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

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3 Specifications and Dimensional Drawings3.4.3 SGMGH Servomotors (1000 min -1 ) With Low-backlash Gears09ABL141/509ABL24 1/98.6209ABL54 0.91/20(76)09ABL74 1/2909ABL84 1/4512ABL14ServomotorModelSGMGH-OutputWServomotorRatedSpeedmin -1RatedTorqueN•m(lb•in)GearRatio1/512ABL24 1/911.512ABL54 1.2 10001/20(102)12ABL74 1/2912ABL84 1/4520ABL141/520ABL24 2.019.1(169)1/920ABL54 1/2030ABL141/528.43.0(251)30ABL24 1/9RatedTorque/EfficiencyN·m/%(lb·in/%)34.5/80(305/80)62.1/80(550/80)138/80(1221/80)200/80(1770/80)310/80(2744/80)46/80(407/80)82.8/80(733/80)184/80(1629/80)267/80(2363/80)414/80(3664/80)76.4/80(676/80)138/80(1221/80)306/80(2708/80)114/80(1009/80)204/80(1806/80)Gear OutputInstantaneousPeakTorque/EffectiveN·m/%(lb·in/%)77.2/80(683/80)139/80(1230/80)309/80(2735/80)448/80(3965/80)695/80(6151/80)112/80(991/80)202/80(1788/80)448/80(3965/80)650/80(5753/80)1008/80(8922/80)176/80(1558/80)317/80(2806/80)704/80(6231/80)255/80(2257/80)459/80(4063/80)RatedSpeedmin -1Max.Speedmin -1200 400111 22250 10034 6822 44200 400111 22250 10034 6822 44200 400111 22250 100200 400111 222Note: 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 +Gears23.9(21.2)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)41.4(36.6)56.2(49.7)53.8(47.6)66.2(58.6)87.9(77.8)80.0(70.8)Gears3.40(3.01)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)9.70(8.59)10.2(9.03)7.80(6.90)20.2(17.9)20.4(18.1)12.5(11.1)EfficiencyEfficiencyOutput torqueOutput torque3-32
3.5 Ratings and Specifications of SGMSH (3000min -1 )3.5 Ratings and Specifications of SGMSH (3000min -1 )3.5.1 SGMSH Servomotors (3000min -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(a) 200-V Class• Thermal Class: F• Withstand Voltage:200 V Servomotors: 1500 VAC for one minute400 V Servomotors: 1800 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 ModelSGMSH-10AA 15AA 20AA 30AA 40AA 50AARated Output ∗1 kW 1.0 1.5 2.0 3.0 4.0 5.0N·m 3.18 4.9 6.36 9.8 12.6 15.8Rated Torque ∗1 lb·in ∗3 28.2 43 56.4 87 112 140N·m 9.54 14.7 19.1 29.4 37.8 47.6Instantaneous Peak Torque ∗1 lb·in ∗3 84.4 130 169 260 336 422Rated Current ∗1 A (rms) 5.7 9.7 12.7 18.8 25.4 28.6Instantaneous Max. Current ∗1 A (rms) 17 28 42 56 77 84Rated Speed ∗1 min -1 3000Max. Speed ∗1 min -1 5000N·m/A (rms) 0.636 0.561 0.544 0.573 0.53 0.60Torque Constantlb·in/A (rms)∗35.63 4.97 4.81 5.07 4.69 5.31Rotor Moment of Inertia J ∗2 x10 -31.54 2.19 2.82 6.20 8.50 10.9x10 -4 kg·m 2 1.74 2.47 3.19 7.00 9.60 12.3(2.07) (2.80) (3.52) (9.10) (11.7) (14.4)lb·in·s 2 ∗3 (1.83) (2.48) (3.11) (8.06) (10.4) (12.8)Rated Power Rate ∗1 kW/s 57.9 97.2 127 137 166 202Rated Angular Acceleration ∗1 rad/s 2 18250 19840 19970 14000 13160 12780Note: Refer to the next page for the notes.33-33
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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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2 Selections2.1.6 Model SGMDH (2000
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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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