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

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3 Specifications and Dimensional Drawings3.4.1 SGMGH Servomotors (1000min -1 ) Without Gears3.4 Ratings and Specifications of SGMGH (1000min -1 )3.4.1 SGMGH Servomotors (1000min -1 ) Without Gears(1) Ratings and Specifications• 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• Thermal Class: F• Withstand Voltage: 1500 VAC for one minute• Enclosure: Totally enclosed, IP67 self-cooled(except for shaft opening)• Ambient Humidity: 20% to 80% (no condensation)• Drive Method: Direct driveVoltage200 VServomotor ModelSGMGH-03AB 06AB 09AB 12AB 20AB 30AB 40AB 55ABRated Output ∗1 kW 0.3 0.6 0.9 1.2 2.0 3.0 4.0 5.5N·m 2.84 5.68 8.62 11.5 19.1 28.4 38.2 52.6Rated Torque ∗1 lb·in ∗2 25 50 76 102 169 252 338 466Instantaneous N·m 7.17 14.1 19.3 28.0 44.0 63.7 107 136.9Peak Torque ∗1 lb·in ∗2 63 125 171 248 390 564 947 1212Rated Current ∗1 A (rms) 3.0 5.7 7.6 11.6 18.5 24.8 30 43.2InstantaneousMax. Current ∗1 A (rms) 7.3 13.9 16.6 28 42 56 84 110Rated Speed ∗1 min -1 1000Max. Speed ∗1 min -1 2000Torque ConstantN·m/A (rms) 1.03 1.06 1.21 1.03 1.07 1.19 1.34 1.26lb·in/A (rms) ∗2 9.12 9.38 10.7 9.12 9.47 10.5 11.9 11.2of Inertia J ∗2 x10 -3 lb·in·s 2 ∗2 6.41 12.3 18.2 28.1 40.7 59.8 78.8 111(8.28) (14.2) (20.1) (35.6) (48.2) (67.3) (86.3) (119)x10Rotor Momentkg·m 2 7.24 13.9 20.5 31.7 46.0 67.5 89.0 125(9.34) (16.0) (22.6) (40.2) (54.5) (76.0) (97.5) (134)Rated PowerRate ∗1 kW/s 2 11.2 23.2 36.3 41.5 79.4 120 164 221Rated AnglarAcceleration ∗1 rad/s 2 3930 4080 4210 3620 4150 4210 4290 4200* 1. These items and torque-motor speed characteristics quoted in combination with an SGDM/<strong>SGDH</strong>SERVOPACK are at an armature winding temperature of 20°C (68°F).* 2. The values in the parentheses are those for motors with holding brakes.Note: These characteristics are values with the following iron plate (heat sinks) attached for cooling.SGMGH-03, 06, and 09: 400 × 400 × 20 (mm) [15.75 × 15.75 × 0.79 (in)]SGMGH-12, 20, 30, 40 and 55: 550 × 550 × 30 (mm) [21.65 × 21.65 × 1.18 (in)]3-26
3.4 Ratings and Specifications of SGMGH (1000min -1 )(2) Holding Brake Moment of InertiaThe moment of inertia of the servomotor with holding brake is expressed using the following equation.(The moment of inertia of the servomotor with holding brake) =(rotor moment of inertia) + (brake moment of inertia)Servomotor ModelSGMGH-03AB 06AB 09AB 12AB 20AB 30AB 40AB 55ABHolding Brake ×10 -4 kg•m 2 2.10 8.50Moment of Inertia J×10 -3 lb•in•s 2∗ 1.86 7.52* These values are referece values.(3) Torque-motor Speed Characteristics2000SGMGH-03AB2000SGMGH-06AB2000SGMGH-09AB2000SGMGH-12AB1500Motorspeed1000(min -1 )500AB1500Motorspeed1000(min -1 )500AB1500Motorspeed1000(min -1 )500AB1500Motorspeed1000(min -1 )500AB300 2 4 6 8Torque (N•m)0000 5 10 150 5 10 15 200 10 20 30Torque (N•m) Torque (N•m) Torque (N•m)0 20 40 600 50 1000 50 100 1500 100 200Torque (lb•in)Torque (lb•in) Torque (lb•in) Torque (lb•in)SGMGH-20ABSGMGH-30ABSGMGH-40ABSGMGH-55AB20002000200020001500150015001500Motorspeed(min -1 )1000500ABMotorspeed1000(min -1 ) 500ABMotor1000speed(min -1 ) 500ABMotor1000speed(min -1 ) 500AB00 20 40 60Torque (N•m)00 20 40 60 80Torque (N•m)00 50 100 150Torque (N•m)0 200 4000 200 400 6000 500 1000 1500Torque (lb•in)Torque (lb•in)Torque (lb•in)A : Continuous Duty Zone B : Intermittent Duty Zone00 50 100 150Torque (N•m)0 500 1000 1500Torque (lb•in)3-27
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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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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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