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

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3 Specifications and Dimensional Drawings3.1.3 SGMAH Servomotors With Low-backlash Gears04AAJ11/504AAJ3 3/311.27400(179.8)04AAJC 1/2104AAJ7 1/3307DAJ11/507DAJ3 3/312.07650 3000(293.1)07DAJC 1/2107DAJ7 1/3308AAJ1ServomotorModelSGMAH-OutputWServomotorRatedSpeedmin -1RatedTorqueN•m(oz•in)GearRatio1/508AAJ3 3/312.39750(338)08AAJC 1/2108AAJ7 1/33RatedTorque/Efficiency∗2N·m/%(oz·in/%)5.08/80(719/80)10.5/80(1487/80)21.3/80(3016/80)33.5/80(4744/80)8.28/80(1173)17.1/80(2422)34.8/80(4928)54.6/80(7732)9.56/80(1354/80)19.8/80(2804/80)40.2/80(5692/80)63.1/80(8935/80)Gear OutputInstantaneousPeakTorqueN·m(oz·in)17.2(2436)35.5(5027)72.2(10224)113.0(16001)32.0(4531)66.6(9431)134(18974)212(30019)32(4531)66.6(9431)134(18974)213(30019)RatedSpeedmin -1600 800290 387143 19091 121600 800290 387143 19091 121600 800290 387143 19091 121Max.Speed ∗1 Motor +min -1 GearsMoment of Inertia J×10 -4 kg·m 2(x 10 -3 oz·in·s 2 )0.366(5.18)0.353(5.00)0.403(5.71)0.338(4.79)1.12(15.86)1.10(15.58)1.15(16.29)0.972(12.76)1.12(15.9)1.10(15.6)1.15(15.3)0.972(13.8)Gears0.193(2.73)0.180(2.55)0.230(3.26)0.165(2.34)0.450(6.37)0.425(6.02)0.475(6.73)0.300(4.25)0.450(6.37)0.425(6.02)0.475(6.73)0.300(4.25)* 1. Maximum motor speed is up to 4000 min -1 at the shaft.* 2. Gear output torque is expressed using the following equation.1(Gear output torque) = (servomotor output torque) × ( gear ratio ) × (efficiency)3.1.3 SGMAH Servomotors With Low-backlash Gears• Time Rating: Continuous• Vibration Class: 15 µm or below• Insulation Resistance: 500 VDC, 10 MΩ min.• Ambient Temperature: 0 to 40°C (32 to 104°F)• Excitation: Permanent magnet• Mounting: Flange method• Gear Mechanism: Planetary gear mechanism• Thermal Class: B• Withstand Voltage:100V, 200V Servomotors: 1500 VAC for one minute400V Servomotors: 1800 VAC for one minute• Enclosure: Totally enclosed, self-cooled, IP55 (exceptfor shaft opening)• Ambient Humidity: 20% to 80% (no condensation)• Drive Method: Direct drive• Backlash: 3 min max.• Gear Rotation Direction: Same direction as servomotor3-8
3.1 Ratings and Specifications of SGMAH (3000 min -1 )A3AH1ServomotorModelSGMAH-OutputWServomotorRatedSpeedmin -1RatedTorqueN•m(oz•in)GearRatio1/5A3AH2 1/90.15930(22.5)A3AHC 1/21A3AH7 1/33A5AH11/5A5AH2 1/90.15950(22.5)A5AHC 1/21A5AH7 1/3301AH11/501AHB 1/110.318100 3000 (45.0)01AHC 1/2101AH7 1/3302AH11/502AHB 1/110.637200(90.2)02AHC 1/2102AH7 1/3303DAH11/503DAHB 1/110.955300(135.2)03DAHC 1/2103DAH7 1/33RatedTorque/Efficiency∗2N·m/%(oz·in/%)0.238/50(33.7/50)0.599/70(84.8/70)1.60/80(227/80)2.51/80(355/80)0.557/70(78.9/70)1.00/70(142/70)2.67/80(378/80)4.20/80(595/80)1.27/80(180/80)2.80/80(396/80)5.34/80(756/80)8.40/80(1189/80)2.55/80(361/80)5.96/85(844/85)11.4/85(1614/85)17.9/85(2535/85)4.06/85(575/85)8.93/85(1265/85)17.0/85(2407/85)25.2/80(3569/80)Gear OutputInstantaneousPeakTorqueN·m(oz·in)1.16(164.3)2.35(333)5.48(776)8.61(1219)1.92(272)3.89(551)9.12(1292)14.3(2025)4.34(615)9.55(1352)18.2(2577)28.7 ∗3(4064)8.4(1190)19.3(2733)37.3(5282)58.6 ∗3(8298)17.2(2436)35 ∗3(4956)72.2(10224)93 ∗3(13169)RatedSpeedmin -1600 800333 444143 19091 121600 800333 444143 19091 121600 800273 363143 19091 121600 800273 363143 19091 121600 800273 363143 19091 121Max.Speed ∗1 Motor +min -1 GearsMoment of Inertia J×10 -4 kg·m 2(x 10 -3 oz·in·s 2 )0.053(0.751)0.029(0.411)0.025(0.354)0.023(0.326)0.058(0.821)0.055(0.779)0.040(0.566)0.035(0.496)0.114(1.61)0.084(1.19)0.079(1.12)0.069(0.977)0.441(6.25)0.191(2.70)0.216(3.06)0.171(2.42)0.508(7.19)0.368(5.21)0.368(5.21)0.346(4.90)Gears0.036(0.510)0.013(0.184)0.008(0.113)0.006(0.0850)0.036(0.510)0.033(0.467)0.018(0.255)0.013(0.184)0.078(1.10)0.048(0.680)0.043(0.609)0.033(0.467)0.335(4.74)0.085(1.20)0.110(1.56)0.065(0.920)0.335(4.74)0.195(2.76)0.195(2.76)0.173(2.45)33-9
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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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Page 40 and 41: 2 Selections2.1.3 Model SGMGH (1500
Page 42 and 43: 2 Selections2.1.4 Model SGMGH (1000
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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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