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

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3 Specifications and Dimensional Drawings3.4.2 SGMGH servomotors (1000min -1 ) With Standard Backlash Gears12ABA61/612ABB6 1/1111.51.2(102)12ABC6 1/2112AB76 1/2920ABA61/620ABB6 1/1119.12.0(169)20ABC6 1/2120AB76 1/2930ABA61/630ABB6 10001/1128.43.0(251)30ABC6 1/2130AB76 1/2940ABA6ServomotorModelSGMGH-OutputWServomotorRatedSpeedmin -1RatedTorqueN•m(lb•in)GearRatio1/640ABB6 1/1138.24.0(338)40ABC6 1/2140AB76 1/2955ABB61/1155ABC6 5.552.6(466)1/2155AB76 1/29RatedTorque/EfficiencyN·m/%( lb·in/%)55.0/80(487/80)101/80(894/80)180/75(1593/75)266/80(2354/80)91.7/80(812/80)169/80(1496/80)321/80(2841/80)416/75(3682/75)136/80(1204/80)250/80(2213/80)477/80(4222/80)660/80(5842/80)183/80(1620/80)336/80(2974/80)641/80(5673/80)886/80(7842/80)462/80(4089/80)883/80(7815/80)1220/80(10798/80)Gear OutputInstantaneousPeakTorque/EffectiveN·m/%(lb·in/%)126/80(1115/80)247/80(2186/80)441/75(3903/75)651/80(5762/80)212/80(1876/80)387/80(3425/80)739/80(6541/80)958/75(8479/75)306/80(2708/80)561/80(4965/80)1068/80(9453/80)1480/80(13099/80)453/70(4010/70)830/70(7346/70)1588/70(14055/70)2185/70(19339/70)1205/80(10665/80)2300/80(20357/80)3176/80(28111/80)RatedSpeedmin -1Max.Speedmin -1166 33390 18147 9534 68166 33390 18147 9534 68166 33390 18147 9534 68166 33390 18147 9534 6890 18147 9534 68Note: 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 )Motor +Gears38.0(33.6)36.5(32.3)37.6(33.3)37.3(33.0)52.3(46.3)50.8(45.0)51.9(45.9)91.9(81.3)79.5(70.4)75.2(66.6)115(102)131(116)103(91.2)98.8(87.4)168(149)166(147)190(168)204(181)216(191)Gears6.3(5.58)4.8(4.25)5.9(5.22)5.6(4.96)6.3(5.58)4.8(4.25)5.9(5.22)45.9(40.6)12.0(10.6)7.7(6.82)47.5(42.0)63.5(56.2)14.0(12.4)9.8(8.67)79.0(69.9)77.0(68.2)65.0(57.5)79.0(69.9)91.0(80.5)3-30
3.4 Ratings and Specifications of SGMGH (1000min -1 )EfficiencyEfficiencyOutput torqueOutput torque3.4.3 SGMGH Servomotors (1000 min -1 ) 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 (can be mounted in any direction)• Gear Mechanism: Planetary gear mechanism• 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• Gear Lubricating Method: Grease• Backlash: 0.05° (3 min) at the gear output shaft• Gear Rotation Direction: Same direction as servomotor3ServomotorGear OutputMoment of Inertia J×10 -4 kg·m 203ABL14ServomotorModelSGMGH-OutputWRatedSpeedmin -1RatedTorqueN•m(lb•in)GearRatio1/503ABL24 1/92.8403ABL54 0.31/20(25)03ABL74 1/2903ABL84 1/45100006ABL141/506ABL24 1/95.6806ABL54 0.61/20(50)06ABL74 1/2906ABL84 1/45RatedTorque/EfficiencyN·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)22.7/80(201/80)40.9/80(362/80)90.9/80(805/80)132/80(1168/80)204/80(1806/80)InstantaneousPeakTorque/EffectiveN·m/%(lb·in/%)28.7/80(254/80)51.6/80(457/80)115/80(1018/80)166/80(1469/80)258/80(2284/80)56.4/80(499/80)82.5/80(730/80)226/80(2000/80)327/80(2894/80)508/80(4496/80)RatedSpeedmin -1200 400111 22250 10034 6822 44200 400111 22250 10034 6822 44Max.SpeedMotor +min -1 Gears(×10 -3 lb·in·s 2 )8.50(7.52)8.18(7.24)8.64(7.65)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)Gears1.26(1.12)0.96(0.85)1.40(1.24)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)3-31
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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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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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