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

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3 Specifications and Dimensional Drawings3.16.4 SGMSH Servomotors (3000 min -1 ) With Low-backlash Gears and Without Brakes (Flange-mounted Type)Units: mm (in)ModelSGMSH-Gear ModelGearRatioL LL LM RShaft CenterAllowableRadial LoadN (lbf)Approx.Masskg (lb)10AAL1410DAL141/5403(15.9)149(5.87)103(4.06)254(10.0)833(187)13(28.7)10AAL2410DAL2415AAL1415DAL14ANFJ-L201/91/5415(16.3)429(16.9)149(5.87)175(6.89)103(4.06)129(5.08)266(10.5)254(10.0)980(221)833(187)13(28.7)14(30.9)20AAL1420DAL141/5452(17.8)198(7.80)152(5.98)254(10.0)833(187)15(33.1)INFO• Lubrication• Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.(2) Large Oil Lubricating TypeLLLR46(1.81)LMLGLRQQKφSh6φLAShaft EndTKL188(3.46)KB1KB2φLBh71(0.04)5(0.20)6-φLZ MountingholesφLCWUUnits: mm (in)ModelSGMSH-Gear ModelGearRatioL LL LM LR KB1 KB2 KL1 RShaft CenterAllowableRadial LoadN (lbf)10AAL5410DAL541/20496(19.5)149(5.87)103(4.06)140(5.51)73(2.87)21(0.83)96(3.78)347(13.7)2650(596)10AAL7410DAL741/29496(19.5)149(5.87)103(4.06)140(5.51)73(2.87)21(0.83)96(3.78)347(13.7)2940(662)10AAL8410DAL8415AAL2415DAL24ANFJ-L301/451/9506(19.9)518(20.4)149(5.87)175(6.89)103(4.06)129(5.08)140(5.51)140(5.51)73(2.87)73(2.87)21(0.83)21(0.83)96(3.78)96(3.78)357(14.1)343(13.5)3430(772)1960(441)15AAL5415DAL541/20522(20.6)175(6.89)129(5.08)140(5.51)73(2.87)21(0.83)96(3.78)347(13.7)2650(596)15AAL7415DAL741/29522(20.6)175(6.89)129(5.08)140(5.51)73(2.87)21(0.83)96(3.78)347(13.7)2940(662)15AAL8415DAL84ANFJ-L40 1/45573(22.6)175(6.89)129(5.08)160(6.30)73(2.87)21(0.83)96(3.78)398(15.7)8040(1809)3-148
3.16 Dimensional Drawings of SGMSH Servomotors (3000min -1 )3-149320AAL24ANFJ-L301/9541(21.3)198(7.80)152(5.98)140(5.51)73(2.87)21(0.83)96(3.78)343(13.5)1960(441)20DAL2420AAL541/20545(21.5)198(7.80)152(5.98)140(5.51)73(2.87)21(0.83)96(3.78)347(13.7)2650(596)20DAL5420AAL74ANFJ-L401/29586(23.1)198(7.80)152(5.98)160(6.30)73(2.87)21(0.83)96(3.78)388(15.3)6860(1543)20DAL7420AAL841/45596(23.5)198(7.80)152(5.98)160(6.30)73(2.87)21(0.83)96(3.78)398(15.7)8040(1809)20DAL8430AAL14ANFJ-L301/5540(21.3)199(7.83)153(6.02)140(5.51)77(3.03)22(0.87)114(4.49)341(13.4)1670(376)30DAL1430AAL241/9567(22.3)199(7.83)153(6.02)140(5.51)77(3.03)22(0.87)114(4.49)368(14.5)1960(441)30DAL2430AAL54ANFJ-L401/20612(24.1)199(7.83)153(6.02)160(6.30)77(3.03)22(0.87)114(4.49)413(16.3)6080(1368)30DAL5430AAL741/29612(24.1)199(7.83)153(6.02)160(6.30)77(3.03)22(0.87)114(4.49)413(16.3)6860(1543)30DAL7430AAL841/45622(24.5)199(7.83)153(6.02)160(6.30)77(3.03)22(0.87)114(4.49)423(16.7)8040(1809)30DAL8440AAL14 ANFJ-L30 1/5577(22.7)236(9.29)190(7.48)140(5.51)77(3.03)22(0.87)114(4.49)341(13.4)1670(376)40AAL24ANFJ-L401/9649(25.6)236(9.29)190(7.48)160(6.30)77(3.03)22(0.87)114(4.49)413(16.3)4700(1058)40AAL54 1/20649(25.6)236(9.29)190(7.48)160(6.30)77(3.03)22(0.87)114(4.49)413(16.3)6080(1368)40AAL74 1/29649(25.6)236(9.29)190(7.48)160(6.30)77(3.03)22(0.87)114(4.49)413(16.3)6860(1544)50AAL14 1/5657(25.9)276(10.9)230(9.06)160(6.30)77(3.03)22(0.87)114(4.49)381(15.0)3820(860)50AAL24 1/9689(27.1)276(10.9)230(9.06)160(6.30)77(3.03)22(0.87)114(4.49)413(16.3)4700(1058)50AAL54 1/20689(27.1)276(10.9)230(9.06)160(6.30)77(3.03)22(0.87)114(4.49)413(16.3)6080(1368)ModelSGMSH-GearRatioFlange Face Dimensions mm (in)Shaft-end Dimensionsmm (in)Approx.Masskg (lb)LA LB LC LG LZ Q QK S T U W10AAL541/20220(8.66)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)30(66.1)10DAL5410AAL741/29220(8.66)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)30(66.1)10DAL7410AAL841/45220(8.66)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)30(66.1)10DAL8415AAL241/9220(8.66)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)31(68.3)15DAL24Units: mm (in)ModelSGMSH-Gear ModelGearRatioL LL LM LR KB1 KB2 KL1 RShaft CenterAllowableRadial LoadN (lbf)
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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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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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