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 Gears(4) Holding Brake Electrical SpecificationsHolding BrakeRated Voltage90 VDC24 VDCServomotorModelServomotorCapacityWCapacityWSGMGH-03 300 10.1SGMGH-06 600 10.1SGMGH-09 900 10.1SGMGH-12 1200 18.5SGMGH-20 2000 18.5SGMGH-30 3000 18.5SGMGH-40 4000 23.5SGMGH-55 5500 23.5SGMGH-03 300 9.85SGMGH-06 600 9.85SGMGH-09 900 9.85SGMGH-12 1200 18.5SGMGH-20 2000 18.5SGMGH-30 3000 18.5SGMGH-40 4000 23.5SGMGH-55 5500 23.5Holding Brake SpecificationsHoldingTorqueN·m (lb·in)4.41(39.0)12.7(112)12.7(112)43.1(381)43.1(381)43.1(381)72.6(643)72.6(643)4.41(39.0)12.7(112)12.7(112)43.1(381)43.1(381)43.1(381)72.6(643)72.6(643)CoilResistanceΩ (at 20 °C(68 °F))RatedCurrentA (at 20 °C(68 °F))804 0.11804 0.11804 0.11438 0.21438 0.21438 0.21327 0.28327 0.2858.7 0.4158.7 0.4158.7 0.4131.1 0.7731.1 0.7731.1 0.7722.8 1.0522.8 1.05Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor.3-28
3.4 Ratings and Specifications of SGMGH (1000min -1 )3.4.2 SGMGH servomotors (1000min -1 ) With Standard Backlash Gears03ABA6• 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)• Mounting: Foot and flange-mountedType 4095 to 4115: Omni-directional mountingType 4130 to 4190: Horizontal mounting to shaft• Gear Lubricating Method:Type 4095 to 4115: GreaseType 4130 to 4190: Oil ∗• Excitaton: Permanent magnet• Thermal Class: F• Withstand Voltage: 1500 VAC for one minute• Enclosure: Totally enclosed, IP44 self-cooled(or the equivalent)• Ambient Humidity: 20% to 80%(no condensation)• Drive Method: Direct drive• Backlash: Roughly 0.6 to 2° at gear output shaft• Gear Rotation Direction: Reverse direction of servomotor• Gear Mechanism: Planetary gear mechanism* For oil lubrication, the motor should be mounted horizontal to the shaft. Contact your Yaskawarepresentative about lubrication for angle mounting.ServomotorModelSGMGH-OutputWServomotorRatedSpeedmin -1RatedTorqueN•m(lb•in)GearRatio1/603ABB6 1/112.840.3(25)03ABC6 1/2103AB76 1/2906ABA61/606ABB6 1/115.680.6 1000(50)06ABC6 1/2106AB76 1/2909ABA61/609ABB6 1/118.620.9(76)09ABC6 1/2109AB76 1/29RatedTorque/EfficiencyN·m/%( lb·in/%)13.6/80(120/80)25.0/80(221/80)41.8/70(370/70)65.9/80(583/80)27.2/80(241/80)50.0/80(443/80)83.5/70(739/70)123/75(1089/75)41.4/80(366/80)75.9/80(672/80)136/75(1204/75)200/80(1770/80)Gear OutputInstantaneousPeakTorque/EffectiveN·m/%(lb·in/%)34.4/80(304/80)63.1/80(558/80)106/70(938/70)167/80(1478/80)67.7/80(599/80)125/80(1106/80)208/70(1841/70)307/75(2717/75)92.7/80(820/80)170/80(1505/80)304/75(2691/75)448/80(3965/80)RatedSpeedmin -1Max.Speedmin -1166 33390 18147 9534 68166 33390 18147 9534 68166 33390 18147 9534 68Moment of Inertia J×10 -4 kg·m 2(×10 -3 lb·in·s 2 )Motor +Gears9.20(8.14)8.84(7.82)8.39(7.43)8.41(7.44)15.7(13.9)15.3(13.5)15.9(14.1)16.1(14.3)22.3(19.7)21.9(19.4)22.5(19.9)22.8(20.2)Gears1.96(1.73)1.6(1.42)1.15(1.02)1.17(1.59)1.8(1.59)1.4(1.24)2.0(1.77)2.2(1.95)1.8(1.59)1.4(1.24)2.0(1.77)2.3(2.04)33-29
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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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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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Sigma-II Series SGM*H/SGDH USER'S MANUAL - Esco Drives ...

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