88)50AA2150DA21145(5.71)0110–0.035⎛ 04.33 ⎞⎝ –0.0014⎠130(5.12)6(0.24)6(0.24)12(0.47)165(6.50)9(0.28)1176(265)392(88)• Cable Specifications for Detector Connectors(17-bit Encoder)• Cable Specifications for ServomotorConnectorsLKJM ABTN C PDS RH G F EReceptacle: MS3102A20-29PApplicable plug (Purchased by the customer)Plug: MS3108B20-29SCale clamp: MS3057-12ACDABABCDPhase UPhase VPhase WFG(Frame ground)KLMNPRST−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) −−−−−−−−−−3-142
3.16 Dimensional Drawings of SGMSH Servomotors (3000min -1 )3.16.2 SGMSH Servomotors (3000 min -1 ) 200-V Specifications Without Gears WithBrakesModels with oil seals are of the same configuration.100(3.94)KL188(3.46)46(1.81)LLLLMKB1KB2LGLEALRφSφLB(0.0016)0.04 Aφ0.04 A(φ0.0016)(0.0008)0.024-φLZ MountingholesLCφLAφLHφ30LFLER1Shaft EndLRQφSφ45 (1.77)Note: For the specifications of the other shaft ends, refer to3.19 Shaft End Specifications for SGMGH, SGMSHand SGMDH Servomotors.3ModelSGMSH-10AA2B 238(9.37)15AA2B 264(10.4)20AA2B 287(11.3)30AA2B 300(11.8)40AA2B 337(13.3)50AA2B 377(14.8)L LL LM LR KB1 KB2 KL1193(7.60)219(8.62)242(9.53)237(9.33)274(10.8)314(12.4)147(5.79)173(6.81)196(7.72)191(7.52)228(8.98)268(10.6)45(1.77)45(1.77)45(1.77)63(2.48)63(2.48)63(2.48)67(2.64)93(3.66)116(4.57)114(4.49)151(5.94)191(7.52)171(6.73)197(7.76)220(8.66)216(8.50)253(9.96)293(11.5)102(4.02)102(4.02)102(4.02)119(4.69)119(4.69)119(4.69)Units: mm (in)Shaft-end Dimensions Approx.MassSQkg (lb)024–0.013⎛ 00.94 ⎞⎝ –0.0005⎠024–0.013⎛ 0⎝0.94 ⎞–0.0005⎠024–0.013⎛ 00.94 ⎞⎝ –0.0005⎠028–0.013⎛ 01.10 ⎞⎝ –0.0005⎠028–0.013⎛ 01.10 ⎞⎝ –0.0005⎠028–0.013⎛ 0⎝1.10 ⎞–0.0005⎠40(1.57)40(1.57)40(1.57)55(2.17)55(2.17)55(2.17)6.0(13.2)7.5(16.5)8.5(18.7)14(30.9)17(37.5)20(44.1)3-143
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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 158 and 159: 3 Specifications and Dimensional Dr
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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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