AC SERVO DRIVES Sigma-II SERIES - Servis

YASKAWAAC SERVO DRIVESSERIESSTANDARD FUNCTION SERIESSERVOMOTOR TYPE: SGMAH– , SGMPH– , SGMGH– ,SGMSH– , SGMDH–SERVOPACK TYPE : SGDM–Certified forISO 9001JQA-0386,-0422YASKAWALITERATURE NO. KAE-S800-31C

Aggressive Servo,Your Machinery Performance Rea ches its Full Potential.It’s a rapid, accurate pass.He receives the ball, fakes out hisopponent, and instantaneously makea strong, decisive shot!A servo drive must be moreresponsive, more quick, and moreaccurate than world class athletes.A servo drive is the key componentfor your machine’s optimumperformance and productivity.YASKAWA has been aggressivelychallenging itself to enhance theservo performance and functions.Here comes the ∑-2 with a fulllineup, that is easy-to-use andconforms to world standards.C O N T E N T SFeaturesServomotor-SERVOPACK CombinationsType DesignationConfigurationsServomotor SpecificationsSERVOPACK SpecificationsConnection DiagramsServomotor DimensionsSERVOPCK DimensionsFunction DescriptionsFunction Setup and AlarmsOptionsPage46781016182022242830World’s top performerOne on oneset up/maintenanceFlexible and reliableavailabilityThe ∑-2 will increase your productionand take your machine’s potential toEasy to start up your sophisticated system Full lineups ∑-2 models are available soits highest performance ever.in a short time. Online auto-tuningyou can make the optimum system for yourIts outstanding rapid response isautomatically adjusts servo drives inneeds. Motors with brake/gear/absoluteachieved with a 1/3 settling time dueaccordance with your machine’sencoders, are also available.to 1/2 CPU operation time andcharacteristics.Full conformance to international standardsupgraded new control algorithms.Also, isolated main and control circuitassures your operation standards can bepower supplies and an alarm tracebackmaintained worldwide.2 function enable easy maintenance.3

FeaturesHigh PerformanceShortened settling timeThe upgraded control algorithmshave enhanced controls againstvibration, such as the model followupcontrol and the vibrationsuppression control. Positionsettling time can be reduced to athird of conventional models, even ifyour machine is not rigid.0SpeedfeedbackPosition referenceError pulse10msec1 pulse6msec Setting timeKp=400S –1See P24 for supporting highperformance functions.High speed/highly accurate drives5000r/min is the highest speed available (Types SGMAH/SGMPH/SGMSH).High resolution serial encoder (16, 17 bits) has improved positioning accuracy. Also, thed-q current vector control system has improved torque control accuracy (repeatability)from 5% to 2%.Smooth operationSpeed observer control to reduce motor speed ripple. Operation is smooth at low speed.Easy SetupSee P25 for supporting easysetup functions.Online auto-tuningAutomatically adjusts to machinecharacteristics and sets servo gains.No need for troublesome adjustment.Automatic motordiscrimination functionSERVOPACK automaticallydiscriminates servomotor capacityand type, and also automatically sets motor parameters.SpeedfeedbackOnlineauto-tuningstart pointSpeed referenceRegenerative resistor connection terminalsRegenerative resistor can be connected easily due to standardization of regenerativeresistor connection terminals for external mounting.0.5stime(s)1.04

Easy MaintenanceIsolated main and control circuit power suppliesThe power supplies for the main and control circuits are isolated from each other for easymaintenance. If an alarm occurs, only the main circuit can be shut down.Parameter setting device built inDirect parameter inputs from SERVOPACK.See P25 for supporting easysetup maintenance functions.FlexibleSee P26, 27 for supportingflexible adjustments.ReliableReduced wiringAdoption of the serial encoder reduces the number of wires to half.Absolute encoder: 15 to 7 wiresIncremental encoder: 9 to 5 wiresAll-in-one designCan be used for control of torque, speed, or position by merely switching the appropriateparameters.Support for wide range of motor specificationsFull lineups of motors available.100VAC: Single-phase, 0.03 to 0.2kW200VAC: Single-phase, 0.03 to 0.4kWThree-phase, 0.45 to 7.5kWIncluding motors with brakes, reductiongears, or absolute encoders.Choose motors according to yourspecifications.International standardsFull conformance to CE marking, UL and cUL.Environmental resistance (Servomotor)Enhanced protective enclosureComplies with IP55 standard (Type SGMAH)Enhanced vibration resistanceSafe for accelerations up to 5G (types SGMAH, SGMPH).High harmonic countermeasuresPower supplies are designed for minimum harmonics. DC reactor connection terminalprovided.5

Servomotor-SERVOPACK Combination200VThree-phase, 7.5kW200VThree-phase, 2.0kW200VSingle-phase, 100WSGMAH SeriesSGMPH SeriesSGMGH SeriesSGMSH SeriesSGMDH SeriesSmall-capacitySeriesSGMAH(3000min –1 )SGMPH(3000min –1 )ServomotorOutlinesSuper High PowerRate SeriesLarge torquerequired at lowinertia.Cube Type SeriesShort L-length.Good for narrowspace installation.Capacity30W50W100W200W400W750W100W200W400W750W1500W100VA3BDAA5BDA01BDA02BDA––01BDA02BDA–––SERVOPACKType SGDM-A3ADAA5ADA01ADA02ADA04ADA–01ADA02ADA04ADA––200VSinglephaseSinglephaseThreephase–––––08ADA–––08ADA15ADAChip MountersPCB Drilling MachinesApplicationsFood Processing MachinesRobotsMaterial Handling EquipmentSGMGH(1500min –1 )High SpeedFeed Series0.45kW0.85kW––––05ADA10ADA6Midium-CapacitySGMGH(1000min –1 )SGMSH(3000min –1 )SGMDH(2000min –1 )High speedrotation requiredwithout load.Super HighPower Rate SeriesLarge torquerequired atlow inertia.Flat SeriesShort L-length.Good for narrow.space installation.1.3kW1.8kW2.9kW4.4kW5.5kW7.5kW0.3kW0.6kW0.9kW1.2kW2.0kW3.0kW4.0kW5.5kW1.0kW1.5kW2.0kW3.0kW4.0kW5.0kW2.2kW3.2kW4.0kW––––––––––––––––––––––––––––––––––––––––––––––15ADA20ADA30ADA50ADA60ADA75ADA05ADA08ADA10ADA15ADA20ADA30ADA50ADA60ADA10ADA15ADA20ADA30ADA50ADA50ADA30ADA50ADA50ADAChip MountersTransfer MachinePCB Drilling MachinesFood Processing MachinesFood ProcessingMachinesRobotsMaterial HandlingMaterial Handling EquipmentEquipmentMachine Tool FeedsMachine Tool Feeds

Type DesignationServomotorSGMPH - 01 A A A 2 S∑-2 Servomotor SeriesSGMAH: Super High Power Rate SeriesSGMPH: Cube Type SeriesSGMGH: High-speed Feed SeriesSGMSH: Super High Power Rate SeriesSGMDH: Flat SeriesCapacity (kW)CodeSGMAH3000min –1A3 0.03A5010203040506080910121315202230324044505560750.050.10.2VoltageA: 200 VB: 100 VSGMPH3000min –10.10.20.4 0.40.75 0.751.5SERVOPACK∑-2 SGDM SERVOPACKSGMGH SGMSH SGMDH1500min –1 1000min –13000min –1 2000min –10.450.851.31.82.94.45.57.50.30.60.91.22.03.04.05.51.01.52.03.04.05.02.23.24.0SGDM - 04 A D ACodeBrake, Oil Seal Specifications1SBCDEShaft End SpecificationsCode234SpecificationsStraight, No key5 Taper 1/10, Woodruff key6 Straight, Key, Tap8 Straight, TapNo Brake, No Oil SealOil Seal90VDC Brake24VDC BrakeOil Seal, +90VDC BrakeOil Seal, +24VDC BrakeSGMAH SGMPH SGMGH SGMSH SGMDHDesign ProcedureA: SGMAHSGMPHSGMGH (1500min –1 )SGMSHSGMDHB: SGMGH (1000min –1 )C: SGMGH (1500min –1 ) High Precision MachineryD: SGMGH (1000min –1 ) High Precision MachineryE: SGMPH (IP67 water-proof specifications)EncoderTaper 1/10, Parallel keyStraight, KeySerial Encoder Specifications1 16-bit Absolute2 17-bit AbsoluteA 13-bit IncrementalB 16-bit IncrementalC 17-bit IncrementalDesign Procedure: Standard : OptionSeriesSGMAH SGMPH SGMGH SGMSH SGMDH: Standard : OptionCapacityA3 30 W 10 1.0 kWA50102040550 W100 W200 W400 W500 W15203050601.5 kW2.0 kW3.0 kW5.0 kW6.0 kW08 750 W 75 7.5 kWModelD: Speed, Torque, PositionSource VoltageA: 200V (Single-/three-phase)B: 100V (Single-phase)7

ConfigurationsSingle-phase30 to 400W (200VAC)30 to 200W (100VAC)Power SupplySingle-phase, 200VACSingle-phase, 100VACMolded-case CircuitBreaker (MCCB)Protects the powerline by shuttingthe circuit OFFwhen overcurrentis detected.Noise FilterUsed to eliminate external noisefrom the power line.Molded-caseCircuit BreakerNoiseFilterDigital Operator(Type JUSP-OP02A-2)1m cable is attached.Personal ComputerCable for connecting toSERVOPACK provided.Host ControllerConnect the SGDH SERVOPACK to aYASKAWA host controller or one made byother vendors.(Analog input, pulse train input available.)MagneticContactorMP920Magnetic ContactorType HI-15E5 (30A)Turns the servoON and OFF.Install a surgesuppressor on themagnetic contactor.BrakePowerSupplyMagneticContactorBrake Power Supply*Type LPSE-2H01(200V input)Type LPDE-1H01(100V input)Used for SGM Servomotorwith a brake.SGDMSERVOPACKType SGDM-A3=DA to -04=DA*: See P30 for details.Required for Servomotorwith a brake.∑-2 Servomotor(30 to 400W)8

UVWConfigurationsThree-phase0.5 to 7.5kW (200 VAC)Molded-case CircuitBreaker (MCCB)Protects the powerline by shuttingthe circuit OFFwhen overcurrentis detected.Noise FilterUsed to eliminate external noisefrom the power line.Molded-caseCircuit BreakerNoiseFilterPower SupplyThree-phase, 200VACR S TDigital Operator(Type JUSP-OP02A-2)1m cable is attached.Personal ComputerCable for connecting toSERVOPACK provided.Host ControllerConnect the SGDH SERVOPACK to aYASKAWA host controller or one made byother vendors. (Analog input, pulse train input available.)MP920Magnetic ContactorHI SeriesTurns the servoON and OFF.Install a surgesuppressor on themagnetic contactor.MagneticContactorMagneticContactorSGDM SERVOPACKType SGDM-05ADA to -75ADA* 2L1L2L3Brake Power Supply* 1Type LPSE-2H01 (200V input)Used for SGM Servomotorwith a brake.BrakePowerSupplyB1 B2L1CL2CRegenerativeResistor (option)Regenerative ResistorFor insufficient built-in regenerativeresistor capacity,disconnect B2-B3 and connectthe external resistorwith B1-B2.∑-2 Servomotor(0.5 to 7.5kW)*1. See P30 for details.*2. The external terminals are differentin accordance with SERVOPACKtype.9

Servomotor SpecificationsSGMAH Series: Ratings and SpecificationsApplied VoltageServomotor Type SGMAH-Rated OutputWRated TorqueN •mInstantaneousPeak TorqueN •mRated Rotation Speed min –1Max. Rotation Speedmin –1A3A300.09550.286A5A500.1590.47701A1000.3180.955200VAC02A2000.6371.9104A4001.273.823000500008A7502.397.16A3B300.09550.286A5B500.1590.477100VAC01B1000.3180.95502B2000.6371.91Moment of Inertia (JM)Allowable LoadMoment of Inertia (JL)Rated Power RateApplicable EncoderBasic SpecificationsTime RatingInsulation ClassAmbient TemperatureAmbient HumidityVibration ClassEnclosureVibration ResistanceMountingkg •m 2 10 4as much as theMoment of InertiakW/sStandardOption0.01660.02200.03640.1060.1730.6720.016630 times20 timesor lessor less5.49 11.5 27.8 38.2 93.7 84.8 5.49Incremental Encoder (13 bits: 2048P/R)Incremental Encoder (16 bits: 16384P/R), Absolute Encoder (16 bits: 16384P/R)ContinuousClass B0 to 40°C20 to 80% (non-condensing)15µm or belowTotally-enclosed, self-cooled, IP55 (excluding shaft opening)Vibration acceleration 49m/s 2 (5G)Flange-mounted0.02200.036430 timesor less11.5 27.80.10638.2: Torque-Speed Characteristics ( A : Continuous Duty Zone B : Intermittent Duty Zone)SGMAH-A3A SGMAH-A5A SGMAH-01A SGMAH-02A500050005000500040004000400040003000SPEED(min –1 )2000AB3000SPEED(min –1 )2000AB3000SPEED(min –1 )2000AB3000SPEED(min –1 )2000AB100010001000100000 0.1 0.2 0.3 0.400 0.15 0.3 0.45 0.600 0.25 0.5 0.75 100 0.5 1 1.5 2TORQUE (N · m)TORQUE (N · m)TORQUE (N · m)TORQUE (N · m)5000SGMAH-04A5000SGMAH-08A5000SGMAH-A3B5000SGMAH-A5B40004000400040003000SPEED(min –1 )2000AB3000SPEED(min –1 )2000AB3000SPEED(min –1 )2000AB3000SPEED(min –1 )2000AB100010001000100000 1 2 3 400 2 4 6 800 0.1 0.2 0.3 0.400 0.15 0.3 0.45 0.6TORQUE (N · m)TORQUE (N · m)TORQUE (N · m)TORQUE (N · m)5000SGMAH-01B5000SGMAH-02B400040003000SPEED(min –1 )2000AB3000SPEED(min –1 )2000AB100010001000 0.25 0.5 0.75 1TORQUE (N · m)00 0.5 1 1.5 2TORQUE (N · m)

SGMPH SeriesSpecificationsSGMAH / SGMPHSeries: Ratings and SpecificationsApplied VoltageServomotor Type SGMPH-Rated OutputWRated TorqueN •mInstantaneousPeak TorqueN •mRated Rotation Speed min –1Max. Rotation Speedmin –1Moment of Inertia (JM)Allowable LoadMoment of Inertia (JL)Rated Power RateApplicable EncoderBasic SpecificationsTime RatingInsulation ClassAmbient TemperatureAmbient HumidityVibration ClassEnclosureVibration ResistanceMountingkg •m 2 10 4as much as theMoment of InertiakW/sStandardOption01A1000.3180.95502A2000.6371.91200VAC04A4001.273.8208A7502.397.1615A15004.7714.3300050000.0491 0.193 0.3312.104.0225 times 15 times 7 times5 timesor less or less or lessor less20.621.049.027.156.7Incremental Encoder (13 bits: 2048P/R)Incremental Encoder (16 bits: 16384P/R), Absolute Encoder (16 bits: 16384P/R)ContinuousClass B0 to 40°C20 to 80% (non-condensing)15µm or belowTotally-enclosed, self-cooled, IP55 (excluding shaft opening)Vibration acceleration 49m/s 2 (5G)Flange-mounted01B1000.3180.9550.049125 timesor less20.6100VAC02B2000.6371.910.19312 timesor less21.0: Torque-Speed Characteristics ( A : Continuous Duty Zone B : Intermittent Duty Zone)SGMPH-01A SGMPH-02A SGMPH-04A5000500050004000400040003000SPEED(min –1 )2000AB3000SPEED(min –1 )2000AB3000SPEED(min –1 )2000AB10001000100000 0.25 0.5 0.75 1TORQUE (N · m)00 0.5 1 1.5 2TORQUE (N · m)00 1 2 3 4TORQUE (N · m)5000SGMPH-08A5000SGMPH-15A5000SGMPH-01B4000400040003000SPEED(min –1 )2000AB3000SPEED(min –1 )2000AB3000SPEED(min –1 )2000AB10001000100000 2 4 6 8TORQUE (N · m)00 4 8 12 16TORQUE (N · m)00 0.25 0.5 0.75 1TORQUE (N · m)5000SGMPH-02B40003000SPEED(min –1 )2000AB100000 0.5 1 1.5 2TORQUE (N · m)11

SGMGH Series (1500min –1 ): Ratings and SpecificationsApplied Voltage200VACServomotor Type SGMGH-Rated OutputRated TorqueInstantaneous Peak TorquekWN •mN •m05A=A0.452.848.9209A=A0.855.3913.813A=A1.38.3423.320A=A1.811.528.730A=A2.918.645.1Rated Rotation SpeedMax. Rotation Speedmin –1min –115003000Moment of Inertia (J)kg •m 2 10 4 7.24 13.9 20.5 31.7 46.0Allowable Load Moment of Inertia as much as the Moment of Inertia5 times or lessRated Power RatekW/s 11.2 20.9 33.8 41.5 75.3Applicable EncoderStandardIncremental Encoder (17 bits: 16384P/R*)OptionAbsolute Encoder (17 bits/20 bits: 16384P/R*)Time RatingInsulation ClassAmbient TemperatureAmbient HumidityVibration ClassEnclosureVibration ResistanceMountingContinuousClass F0 to 40°C20 to 80% (non-condensing)15µm or belowTotally-enclosed, self-cooled, IP67 (excluding shaft opening)Vibration acceleration 24.5m/s 2 (2.5G)Flange-mounted* : For 17-bit and 20-bit encoders (without divider), pulses output from SERVOPACK are also 16384 P/R.Basic Specifications44A=A4.428.471.167.512055A=A5.535.087.689.013775A=A7.548.0119125184: Torque-Speed Characteristics ( A : Continuous Duty Zone B : Intermittent Duty Zone)3000SGMGH-05A=A3000SGMGH-09A=A3000SGMGH-13A=A200020002000SPEED(min –1 )ABSPEED(min –1 )ABSPEED(min –1 )AB10001000100000 2 4 6 8 10TORQUE (N · m)00 5 10 15 20TORQUE (N · m)00 10 20 30TORQUE (N · m)3000SGMGH-20A=A3000SGMGH-30A=ASGMGH-44A=A3000200020002000SPEED(min –1 )ABSPEED(min –1 )ABSPEED(min –1 )AB10001000100000 10 20 30 40TORQUE (N · m)00 10 20 30 40 50TORQUE (N · m)00 20 40 60 80TORQUE (N · m)SGMGH-55A=A3000SGMGH-75A=A300020002000SPEED(min –1 )ABSPEED(min –1 )AB100010001200 20 40 60 80 100TORQUE (N · m)00 50 100 150TORQUE (N · m)

SpecificationsSGMGH SeriesSGMGH Series (1000min –1 ): Ratings and SpecificationsApplied Voltage200VACServomotor Type SGMGH-Rated OutputRated TorqueInstantaneous Peak TorquekWN •mN •m03A=B0.32.847.1706A=B0.65.6814.109A=B0.98.6219.312A=B1.211.528.020A=B2.019.144.0Rated Rotation SpeedMax. Rotation Speedmin –1min –110002000Moment of Inertia (J)kg •m 2 10 4 7.24 13.9 20.5 31.7 46.0Allowable Load Moment of Inertia as much as the Moment of Inertia5 times or lessRated Power RatekW/s 11.2 23.2 36.3 41.5 79.4Applicable EncoderStandardIncremental Encoder (17 bits: 16384P/R*)OptionAbsolute Encoder (17 bits/20 bits: 16384P/R*)Time RatingInsulation ClassAmbient TemperatureAmbient HumidityVibration ClassEnclosureVibration ResistanceMountingContinuousClass F0 to 40°C20 to 80% (non-condensing)15µm or belowTotally-enclosed, self-cooled, IP67 (excluding shaft opening)Vibration acceleration 24.5m/s 2 (2.5G)Flange-mounted* : For 17-bit and 20-bit encoders (without divider), pulses output from SERVOPACK are also 16384 P/R.Basic Specifications30A=B3.028.463.767.512040A=B4.038.210789.016455A=B5.552.6136.9125221: Torque-Speed Characteristics ( A : Continuous Duty Zone B : Intermittent Duty Zone)2000SGMGH-03A=B2000SGMGH-06A=B2000SGMGH-09A=B150015001500SPEED1000(min –1 )ABSPEED1000(min –1 )ABSPEED1000(min –1 )AB50050050000 2 4 6 800 5 10 1500 5 10 15 20TORQUE (N · m)TORQUE (N · m)TORQUE (N · m)2000SGMGH-12A=B2000SGMGH-20A=B2000SGMGH-30A=B150015001500SPEED1000(min –1 )ABSPEED1000(min –1 )ABSPEED1000(min –1 )AB50050050000 10 20 3000 10 20 30 40 5000 20 40 60 80TORQUE (N · m)TORQUE (N · m)TORQUE (N · m)2000SGMGH-40A=B2000SGMGH-55A=B15001500SPEED1000(min –1 )ABSPEED1000(min –1 )AB50050000 50 100 150TORQUE (N · m)00 50 100 150TORQUE (N · m)13

SGMSH Series: Ratings and SpecificationsApplied Voltage200VACServomotor Type SGMSH-Rated OutputRated TorqueInstantaneous Peak TorquekWN •mN •m10A=A1.03.189.5415A=A1.54.9014.720A=A2.06.3619.130A=A3.09.8029.4Rated Rotation SpeedMax. Rotation Speedmin –1min –130005000Moment of Inertia (J)kg •m 2 10 4 1.742.473.197.00Allowable Load Moment of InertiaRated Power Rateas much as the Moment of InertiakW/s 57.997.25 times or less127137Applicable EncoderStandardIncremental Encoder (17 bits: 16384P/R*)OptionAbsolute Encoder (17 bits/20 bits: 16384P/R*)Time RatingInsulation ClassAmbient TemperatureAmbient HumidityVibration ClassEnclosureVibration ResistanceMountingContinuousClass F0 to 40°C20 to 80% (non-condensing)15µm or belowTotally-enclosed, self-cooled, IP67 (excluding shaft opening)Vibration acceleration 24.5m/s 2 (2.5G)Flange-mounted* : For 17-bit and 20-bit encoders (without divider), pulses output from SERVOPACK are also 16384 P/R.Basic Specifications40A=A4.012.637.89.6016650A=A5.015.847.612.3202: Torque-Speed Characteristics ( A : Continuous Duty Zone B : Intermittent Duty Zone)SGMSH-10A=A SGMSH-15A=A SGMSH-20A=A5000500050004000400040003000SPEED(min –1 )20003000SPEED(min –1 )20003000SPEED(min –1 )20001000AB1000AB1000AB00 2 4 6 8 10TORQUE (N · m)00 5 10 15TORQUE (N · m)00 5 10 15 20TORQUE (N · m)5000SGMSH-30A=A5000SGMSH-40A=A5000SGMSH-50A=A4000400040003000SPEED(min –1 )20003000SPEED(min –1 )20003000SPEED(min –1 )20001000AB1000AB1000AB00 10 20 30TORQUE (N · m)00 10 20 30 40TORQUE (N · m)00 10 20 30 40 50TORQUE (N · m)14

SGMDH SeriesSpecificationsSGMSH/SGMDHSeries: Ratings and SpecificationsApplied Voltage200VACServomotor Type SGMDH-Rated OutputRated TorqueInstantaneous Peak TorqueRated Rotation SpeedMax. Rotation SpeedMoment of Inertia (J)kWN •mN •mmin –1min –1kg •m 2 10 422A=A2.210.536.756.632A=A3.215.353.52000300074.2Allowable Load Moment of InertiaRated Power Rateas much as the Moment of InertiakW/s19.55 times or less31.5Applicable EncoderStandardIncremental Encoder (17 bits: 16384P/R*)OptionAbsolute Encoder (17 bits: 16384P/R*)Time RatingInsulation ClassAmbient TemperatureAmbient HumidityVibration ClassEnclosureVibration ResistanceMountingContinuousClass F0 to 40°C20 to 80% (non-condensing)15µm or belowTotally-enclosed, self-cooled, IP67 (excluding shaft opening)Vibration acceleration 24.5m/s 2 (2.5G)Flange-mounted* : For 17-bit encoder (without divider), pulses output from SERVOPACK are also 16384 P/R.Basic Specifications40A=A4.019.166.991.839.7: Torque-Speed Characteristics ( A : Continuous Duty Zone B : Intermittent Duty Zone)SGMDH-22A=A3000SGMDH-32A=A3000SGMGH-40A=A3000200020002000SPEED(min –1 )ABSPEED(min –1 )ABSPEED(min –1 )AB10001000100000 10 20 30 4000 20 40 6000 20 40 60 80TORQUE (N · m)TORQUE (N · m)TORQUE (N · m)15

ConnectionDiagramsThree-phaseL1 L2 L3411322*1 The time constant for the primary filter is 47 µs.2 Connect when using an absolute encoder.3 Used only with an absolute encoder.4 For using an external regenerative resistor, connect it between B1 and B2.19

Servomotor Dimensions in mm: SGMAH SeriesLCLCLA2-LZ DIA.MOUNTINGHOLESSGMAH-A3,-A5,-01TypeSGMAH- A3 =- A5 =- 01 =- 02 =- 04 A- 08 ALL LC LA LZ LG LB LE S LR69.57794.596.5124.51454060804670904.35.57568030 -0.021050 -0.025070 -0.032.53306 -0.00808 -0.009014 -0.011016 -0.011253040Approx.Masskg0.30.40.51.11.73.420: SGMPH Series: SGMGH SeriesTypeSGMGH05 A = A-03 A = B09 A = A-06 A = B13 A = A-09 A = B20 A = A-12 A = B30 A = A-20 A = B44 A = A-30 A = B- 55 A = A- 40 A = B- 75 A = A- 55 A = BApprox.TypeLL LC LA LZ LG LB LE S LR MassSGMPHkg- 01 = 62 60 70 5.5 6050 -0.025 308 -0.009 25 0.7- 02 = 6700 1.480 90 7 8 70 -0.03 3 14 30- 04 A 87-0.011 2.1L LL LMFlangeShaft Extension Approx.LR MassLA LB LC LE LG LH LZ Dwg. S Q kg0- 08 A 86.50 16 4.2120 145 10 10 110114.5-0.035 3.5 -0.0110 40- 15 A19 -0.013 6.6SHAFT EXTENSION A SHAFT EXTENSION B* : Eyebolts are not mounted on SGMGHA -05 D=A to 44A=A.196 138 925.5219 161 115 58 145 110019130 6 12 165 9 A -0.0130-0.03540 7.6243 185 13922 0-0.013 9.6245 166 11914271 192 145 7935 +0.01076 18305 226 179 200 114.30-0.025180 3.2 18 230 13.5 B23373 260 2133011342 0 110447 334 287-0.016 40

DimensionsServomotor: SGMSH SeriesTypeSGMSH- 10 A = A- 15 A = A- 20 A = ALL149175198LR45LA115FlangeLB LC LE LG LZ950-0.035100 3 10 7Shaft ExtensionS Q24 0-0.01340Approx.Masskg4.65.87.0- 30 A = A- 40 A = A- 50 A = A19923627663145 1100-0.035130612928 0-0.01355111417: SGMDH SeriesTypeSGMDHLL- 22 A = A 187- 32 A = A 199- 40 A = A 209LR5565LAFlangeShaft ExtensionLB LC LE LG LH LZ S Q235 200-0.0460 220 4 18 270 13.528 0-0.01332 0-0.0165060Approx.Masskg15.518.52121

SERVOPACK Dimensions in mm: SGDM-A3ADA to -02ADA-A3BDA to -01BDA: SGDM -04ADA, -02BDAApprox. mass: 0.8kgApprox. mass: 1.1kg: SGDM -05ADA, 08ADA, 10ADA : SGDM -15ADAApprox. mass: 1.7kgApprox. mass: 2.8kg: SGDM -20ADA, 30ADA : SGDM -50ADA22Approx. mass: 3.8kgApprox. mass: 5kg

DimensionsSERVOPACK: SGDM -60ADA, -75ADAApprox. mass: 15kgDigital Operator (Type JUSP-OP02A-2)Approx. mass: 0.2kg23

Function DescriptionFor High PerformanceNewModel follow-up controlNewVibration suppression controlA mechanical system is modeled to compensatefor system delay and suppress vibrations whena machine has a low characteristic frequency.This function reduces the settling time of rigidmachinery.The observer reduces the vibration, and highservo gain drive is achieved when a machinedrive system is subject to vibrations. This functionenhances the servo characteristics.NewMechanical resonance suppression filterTorque reference filterResonance is suppressed by setting the vibrationsuppression filter in accordance with mechanicalsystem resonance frequency when a highfrequency resonance noise is made by themachine.NewSpeed observer controlUse of the speed observer provides smoothmotion even at low speeds, and shorter positionsettling time.Speed (min –1 )SeriesShorterpositioning timeIn the event that shaft resonance causes vibrationin the servo system, the torque reference filterautomatically suppresses resonance.Mode switchTo improve transient characteristics during motoracceleration and deceleration, the system canbe switched between speed loop PI (proportionalintegral) and P (proportional) control, helpingto prevent overshoot and undershoot.SpeedWith mode switchTime (t)Without mode switchTimeNewFeed forward compensationNewBiasFeed forward compensation provides reducedpositioning time.Can be optimized with load conditions to shortenpositioning time.Feed forward compensation BiasCommand MotorSpeedTime (t)Shorter positioning timeNewZero clamp operationWhen speed control is used, drift may occureven with a speed command of 0V. The zeroclamp function uses a position loop to stopservo-lock below a preset speed command.24

FunctionsFor Easy Setup / MaintenanceNewOnline auto-tuningNewAutomatic motor discrimination functionSimple set-up: Just plug-and-play.Enhanced inertia matching precision eliminatesthe need for servo gain adjustment.The use of the serial encoder makes it possiblefor the servopack to automatically sense motorcapacity and type, and set motor parametersaccordingly.Onlineauto-tuningSGMAHAlarm displayNotmatchLoad inertiaSGMSHNewCumulative load factor monitorNewRegenerative load ratio monitorAllows monitoring of effective torque for torquecommand.Allows monitoring of regenerative load ratio.Cumulative load factor monitorRegenerative load ratio monitorNewRegenerative overload warningNewPasswordIt is possible to issue a warning before a regenerativeoverload alarm is triggered.Prevents unauthorized alteration of user constants.PC interface standard Jog operationSupports monitor waveform display for speedand torque references, easy user constantspecification, and 1:n communication (n

For Flexible AdjustmentNewI/O signal mapping functionNewOrigin searchFunctional allocation of I/O signals is moreflexible than ever. Select three types fromnine signals.The encoder moves to the origin pulse positionand then stops: handy for positioning motorshaft and machine.HostcontrollerOriginAll-in-one controlPosition, torque and speed can be controlledindependently, with simple switching betweencontrol modes.Current (torque) limitThe peak current input to the motor can belimited to minimize occurrence of overtorque,and reduce machinery damage.OvertorquePositioncontrolSpeedcontrolTorquecontrolOvercurrentCurrent limitLoadMotorLoadMotorSERVOPACKAbsolute encoder supportCan also be used with an absolute encoder,in which case return-to-origin operation is unnecessary,and operation is possible immediatelyafter power is restored in the event of a powerloss.Encoder dividerThe encoder pulse can be set to any divider,and the positioning resolution for the host controllercan be set freely.EncoderContinuous detectionof absolute positionDividercircuitPhase APhase BPhase CAbsolute encoderServomotorReverse modeMotor normal and reverse rotation directionscan be defined through a simple user constant,without having to rewire motor or encoder.Forward commandReverse commandStandard modeCCWCWReverse modeCWCCWCCWCW26

FunctionsBrake interlockBrake ON/OFF signals can be output for motorsequipped with brakes. Because the motor conductancestate and rotation speed can be interlocked,brake hold is assured.Overtravel preventionMotor drive can be stopped when the machineryexceeds its defined motion range.Reverse rotationForward rotationSTOP!LoadAssured preventionof droppingSTOP!Limit switchRegenerative processingThe electric power regenerated during motor decelerationis absorbed by the SERVOPACK regenerativecircuit. If load inertia is great, depending on thespecific operating conditions, external regenerativeresistance with a larger capacity may be required.RegenerativecircuitRegenerated energyPositioning complete signalDetects when the remaining pulses from the offsetcounter are within the positioning completerange specified as a user constant.PositiningcompletedHostcontrollerDynamic brakeIn the event there is a power loss during machineoperation, the dynamic brake absorbs generatedmotor energy in motor resistance and externalresistance, resulting in a rapid stop which minimizesdamage and accidents.Selection of internal speed presetsThe motor can be operated at any of the threepreset user speeds.Contact inputSERVOPACKCommand pulsesSupports all types of command pulses:Sign+pulse train, 90° phase displacement,2-phase pulse, CCW/CW pulse trainSoft startUsed to set the motor acceleration and decelerationtimes.27

Function Setup and AlarmsUser ConstantsTypeParameterName UnitLower Upper FactoryNo.Limit Limit SettingPn000 Function Selection Basic Switch* 3 — — — 0000Pn001 Function Selection Application Switch 1* 1 * 3— — — 0000Pn002 Function Selection Application Switch 2* 3— — — 0000Pn003 Function Selection Application Switch 3— — — 0002Pn100 Speed Loop GainHz 1 2000 40Pn101 Speed Loop Integral Time Constant0.01ms 15 51200 2000Pn102 Position Loop Gain1/s 1 2000 40Pn103 Inertia Ratio% 0 10000 0Pn104 2nd Speed Loop GainHz 1 2000 40Pn105 2nd Speed Loop Integral Time Constant0.01ms 15 51200 2000Pn106 2nd Position Loop Gain1/s 1 2000 40Pn107 Biasmin –1 0 450 0Pn108 Bias Addition BandCommand Unit 0 250 7Pn109 Feed Forward% 0 100 0Pn10A Feed Forward Filter Time Constant0.01ms 0 6400 0Pn10B Gain-Related Aplication Switch* 3— — — 0000Pn10C Mode Switch (Torque Command)% 0 800 200Pn10D Mode Switch (Speed Command)min –1 0 10000 0Pn10E Mode Switch (Acceleration)10min –1 /s 0 3000 0Pn10F Mode Switch (Offset Pulse)Command Unit 0 10000 0Pn110 Online Autotuning-Related Switch* 3— — — 0010Pn111 Reserved Constant (Do not handle)* 2— 1 100 100Pn112 Reserved Constant (Do not handle)— 0 1000 100Pn113 Reserved Constant (Do not handle)— 0 10000 1000Pn114 Reserved Constant (Do not handle)— 0 400 200Pn115 Reserved Constant (Do not handle)— 0 1000 32Pn116 Reserved Constant (Do not handle)— 0 1000 16Pn117 Reserved Constant (Do not handle)— 20 100 100Pn118 Reserved Constant (Do not handle)— 50 100 100Pn200 Position Control Command Form Selection Switch *3 — — — 0000Pn201 PG Divider* 3 * 5P/r 16 16384 16384Pn202 Electronic Gear Ratio (Numerator)* 3— 1 65535 4Pn203 Electronic Gear Ratio (Denominator)* 3— 1 65535 1Pn204 Position Command Accel/Decel Time Constant 0.01ms 0 6400 0Pn205 Multi-Turn Limit Setting* 1 * 3rev 0 65535 65535Pn300 Speed Command Input Gain0.01V/Rated Speed 150 3000 600Pn301 Internal Setting Speed 1min –1 0 10000 100Pn302 Internal Setting Speed 2min –1 0 10000 200Pn303 Internal Setting Speed 3min –1 0 10000 300Pn304 JOG Speedmin –1 0 10000 500Pn305 Soft Start Acceleration Timems 0 10000 0Pn306 Soft Start Deceleration Timems 0 10000 0Pn307 Speed Command Filter Time Constant0.01ms 0 65535 40Pn308 Speed F/B Filter Time Constant0.01ms 0 65535 0Pn400 Torque Command Input Gain0.1V/Rated Torque 10 100 30Pn401 Torque Command Filter Time Constant0.01ms 0 65535 100Pn402 Forward Torque Limit% 0 800 800Pn403 Reverse Torque Limit% 0 800 800Pn404 External Input Forward Torque Limit% 0 800 100Pn405 External Input Reverse Torque Limit% 0 800 100Pn406 Emergency Stopping Torque% 0 800 800Pn407 Speed Limit During Torque Controlmin –1 0 10000 10000Pn500 Positioning Completion BandCommand Unit 0 250 7Pn501 Zero-Clamp Levelmin –1 0 10000 10Pn502 Rotation Detection Levelmin –1 1 10000 20Pn503 Speed Conformance Signal Detection Band min –1 0 100 10FunctionSelectionConstantsGain-RelatedConstantsPosition-RelatedConstantsSpeed-RelatedConstantsTorque-RelatedConstantsSequence-RelatedConstants28

FunctionsTypeParameterName UnitLower Upper FactoryNo.Limit Limit SettingPn504 NEAR Signal Band Command Unit 1 250 7Pn505 Overflow Level256 Command Unit 1 32767 1024Pn506 Bake Command-Servo OFF Delay Time10ms 0 50 0Pn507 Brake Command Output Speed Levelmin –1 0 10000 100Pn508 Servo OFF-Brake Command Waiting Time10ms 10 100 50Pn509 Momentary Hold Timems 20 1000 20Pn50A Input Signal Selection 1* 3— — — 2100Pn50B Input Signal Selection 2* 3— — — 6543Pn50C Input Signal Selection 3* 3— — — 8888Pn50D Input Signal Selection 4* 3— — — 8888Pn50E Output Signal Selection 1* 3— — — 3211Pn50F Output Signal Selection 2* 3— — — 0000Pn510 Output Signal Selection 3* 3— — — 0000Pn600 Regenerative Resistor Capacity* 410W 0* 4 10000* 6 0* 4Pn601 Reserved Constant (Do not use)— 0 10000* 6 0Sequence-RelatedConstantsOtherConstants*1. The multi-turn limit is enabled only when Pn002.2, the absolute encoder usage method, is set to [2]. When set to anything else, numerous rotation data is processedwithin -32768 to +32767.Change in the multi-turn limit is necessary only in special applications. Do not arbitrarily change this data.2. Enabled when the speed observer user constant Pn110.1 is [0].*3. When this user constant has been changed, it is necessary to shut the main and control power OFF, and then to turn them ON again (Power re-feed operation)in order to enable this function.4. The normal setting is [0]. The capacity (W) of the regenerative resistor is set when an external regenerative resistor is used.*5. When encorder dividing ratio is 13-bit encoder (2048 P/R), encoder does not devide at more than 2048 setting.6. The upper limit is the maximum output capacity of applicable SERVOPACK.*Alarm DisplayMonitor Panel Display802 .803 .804 .805 .810 .830 .832 .840 .841 .851 .871 .872 .873 .874 .878 .881 .882 .883 .884 .885 .886 .8B1 .8B2 .8C1 .8C8 .8C9 .8C8 .8CB .8D0 .8F1 .Alarm Code OutputAL01 AL02 AL03H H HL H HL L HH H LL H LL L LH H HL H LLHLLL: Low Signal, H: High SignalHHAlarm ContentSERVOPACK EEPROM data error (Parameter damage)Main circuit detection errorParameter setting errorMotor, SERVOPACK capacity mismatchOvercurrent or heatsink overheatRegenerative error (resistor cut off, transistor short failure)Regenerative overloadOvervoltageInsufficient voltageOverspeedOverload (Momentary maximum load)Overload (Continuous maximum load)DB OverloadSurge resistor overloadHeatsink overheat (Displayed when 30W to 1000W)Encoder backup alarmEncoder SUM check alarmEncoder battery alarmEncoder absolute alarmEncoder overspeedEncoder overheatSpeed reference A/D errorTorque reference A/D errorRunawayEncoder clear error, Multi-turn limit setting errorEncorder communication errorEncoder parameter errorEncoder echoback errorExcessive position offsetPower line lost phase29

OptionsRegenerative ResistorExternally mount the regenerative resistor for more than 5.5kW SERVOPACK (SGDM-60 or Later).Choose a regenerative resistor in accordance with SERVOPACK type.: Dimensions in mmSERVOPACK TypeRegenerativeResistor Unit TypeDimensions in mmW H D M1 M2Approx.MasskgSGDM-60ADA JUSP-RA04 220 350 92 180 335 4SGDM-75ADAJUSP-RA05300 350 95 250 335 7Brake Power Supply: SpecificationsTypeRatedInput Power Supply Output Power SupplyLead Connection (Color)Input SideOutput SideLPSE-2H01LPDE-1H01200VAC(180 to 230VAC)50/60Hz100VAC(90 to 120VAC)50/60Hz90VDCYellow,WhiteBlue,WhiteRed ()Black ()Note:1. Insulation Resistance: 100MΩ or more at 500V Megger.2. Withstand Voltage : 1500VAC for a minute or 1800VACfor a second.3. Operating Voltage : 90VDC Max. 1ADC.4. Ambient Temperature: Max. 60°C: Dimensions in mm: Circuit DiagramType LPSE-2H0130

Full Lineup of ∑ / ∑-2 SeriesYASKAWA provides full line up of servo drives accordingto functions / capacity you require. Contact yourYASKAWA representative for ordering other series.Expansive∑-2SGMAH/SGMPHSGDH∑-2SGMGH/SGMSH/SGMUHSGDH[S800-32]FUNCTIONStandard∑-miniSGMMSGDA∑-2SGMAH/SGMPHSGDM∑SGM/SGMPSGDA/DR2[S800-31]∑-2SGMGH/SGMSH/SGMDHSGDM∑SGMG/SGMS/SGMDSGDB∑-2EnhancedBasic ∑ Performance∑SGMBSGDB[S800-19][S800-18][S800-16.1]Limited∑-miniSGMMSGDF[S800-27]∑-LSGMLSGDL0 0.010.03 0.1 0.75 1 3 7.5 10 15 30 55MinimumSmallMediumLargeCAPACITY (kW)Series NameServomotor TypeSERVOPACK TypeReference Catalog No.KAE-: To be available soon.31

SERIESIRUMA BUSINESS CENTER480, Kamifujisawa, Iruma, Saitama 358-8555, JapanPhone 81-42-962-5696 Fax 81-42-962-6138YASKAWA ELECTRIC AMERICA, INC.2121 Norman Drive South, Waukegan, IL 60085, U.S.A.Phone 1-847-887-7000 Fax 1-847-887-7370MOTOMAN INC. HEADQUARTERS805 Liberty Lane West Carrollton, OH 45449, U.S.A.Phone 1-937-847-6200 Fax 1-937-847-6277YASKAWA ELETRICO DO BRASIL COMERCIO LTD.A.Avenida Fagundes Filho, 620 Bairro Saude-Sao Paulo-SP, Brazil CEP: 04304-000Phone 55-11-5071-2552 Fax 55-11-5581-8795YASKAWA ELECTRIC EUROPE GmbHAm Kronberger Hang 2, 65824 Schwalbach, GermanyPhone 49-6196-569-300 Fax 49-6196-569-398Motoman Robotics Europe ABBox 504 S38525 Torsas, SwedenPhone 46-486-48800 Fax 46-486-41410Motoman Robotec GmbHKammerfeldstrae 1, 85391 Allershausen, GermanyPhone 49-8166-90-100 Fax 49-8166-90-103YASKAWA ELECTRIC UK LTD.1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United KingdomPhone 44-1236-735000 Fax 44-1236-458182YASKAWA ELECTRIC KOREA CORPORATIONKfpa Bldg #1201, 35-4 Youido-dong, Yeongdungpo-Ku, Seoul 150-010, KoreaPhone 82-2-784-7844 Fax 82-2-784-8495YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, SingaporePhone 65-6282-3003 Fax 65-6289-3003YASKAWA ELECTRIC (SHANGHAI) CO., LTD.4F No.18 Aona Road, Waigaoqiao Free Trade Zone, Pudong New Area, Shanghai 200131, ChinaPhone 86-21-5866-3470 Fax 86-21-5866-3869YATEC ENGINEERING CORPORATION4F., No.49 Wu Kong 6 Rd, Wu-Ku Industrial Park, Taipei, TaiwanPhone 886-2-2298-3676 Fax 886-2-2298-3677YASKAWA ELECTRIC (HK) COMPANY LIMITEDRm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong KongPhone 852-2803-2385 Fax 852-2547-5773BEIJING OFFICERoom No. 301 Office Building of Beijing International Club, 21Jianguomenwai Avenue, Beijing 100020, ChinaPhone 86-10-6532-1850 Fax 86-10-6532-1851TAIPEI OFFICE9F, 16, Nanking E. Rd., Sec. 3, Taipei, TaiwanPhone 886-2-2502-5003 Fax 886-2-2505-1280SHANGHAI YASKAWA-TONGJI M & E CO., LTD.27 Hui He Road Shanghai China 200437Phone 86-21-6553-6060 Fax 86-21-5588-1190BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO., LTD.30 Xue Yuan Road, Haidian, Beijing P.R. China Post Code: 100083Phone 86-10-6233-2782 Fax 86-10-6232-1536SHOUGANG MOTOMAN ROBOT CO., LTD.7, Yongchang-North Street, Beijing Economic Technological Investment & Development Area,Beijing 100076, P.R. ChinaPhone 86-10-6788-0551 Fax 86-10-6788-2878YASKAWA ELECTRIC CORPORATIONYASKAWAIn the event that the end user of this product is to be the military and said product is to beemployed in any weapons systems or the manufacture thereof, the export will fall underthe relevant regulations as stipulated in the Foreign Exchange and Foreign TradeRegulations. Therefore, be sure to follow all procedures and submit all relevantdocumentation according to any and all rules, regulations and laws that may apply.Specifications are subject to change without noticefor ongoing product modifications and improvements.© 1998-2003 YASKAWA ELECTRIC CORPORATION. All rights reserved.LITERATURE NO. KAE-S800-31C© Printed in Japan April 2003 98-2 402-11