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

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3 Specifications and Dimensional Drawings3.3.3 SGMGH Servomotors (1500min -1 ) With Low-backlash GearsServomotorGear OutputMoment of Inertia J×10 -4 kg·m 205AAL1405DAL1405AAL2405DAL2405AAL5405DAL5405AAL7405DAL7405AAL8405DAL8409AAL1409DAL1409AAL2409DAL2409AAL5409DAL5409AAL7409DAL7409AAL8409DAL8413AAL1413DAL1413AAL2413DAL2413AAL5413DAL5413AAL7413DAL7413AAL8413DAL8420AAL1420DAL1420AAL2420DAL2420AAL5420DAL5420AAL7420DAL74ServomotorModelSGMGH-OutputW0.450.851.31.8RatedSpeedmin -11500RatedTorqueN•m(lb•in)2.84(25)5.39(48)8.34(74)11.5(102)GearRatio1/51/91/201/291/451/51/91/201/291/451/51/91/201/291/451/51/91/201/29RatedTorque/Efficiency ∗2N·m/%(lb·in/%)11.4/80(101/80)20.4/80(181/80)45.4/80(402/80)65.9/80(583/80)102/80(903/80)21.6/80(191/80)38.8/80(343/80)86.2/80(763/80)125/80(1106/80)194/80(1717/80)33.4/80(296/80)60.0/80(531/80)133/80(1177/80)193/80(1708/80)300/80(2655/80)46.0/80(407/80)82.8/80(733/80)184/80(1629/80)267/80(2363/80)InstantaneousPeakTorque/EffectiveN·m/%(lb·in/%)35.7/80(316/80)64.2/80(568/80)143/80(1266/80)207/80(1832/80)321/80(2841/80)55.2/80(489/80)74.5/60(659/60)221/80(1956/80)320/80(2832/80)497/80(4399/80)93.2/80(825/80)168/80(1487/80)373/80(3301/80)541/80(4788/80)839/80(7426/80)115/80(1018/80)207/80(1832/80)459/80(4063/80)666/80(5895/80)RatedSpeedmin -1Max.Speed ∗1min -1300 600167 33475 15051 10233 66300 600167 33475 15051 10233 66300 600167 33475 15051 10233 66300 600167 33475 15051 102(×10 -3 lb·in·s 2 )Motor +Gears8.50(7.52)8.18(7.24)11.9(10.5)10.0(8.85)9.05(8.01)15.2(13.5)14.8(13.1)18.6(16.5)16.7(14.8)18.4(16.3)27.7(24.5)25.3(22.4)27.4(24.3)30.9(27.3)27.2(24.1)41.9(37.1)39.5(35.0)51.9(45.9)45.1(39.9)Gears1.26(1.12)0.94(0.832)4.66(4.12)2.76(2.44)1.81(1.60)1.30(1.15)0.90(0.797)4.70(4.16)2.80(2.48)4.50(3.98)7.20(6.37)4.80(4.25)6.90(6.11)10.4(9.21)6.70(5.93)10.2(9.03)7.80(6.90)20.2(17.9)13.4(11.9)3-24
3.3 Ratings and Specifications of SGMGH (1500min -1 )30AAL1430DAL1430AAL2430DAL2430AAL5430DAL54ServomotorModelSGMGH-OutputW2.9ServomotorRatedSpeedmin -11500RatedTorqueN•m(lb•in)18.6(165)GearRatio1/51/91/2044AAL141/528.44.4(251)44AAL24 1/9RatedTorque/Efficiency ∗2N·m/%(lb·in/%)74.4/80(659/80)134/80(1186/80)298/80(2638/80)114/80(1009/80)204/80(1806/80)Gear OutputInstantaneousPeakTorque/EffectiveN·m/%(lb·in/%)182/80(1611/80)328/80(2903/80)730/80(6461/80)284/80(2514/80)512/80(4532/80)RatedSpeedmin -1300 600167 33475 150300 600167 334Max.Speed ∗1 Motor +min -1 GearsNote: For the shaft center allowable radial load, refer to the servomotor dimensional drawing.* 1. The maximum input motor speed of the gears is 4000 min -1 .* 2. Output torque and motor speed produce the following trends in efficiency. Values in the table are atthe rated motor speed.Moment of Inertia J×10 -4 kg·m 2(×10 -3 lb·in·s 2 )66.4(58.8)58.5(51.8)66.2(58.6)87.9(77.8)80.0(70.8)Gears20.4(18.1)12.5(11.1)20.2(17.9)20.4(18.1)12.5(11.1)3EfficiencyEfficiencyOutput torqueOutput torque3-25
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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
Page 40 and 41: 2 Selections2.1.3 Model SGMGH (1500
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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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