YASKAWA SGM H Series User Manual
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YASKAWA SGM H Series User Manual

Servomotors
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YASKAWA SGM H Series User Manual
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YASKAWA SGM H Series User Manual

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  • Page 1 (217) 352-9330 | Click HERE Find the Yaskawa SGDM-08ADA at our website:...
  • Page 2 YASKAWA Series SGM□H/SGDM USER'S MANUAL SGMAH/SGMPH/SGMGH/SGMSH/SGMDH/SGMCS Servomotors SGDM SERVOPACK YASKAWA  MANUAL NO. SIEP S800000 15C Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 3 Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is con- stantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.
  • Page 4 About this Manual Intended Audience This manual is intended for the following users. • Those selecting Σ-II Series servodrives or peripheral devices for Σ-II Series servodrives. • Those wanting to know about the ratings and characteristics of Σ-II Series servodrives. •...
  • Page 5 Quick access to your required information Read the chapters marked with to get the information required for your purpose. SERVOPACKs, Ratings and Panel Trial Operation Servomotors, System Inspection and Chapter Character- Configura-tion and Servo and Peripheral Design Maintenance istics and Wiring Adjustment Devices Chapter 1...
  • Page 6 Related Manuals Refer to the following manuals as required. Manual Name Manual Number Contents Σ-II Series SGM H/SGDM TOE-S800-34 Provides detailed information on the operating method Digital Operator Operation Manual of JUSP-OP02A-2 type Digital Operator (option device). Σ-II Series SERVOPACKs SIE-S800-35 Describes the using and the operating methods on soft- Personal Computer Monitoring Software...
  • Page 7 The warning symbols for ISO and JIS standards are different, as shown below. The ISO symbol is used in this manual. Both of these symbols appear on warning labels on Yaskawa products. Please abide by these warning labels regardless of which symbol is used.
  • Page 8 Notes for Safe Operation Read this manual thoroughly before checking products on delivery, storage and transportation, installation, wiring, operation and inspection, and disposal of the AC servodrive. WARNING • Never touch any rotating motor parts while the motor is running. Failure to observe this warning may result in injury.
  • Page 9 WARNING • Installation, disassembly, or repair must be performed only by authorized personnel. Failure to observe this warning may result in electric shock or injury. • Do not modify the product. Failure to observe this warning may result in injury or damage to the product. Checking on Delivery CAUTION •...
  • Page 10 Installation CAUTION • Never use the products in an environment subject to water, corrosive gases, inflammable gases, or combustibles. Failure to observe this caution may result in electric shock or fire. • Do not step on or place a heavy object on the product. Failure to observe this caution may result in injury.
  • Page 11 Wiring CAUTION • Do not connect a three-phase power supply to the U, V, or W output terminals. Failure to observe this caution may result in injury or fire. • Securely connect the power supply terminals and motor output terminals. Failure to observe this caution may result in fire.
  • Page 12 CAUTION • Take appropriate and sufficient countermeasures for each when installing systems in the following locations. • Locations subject to static electricity or other forms of noise. • Locations subject to strong electromagnetic fields and magnetic fields. • Locations subject to possible exposure to radioactivity. •...
  • Page 13 When this manual is revised, the manual code is updated and the new manual is published as a next edition. • If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.

  • Page 14: Table Of Contents

    CONTENTS About this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -iii Related Manuals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - v Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi Notes for Safe Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii...
  • Page 15 2.4 Σ-II Series SERVOPACKs and Applicable Servomotors - - - - - - - - - - - - - - - - - 2-16 2.4.1 SGDM SERVOPACKs and SGM H Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-16 2.4.2 SGDM SERVOPACKs and SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-17 2.5 Selecting Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-18 2.5.1 Cables for SGMAH and SGMPH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-18...
  • Page 16 3.8 Mechanical Specifications of SGMAH, SGMPH, SGMGH, SGMSH, and SGMDH Servomotors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-45 3.8.1 Precautions on Servomotor Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-45 3.8.2 Mechanical Tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-46 3.8.3 Direction of Servomotor Rotation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47...
  • Page 17 3.15 Dimensional Drawings of SGMGH Servomotors (1500 min ) - - - - - - - - - - - - 3-93 3.15.1 SGMGH Servomotors (1500 min ) Without Gears and Brakes - - - - - - - - - - - - - - - - - - - - - 3-93 3.15.2 SGMGH Servomotors (1500 min ) 200-V Specifications Without Gears and With Brakes - - 3-95 3.15.3 SGMGH Servomotors (1500min...
  • Page 18 4 SERVOPACK Specifications and Dimensional Drawings 4.1 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 4.1.1 Single-phase 100 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 4.1.2 Single-phase/Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 4.1.3 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4...
  • Page 19 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.1 Specifications and Dimensional Drawings of Servomotor Main Circuit Cable - - - 5-3 5.1.1 Cables for SGMAH and SGMPH Servomotors Without Brakes - - - - - - - - - - - - - - - - - - - - - - -5-3 5.1.2 Cables for SGMAH and SGMPH Servomotors With Brakes - - - - - - - - - - - - - - - - - - - - - - - - -5-3 5.1.3 Flexible Cables for SGMAH and SGMPH Servomotors Without Brakes - - - - - - - - - - - - - - - - -5-4 5.1.4 Flexible Cables for SGMAH and SGMPH Servomotors With Brakes - - - - - - - - - - - - - - - - - - -5-5...
  • Page 20 5.5 Connectors and Cables for Encoder Signals - - - - - - - - - - - - - - - - - - - - - - - - - 5-48 5.5.1 Connectors and Cables for SGMAH and SGMPH Servomotors - - - - - - - - - - - - - - - - - - - - - 5-48 5.5.2 Connectors and Cables for SGMGH, SGMSH, and SGMDH Servomotors - - - - - - - - - - - - - 5-50 5.5.3 Connectors and Cables for SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-52 5.6 Flexible Cables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-53...
  • Page 21 6.4 Others - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18 6.4.1 Wiring Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18 6.4.2 Wiring for Noise Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-19 6.4.3 Installation Conditions of EMC Directives - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-22...
  • Page 22 8 Operation 8.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4 8.1.1 Trial Operation for Servomotor without Load - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6 8.1.2 Trial Operation for Servomotor without Load from Host Reference - - - - - - - - - - - - - - - - - - - - 8-9 8.1.3 Trial Operation with the Servomotor Connected to the Machine - - - - - - - - - - - - - - - - - - - - - 8-15...
  • Page 23 8.7 Operating Using Torque Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-61 8.7.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-61 8.7.2 Torque Reference Input- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-61 8.7.3 Adjusting the Reference Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-62...
  • Page 24 9.3.5 Speed Loop Integral Time Constant - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-14 9.4 Servo Gain Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-15 9.4.1 Feed-forward Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-15 9.4.2 Torque Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-16...
  • Page 25 11 Inspection, Maintenance, and Troubleshooting 11.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2 11.1.1 Alarm Display Table- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2 11.1.2 Warning Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-5 11.1.3 Troubleshooting of Alarm and Warning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-6...
  • Page 26 Outline 1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 1.1.1 Check Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 1.1.2 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 1.1.3 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3...

  • Page 27: Outline

    Check the overall appearance, and check for damage or scratches that Is there any damage? may have occurred during shipping. If any of the above items are faulty or incorrect, contact your Yaskawa representative or the dealer from whom you purchased the products. 1.1.2 Servomotors...

  • Page 28: Servopacks

    VOLTS 0-230 Applicable 60/60 PHASE motor Applicable PHASE AMPS 24.8 capacity power supply AMPS 18.6 KU (MP) 3.0 (4.0) Serial 412808-15-1 number YASKAWA ELECTRIC MADE IN JAPAN Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 29: Product Part Names

    1 Outline 1.2.1 Servomotors 1.2 Product Part Names 1.2.1 Servomotors (1) SGMAH and SGMPH Without Gears and Brakes Servomotor connector Encoder connector Servomotor Encoder main circuit cable cable Nameplate Flange Output Encoder shaft (Detecting section) (2) SGMGH/SGMSH/SGMDH Without Gears and Brakes Servomotor connector Encoder connector Nameplate...

  • Page 30: Servopacks

    MODE/SET DATA/ Refer to 5.8.8 Absolute Encoder Battery, CHARGE POWER 8.4.3 Handing Batteries, and 8.4.4 Battery Replacement Procedure. Front cover YASKAWA SERVOPACK Panel display SGDM- 5-digit, 7-segment LED used to display SERVOPACK model YASKAWA SERVOPACK status, alarm status, and other Refer to 2.1 SERVOPACK Model...
  • Page 31 1.2.2 SERVOPACKs (2) SGDM for 6.0 kW to 15.0 kW Power indicator Panel operator Panel display SERVOPACK 200V SERVOPACK model SGDM- Ver. CN8 Battery connector YASKAWA POWER CN3 Connector for Battery holder personal computer monitoring and BATTERY MODE/SET DATA/ CN5 Analog...

  • Page 32: Examples Of Servo System Configurations

    SGDM- Noise filter SERVOPACK Used to eliminate Magnetic external noise from the power line. contactor (Refer to 5.8.10.) Turns the servo YASKAWA 200V ON and OFF. SERVOPACK SGDM- Install a surge Digital suppressor. operator (Refer to 5.8.11.) (Refer to 5.8.2.)

  • Page 33: Three-Phase, 200 V Main Circuit

    (Refer to 5.8.2.) Magnetic SERVOPACK contactor Turns the servo Connection cable ON and OFF. for digital operator Install a surge suppressor. (Refer to 5.8.2.) Personal computer YASKAWA 200V SERVOPACK (Refer to SGDM- 5.8.11.) Connection cable for personal computer MODE/SET DATA/ CHARGE POWER (Refer to 5.8.1.)

  • Page 34: Connecting To Sgmcs Servomotor

    OFF when overcurrent is detected. (Refer to 5.8.9.) SGDM- Noise filter SERVOPACK Used to eliminate external noise from the power line. (Refer to 5.8.10.) YASKAWA 200V SERVOP ACK SGDM- Digital Magnetic operator contactor (Refer to 5.8.2.) Turns the servo ON and OFF.

  • Page 35: Applicable Standards

    1 Outline 1.4.1 North American Safety Standards (UL, CSA) 1.4 Applicable Standards Σ-II Series servodrives conform to the following overseas standards. 1.4.1 North American Safety Standards (UL, CSA) LISTED ∗1 ∗2 Model Certifications Standards (UL File No.) Standards CSA C22.2 UL508C(E147823) SERVOPACK •...

  • Page 36: Σ-Ii Series Sgdm Servopack Upgraded Functions

    1.5 Σ-II Series SGDM SERVOPACK Upgraded Functions 1.5 Σ-II Series SGDM SERVOPACK Upgraded Functions The added or improved functions differ depending on the SERVOPACK model or software version number: • SGDM- • SGDM- • SGDM- A (Software version No. 32 or later) Refer to the following table for the added or improved functions for each model.
  • Page 37 1 Outline (Cont’d) Σ-II Series SERVOPACK SGDM- Reference Function Item Description with Software Section Version No. 32 or later Direct-drive Applicable to the SGMCS direct- Applicable 10.3.1 motor for drive motors SGMCS Adapted to single-turn data abso- Single-turn data lute encoders that are mounted Applicable 10.4.2 for absolute...

  • Page 38: Selections

    Selections 2.1 Servomotor Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 2.1.1 Model SGMAH (3000 min ) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 2.1.2 Model SGMPH (3000 min ) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4...

  • Page 39: Servomotor Model Designations

    2 Selections 2.1.1 Model SGMAH (3000 min 2.1 Servomotor Model Designations This section explains how to check the servomotor model and ratings. The alphanumeric codes after SGM H indicate the specifications. 2.1.1 Model SGMAH (3000 min (1) Without Gears 1st + digits digit digit...
  • Page 40 2.1 Servomotor Model Designations (2) With Gears 1st + digits digit digit digit digit digit digit digit SGMAH − 01 A A H 1 2 B 9th digit: Brake Code Specifications 1st + 2nd digits: 3rd digit:Voltage Rated Output Without brake A:200V,B:100V (kW) With 90-VDC brake...

  • Page 41: Model Sgmph (3000 Min -1 )

    2 Selections 2.1.2 Model SGMPH (3000 min 2.1.2 Model SGMPH (3000 min (1) Without Gears 1st + digits digit digit digit digit digit SGMPH − 02 A A A 2 1 1st + 2nd digits: 3rd digit: Voltage 7th digit: Brake and Oil Seal Rated Output A:200V,B:100V...
  • Page 42 2.1 Servomotor Model Designations (2) With Gears 1st + digit digit digit digit digit digit digit digits SGMPH − 01 A A H 1 2 B 1st + 2nd digit: 9th digit: Brake 3rd digit: Voltage Rated Output A:200V,B:100V Code Specifications Without brake Code...

  • Page 43: Model Sgmgh (1500 Min -1 )

    2 Selections 2.1.3 Model SGMGH (1500 min 2.1.3 Model SGMGH (1500 min (1) Without Gears 1st + digits digit digit digit digit digit SGMGH −13 A C A 2 1 7th digit: Brake and Oil Seal 1st + 2nd digits: 3rd digit: Voltage Rated Output (kW) A:200V...
  • Page 44 2.1 Servomotor Model Designations (2) With Gears 1st + digits digit digit digit digit digit digit digit SGMGH − 20 A A L 1 4 B 9th digit: Brake Code Specifications Without brake With 90-VDC brake With 24-VDC brake 6th digit: 8th digit: Shaft End Gear Type Code 1st + 2nd digits:...

  • Page 45: Model Sgmgh (1000 Min -1 )

    2 Selections 2.1.4 Model SGMGH (1000 min 2.1.4 Model SGMGH (1000 min (1) Without Gears 1st + digits digit digit digit digit digit SGMGH − 12 A C B 2 1 1st + 2nd digits: 3rd digit: Voltage Rated Output 7th digit: Brake and Oil Seal A: 200V (kW)
  • Page 46 2.1 Servomotor Model Designations (2) With Gears 1st + digits digit digit digit digit digit digit digit SGMGH − 20 A B L B 4 B 9th digit: Brake Code Specifications Without brake With 90-VDC brake With 24-VDC brake 6th digit: 8th digit: Shaft End Gear Type Code Code...

  • Page 47: Model Sgmsh (3000 Min -1 )

    2 Selections 2.1.5 Model SGMSH (3000 min 2.1.5 Model SGMSH (3000 min (1) Without Gears 1st + digits digit digit digit digit digit SGMSH − 10 A C A 2 1 1st + 2nd digits: 3rd digit: Voltage Rated Output 7th digit: Brake and Oil Seal A:200V (kW)
  • Page 48 2.1 Servomotor Model Designations (2) With Gears 1st + digit digit digit digit digit digit digit digits SGMSH − 10 A A L 1 4 B 9th digit: Brake 1st + 2nd digits: Code Specifications 3rd digit: Voltage Rated Output A:200V (kW) Without brake...

  • Page 49: Model Sgmdh (2000 Min -1 )

    2 Selections 2.1.6 Model SGMDH (2000 min 2.1.6 Model SGMDH (2000 min • SGMDH servomotors are provided with 90-VDC brakes as standard. (The seventh digit: B) • Servomotors with backlash gears are not available for the model SGMDH. 1st + digits digit digit...

  • Page 50: Model Sgmcs

    2.1 Servomotor Model Designations 2.1.7 Model SGMCS 1st + digit digit digit digit digit digits SGMCS − 02 B 3 A 1 1 SGMCS Direct-drive motor 1st + 2nd digits: 3rd digit: Motor Outer Diameter (mm) Rated Torque (N m) Specifi- 7th digit: Brake Code...

  • Page 51: Selecting Servomotors

    2 Selections 2.2.1 Support Tool for the Capacity Selection of the AC Servomotors 2.2 Selecting Servomotors 2.2.1 Support Tool for the Capacity Selection of the AC Servomotors For easy selection of the capacity of the AC servomotors, a CD-ROM is available as a support tool. •...

  • Page 52: Servopack Model Designations

    2.3 SERVOPACK Model Designations 2.3 SERVOPACK Model Designations Select the SERVOPACK according to the applied servomotor. 1st + digits digit digit digit digit SGDM - 6th digit: Option 1st + 2nd digits: Rated Output of Applicable Servomotor (kW) Rated Output of Code Specificatioins Applicable Servomotor (kW)

  • Page 53: Σ-Ii Series Servopacks And Applicable Servomotors

    2 Selections 2.4.1 SGDM SERVOPACKs and SGM H Servomotors 2.4 Σ-II Series SERVOPACKs and Applicable Servomotors 2.4.1 SGDM SERVOPACKs and SGM H Servomotors Σ-II Series SGDM SERVOPACK Σ-II Series SGM H Servomotor Single-phase Single-phase Three-phase 100 VAC 200 VAC 200 VAC −...

  • Page 54: Sgdm Servopacks And Sgmcs Servomotors

    2.4 Σ-II Series SERVOPACKs and Applicable Servomotors 2.4.2 SGDM SERVOPACKs and SGMCS Servomotors The SGMCS SERVOPACK can be combined only with a SGDM SERVOPACK with software version 32 or later. Note that SGMCS SERVOPACK can’t be used with the SGDM- D and SGDM SERVOPACK with soft- ware version 32 or earlier.

  • Page 55: Selecting Cables

    2 Selections 2.5.1 Cables for SGMAH and SGMPH Servomotors 2.5 Selecting Cables 2.5.1 Cables for SGMAH and SGMPH Servomotors YASKAWA 200V SERVOPACK SGDM- MODE/SET DATA/ CHARGE POWER 2-18 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 56 2.5 Selecting Cables Refer- Name Length Type Specifications ence JZSP-CMP00-03 (9.84 ft) JZSP-CMP00-05 (16.4 ft) SERVOPACK Encoder 10 m Cable with connec- 5.4.1 JZSP-CMP00-10 tors at both ends (32.8 ft) 15 m JZSP-CMP00-15 (49.2 ft) 20 m JZSP-CMP00-20 (65.6 ft) JZSP-CMP03-03 (9.84 ft) JZSP-CMP03-05...
  • Page 57 2 Selections 2.5.1 Cables for SGMAH and SGMPH Servomotors Refer- Name Length Type Specifications ence Soldered SERVOPACK end 5.5.1 JZSP-CMP9-1 connector kit Soldered 5.4.3 5.4.5 Encoder end connector kit JZSP-CMP9-2 5.5.1 JZSP-CMP09-05 (16.4 ft) 10 m JZSP-CMP09-10 Encoder (32.8 ft) 20 m (65.6 ft) max.
  • Page 58 2.5 Selecting Cables Servomotor Refer- Name Length Type Specifications Model ence JZSP-CMM00-03 (9.84 ft) SGMAH JZSP-CMM00-05 (16.4 ft) SGMPH SERVOPACK Servomotor 10 m 100V: 30 to 5.1.1 JZSP-CMM00-10 200 W (32.8 ft) 200V: 30 to 15 m JZSP-CMM00-15 750 W (49.2 ft) 20 m JZSP-CMM00-20...
  • Page 59 2 Selections 2.5.1 Cables for SGMAH and SGMPH Servomotors Servomotor Refer- Name Length Type Specifications Model ence JZSP-CMM10-03 (9.84 ft) SGMAH JZSP-CMM10-05 (16.4 ft) SGMPH SERVOPACK Servomotor 10 m 100V: 30 to 5.1.2 JZSP-CMM10-10 200 W (32.8 ft) 200V: 30 to 15 m JZSP-CMM10-15 750 W...

  • Page 60: Cables For Sgmgh/Sgmsh/Sgmdh Servomotors

    (Cont’d) environment 100 W to 750 W connector kit with brakes SGMPH JZSP-CMM9-4 1.5 kW 2.5.2 Cables for SGMGH/SGMSH/SGMDH Servomotors YASKAWA 200V SERVOPACK SGDM- MODE/SET DATA/ POWER CHARGE 2-23 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 61 2 Selections 2.5.2 Cables for SGMGH/SGMSH/SGMDH Servomotors Refer- Name Length Type Specifications ence JZSP-CMP03-03 (9.84 ft) JZSP-CMP03-05 (16.4 ft) SERVOPACK end Encoder end 10 m Cable with loose 5.4.4 JZSP-CMP03-10 wires at encoder end (32.8 ft) 15 m JZSP-CMP03-15 (49.2 ft) 20 m JZSP-CMP03-20 (65.6 ft)
  • Page 62 2.5 Selecting Cables Refer- Name Length Type Specifications ence Straight plug JA06A-20-29S-J1-EB L-shaped plug JA08A-20-29S-J1-EB JL04-2022CKE (09) Cable diameter: For IP67 specification φ6.5 to φ9.5 mm 5.5.2 encoder end connector (φ0.26 to φ0.37 in) JL04-2022CKE (12) Cable clamp Cable diameter: φ9.5 to φ13 mm (φ0.37 to φ0.51 in) JL04-2022CKE (14)
  • Page 63 2 Selections 2.5.2 Cables for SGMGH/SGMSH/SGMDH Servomotors Refer- Name Length Type Specifications ence JZSP-CMP11-03 (9.84 ft) JZSP-CMP11-05 (16.4 ft) With a straight plug 10 m SERVOPACK Encoder JZSP-CMP11-10 (32.8 ft) 15 m JZSP-CMP11-15 (49.2 ft) 20 m Flexible type JZSP-CMP11-20 (65.6 ft) cable with connectors at both...

  • Page 64: Cables For Sgmcs Servomotors

    View A Servomotor Encoder main circuit cable cable • Encoder cable extension from 20 m (65.5 ft) up to 50 m (164.04 ft) YASKAWA 200V SERVOP ACK SGDM- SGDM SERVOPACK MODE/SET DATA/ CHARGE POWER Relay encoder cable...
  • Page 65 2 Selections 2.5.3 Cables for SGMCS Servomotors Type Servomo- Refer- Name Length Specifications Flexible tor Model ence Standard type Type JZSP-CMP60-03 JZSP-CSP60-03 (9.84 ft) JZSP-CMP60-05 JZSP-CSP60-05 (16.4 ft) Cable with connectors at SERVOPACK end Encoder end both ends 10 m JZSP-CMP60-10 JZSP-CSP60-10 (Same for incremental and...
  • Page 66 2.5 Selecting Cables Type Servomo- Refer- Name Length Flexible Specifications tor Model ence Standard type Type JZSP-CMM60-03 JZSP-CSM60-03 (9.84 ft) JZSP-CMM60-05 JZSP-CSM60-05 Without (16.4 ft) Brakes SERVOPACK end Encoder end SGMCS- 10 m 5.1.5 (For small- JZSP-CMM60-10 JZSP-CSM60-10 B,C,D,E (32.8 ft) capacity se- 15 m ries)

  • Page 67: Selecting Peripheral Devices

    2 Selections 2.6.1 Special Options 2.6 Selecting Peripheral Devices 2.6.1 Special Options Digital operator Connection cable Personal for digital operator computer YASKAWA 200V SERVOPACK Connection cable SGDM- for personal computer MODE/SET DATA/ CHARGE POWER Host controller I/O signal cable Analog monitor cable...
  • Page 68 2.6 Selecting Peripheral Devices Refer- Name Length Type Specifications ence With connection cable (1 m (3.28 ft)) Digital Operator JUSP-OP02A-2 5.8.2 Only required when using Σ series JZSP-CMS00-1 (3.28 ft) Digital Operator JUSP-OP02A-1. 1.5m JZSP-CMS00-2 SERVOPACK Operator Connection Cable for Digital Op- (4.92 ft) erator JZSP-CMS00-3...

  • Page 69: Molded-Case Circuit Breaker And Fuse Capacity

    2 Selections 2.6.2 Molded-case Circuit Breaker and Fuse Capacity 2.6.2 Molded-case Circuit Breaker and Fuse Capacity Current Capacity of the Molded-case Circuit Breaker SERVOPACK Model Inrush Current Main Power Supply *1, *2 and the Fuse (A Circuit Capacity per （Refer to 5.8.9） Power SERVOPACK Control Cir-...

  • Page 70: Noise Filters, Magnetic Conductors, Surge Suppressors And Dc Reactors

    Peripheral Device Manufacturer FN, FS type: Schaffner Electronic Noise Filter FMAC type: Timonta AG Magnetic Contactor Yaskawa Controls Co., Ltd. Surge Suppressor Yaskawa Controls Co., Ltd. DC Reactor Yaskawa Controls Co., Ltd. 2-33 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 71: Regenerative Resistors And Brake Power Supply Units

    2. The following table shows the manufacturers of each device. Peripheral Device Manufacturer External Regenerative Resistor Iwaki Wireless Research Institute External Regenerative Unit Yaskawa Electric Corporation Brake Power Supply Unit Yaskawa Controls Co., Ltd. 2-34 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 72: Specifications And Dimensional Drawings

    Specifications and Dimensional Drawings 3.1 Ratings and Specifications of SGMAH (3000 min ) - - - - - - - - - - - - - - - - 3-4 3.1.1 SGMAH Servomotors Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4 3.1.2 SGMAH Servomotors With Standard Backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - 3-7 3.1.3 SGMAH Servomotors With Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9 3.2 Ratings and Specifications of SGMPH (3000min...
  • Page 73 3 Specifications and Dimensional Drawings 3.8.3 Direction of Servomotor Rotation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-47 3.8.4 Impact Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-47 3.8.5 Vibration Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-47 3.8.6 Vibration Class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-47...
  • Page 74 3.16 Dimensional Drawings of SGMGH Servomotors (1000 min ) - - - - - - - 3-118 3.16.1 SGMGH Servomotors (1000 min ) Without Gears and Brakes - - - - - - - - - - - - - - 3-118 3.16.2 SGMGH Servomotors (1000 min ) Without Gears and With Brakes - - - - - - - - - - 3-120 3.16.3 SGMGH Servomotors (1000 min...

  • Page 75: Ratings And Specifications Of Sgmah

    3 Specifications and Dimensional Drawings 3.1.1 SGMAH Servomotors Without Gears 3.1 Ratings and Specifications of SGMAH (3000 min 3.1.1 SGMAH Servomotors Without Gears (1) Ratings and Specifications • Time Rating: Continuous • Thermal Class: B • Vibration Class: 15 µm or below •...
  • Page 76 3.1 Ratings and Specifications of SGMAH (3000 min (2) Holding Brake Moment of Inertia The 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 Model SGMAH-...

  • Page 77: Sgmah Servomotors Without Gears

    3 Specifications and Dimensional Drawings 3.1.1 SGMAH Servomotors Without Gears (5) Holding Brake Electrical Specifications Holding Brake Specifications Servomotor Coil Rated Holding Brake Servomotor Holding Resistance Current Capacity Capacity Rated Voltage Model Torque ° ° Ω(at 20 A (at 20 N m (oz in) °...

  • Page 78: Sgmah Servomotors With Standard Backlash Gears

    3.1 Ratings and Specifications of SGMAH (3000 min 3.1.2 SGMAH Servomotors With Standard Backlash Gears • Time Rating: Continuous • Thermal Class: B • Vibration Class: 15 µm or below • Withstand Voltage: 100 V, 200 V Servomotors: 1500 VAC for one minute •...
  • Page 79 3 Specifications and Dimensional Drawings 3.1.2 SGMAH Servomotors With Standard Backlash Gears (Cont’d) Moment of Inertia J ×10 kg·m Servomotor Gear Output (x 10 oz·in·s Servomotor Rated Instanta- Model Torque/ Rated neous Max. Rated Rated Out- SGMAH- Effi- Torque Gear Peak Motor + ∗1...

  • Page 80: Sgmah Servomotors With Low-Backlash Gears

    3.1 Ratings and Specifications of SGMAH (3000 min 3.1.3 SGMAH Servomotors With Low-backlash Gears • Time Rating: Continuous • Thermal Class: B • Vibration Class: 15 µm or below • Withstand Voltage: 100V, 200V Servomotors: 1500 VAC for one minute •...

  • Page 81: Sgmah Servomotors With Low-Backlash Gears

    3 Specifications and Dimensional Drawings 3.1.3 SGMAH Servomotors With Low-backlash Gears (Cont’d) Moment of Inertia J ×10 Servomotor Gear Output kg·m (x 10 oz·in·s Servomotor Instanta- Rated Model Rated neous Max. Torque/Effi- Rated Rated Out- SGMAH- Torque Gear Peak Motor + ∗2 ∗1 Speed...

  • Page 82: Ratings And Specifications Of Sgmph

    3.2 Ratings and Specifications of SGMPH (3000min 3.2 Ratings and Specifications of SGMPH (3000min 3.2.1 SGMPH Servomotors Without Gears (1) Ratings and Specifications • Time Rating: Continuous • Thermal Class: B • Vibration Class: 15 µm or below • Withstand Voltage: 100 V, 200 V Servomotors: 1500 VAC for one minute •...
  • Page 83 3 Specifications and Dimensional Drawings 3.2.1 SGMPH Servomotors Without Gears (2) Holding Brake Moment of Inertia The 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 inertia) Servomotor Model SGMPH-...

  • Page 84: Sgmph Servomotors With Standard Backlash Gears

    3.2 Ratings and Specifications of SGMPH (3000min (5) Holding Brake Electrical Specifications Holding Brake Specifications Holding Servomotor Servomotor Holding Coil Rated Brake Rated Capacity Capacity Model Torque Resistance Current Voltage Ω (at 20 °C) A (at 20 °C) N·m (oz·in) 0.318 SGMPH-01 1000...
  • Page 85 3 Specifications and Dimensional Drawings 3.2.2 SGMPH Servomotors With Standard Backlash Gears Moment of Inertia J ×10 Servomotor Gear Output kg·m (x 10 oz·in·s Servomotor Rated Instanta- Model Torque/ Rated neous Max. Rated Rated Out- SGMPH- Effi- Torque Gear Peak Motor + ∗1 Speed...

  • Page 86: Sgmph Servomotors With Low-Backlash Gears

    3.2 Ratings and Specifications of SGMPH (3000min Note: The no-load torque for a servomotor with gears is high immediately after the servomotor starts, and it then decreases and becomes stable a few minutes later. This is a common phenomenon caused by grease being circulated in the gear and not by a faulty gear.
  • Page 87 3 Specifications and Dimensional Drawings 3.2.3 SGMPH Servomotors With Low-backlash Gears (Cont’d) Moment of Inertia J ×10 Servomotor Gear Output kg·m (×10 oz·in·s Servomotor Instanta- Rated Model Rated neous Max. Torque/Effi- Rated Rated Out- SGMPH- Torque Gear Peak Motor + ∗2 ∗1 Speed...

  • Page 88: Ratings And Specifications Of Sgmgh

    3.3 Ratings and Specifications of SGMGH (1500min 3.3 Ratings and Specifications of SGMGH (1500min 3.3.1 SGMGH Servomotors (1500min ) Without Gears (1) Ratings and Specifications • Time Rating: Continuous • Thermal Class: F • Vibration Class: 15 µm or below •...

  • Page 89: Sgmgh Servomotors

    3 Specifications and Dimensional Drawings 3.3.1 SGMGH Servomotors (1500min ) Without Gears (2) Holding Brake Moment of Inertia The 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 Model 05A A 09A A 13A A 20A A 30A A 44A A 55A A 75A A...
  • Page 90 3.3 Ratings and Specifications of SGMGH (1500min (4) Holding Brake Electrical Specifications Holding Brake Specifications Holding Servomotor Coil Rated Servomotor Holding Brake Rated Capacity Capacity Resistance Current Model Torque Voltage Ω (at 20 °C A (at 20 °C N·m (lb·in) (68 °F)) (68 °F)) 4.41...
  • Page 91 • Gear Lubricating Method: Type 4095 to 4115: Grease ∗ Type 4130 to 4190: Oil * For oil lubrication, the motor should be mounted horizontal to the shaft. Contact your Yaskawa representative about lubrication for angle mounting. Moment of Inertia J ×10...
  • Page 92 3.3 Ratings and Specifications of SGMGH (1500min (Cont’d) Moment of Inertia J ×10 Servomotor Gear Output kg·m (×10 lb·in·s Instanta- Servomotor Rated Model neous Rated Rated Torque/ Rated Max. Out- Peak SGMGH- Torque Gear Motor + Speed Speed Speed Efficiency Torque/ Gears Ratio...
  • Page 93 3 Specifications and Dimensional Drawings 3.3.2 SGMGH Servomotors (1500min ) With Standard Backlash Gears (Cont’d) Moment of Inertia J ×10 Servomotor Gear Output kg·m (×10 lb·in·s Instanta- Servomotor Rated neous Model Rated Rated Rated Max. Torque/ SGMGH- Out- Peak Torque Gear Motor + Speed...
  • Page 94 3.3 Ratings and Specifications of SGMGH (1500min 3.3.3 SGMGH Servomotors (1500min ) With Low-backlash Gears • Time Rating: Continuous • Thermal Class: F • Vibration Class: 15 µm or below • Withstand Voltage: 200 V Servomotors: 1500 VAC for one minute •...
  • Page 95 3 Specifications and Dimensional Drawings 3.3.3 SGMGH Servomotors (1500min ) With Low-backlash Gears (Cont’d) Moment of Inertia J ×10 Servomotor Gear Output kg·m (×10 lb·in·s Instanta- Servomotor Rated neous Model Rated Max. Torque/ Rated Rated SGMGH- Out- Peak Torque Gear Motor + ∗1 ∗2...
  • Page 96 3.4 Ratings and Specifications of SGMGH (1000min 3.4 Ratings and Specifications of SGMGH (1000min 3.4.1 SGMGH Servomotors (1000min ) Without Gears (1) Ratings and Specifications • Time Rating: Continuous • Thermal Class: F • Vibration Class: 15 µm or below •...
  • Page 97 3 Specifications and Dimensional Drawings 3.4.1 SGMGH Servomotors (1000min ) Without Gears (2) Holding Brake Moment of Inertia The 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 Model 03A B 06A B 09A B 12A B 20A B 30A B 40A B 55A B...
  • Page 98 3.4 Ratings and Specifications of SGMGH (1000min (4) Holding Brake Electrical Specifications Holding Brake Specifications Servomotor Coil Rated Holding Brake Servomotor Holding Capacity Capacity Resistance Current Model Rated Voltage Torque Ω (at 20 °C A (at 20 °C N·m (lb·in) (68 °F)) (68 °F)) 4.41...
  • Page 99 Type 4095 to 4115: Grease • Gear Mechanism: Planetary gear mechanism ∗ Type 4130 to 4190: Oil * For oil lubrication, the motor should be mounted horizontal to the shaft. Contact your Yaskawa representative about lubrication for angle mounting. Moment of Inertia J ×10...
  • Page 100 3.4 Ratings and Specifications of SGMGH (1000min (Cont’d) Moment of Inertia J ×10 Servomotor Gear Output kg·m (×10 lb·in·s Instanta- Servomotor Rated Model neous Rated Rated Torque/ Rated Max. Out- Peak SGMGH- Torque Gear Motor + Speed Speed Speed Efficiency Torque/ Gears Ratio...
  • Page 101 3 Specifications and Dimensional Drawings 3.4.3 SGMGH Servomotors (1000 min ) With Low-backlash Gears Efficiency Efficiency Output torque Output torque 2. The no-load torque for a servomotor with gears is high immediately after the servomotor starts, and it then decreases and becomes stable a few minutes later. This is a common phenomenon caused by grease being circulated in the gear and not by a faulty gear.
  • Page 102 3.4 Ratings and Specifications of SGMGH (1000min (Cont’d) Moment of Inertia J ×10 Servomotor Gear Output kg·m (×10 lb·in·s Instanta- Servomotor Model Rated neous Rated Rated Rated Max. Out- Torque/ Peak SGMGH- Torque Gear Motor + Speed Speed Speed Efficiency Torque/ Gears Ratio...

  • Page 103: Ratings And Specifications Of Sgmsh

    3 Specifications and Dimensional Drawings 3.5.1 SGMSH Servomotors (3000min ) Without Gears 3.5 Ratings and Specifications of SGMSH (3000min 3.5.1 SGMSH Servomotors (3000min ) Without Gears (1) Ratings and Specifications • Time Rating: Continuous • Thermal Class: F • Vibration Class: 15 µm or below •...
  • Page 104 3.5 Ratings and Specifications of SGMSH (3000min (2) Holding Brake Moment of Inertia The moment of inertia of the servomotor with holding brake is expressed using the followtin equation. (The moment of inertia of the servomotor with holding brake) = (rotor moment of inertia) + (brake moment of inertia) Servomotor 10A A 15A A...
  • Page 105 3 Specifications and Dimensional Drawings 3.5.1 SGMSH Servomotors (3000min ) Without Gears (4) Holding Brake Electrical Specifications Holding Brake Specifications Holding Servomotor Coil Rated Servomotor Holding Brake Rated Capacity Capacity Resistance Current Model Torque Voltage Ω (at 20 °C A (at 20 °C N·m (lb·in) (68 °F)) (68 °F))
  • Page 106 3.5 Ratings and Specifications of SGMSH (3000min 3.5.2 SGMSH Servomotors (3000min ) With Low-backlash Gears • Time Rating: Continuous • Thermal Class: F • Vibration Class: 15 µm or below • Withstand Voltage: 1500 VAC for one minute • Insulation Resistance: 500 VDC, 10 MΩ min. •...
  • Page 107 3 Specifications and Dimensional Drawings 3.5.2 SGMSH Servomotors (3000min ) With Low-backlash Gears (Cont’d) Moment of Inertia J ×10 Servomotor Gear Output kg·m (×10 lb·in·s Instanta- Servomotor Rated neous Model Rated Max. Rated Torque/Effi- Rated SGMSH- Out- Peak Torque Gear Motor + ∗1 ∗2...

  • Page 108: Ratings And Specifications Of Sgmdh

    3.6 Ratings and Specifications of SGMDH (2000min 3.6 Ratings and Specifications of SGMDH (2000min 3.6.1 SGMDH Servomotors (2000min ) With Holding Brakes (1) Ratings and Specifications • Time Rating: Continuous • Thermal Class: F • Vibration Class: 15 µm or below •...
  • Page 109 3 Specifications and Dimensional Drawings 3.6.1 SGMDH Servomotors (2000min ) With Holding Brakes (2) Torque-motor Speed Characteristics SGMDH-22A A B SGMDH-32A A B SGMDH-40A A B 3000 3000 3000 2000 2000 : Continuous Duty Zone 2000 Motor Motor Motor speed speed speed : Intermittent Duty Zone...

  • Page 110: Ratings And Specifications Of Sgmcs Servomotors

    3.7 Ratings and Specifications of SGMCS Servomotors 3.7 Ratings and Specifications of SGMCS Servomotors 3.7.1 Small-capacity Series SGMCS Servomotors (1) Ratings and Specifications • Time Rating: Continuous • Thermal Class: A • Vibration Class: 15 µm or below • Withstand Voltage: 1500 VAC for one minute •...
  • Page 111 3 Specifications and Dimensional Drawings 3.7.1 Small-capacity Series SGMCS Servomotors Ratings and Specifications for SGMCS Servomotor without Gears (cont’d) Voltage 200 V Servomotor Model SGMCS- 08D B 17D B 25D B 16E B 35E B ∗1 Rated Output 8.00 17.0 25.0 16.0 35.0...
  • Page 112 3.7 Ratings and Specifications of SGMCS Servomotors (2) Torque-motor Speed Characteristics SGMCS-02B SGMCS-05B Motor speed Motor speed (min (min Torque (N m) Torque (N m) 1600 Torque (oz in) Torque (oz in) SGMCS-04C SGMCS-07B Motor speed Motor speed (min (min Torque (N m) Torque (N m) 2000...
  • Page 113 3 Specifications and Dimensional Drawings 3.7.1 Small-capacity Series SGMCS Servomotors SGMCS-14C SGMCS-08D Motor speed Motor speed (min (min Torque(N m) Torque(N m) 2000 4000 3000 6000 Torque (oz in) Torque (oz in) SGMCS-17D SGMCS-25D Motor speed Motor speed (min (min Torque(N m) Torque(N m) 4000...

  • Page 114: Middle-Capacity Series Sgmcs Servomotors

    3.7 Ratings and Specifications of SGMCS Servomotors 3.7.2 Middle-capacity Series SGMCS Servomotors (1) Ratings and Specifications • Time Rating: Continuous • Thermal Class: F • Vibration Class: 15 µm or below • Withstand Voltage: 1500 VAC for one minute • Insulation Resistance: 500 VDC, 10 MΩ min. •...
  • Page 115 3 Specifications and Dimensional Drawings 3.7.2 Middle-capacity Series SGMCS Servomotors (2) Torque-Motor Speed Characteristics SGMCS-45M SGMCS-80M Motor speed Motor speed (min (min Torque(N m) Torque(N m) 20000 40000 10000 20000 Torque (oz in) Torque (oz in) SGMCS-1AM SGMCS-80N Motor speed Motor speed (min (min...

  • Page 116: Mechanical Specifications Of Sgmah, Sgmph, Sgmgh, Sgmsh, And Sgmdh Servomotors

    3.8 Mechanical Specifications of SGMAH, SGMPH, SGMGH, SGMSH, and SGMDH Servomotors 3.8 Mechanical Specifications of SGMAH, SGMPH, SGMGH, SGMSH, and SGMDH Servomotors 3.8.1 Precautions on Servomotor Installation Servomotors can be installed either horizontally or vertically. The service life of the servomotor will be shortened or unexpected problems will occur if the servomotor is installed incorrectly or in an inappropriate location.

  • Page 117: Mechanical Tolerance

    3 Specifications and Dimensional Drawings 3.8.2 Mechanical Tolerance If the servomotor is used in a location that is subject to water Flange drops, make sure of the servomotor protective specifications Through shaft section: (except for through shaft section). This refers to the gap where If the servomotor is used in a location that is subject to water the shaft protrudes from or oil mist, use a servomotor with an oil seal to seal the...

  • Page 118: Direction Of Servomotor Rotation

    3.8 Mechanical Specifications of SGMAH, SGMPH, SGMGH, SGMSH, and SGMDH Servomotors 3.8.3 Direction of Servomotor Rotation Positive rotation of the servomotor is counterclockwise when viewed from the load. (Same as for servomotors with gears.) Positive direction 3.8.4 Impact Resistance Mount the servomotor with the axis horizontal. The servomotor will withstand the following vertical impacts: •...

  • Page 119: Mechanical Specifications Of Sgmcs Servomotors

    3 Specifications and Dimensional Drawings 3.9.1 Allowable Loads 3.9 Mechanical Specifications of SGMCS Servomotors 3.9.1 Allowable Loads The loads applied while a servomotor is running are roughly classified in the following patterns. Design the machine so that the thrust load and moment load will not exceed the values in the table. Where F is external force, Thrust load: Fa = F + Load mass Moment load: M=0...

  • Page 120: Mechanical Tolerance

    3.9 Mechanical Specifications of SGMCS Servomotors 3.9.2 Mechanical Tolerance The following table shows tolerances for the servomotor’s output shaft and installation area. See the dimensional drawing of the individual servomotor for more details on tolerances. Mechanical Tolerance Tolerance T. I. R. Servomotor Model SGMCS- (Total Indicator Reading) 07B 04C 10C 14C 08D 17D 25D 16E...

  • Page 121: Direction Of Servomotor Rotation

    3 Specifications and Dimensional Drawings 3.9.3 Direction of Servomotor Rotation 3.9.3 Direction of Servomotor Rotation Positive rotation of the servomotor is counterclockwise when viewed from the load. 3.9.4 Impact Resistance Mount the servomotor with the axis horizontal. The servomotor will withstand the following vertical impacts: Vertical •...

  • Page 122: Terms And Data For Servomotors With Gears

    3.10 Terms and Data for Servomotors With Gears 3.10 Terms and Data for Servomotors With Gears (1) Terms for Servomotors With Standard Backlash Gears and Low-backlash Gears Terminology for Servomotors with Gears Typical Value Standard Item Measurement Method/Definition Low-back- Backlash lash Gears Gears Rated Input Motor...
  • Page 123 3 Specifications and Dimensional Drawings (3) Efficiency The output torque and motor speed produce the following trends in efficiency. The values in the tables, Ratings and Specifications of SGM H Servomotors with Gears, are at the rated motor torque and rated motor speed (3000 min Efficiency Efficiency...

  • Page 124: Servomotor Dimensional Drawings

    3.11 Servomotor Dimensional Drawings 3.11 Servomotor Dimensional Drawings Dimensional drawings for the SGM H servomotors are broadly grouped using the following categories: With or without gears or brakes. Refer- Series Motor Capacity Groups of Servomotor Dimensional Drawings ence 3.12.1 Without gears and brakes 100 VAC: 3.12.2 With brakes...

  • Page 125: Sgmah Servomotors

    3 Specifications and Dimensional Drawings 3.12.1 SGMAH Servomotors (3000 min ) Without Gears 3.12 Dimensional Drawings of SGMAH Servomotors (3000 min 3.12.1 SGMAH Servomotors (3000 min ) Without Gears (1) 30 W, 50 W, 100 W Encoder cable, φ6 (φ0.24) Encoder plug UL20276 300 (11.81) ±30 (±1.18)
  • Page 126 3.12 Dimensional Drawings of SGMAH Servomotors (3000 min • Dimensional Tolerances Units: mm (in) Shaft-end Dimensions Model SGMAH-   0.236   – 0.008 – 0.0003   0.236   – 0.008 – 0.0003   0.315  ...
  • Page 127 3 Specifications and Dimensional Drawings 3.12.1 SGMAH Servomotors (3000 min ) Without Gears Units: mm (in) Approx. Allowable Allowable Tap× Model Mass Radial Load Thrust Load ∗ SGMAH- Depth kg (lb) N (lbf) N (lbf) No key No tap (2.4) (55) (17) M5×8L...

  • Page 128: Without Gears And With Brakes

    3.12 Dimensional Drawings of SGMAH Servomotors (3000 min 3.12.2 SGMAH Servomotors (3000 min ) Without Gears and With Brakes (1) 30 W, 50 W, 100 W 300 (11.81) ±30 ( ± 1.18) Shaft End (35) (1.38) 300 (11.81) ±30 ( ± 1.18) 0.04 (0.0016) 25 (0.98)

  • Page 129: Sgmah Servomotors

    3 Specifications and Dimensional Drawings 3.12.2 SGMAH Servomotors (3000 min ) Without Gears and With Brakes • Dimensional Tolerances Units: mm (in) Shaft-end Dimensions mm (in) Model SGMAH-   0.236   – 0.008 – 0.0003   0.235 ...
  • Page 130 3.12 Dimensional Drawings of SGMAH Servomotors (3000 min Units: mm (in) Approx. Allowable Allowable Tap× Model Mass Radial Load Thrust Load ∗ SGMAH- Depth kg (lb) N (lbf) N (lbf) No key No tap (3.53) (55) (17) M5×8L (0.79) (0.12) (0.20) (0.20) No key...

  • Page 131: With Standard Backlash Gears

    3 Specifications and Dimensional Drawings 3.12.3 SGMAH Servomotors (3000 min ) With Standard Backlash Gears 3.12.3 SGMAH Servomotors (3000 min ) With Standard Backlash Gears (1) 30 W, 50 W, 100 W Encoder cable φ6 (φ0.24) 300 (11.81) ±30 (1.18) Encoder plug UL20276 Shaft End...
  • Page 132 3.12 Dimensional Drawings of SGMAH Servomotors (3000 min Approx. Allowable Allowable Model Gear ∗ × Mass Radial Load Thrust Load Depth SGMAH- Ratio kg (lb) N (lbf) N (lbf) × AJ1 1 (2.0) (33) (2.36) (2.76) (0.22) (0.12) (0.20) (0.20) ×...
  • Page 133 3 Specifications and Dimensional Drawings 3.12.3 SGMAH Servomotors (3000 min ) With Standard Backlash Gears • Dimensional Tolerances Units: mm (in) Flange Face Dimensions Shaft-end Dimensions Model SGMAH-     AJ1 1 0.55 2.20     –...
  • Page 134 3.12 Dimensional Drawings of SGMAH Servomotors (3000 min (2) 200 W, 400 W, 750 W 300 (11.81)±30 (1.18) Encoder plug Encoder cable φ7 (φ0.28) Shaft End UL20276 (35) (1.38) Motor cable Motor plug φ7 (φ0.28) 0.04 300 (11.81) (0.0016) 0.06 ±30 (1.18) φ0.05 (0.0024)
  • Page 135 3 Specifications and Dimensional Drawings 3.12.3 SGMAH Servomotors (3000 min ) With Standard Backlash Gears Approx. Allowable Allowable Model Gear ∗ × Mass Radial Load Thrust Load Depth SGMAH- Ratio kg (lb) N (lbf) N (lbf) × AJ1 1 (3.54) (4.13) (0.35) (0.14)
  • Page 136 3.12 Dimensional Drawings of SGMAH Servomotors (3000 min • Dimensional Tolerances Units: mm (in) Flange Face Dimensions Shaft-end Dimensions Model SGMAH-     0.79 AJ1 1 3.35     – 0.035 – 0.021 – 0.0008 – 0.0014 ...

  • Page 137: With Standard Backlash Gears And Brakes

    3 Specifications and Dimensional Drawings 3.12.4 SGMAH Servomotors (3000 min ) With Standard Backlash Gears and Brakes 3.12.4 SGMAH Servomotors (3000 min ) With Standard Backlash Gears and Brakes (1) 30 W, 50 W, 100 W Encoder cable φ6 (φ0.24) 300 (11.81)±30(1.18) Encoder plug UL20276...
  • Page 138 3.12 Dimensional Drawings of SGMAH Servomotors (3000 min Allowable Allowable Approx. Model Gear Radial Thrust × Depth Mass SGMAH- Ratio Load Load kg (lb) N (lbf) N (lbf) × (2.36) (2.76) (0.22) (0.12) (0.20) (0.20) (2.7) (33) × 3/31 (2.36) (2.76) (0.22) (0.12)
  • Page 139 3 Specifications and Dimensional Drawings 3.12.4 SGMAH Servomotors (3000 min ) With Standard Backlash Gears and Brakes Units: mm (in) Flange Face Dimensions Shaft-end Dimensions Model SGMAH-     2.56 0.63     – 0.030 – 0.0012 –...
  • Page 140 3.12 Dimensional Drawings of SGMAH Servomotors (3000 min Units: mm (in) (Cont’d) Model Gear Ratio SGMAH- 374.5 267.5 189.5 1/33 (14.74) (10.53) (7.46) (4.21) (0.39) (0.59) (5.28) (5.28) (5.51) (1.73) (2.48) (1.65) (2.36) (1.77) (1.57) Units: mm (in) Allowable Allowable Approx.
  • Page 141 3 Specifications and Dimensional Drawings 3.12.4 SGMAH Servomotors (3000 min ) With Standard Backlash Gears and Brakes • Dimensional Tolerances Units: mm (in) Flange Face Dimensions Shaft-end Dimensions Model SGMAH-     3.35 0.79     –...

  • Page 142: With Low-Backlash Gears

    3.12 Dimensional Drawings of SGMAH Servomotors (3000 min 3.12.5 SGMAH Servomotors (3000 min ) With Low-backlash Gears (1) 30 W, 50 W, 100 W 300(11.81)±30(1.18) Encoder cable φ6 (φ0.24) Encoder plug UL20276 Motor cable (35) (1.38) Shaft End φ7(φ0.28) Motor plug 300(11.81)±30(1.18) 0.06 (0.0024)
  • Page 143 3 Specifications and Dimensional Drawings 3.12.5 SGMAH Servomotors (3000 min ) With Low-backlash Gears Units: mm (in) Allowable Allowable Approx. Model Gear Radial Thrust ∗ × Mass Depth SGMAH- Ratio Load Load kg (lb) N (lbf) N (lbf) M4×8L AH1 1 (2.36) (2.76) (0.22)
  • Page 144 3.12 Dimensional Drawings of SGMAH Servomotors (3000 min • Dimensional Tolerances Units: mm (in) Flange Face Dimensions Shaft-end Dimensions Model SGMAH-     AH1 1 2.20 0.55     – 0.030 – 0.0012 – 0.018 – 0.00071 ...

  • Page 145: Model Sgmah (3000 Min -1 )

    3 Specifications and Dimensional Drawings 3.12.5 SGMAH Servomotors (3000 min ) With Low-backlash Gears (2) 200 W, 400 W, 750 W 300(11.81)±30(1.18) Encoder plug Encoder cable φ7 (φ0.28) Shaft End UL20276 (35)(1.38) Motor cable Motor plug φ7(φ0.28) 0.04 (0.0024) 300±30 (0.0016) 0.06 φ0.05...
  • Page 146 3.12 Dimensional Drawings of SGMAH Servomotors (3000 min Units: mm (in) Allowable Allowable Approx. Model Gear Radial Thrust ∗ × Mass Depth SGMAH- Ratio Load Load kg (lb) N (lbf) N (lbf) M5×10L AH1 1 (3.54) (4.13) (0.35) (0.14) (0.24) (0.24) (6.6) (56)
  • Page 147 3 Specifications and Dimensional Drawings 3.12.5 SGMAH Servomotors (3000 min ) With Low-backlash Gears • Dimensional Tolerances Units: mm (in) Flange Face Dimensions Shaft-end Dimensions Model SGMAH-     AH1 1 3.35 0.79     – 0.035 –...

  • Page 148: Without Gears And Brakes

    3.13 Dimensional Drawings of SGMPH Servomotors (3000 min 3.13 Dimensional Drawings of SGMPH Servomotors (3000 min 3.13.1 SGMPH Servomotors (3000 min ) Without Gears and Brakes 300(11.81)±30(1.18) Encoder plug Encoder cable φ5 (φ0.20) Shaft End UL20276 (35) Motor plug (1.38) Motor cable φ7 (φ0.28) 300(11.81) ±30(1.18)
  • Page 149 3 Specifications and Dimensional Drawings 3.13.1 SGMPH Servomotors (3000 min ) Without Gears and Brakes Units: mm (in) Approx. Allowable Allowable Model Mass Radial Load Thrust Load SGMPH- kg (lb) N (lbf) N (lbf) No key (2.36) (2.76) (0.22) (1.5) (18) (11) (0.55)

  • Page 150: With Brakes

    3.13 Dimensional Drawings of SGMPH Servomotors (3000 min 3.13.2 SGMPH Servomotors (3000 min ) With Brakes Encoder plug 300(11.81)±30(1.18) Encoder cable φ6 (φ0.24) Shaft End UL20276 Motor cable φ7 (φ0.28) (35) Motor plug (1.38) 300(11.81)±30(1.18) Dimensions of SGMPH-01 to 04 Dimensions of SGMPH-08 and -15 0.04 (0.0016) 21(0.83)

  • Page 151: Model Sgmph (3000 Min -1 )

    3 Specifications and Dimensional Drawings 3.13.2 SGMPH Servomotors (3000 min ) With Brakes Units: mm (in) Approx. Allowable Allowable Model Mass Radial Load Thrust Load SGMPH- kg (lb) N (lbf) N (lbf) No key (2.36) (2.76) (0.22) (2.0) (18) (11) (0.55) (0.071) (0.12)

  • Page 152: And Without Brakes

    3.13 Dimensional Drawings of SGMPH Servomotors (3000 min 3.13.3 SGMPH Servomotors (3000 min ) With Standard Backlash Gears and Without Brakes 300(11.81)±30(1.18) Encoder plug Shaft End Encoder cable φ6 (φ0.24) UL20276 (35) (1.38) Motor plug Motor cable φ7 (φ0.28) 300(11.81)± (0.0024) 30(1.18) 0.06...

  • Page 153: With Standard Backlash Gears And Without Brakes

    3 Specifications and Dimensional Drawings 3.13.3 SGMPH Servomotors (3000 min ) With Standard Backlash Gears and Without Brakes 1. The dimensions for L and LL of a servomotor incorporating an encoder with super-capacitor (model: SGMPH- INFO are as shown below. SGMPH-01, 02, and 04: L-dimension + 6.4 mm (0.25 in), LL-dimension +6.4 mm (0.25 in) SGMPH-08 and 15: L-dimension + 6.0 mm (0.24 in), LL-dimension +6.0 mm (0.24 in) 2.
  • Page 154 3.13 Dimensional Drawings of SGMPH Servomotors (3000 min • Dimensional Tolerances Units: mm (in) Flange Face Dimensions Shaft-end Dimensions Model SGMPH-     AJ1 1 2.56 0.63     – 0.011 – 0.0004 – 0.030 – 0.0012 ...

  • Page 155: With Standard Backlash Gears And Brakes

    3 Specifications and Dimensional Drawings 3.13.4 SGMPH Servomotors (3000 min ) With Standard Backlash Gears and Brakes 3.13.4 SGMPH Servomotors (3000 min ) With Standard Backlash Gears and Brakes Encoder plug Encoder cable φ6 (φ0.24) 300(11.81)±30(1.18) UL20276 Motor cable φ7(φ0.28) (35) (1.38) Shaft End Motor plug...
  • Page 156 3.13 Dimensional Drawings of SGMPH Servomotors (3000 min Units: mm (in) (Cont’d) Model Gear SGMPH- Ratio 136.7 (10.79) (7.48) (5.38) (3.31) (0.16) (0.47) (3.23) (3.86) (3.94) (1.57) (0.91) (1.65) (1.42) (0.98) (1.73) 143.7 26.5 3/31 (11.89) (7.76) (5.66) (4.13) (0.20) (0.51) (3.66) (4.41)
  • Page 157 3 Specifications and Dimensional Drawings 3.13.4 SGMPH Servomotors (3000 min ) With Standard Backlash Gears and Brakes Units: mm (in) Allowable Allowable Approx. Model Gear Radial Thrust ∗ × Mass Depth SGMPH- Ratio Load Load kg (lb) N (lbf) N (lbf) 12.5 10.55 M4 ×...
  • Page 158 3.13 Dimensional Drawings of SGMPH Servomotors (3000 min • Dimensional Tolerances Units: mm (in) Flange Face Dimensions Shaft-end Dimensions Model SGMPH-     2.56 0.63     – 0.018 – 0.0004 – 0.030 – 0.0012  ...

  • Page 159: With Low-Backlash Gears

    3 Specifications and Dimensional Drawings 3.13.5 SGMPH Servomotors (3000 min ) With Low-backlash Gears 3.13.5 SGMPH Servomotors (3000 min ) With Low-backlash Gears 300(11.81)±30(1.18) Encoder plug Encoder cable φ6 (φ0.24) UL20276 Motor cable φ7 (φ0.28) (35) Motor plug (1.38) Shaft End 300(11.81)±30(1.18) 0.06 (0.0024)
  • Page 160 3.13 Dimensional Drawings of SGMPH Servomotors (3000 min Units: mm (in) (Cont’d) Model Gear SGMPH- Ratio 234.5 150.5 130.7 AH1 1 (9.23) (5.93) (5.15) (3.31) (0.47) (0.47) (2.32) (3.78) (3.94) (1.57) (1.73) (1.14) (1.65) (1.42) (0.98) 263.5 158.5 138.7 1/11 AHB 1 (10.37) (6.24)
  • Page 161 3 Specifications and Dimensional Drawings 3.13.5 SGMPH Servomotors (3000 min ) With Low-backlash Gears Units: mm (in) Allowable Allowable Approx. Model Gear Radia Thrust ∗ × Mass Depth SGMPH- Ratio Load Load kg (lb) N (lbf) N (lbf) 12.5 10.5 M4 ×...
  • Page 162 3.13 Dimensional Drawings of SGMPH Servomotors (3000 min • Dimensional Tolerances Units: mm (in) Flange Face Dimensions Shaft-end Dimensions Model SGMPH-     AH1 1 2.56 0.63     – 0.018 – 0.0004 – 0.030 – 0.0012 ...

  • Page 163: Dimensional Drawing Of Output Shafts With Oil Seals For Sgmah And Sgmph Servomotors

    3 Specifications and Dimensional Drawings 3.14.1 SGMAH Servomotors 3.14 Dimensional Drawing of Output Shafts With Oil Seals for SGMAH and SGMPH Servomotors For the SGMAH and SGMPH servomotors with oil seals, the external dimensions of output shafts differ as shown below. 3.14.1 SGMAH Servomotors Model SGMAH-A3, A5, 01...

  • Page 164: Dimensional Drawings Of Sgmgh Servomotors

    3.15 Dimensional Drawings of SGMGH Servomotors (1500 min 3.15 Dimensional Drawings of SGMGH Servomotors (1500 min 3.15.1 SGMGH Servomotors (1500 min ) Without Gears and Brakes Models with oil seals are of the same configuration. (0.0016) 0.04 * For 1A A to 1E A only 0.06...
  • Page 165 3 Specifications and Dimensional Drawings 3.15.1 SGMGH Servomotors (1500 min ) Without Gears and Brakes Units: mm (in) (Cont’d) Shaft-end Dimensions Allowable Allowable Approx. Model Radial Thrust KB1 KB2 Mass SGMGH- Load N Load N kg (lb) (lbf) (lbf) 1760 –...

  • Page 166: Sgmgh Servomotors (1000 Min (Flange-Mounted Type)

    3.15 Dimensional Drawings of SGMGH Servomotors (1500 min Units: mm (in) (Cont’d) Flange Face Dimensions Model SGMGH- 13.5 – 0.046 − − 1EA A21 (9.25) (8.66) (0.16) (0.16) (0.79) (10.6) (3.35) (0.53)   7.87   – 0.0018 Cable Specifications for Detector Connectors Cable Specifications for Servomotor (17-bit Encoder) Connectors...
  • Page 167 3 Specifications and Dimensional Drawings 3.15.2 SGMGH Servomotors (1500 min ) 200-V Specifications Without Gears and With Brakes Units: mm (in) Shaft-end Dimensions Allowable Allowable Approx. Model Radial Thrust Mass SGMGH- Load N Load N kg (lb) (lbf) (lbf) – 0.013 05A A2 (9.21)
  • Page 168 3.15 Dimensional Drawings of SGMGH Servomotors (1500 min (2) 5.5kW to 15kW Models with oil seals are of the same configuration. * For 1A A to 1E A only (0.0016) Shaft End 0.04 0.06 φ0.04 (φ0.0016) 4-φ13.5 Mounting holes 0.04 Note: For the specifications of the other shaft ends, refer to (0.0016) 3.20 Shaft End Specifications for SGMGH, SGMSH...
  • Page 169 3 Specifications and Dimensional Drawings 3.15.2 SGMGH Servomotors (1500 min ) 200-V Specifications Without Gears and With Brakes Units: mm (in) Flange Face Dimensions Allowable Allowable Model Radial Load Thrust Load SGMGH- N (lbf) N (lbf) 114.3 1760 – 0.025 55A A2 (7.87) (7.09)

  • Page 170: Sgmgh Servomotors

    3.15 Dimensional Drawings of SGMGH Servomotors (1500 min 3.15.3 SGMGH Servomotors (1500min ) With Standard Backlash Gears and With- out Brakes (Foot-mounted Type) (1) Grease Lubricating Type Shaft End Tap × Depth (See the following table.) 4-φZ Mounting holes Units: mm (in) Shaft Center Model Gear...
  • Page 171 3 Specifications and Dimensional Drawings 3.15.3 SGMGH Servomotors (1500min ) With Standard Backlash Gears and Without Brakes (Foot-mounted Type) Foot-mounted Dimensions Shaft-end Dimensions Approx. mm (in) mm (in) Model Gear Mass SGMGH- Ratio × kg (lb) Depth 20.5 M8 × 19 05A ASA6 (2.95) (3.54)
  • Page 172 3.15 Dimensional Drawings of SGMGH Servomotors (1500 min • Dimensional Tolerances Units: mm (in) Shaft-end Dimensions Model SGMGH-   05A ASA6 1.10   – 0.013 – 0.0005   05A ASB6 1.10   – 0.013 – 0.0005 ...
  • Page 173 3 Specifications and Dimensional Drawings 3.15.3 SGMGH Servomotors (1500min ) With Standard Backlash Gears and Without Brakes (Foot-mounted Type) (2) Oil Lubricating Type Hydraulic plug Shaft End Tap × Depth (See the Oil supply following plug table.) 4×φZ Mounting holes Units: mm (in) Shaft Center Model...
  • Page 174 3.15 Dimensional Drawings of SGMGH Servomotors (1500 min Units: mm (in) (Cont’d) Shaft Center Model Gear Gear Allowable ∗ SGMGH- Model Ratio Radial Load N (lbf) 13800 CHHJ- 1/11 1AA ASB6 (36.8) (13.3) (11.5) (1.85) (3.43) (0.83) (6.61) (23.5) (15.0) (14.3) (7.87) 4170...
  • Page 175 3 Specifications and Dimensional Drawings 3.15.3 SGMGH Servomotors (1500min ) With Standard Backlash Gears and Without Brakes (Foot-mounted Type) Units: mm (in) (Cont’d) Foot-mounted Dimensions Shaft-end Dimensions Approx. mm (in) mm (in) Model Gear Mass × SGMGH- Ratio kg (lb) XR XC Depth 276.5...
  • Page 176 3.15 Dimensional Drawings of SGMGH Servomotors (1500 min Lubrication INFO • Oil lubricating type (frame numbers: 4130 to 4190) Servomotors of this type have been shipped with oil removed. Be sure to supply oil until the red line at the upper side of the oil guage.
  • Page 177 3 Specifications and Dimensional Drawings 3.15.4 SGMGH Servomotors (1500min ) With Standard Backlash Gears and Without Brakes (Flange-mounted Type) 3.15.4 SGMGH Servomotors (1500min ) With Standard Backlash Gears and With- out Brakes (Flange-mounted Type) (1) Grease Lubricating Type Shaft End Tap ×...
  • Page 178 3.15 Dimensional Drawings of SGMGH Servomotors (1500 min Flange Face Dimensions Shaft-end Dimensions Approx. mm (in) mm (in) Model Gear Mass × SGMGH- Ratio kg (lb) Depth 18.5 × 05A ATA6 (5.28) (4.33) (6.30) (0.12) (0.35) (1.89) (0.16) (1.38) (1.26) (1.10) (0.28) (0.16)
  • Page 179 3 Specifications and Dimensional Drawings 3.15.4 SGMGH Servomotors (1500min ) With Standard Backlash Gears and Without Brakes (Flange-mounted Type) • Dimensional Tolerances Units: mm (in) Flange Face Dimensions Shaft-end Dimensions Model SGMGH- – 0.036 – 0.0014     05A ATA6 4.33 1.10...
  • Page 180 3.15 Dimensional Drawings of SGMGH Servomotors (1500 min (2) Small Oil Lubricating Type 209 (8.23) Oil scavenging Hydrant plug Shaft End Tap × Depth 9(0.35) 5.5(0.22) 6-φ11 Mounting Oil scavenging plug holes Units: mm (in) Shaft Center Model Gear Allowable Gear Model SGMGH- Ratio...
  • Page 181 3 Specifications and Dimensional Drawings 3.15.4 SGMGH Servomotors (1500min ) With Standard Backlash Gears and Without Brakes (Flange-mounted Type) Flange Face Shaft-end Dimensions Approx. Dimensions Model Gear mm (in) Mass mm (in) SGMGH- Ratio kg (lb) × Depth × 76 (2.99) 70 (2.76) 56 (2.2) 55A ATA6...
  • Page 182 3.15 Dimensional Drawings of SGMGH Servomotors (1500 min (3) Large Oil Lubricating Type Hydrant Oil scavenging Shaft End plug Tap × Depth (See the following table.) N-φLZ Mounting holes Oil scavenging plug Units: mm (in) Shaft Center Model Gear Allowable Gear Model SGMGH- Ratio...
  • Page 183 3 Specifications and Dimensional Drawings 3.15.4 SGMGH Servomotors (1500min ) With Standard Backlash Gears and Without Brakes (Flange-mounted Type) Flange Face Dimensions Shaft-end Dimensions Approx. mm (in) mm (in) Model Gear Mass SGMGH- Ratio × kg (lb) Depth × 1/29 30A AT76 (12.2) (10.6)
  • Page 184 3.15 Dimensional Drawings of SGMGH Servomotors (1500 min Lubrication INFO • Oil lubricating type (frame numbers: 4130 to 4190) Servomotors of this type have been shipped with oil removed. Be sure to supply oil until the red line at the upper side of the oil guage.
  • Page 185 3 Specifications and Dimensional Drawings 3.15.5 SGMGH Servomotors (1500min ) With Low-backlash Gears and Without Brakes (Flange-mounted Type) 3.15.5 SGMGH Servomotors (1500min ) With Low-backlash Gears and Without Brakes (Flange-mounted Type) (1) Grease Lubricating Type for Small Applied Specifications of Shaft-end Tap 46(1.81) 100(3.94) d-tap×L...
  • Page 186 3.15 Dimensional Drawings of SGMGH Servomotors (1500 min • Dimensional Tolerances Units: mm (in) Flange Face Dimensions Shaft-end Dimensions IMT Gear     ANFJ-L20 5.12 1.38     – 0.040 – 0.0016 – 0.016 – 0.0006 ...
  • Page 187 3 Specifications and Dimensional Drawings 3.15.5 SGMGH Servomotors (1500min ) With Low-backlash Gears and Without Brakes (Flange-mounted Type) Units: mm (in) Shaft Center Allowable Model Gear Gear Model Radial Load SGMGH- Ratio N (lbf) 2650 1/20 05A AL54 (19.3) (7.48) (5.43) (3.62) (5.51)
  • Page 188 3.15 Dimensional Drawings of SGMGH Servomotors (1500 min Flange Face Dimensions Shaft-end Dimensions Approx. Model Gear mm (in) mm (in) Mass SGMGH- Ratio kg (lb) 1/20 05A AL54 (8.66) (7.48) (9.65) (0.59) (0.47) (2.95) (2.56) (1.97) (0.35) (0.22) (0.55) (68.3) 1/29 05A AL74 (8.66)

  • Page 189: Dimensional Drawings Of Sgmgh Servomotors

    3 Specifications and Dimensional Drawings 3.16.1 SGMGH Servomotors (1000 min ) Without Gears and Brakes 3.16 Dimensional Drawings of SGMGH Servomotors (1000 min 3.16.1 SGMGH Servomotors (1000 min ) Without Gears and Brakes Models with oil seals are of the same configuration. Shaft End (0.0016) SGMGH-03A B to 09A B...
  • Page 190 3.16 Dimensional Drawings of SGMGH Servomotors (1000 min Flange Face Dimensions Allowable Allowable Model mm (in) Radial Load Thrust Load SGMGH- N (lbf) N (lbf) – 0.035 − − 03A B21 (5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (110) (22) ...

  • Page 191: Sgmgh Servomotors (1000 Min -1 (Flange-Mounted Type)

    3 Specifications and Dimensional Drawings 3.16.2 SGMGH Servomotors (1000 min ) Without Gears and With Brakes 3.16.2 SGMGH Servomotors (1000 min ) Without Gears and With Brakes (1) 300W to 3.0kW Models with oil seals are of the same configuration. Shaft End (0.0016) SGMGH-03A B to 09A B...
  • Page 192 3.16 Dimensional Drawings of SGMGH Servomotors (1000 min Flange Face Dimensions Allowable Allowable Model mm (in) Radial Load Thrust Load SGMGH- N (lbf) N (lbf) – 0.035 − − 03A B2 (5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (110) (22) ...
  • Page 193 3 Specifications and Dimensional Drawings 3.16.2 SGMGH Servomotors (1000 min ) Without Gears and With Brakes (2) 4.0 kW to 5.5 kW Models with oil seals are of the same configuration. 113(4.45) (0.0016) 48(1.89) LM Shaft End 0.04 18(0.71) 3.2(0.13) 180( 7.09) 113(4.45) φ0.04...
  • Page 194 3.16 Dimensional Drawings of SGMGH Servomotors (1000 min 3.16.3 SGMGH Servomotors (1000 min ) With Standard Backlash Gears and With- out Brakes (Foot-mounted Type) (1) Grease Lubricating Type Shaft End Tap × Depth 4-φZ Mounting holes Units: mm (in) Shaft Center Model Gear Gear...
  • Page 195 3 Specifications and Dimensional Drawings 3.16.3 SGMGH Servomotors (1000 min ) With Standard Backlash Gears and Without Brakes (Foot-mounted Type) Units: mm (in) (Cont’d) Shaft Center Model Gear Gear Allowable ∗ SGMGH- Model Ratio Radial Load N (lbf) 5700 CNHX- 1/11 20A BSB6 (19.8)
  • Page 196 3.16 Dimensional Drawings of SGMGH Servomotors (1000 min • Dimensional Tolerances Units: mm (in) Shaft-end Dimensions Model SGMGH-   03A BSA6 1.10   – 0.013 – 0.0005   03A BSB6 1.10   – 0.013 – 0.0005 ...
  • Page 197 3 Specifications and Dimensional Drawings 3.16.3 SGMGH Servomotors (1000 min ) With Standard Backlash Gears and Without Brakes (Foot-mounted Type) (2) Oil Lubricating Type Oil supply 47(1.85) 22(0.87) plug Hydrant Shaft End Tap × Depth Oil supply plug 4-φZ Mounting holes Units: mm (in) Shaft Center...
  • Page 198 3.16 Dimensional Drawings of SGMGH Servomotors (1000 min Dimensions with Feet Shaft-end Dimensions Approx mm (in) mm (in) Model Gear . Mass × SGMGH- Ratio kg (lb) Depth × 1/21 12A BSC6 (5.71) (5.71) (0.87) (2.56) (13.0) (7.68) (2.95) (3.94) (0.71) (2.76) (2.20)
  • Page 199 3 Specifications and Dimensional Drawings 3.16.3 SGMGH Servomotors (1000 min ) With Standard Backlash Gears and Without Brakes (Foot-mounted Type) • Dimensional Tolerances Units: mm (in) Shaft-end Dimensions Model SGMGH-   12A BSC6 1.97   – 0.016 – 0.0006 ...
  • Page 200 3.16 Dimensional Drawings of SGMGH Servomotors (1000 min 3.16.4 SGMGH Servomotors (1000 min ) With Standard Backlash Gears and With- out Brakes (Flange-mounted Type) (1) Grease Lubricating Type 4 Mounting holes 6 Mounting holes Shaft End Tap × Depth (See the following table.) N-φ11 Mounting N-φ11 Mounting...
  • Page 201 3 Specifications and Dimensional Drawings 3.16.4 SGMGH Servomotors (1000 min ) With Standard Backlash Gears and Without Brakes (Flange-mounted Type) Flange Face Dimensions Shaft-end Dimensions Approx. mm (in) mm (in) Model Mass SGMGH- × kg (lb) Depth 18.5 × 03A BTA6 (5.28) (4.33) (6.30)
  • Page 202 3.16 Dimensional Drawings of SGMGH Servomotors (1000 min • Dimensional Tolerances Units: mm (in) Flange Face Dimensions Shaft-end Dimensions Model SGMGH- – 0.036 – 0.0014     03A BTA6 1.10 4.33     – 0.090 – 0.0035 –...
  • Page 203 3 Specifications and Dimensional Drawings 3.16.4 SGMGH Servomotors (1000 min ) With Standard Backlash Gears and Without Brakes (Flange-mounted Type) (2) Small Oil Lubricating Type 209(8.23) 47(1.85) 15 (0.59) Hydrant Shaft End Tap × Depth 9(0.35) (See the Oil scavenging following plug table.)
  • Page 204 3.16 Dimensional Drawings of SGMGH Servomotors (1000 min • Dimensional Tolerances Units: mm (in) Flange Face Dimensions Shaft-end Dimensions Model SGMGH- – 0.050 – 0.0020     12A BTC6 7.87 1.97     – 0.016 – 0.0006 –...
  • Page 205 3 Specifications and Dimensional Drawings 3.16.4 SGMGH Servomotors (1000 min ) With Standard Backlash Gears and Without Brakes (Flange-mounted Type) (3) Large Oil Lubricating Type Oil scavenging plug 47(1.85) Hydrant Shaft End Tap × Depth* N-φLZ Mounting holes Oil scavenging plug * See the following 22(0.87) table.
  • Page 206 3.16 Dimensional Drawings of SGMGH Servomotors (1000 min Flange Face Dimensions Shaft-end Dimensions Approx. mm (in) mm (in) Model Gear Mass × SGMGH- Ratio kg (lb) Depth × 1/21 55A BTC6 (14.2) (12.4) (15.7) (0.20) (0.87) (3.70) (0.31) (0.55) (3.54) (3.15) (2.76) (0.47)
  • Page 207 3 Specifications and Dimensional Drawings 3.16.5 SGMGH Servomotors (1000 min ) With Low-backlash Gears and Without Brakes (Flange-mounted Type) 3.16.5 SGMGH Servomotors (1000 min ) With Low-backlash Gears and Without Brakes (Flange-mounted Type) (1) Small Grease Lubricating Type Applied Specifications for Shaft-end Tap 46(1.81) 100(3.94) d-tap×L...
  • Page 208 3.16 Dimensional Drawings of SGMGH Servomotors (1000 min • Dimensional Tolerances Units: mm (in) Flange Face Dimensions Shaft-end Dimensions IMT Gear     ANFJ-L20 5.12 1.38     – 0.040 – 0.0016 – 0.016 – 0.0006 ...
  • Page 209 3 Specifications and Dimensional Drawings 3.16.5 SGMGH Servomotors (1000 min ) With Low-backlash Gears and Without Brakes (Flange-mounted Type) Units: mm (in) Shaft Center Model Gear Allowable Gear Model SGMGH- Ratio Radial Load N (lbf) 2940 1/29 03A BL74 (19.3) (5.43) (3.62) (5.51)
  • Page 210 3.16 Dimensional Drawings of SGMGH Servomotors (1000 min (Cont’d) Flange Face Dimensions Shaft-end Dimensions Approx. Model Gear mm (in) mm (in) Mass SGMGH- Ratio kg (lb) (72.8) 1/20 06A BL54 (8.66) (7.48) (9.65) (0.59) (0.47) (2.95) (2.56) (1.97) (0.35) (0.22) (0.55) 06A BL74 1/29...

  • Page 211: Dimensional Drawings Of Sgmsh Servomotors

    3 Specifications and Dimensional Drawings 3.17.1 SGMSH Servomotors (3000min ) Without Gears and Without Brakes 3.17 Dimensional Drawings of SGMSH Servomotors (3000min 3.17.1 SGMSH Servomotors (3000min ) Without Gears and Without Brakes Models with oil seals are of the same configuration. Shaft End (0.0016) 46(1.81)
  • Page 212 3.17 Dimensional Drawings of SGMSH Servomotors (3000min Flange Face Dimensions Allowable Allowable Model mm (in) Radial Load Thrust Load SGMSH- N (lbf) N (lbf) – 0.035 10A A21 (4.53) (3.94) (0.12) (0.12) (0.39) (5.12) (0.28) (154) (44)   3.74 ...
  • Page 213 3 Specifications and Dimensional Drawings 3.17.2 SGMSH Servomotors (3000 min ) 200-V Specifications Without Gears and With Brakes 3.17.2 SGMSH Servomotors (3000 min ) 200-V Specifications Without Gears and With Brakes Models with oil seals are of the same configuration. Shaft End (0.0016) 46(1.81)
  • Page 214 3.17 Dimensional Drawings of SGMSH Servomotors (3000min Units: mm (in) Flange Face Dimensions Allowable Allowable Model mm (in) Radial Load Thrust Load SGMSH- N (lbf) N (lbf) – 0.035 10A A2B (154) (44) (4.53) (3.94) (0.12) (0.12) (0.39) (5.12) (0.28) ...
  • Page 215 3 Specifications and Dimensional Drawings 3.17.3 SGMSH Servomotors (3000 min ) With Low-backlash Gears and Without Brakes (Flange-mounted Type) 3.17.3 SGMSH Servomotors (3000 min ) With Low-backlash Gears and Without Brakes (Flange-mounted Type) (1) Small Grease Lubricating Type Applied Specifications for Shaft-end Tap 100(3.94) 12(0.47) (1.81)
  • Page 216 3.17 Dimensional Drawings of SGMSH Servomotors (3000min • Dimensional Tolerances Units: mm (in) Flange Face Dimensions Shaft-end Dimensions IMT Gear     ANFJ-L20 5.12 1.38     – 0.040 – 0.0016 – 0.016 – 0.0006  ...
  • Page 217 3 Specifications and Dimensional Drawings 3.17.3 SGMSH Servomotors (3000 min ) With Low-backlash Gears and Without Brakes (Flange-mounted Type) (2) Large Grease Lubricating Type 46(1.81) Shaft End 1(0.04) 5(0.20) 6-φLZ Mounting holes Units: mm (in) Shaft Center Model Gear Allowable Gear Model SGMSH- Ratio...
  • Page 218 3.17 Dimensional Drawings of SGMSH Servomotors (3000min Units: mm (in) (Cont’d) Shaft Center Model Gear Allowable Gear Model SGMSH- Ratio Radial Load N (lbf) 1670 40A AL14 ANFJ-L30 (22.7) (9.29) (7.48) (5.51) (3.03) (0.87) (4.49) (13.4) (376) 4700 40A AL24 (25.6) (9.29) (7.48)
  • Page 219 3 Specifications and Dimensional Drawings 3.17.3 SGMSH Servomotors (3000 min ) With Low-backlash Gears and Without Brakes (Flange-mounted Type) (Cont’d) Shaft-end Dimensions Approx. Flange Face Dimensions mm (in) Model Gear mm (in) Mass SGMSH- Ratio kg (lb) 1/45 30A AL84 (11.0) (9.45) (12.2)

  • Page 220: Dimensional Drawings Of Sgmdh Servomotors

    3.18 Dimensional Drawings of SGMDH Servomotors (2000min 3.18 Dimensional Drawings of SGMDH Servomotors (2000min These Servomotors are not provided with gears. 3.18.1 SGMDH Servomotors (2000min ) Without Gears and With/Without Brakes Models with oil seals are of the same configuration. Shaft End (0.016) 0.04...
  • Page 221 3 Specifications and Dimensional Drawings 3.18.1 SGMDH Servomotors (2000min ) Without Gears and With/Without Brakes Cable Specifications for Detector Connectors (17-bit Encoder) Receptacle: MS3102A20-29P Applicable plug (Purchased by the customer) Plug: MS3108B20-29S Cale clamp: MS3057-12A H G F With an Absolute Encoder With an Incremental Encoder −...

  • Page 222: Dimensional Drawings Of Sgmcs Servomotors

    3.19 Dimensional Drawings of SGMCS Servomotors 3.19 Dimensional Drawings of SGMCS Servomotors 3.19.1 SGMCS Servomotors φ135 Model 0.07 (0.002) B 6 × M4 screw, depth 8 (0.31) 6 × M4 screw, 0.02 (0.001) depth 8 (0.31) (0.16) (0.16) φ0.07 (0.002) A Rotating section ∗...

  • Page 223: Sgmcs Servomotors Φ230 Model

    3 Specifications and Dimensional Drawings 3.19.3 SGMCS Servomotors φ230 Model 3.19.3 SGMCS Servomotors φ230 Model 0.08 (0.003) B 6 × M6 screw, 6 × M6 screw, depth 10 (0.39) 0.02 (0.001) depth 10 (0.39) φ0.08 (0.003) A Rotating section (shown with hatching) Non- rotating section...

  • Page 224: Sgmcs Servomotors Φ280 Model

    3.19 Dimensional Drawings of SGMCS Servomotors 3.19.5 SGMCS Servomotors φ280 Model 15 (0.59) 12 × M6 screw, depth 15 (0.59) 6 (0.24) 41 (1.61) 0.08 (0.003) A B 15 (0.59) (within φ280h7) φ0.08 (0.003) (0.059) (0.20) 0.04 (Rotating (0.001) Section) Rotating Section (shown with hatching)

  • Page 225: Sgmcs Servomotors Φ360 Model

    3 Specifications and Dimensional Drawings 3.19.6 SGMCS Servomotors φ360 Model 3.19.6 SGMCS Servomotors φ360 Model 12 × M8 screw, depth 15 (0.59) 15 (0.59) 41 (1.61) 6 (0.24) 0.08 (0.003) A B 15 (0.59) (within φ360h7) φ0.08 (0.003) A B (0.20) 0.04 (0.001) (0.059)

  • Page 226: Servomotor Connector For All Small-Capacity Series Servomotors

    3.19 Dimensional Drawings of SGMCS Servomotors 3.19.7 Servomotor Connector for All Small-capacity Series Servomotors • Servomotor-end Connector Cable Specifications Model: JN1AS04MK2 Manufacturer: Japan Aviation Electronics Industry, Ltd. Applicable plug: JN1DS04FK1 (Provided by the customer.) Phase U Phase V Phase W (Frame ground) •...

  • Page 227: Servomotor Connector For All Middle-Capacity Series Servomotors

    3 Specifications and Dimensional Drawings 3.19.8 Servomotor Connector for All Middle-capacity Series Servomotors 3.19.8 Servomotor Connector for All Middle-capacity Series Servomotors • Servomotor-end Connector Cable Specifications Model: CE05-2A18-10PD Manufacturer: DDK Ltd. Applicable plug and cable Plug: CE05-6A18-10SD-B-BSS Cable clamp: CE3057-10A-∗(D265) (Provided by the customer.) Phase U Phase V...

  • Page 228: Shaft End Specifications For Sgmgh, Sgmsh And Sgmdh Servomotors

    3.20 Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors 3.20 Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors SGM H - Symbol Specifications Remarks Standard Straight, without key Taper 1/10, with parallel key Semi- (Key slot is JISB1301-1976 high precision. SGMGH standard series is interchangeable with USAGED series.) Taper 1/10, woodruff key...
  • Page 229 3 Specifications and Dimensional Drawings Symbol Specifications Shaft End Straight, With key and tap Units: mm (in) Model SGMSH- SGMGH- SGMDH- Specifi- cations − 03B 06B 12B 20B 30B 40B 55B 10 15 20 30 40 50 05A 09A 20A 30A 44A 55A 75A 1AA 45 (1.77) 63 (2.48) 58 (2.28)
  • Page 230 3.20 Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors Units: mm (in) (Cont’d) Model SGMSH- SGMGH- SGMDH- Specifi- cations − 03B 06B 12B 20B 30B 40B 55B 10 15 20 30 40 50 05A 09A 20A 30A 44A 55A 75A 1AA 45 (1.77) 63 (2.48) 58 (2.28)

  • Page 231: Servopack Specifications And Dimensional Drawings

    SERVOPACK Specifications and Dimensional Drawings 4.1 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - 4-3 4.1.1 Single-phase 100 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 4.1.2 Single-phase/Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 4.1.3 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4 4.2 SERVOPACK Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6...
  • Page 232 4 SERVOPACK Specifications and Dimensional Drawings 4.7 Dimensional Drawings of Base-mounted SERVOPACK Model - - - - - - - - 4-17 4.7.1 Single-phase 100 V: 30 W to 100 W (A3BD to 01BD, A3BDA to 01BDA) Single-phase 200 V: 30 W to 200 W (A3AD to 02AD, A3ADA to 02ADA) - - - - - - - - - -4-17 4.7.2 Single-phase 100 V: 200 W (02BD, 02BDA) Single-phase 200 V: 400 W (04AD, 04ADA) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-18 4.7.3 Three-phase 200 V: 500 W/750 W/1.0 kW (05AD to 10AD, 05ADA to 10ADA) - - - - - -4-19...

  • Page 233: Servopack Ratings And Specifications

    4.1 SERVOPACK Ratings and Specifications 4.1 SERVOPACK Ratings and Specifications CAUTION • Take appropriate measures to ensure that the input power supply is supplied within the specified voltage range. An incorrect input power supply may result in damage to the SERVOPACK. If the voltage exceeds these values, use a step-down transformer so that the voltage will be within the specified range.

  • Page 234: Servopack Ratings And Specifications

    4 SERVOPACK Specifications and Dimensional Drawings 4.1.3 SERVOPACK Ratings and Specifications 4.1.3 SERVOPACK Ratings and Specifications Single or three-phase full-wave rectification IGBT-PWM (sine-wave Control Method driven) Serial encoder: 13, 16 or 17-bit (incremental/absolute) Basic Feedback ∗ The 13-bit encoder is incremental only. Specifi- ∗1 0 to +55 °C (32 to 131 °F)/-20 to +85 °C (-4 to 185 °F)
  • Page 235 4.1 SERVOPACK Ratings and Specifications Phase-A, -B, -C line driver Form Phase-S line driver (only with an absolute encoder) Position Output Frequency Dividing Ratio Servo ON, P control (or Control mode switching, forward/reverse motor rotation by internal speed setting, zero clamping, reference pulse prohib- Signal allocation can Sequence Input ited), forward run prohibited (P-OT), reverse run prohibited (N-OT),...

  • Page 236: Servopack Installation

    4 SERVOPACK Specifications and Dimensional Drawings 4.2 SERVOPACK Installation The SGDM SERVOPACKs can be mounted on a base, rack or duct-ventilated. Incorrect installation will cause problems. Always observe the following installation instructions. WARNING • After voltage resistance test, wait at least five minutes before servicing the product. (Refer to “Voltage Resis- tance Test”...
  • Page 237 4.2 SERVOPACK Installation Install the SERVOPACK perpendicular to the wall as shown in the figure. The SERVOPACK must be oriented this way because it is designed to be cooled by natural convection or a cooling fan. Secure the SERVOPACK using two to four mounting holes. The number of holes depends on the capacity. Orientation Wall Ventilation...

  • Page 238: Servopack Internal Block Diagrams

    4 SERVOPACK Specifications and Dimensional Drawings 4.3.1 Single-phase 200 V, 30 W to 400 W, and 100 V, 30 W to 200 W Models 4.3 SERVOPACK Internal Block Diagrams 4.3.1 Single-phase 200 V, 30 W to 400 W, and 100 V, 30 W to 200 W Models +10% Single-phase 200 to 230 V -15%...

  • Page 239: Three-Phase 200 V, 500 W To 1.5 Kw Models

    4.3 SERVOPACK Internal Block Diagrams 4.3.2 Three-phase 200 V, 500 W to 1.5 kW Models +10% Single/Three-phase 200 to 230 V -15% (50/60 Hz) B1 B2 B3 FAN1 ±12V D2 D3 D4 Servomotor Noise filter CHARGE THS1 Gate drive over- Voltage Relay Gate...

  • Page 240: Three-Phase 200 V, 6.0 Kw To 15 Kw Models

    4 SERVOPACK Specifications and Dimensional Drawings 4.3.4 Three-phase 200 V, 6.0 kW to 15 kW Models 4.3.4 Three-phase 200 V, 6.0 kW to 15 kW Models Regenerative resistor (Option) +10% Three-phase 200 to 230 V -15% (50/60 Hz) THS1 FAN1 PM1/PM2/PM3 Servomotor Noise...

  • Page 241: Servopack's Power Supply Capacities And Power Losses

    4.4 SERVOPACK’s Power Supply Capacities and Power Losses 4.4 SERVOPACK’s Power Supply Capacities and Power Losses The following table shows SERVOPACK’s power supply capacities and power losses at the rated output. Table 4.1 SERVOPACK Power Losses at Rated Output Maximum Output Control Regenerative...

  • Page 242: Servopack Overload Characteristics And Allowable Load Moment Of Inertia

    4 SERVOPACK Specifications and Dimensional Drawings 4.5.1 Overload Characteristics 4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia 4.5.1 Overload Characteristics SERVOPACKs have a built-in overload protective function that protects the SERVOPACKs and servomotors from overload. Allowable power for the SERVOPACKs is limited by the overload protective function as shown in the figure below.

  • Page 243: Starting And Stopping Time

    • Reduce the deceleration rate. • Reduce the maximum motor speed. • Install an externally mounted regenerative resistor if the alarm cannot be cleared. Contact your Yaskawa Application Engineering Department. Regenerative resistors are not built into 200 V SERVOPACKs for 30 W to 400 W or 100 V SERVOPACKs for 30 W to 200 W.
  • Page 244 4 SERVOPACK Specifications and Dimensional Drawings 4.5.3 Load Moment of Inertia (1) Allowable Load Moment of Inertia and Motor Speed for SGMAH 200 V Servomotors The following relationships between the motor speed and load moment of inertia are for an AC input power volt- age of 200 Vrms.
  • Page 245 4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia Servomotor Allowable Load Moment of Inertia Capacity Range Model (Rotor Moment of Inertia Ratio) × 450 W to 15 kW SGMGH (1500 min × 300 W to 5.5 kW SGMGH (1000 min ×...

  • Page 246: Servopack Dimensional Drawings

    4 SERVOPACK Specifications and Dimensional Drawings 4.6 SERVOPACK Dimensional Drawings SERVOPACK dimensional drawings are grouped according to the mounting method and the capacity. (1) Base-mounted Type SERVOPACK Supply Voltage Reference Capacity Model SGDM- D/DA 100 V 30 W / 50 W / 100 W A3B / A5B / 01B 4.7.1 200 V...

  • Page 247: Dimensional Drawings Of Base-Mounted Servopack Model

    4.7 Dimensional Drawings of Base-mounted SERVOPACK Model 4.7.1 Single-phase 100 V: 30 W to 100 W (A3BD to 01BD, A3BDA to 01BDA) Single-phase 200 V: 30 W to 200 W (A3AD to 02AD, A3ADA to 02ADA) YASKAWA SERVOPACK SGDM- YASKAWA...

  • Page 248: Single-Phase 100 V: 200 W (02Bd, 02Bda) Single-Phase 200 V: 400 W (04Ad, 04Ada)

    4 SERVOPACK Specifications and Dimensional Drawings 4.7.2 Single-phase 100 V: 200 W (02BD, 02BDA) Single-phase 200 V: 400 W (04AD, 04ADA) 4.7.2 Single-phase 100 V: 200 W (02BD, 02BDA) Single-phase 200 V: 400 W (04AD, 04ADA) 2×φ5 (φ0.20) holes YASKAWA SERVOPACK SGDM- YASKAWA Terminal...

  • Page 249: Three-Phase 200 V: 500 W/750 W/1.0 Kw (05Ad To 10Ad, 05Ada To 10Ada)

    4.7 Dimensional Drawings of Base-mounted SERVOPACK Model 4.7.3 Three-phase 200 V: 500 W/750 W/1.0 kW (05AD to 10AD, 05ADA to 10ADA) φ5 (φ0.20) hole 96.2 (3.79) Terminal YASKAWA SERVOPACK200V SGDM- block YASKAWA MODE/SET DATA/ CHARGE POWER Ground terminal Cooling fan 2×M4 screws...

  • Page 250: Three-Phase 200 V: 1.5 Kw (15Ad, 15Ada)

    4 SERVOPACK Specifications and Dimensional Drawings 4.7.4 Three-phase 200 V: 1.5 kW (15AD, 15ADA) 4.7.4 Three-phase 200 V: 1.5 kW (15AD, 15ADA) 2×φ5 (φ0.20) holes Heat sink YASKAWA SERVOPACK SGDM- YASKAWA MODE/SET DATA/ CHARGE POWER Terminal Ground block terminal Nameplate 100±0.5 (3.94±0.02)

  • Page 251: Three-Phase 200 V: 2.0 Kw/3.0 Kw (20Ad To 30Ad, 20Ada To 30Ada)

    4.7 Dimensional Drawings of Base-mounted SERVOPACK Model 4.7.5 Three-phase 200 V: 2.0 kW/3.0 kW (20AD to 30AD, 20ADA to 30ADA) 2×φ6 (φ0.24) holes Heat sink YASKAWA SERVOPACK SGDM- YASKAWA MODE/SET DATA/ CHARGE POWER 14-pin terminal M4 mounting screw 100±0.5 Nameplate 5 (0.20)*...

  • Page 252: Three-Phase 200 V: 5.0 Kw (50Ada)

    4 SERVOPACK Specifications and Dimensional Drawings 4.7.6 Three-phase 200 V: 5.0 kW (50ADA) 4.7.6 Three-phase 200 V: 5.0 kW (50ADA) Heat sink 6-pin terminal M5 screw 4-pin terminal YASKAWA SERVOPACK M4 screw SGDM-50ADA Ver. MODE/SET DATA/ CHARGE POWER 125±0.5 Nameplate 5 (0.20)*...

  • Page 253: Three-Phase 200 V: 6.0 Kw/7.5 Kw (60Ada To 75Ada)

    4.7 Dimensional Drawings of Base-mounted SERVOPACK Model 4.7.7 Three-phase 200 V: 6.0 kW/7.5 kW (60ADA to 75ADA) Cooling fan 10 (0.39) SERVOPARK 200V SGDM- Ver. YASKAWA POWER BATTERY MODE/SET DATA/ 110 (4.33) Control circuit terminal 21 (0.83) Nameplate Control CHARGE...

  • Page 254: Three-Phase 200 V: 11.0 Kw/15.0 Kw (1Aada To 1Eada)

    4.7.8 Three-phase 200 V: 11.0 kW/15.0 kW (1AADA to 1EADA) 4.7.8 Three-phase 200 V: 11.0 kW/15.0 kW (1AADA to 1EADA) Cooling fan 10 (0.39) SERVOPACK 200V SGDM- 1AADA Ver. YASKAWA POWER MODE/SET DATA/ BATTERY Control circuit 140 (5.51) terminal M4...

  • Page 255: Dimensional Drawings Of Rack-Mounted Servopack Model

    Single-phase 200 V: 30 W/50 W/100 W/200 W (A3AD-R to 02AD-R, A3ADA-R to 02ADA-R) 22.5 (0.89)* 42 (1.65) 24.5 (0.96) 1.5 (0.06) 32.5 (1.28)* 22.5 (0.89) φ (0.08) 5 (φ0.20) hole YASKAWA SERVOPACK SGDM- YASKAWA MODE/SET DATA/ CHANGE POWER Terminal block Nameplate 32.5 (1.28)* 22.5...

  • Page 256: Single-Phase 100 V: 200 W (02Bd-R, 02Bda-R)

    4.8.2 Single-phase 100 V: 200 W (02BD-R, 02BDA-R) Single-phase 200 V: 400 W (04AD-R, 04ADA-R) 21.5 42 (1.65) 11.5 (0.45)* (0.85) 24.5 (0.96) 42.5 32.5 (1.28)* (1.67) (0.08) φ5 (φ0.20) hole YASKAWA SERVOPACK SGDM- YASKAWA Terminal MODE/SET DATA/ block CHANGE POWER 42.5 32.5* 5 (0.20)

  • Page 257: Three-Phase 200 V: 500 W/750 W/1.0 Kw (05Ad-R To 10Ad-R, 05Ada-R To 10Ada-R)

    25.5 22.5 (0.89)* 24.5 (1.00) φ (0.96) 5 (φ 0.20) hole 46.5 43.5 96.2 (3.79) (0.08) (1.83) (1.71) Terminal block YASKAWA SERVOPACK200V SGDM- YASKAWA MODE/SET DATA/ CHANGE POWER Cooling fan Nameplate 5 (0.20) 75* (2.95) 180 (7.09) 10 (0.39) Ground (0.59)

  • Page 258: Three-Phase 200 V: 1.5 Kw (15Ad-R, 15Ada-R)

    4 SERVOPACK Specifications and Dimensional Drawings 4.8.4 Three-phase 200 V: 1.5 kW (15AD-R, 15ADA-R) 4.8.4 Three-phase 200 V: 1.5 kW (15AD-R, 15ADA-R) Heat sink 2 × φ 5 (φ0.20) 4×M4 screw Flange YASKAWA SERVOPACK SGDM- YASKAWA Terminal Nameplate block 5 (0.20) 72 (2.83)

  • Page 259: Three-Phase 200 V: 2.0 Kw/3.0 Kw (20Ad-R To 30Ad-R, 20Ada-R To 30Ada-R)

    4.8 Dimensional Drawings of Rack-mounted SERVOPACK Model 4.8.5 Three-phase 200 V: 2.0 kW/3.0 kW (20AD-R to 30AD-R, 20ADA-R to 30ADA-R) Heat sink Flange YASKAWA SERVOPACK SGDM- YASKAWA MODE/SET DATA/ CHANGE POWER 14-pin terminal Nameplate M4 mounting screw 6 (0.24) 50±0.5 30 (1.18)*...

  • Page 260: Three-Phase 200 V: 5.0 Kw (50Ada-R)

    4 SERVOPACK Specifications and Dimensional Drawings 4.8.6 Three-phase 200 V: 5.0 kW (50ADA-R) 4.8.6 Three-phase 200 V: 5.0 kW (50ADA-R) Heat sink Flange 6-pin terminal M5 screw YASKAWA SERVOPACK 200V SGDM-50ADA-R MODE/SET DATA/ CHANGE POWER 5-pin terminal M4 screw 3-pin terminal...

  • Page 261: Dimensional Drawings Of Duct-Ventilated Servopack Model

    4.9.1 Three-phase 200 V: 6.0 kW/7.5 kW (60ADA-P to 75ADA-P) Cooling fan (1.34) 7 (0.28) 82 (3.23) 10 (0.39) SERVOPACK 200V 2×φ6 (φ0.24) SGDM- Ver. holes YASKAWA POWER BATTERY MODE/SET DATA/ 110 (4.33) Control circuit Control (0.83) circuit terminal M4...

  • Page 262: Three-Phase 200 V: 11.0 Kw/15.0 Kw (1Aada-P/1Eada-P)

    4 SERVOPACK Specifications and Dimensional Drawings 4.9.2 Three-phase 200 V: 11.0 kW/15.0 kW (1AADA-P/1EADA-P) 4.9.2 Three-phase 200 V: 11.0 kW/15.0 kW (1AADA-P/1EADA-P) Externals Cooling fan 10 (0.39) SERVOPACK 200V SGDM- Ver. YASKAWA POWER MODE/SET DATA/ BATTERY Regenerative 140 (5.51) Resistor terminal Punched hole...

  • Page 263: Specifications And Dimensional Drawings Of Cables And Peripheral Devices

    Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.1 Specifications and Dimensional Drawings of Servomotor Main Circuit Cable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3 5.1.1 Cables for SGMAH and SGMPH Servomotors Without Brakes - - - - - - - - - - - - - - - - - 5-3 5.1.2 Cables for SGMAH and SGMPH Servomotors With Brakes - - - - - - - - - - - - - - - - - - - - 5-3 5.1.3 Flexible Cables for SGMAH and SGMPH Servomotors Without Brakes - - - - - - - - - - - 5-4...
  • Page 264 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.4 Encoder Cables for CN2 Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-40 5.4.1 Encoder Cable With Connectors For SGMAH and SGMPH Servomotors - - - - - - - - - -5-40 5.4.2 Encoder Cable With Connectors for SGMGH, SGMSH, and SGMDH Servomotors - - -5-40 5.4.3 Encoder Cable With a SERVOPACK Connector and Encoder Loose Leads...

  • Page 265: Specifications And Dimensional Drawings Of Servomotor Main Circuit Cable

    5.1 Specifications and Dimensional Drawings of Servomotor Main Circuit Cable Contact Yaskawa Controls Co., Ltd. for SGMGH, SGMSH, and SGMDH Servomotor main circuit cables. When assembling the servomotor main circuit cable, refer to 5.2 Servomotor Main Circuit Wire Size and Connec- tors.

  • Page 266: Flexible Cables For Sgmah And Sgmph Servomotors Without Brakes

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.1.3 Flexible Cables for SGMAH and SGMPH Servomotors Without Brakes Units: m (ft) Cable Cable Applicable Servomotor Applicable Servomotor Cable Type Length Cable Type Length Models Models JZSP-CMM10-03 JZSP-CMM30-03 (9.84) (9.84) SGMAH JZSP-CMM10-05...

  • Page 267: Flexible Cables For Sgmah And Sgmph Servomotors With Brakes

    5.1 Specifications and Dimensional Drawings of Servomotor Main Circuit Cable 5.1.4 Flexible Cables for SGMAH and SGMPH Servomotors With Brakes SERVOPACK end Servomotor end Units: mm (in) 50 (1.97) (10) (0.39) 8.5 (0.33) 35 (1.38) Finished dimension φ7.0 (φ0.28) Heat-shrinkable tube M4 crimped terminals Cap: 350781-1 (6-pin)

  • Page 268: Cables For Sgmcs Servomotors

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.1.5 Cables for SGMCS Servomotors 5.1.5 Cables for SGMCS Servomotors Yaskawa provides cables only for SGMCS- B, C, D, and E servomotors. Cables for SGMCS- M, and N servomotors must be provided by the customer. Refer to 5.2.12 Connectors for SGMCS Servomotors.
  • Page 269 Black (Yellow) Blue White 5m (16.4 ft), 10m (32.8 ft), 15m (49.2 ft), 20m (65.6 ft) Yaskawa Standard Specifi- cations (Standard Length) * Specify the cable length in of cable type designation Example: JZSP-CSM90-15 (15 m (49.2 ft)) Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 270: Servomotor Main Circuit Wire Size And Connectors

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.1 Wire Size 5.2 Servomotor Main Circuit Wire Size and Connectors YASKAWA 200V YASKAWA 200V SERVOPACK SERVOPACK SGDM- SGDM- MODE/SET DATA/ MODE/SET DATA/ CHARGE POWER CHARGE POWER Encoder cable Encoder cable...

  • Page 271: Sgmah And Sgmph Servomotor Connectors For Standard Environments

    5.2 Servomotor Main Circuit Wire Size and Connectors (4) 200 V SGMGH Servomotors for 1000 min Rated Output 300 W 600 W 900 W 1.2 kW 2.0 kW 3.0 kW 4.0 kW 5.5 kW Three-phase HIV2.0 HIV3.5 HIV5.5 HIV8 HIV14 200 V (5) 200 V SGMSH Servomotors Rated Output...
  • Page 272 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.2 SGMAH and SGMPH Servomotor Connectors for Standard Environments (3) 30 to 750 W SGMAH and 100 to 750 W SGMPH Servomotors Without Brakes (a) Connector Type: JZSP-CMM9-1 Units: mm (in) Connector on Servomotor main Type...
  • Page 273 5.2 Servomotor Main Circuit Wire Size and Connectors (5) 1.5 kW SGMPH Servomotors Without Brakes (a) Connector Type: JZSP-CMM9-3 Units: mm (in) Type Connector on Servomotor main 350780-1 servomotor circuit connector 350536-6 or 350550-6 Socket (No. 1 to 4) Soldered type 7.6 (0.30) 27.4 (1.08) 14.7 (0.58)

  • Page 274: Sgmgh, Sgmsh, And Sgmdh Servomotor Connector Configurations

    Plug Waterproof straight plug Connector on Cable servomotor Waterproof cable clamp Waterproof L-shaped plug • Connector Manufacturers Contact Yaskawa Controls Co., Ltd. Connector Type Manufacturer Japan Aviation Electronics Plug Industry, Ltd. Cable clamp DDK Electronics, Inc. Nippon Flex Co., Ltd.

  • Page 275: Sgmgh Servomotor

    5.2 Servomotor Main Circuit Wire Size and Connectors 5.2.4 SGMGH Servomotor (1500 min ) Connectors for Standard Environments (1) Without Holding Brakes The specifications are same for both three-phase 200 V and 400 V servomotors. Capacity Plug Connector on Cable Clamp Servomotor (kW) Straight...
  • Page 276 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.4 SGMGH Servomotor (1500 min ) Connectors for Standard Environments (b) Brake Power Supply Connectors 5.5 to 15.0 kW Servomotors Capacity (kW) Plug Connector on Cable Clamp Three-phase Servomotor Straight L-shaped 200 V Use the connector...
  • Page 277 5.2 Servomotor Main Circuit Wire Size and Connectors 5.2.5 SGMGH Servomotor (1000 min ) Connectors for Standard Environments (1) Without Holding Brakes Plug Capacity Connector on Cable Clamp Servomotor (kW) Straight L-shaped MS3102A18-10P MS3106B18-10S MS3108B18-10S MS3057-10A MS3102A22-22P MS3106B22-22S MS3108B22-22S MS3057-12A MS3102A32-17P MS3106B32-17S MS3108B32-17S...
  • Page 278 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.5 SGMGH Servomotor (1000 min ) Connectors for Standard Environments (3) SGMGH (1000 min ) Servomotor Main Circuit Connector Pin Arrangement (a) Without Holding Brakes 0.3 to 5.5 kW Servomotor Connector Pin Arrangement Pin No.

  • Page 279: Sgmsh Servomotor

    5.2 Servomotor Main Circuit Wire Size and Connectors 5.2.6 SGMSH Servomotor (3000 min ) Connectors for Standard Environments (1) Without Holding Brakes Capacity Plug Connector on Cable Clamp Servomotor (kW) Straight L-shaped MS3102A18-10P MS3106B18-10S MS3108B18-10S MS3057-10A MS3102A22-22P MS3106B22-22S MS3108B22-22S MS3057-12A (2) With Holding Brakes (a) Servomotor-end Connectors Plug...

  • Page 280: Sgmdh Servomotor

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.7 SGMDH Servomotor (2000 min ) Connectors for Standard Environments (3) SGMSH Servomotor (3000 min ) Main Circuit Connector Pin Arrangement (a) Without Holding Brakes 1.0 to 5.0 kW Servomotor Connector Pin Arrangement Pin No.

  • Page 281: Sgmgh Servomotor

    5.2 Servomotor Main Circuit Wire Size and Connectors 5.2.8 SGMGH Servomotor (1500 min ) Connectors Conforming to IP67 and European Safety Standards (1) 0.45 to 4.4 kW Servomotors Without Holding Brakes Select a cable clamp in accordance with the applied cable diameter. The straight plug type JA06A-22-22S-J1-EB and L-shaped plug type JA08A-22-22S-J1-EB conform to the IP67 Protec- INFO tive Construction Standard only.
  • Page 282 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.8 SGMGH Servomotor (1500 min ) Connectors Conforming to IP67 and European Safety Standards (3) 0.45 to 4.4 kW Servomotors With Holding Brakes Select a cable clamp in accordance with the applied cable diameter. The straight plug type JA06A-24-10S-J1-EB and L-shaped plug type JA08A-24-10S-J1-EB conform to IP67 Protective INFO Construction Standard only.
  • Page 283 5.2 Servomotor Main Circuit Wire Size and Connectors (b) Brake Power Supply Connectors Plug Applicable Cable Capacity Connector on Cable Clamp Range in mm (in) (kW) Servomotor Straight L-shaped (For reference) φ 3.6 (φ0.14) to φ5.6 CE05-2A10SL- CE05-6A10SL-3SC- CE05-8A10SL-3SC- CE3057-4A-1 3PC-B B-BSS B-BAS...

  • Page 284: Sgmgh Servomotor

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.9 SGMGH Servomotor (1000 min ) Connectors Conforming to IP67 and European Safety Standards 5.2.9 SGMGH Servomotor (1000 min ) Connectors Conforming to IP67 and European Safety Standards (1) Servomotors Without Holding Brakes (a) For 0.3 to 3.0 kW Servomotors Select a cable clamp in accordance with the applied cable diameter.
  • Page 285 5.2 Servomotor Main Circuit Wire Size and Connectors (2) 0.3 to 3.0 kW Servomotors With Holding Brakes Select a cable clamp in accordance with the applied cable diameter. The straight plug type JA06A-24-10S-J1-EB and L-shaped plug type JA08A-24-10S-J1-EB conform to IP67 Protective INFO Construction Standard only.
  • Page 286 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.9 SGMGH Servomotor (1000 min ) Connectors Conforming to IP67 and European Safety Standards (b) Brake Power Supply Connector Plug Applicable Cable Capacity Connector on Cable Clamp Range in mm (in) Servomotor (kW) Straight...

  • Page 287: Sgmsh Servomotors

    5.2 Servomotor Main Circuit Wire Size and Connectors 5.2.10 SGMSH Servomotors (3000 min ) Connectors Conforming to IP67 and European Safety Standards (1) Servomotors Without Holding Brakes Select a cable clamp in accordance with the applied cable diameter. The straight plug type JA06A-22-22S-J1-EB and L-shaped plug type JA08A-22-22S-J1-EB conform to IP67 Protective INFO Construction Standard only.
  • Page 288 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.10 SGMSH Servomotors (3000 min ) Connectors Conforming to IP67 and European Safety Standards (2) Servomotors With Holding Brakes Select a cable clamp in accordance with the applied cable diameter. The straight plug type JA06A-24-10S-J1-EB and L-shaped plug type JA08A-24-10S-J1-EB conform to IP67 Protective INFO Construction Standard only.
  • Page 289 5.2 Servomotor Main Circuit Wire Size and Connectors (3) Servomotor Main Circuit Connector Pin Arrangement (a) Without Brakes 1.0 to 5.0 kW Servomotor Connector Pin Arrangement Pin No. Signal Phase U Phase V Phase W FG (Frame Ground) Servomotor-end connector (b) With Brakes 1.0 to 5.0 kW Servomotor Connector Pin Arrangement...

  • Page 290: Sgmdh Servomotors

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.11 SGMDH Servomotors (2000 min ) Connectors Conforming to IP67 and European Safety Standards 5.2.11 SGMDH Servomotors (2000 min ) Connectors Conforming to IP67 and European Safety Standards (1) Servomotors With and Without Holding Brakes Select a cable clamp in accordance with the applied cable diameter.

  • Page 291: Connectors For Sgmcs Servomotors

    Standard straight plug Non-waterproof Cable cable clamp Servomotor-end Standard L-shaped plug connector Servomotor end Cable end (Not provided by Yaskawa) Receptacle L-shaped plug Straight plug Cable clamp MS3102A18-10P MS3108B18-10S MS3106B18-10S MS3057-10A 5-29 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 292 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.12 Connectors for SGMCS Servomotors (b) MS3108B: L-shaped Plug Shell Dimensional Drawings Units: mm ( in) Outer Cable Length of Effective Diameter Joint Overall Clamp Shell Joint Screw of Joint Model Screw Length...

  • Page 293: Connector Dimensional Drawings

    5.2 Servomotor Main Circuit Wire Size and Connectors 5.2.13 Connector Dimensional Drawings (1) Connectors Conforming to European Safety Standards (TÜV Certified), Manufactured by DDK Electronics, Inc. Contact Yaskawa Controls Co., Ltd. Plug (Waterproof when inserted only) Conduit Manufacturers Cable Nippon Flex Co., Ltd.
  • Page 294 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.13 Connector Dimensional Drawings (b) Straight Plugs Positioning key 7.85 (0.31) min. Units: mm (in) Outer Diameter Max. Cable Clamp φC±0.8 Joint Screw of Nut Overall Model Mounting Screw (±0.03) Length φQ -0.38 (-0.015)
  • Page 295 5.2 Servomotor Main Circuit Wire Size and Connectors (d) Plug Positioning key Gasket A screw V screw Units: mm (in) Outer Diameter Overall Conduit Joint Screw Length Mounting of Nut E±0.5 H±0.1 +0.05 (+0.002) φB Model -0.25 (-0.010) L±1 Screw (±0.02) (±0.004) φQ...
  • Page 296 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.13 Connector Dimensional Drawings (e) CE3057- A- (D265) Waterproof Cable Clamp With Rubber Bushing 1.6 (0.06) V screw (Cable clamp inner diameter) (Bushing inner diameter) (Movable range on one side) Units: mm (in) Overall Outer...
  • Page 297 5.2 Servomotor Main Circuit Wire Size and Connectors (2) Connectors Conforming to European Safety Standards (TÜV Certified), Manufactured by Japan Aviation Electronics Industry, Ltd. Contact Yaskawa Controls Co., Ltd. Plug Conduit (Waterproof when inserted only) Manufacturers Cable Nippon Flex Co., Ltd.
  • Page 298 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.13 Connector Dimensional Drawings (b) Straight Plugs Positioning key (Wrench width) (Effective screw length) V screw Units: mm (in) Outer Diameter Cable Clamp φB±0.2 φG±0.5 L±0.8 F±0.5 Model of Nut Mounting Screw (±0.01) (±0.03)
  • Page 299 5.2 Servomotor Main Circuit Wire Size and Connectors (d) Plugs Positioning key screw Conduit mounting dimensions Units: mm (in) Outer Diameter Conduit Mounting φB±0.2 L±0.4 Model of Nut E max. Screw (±0.01) (±0.02) φQ±0.8 (±0.03) 27.0 31.5 37.3 (1.47) 1-1/8-18UNEF-2A JL04V-6A20-15SE (1.06) (1.24)

  • Page 300: Servopack Main Circuit Wire Size

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.3.1 Cable Types 5.3 SERVOPACK Main Circuit Wire Size 1. Wire sizes were selected for three cables per bundle at 40 °C (104 °F) ambient temperature with the rated IMPORTANT current.
  • Page 301 5.3 SERVOPACK Main Circuit Wire Size 5.3.2 Single-phase 100 V SERVOPACK Model SGDM- Terminal External Terminal Name A3BD A5BD 01BD 02BD Symbol A3BDA A5BDA 01BDA 02BDA HIV1.25 HIV2.0 Main circuit power supply input terminals L1, L2 HIV1.25 Servomotor connection terminals U, V, W HIV1.25 Control power supply input terminals...

  • Page 302: Encoder Cables For Cn2 Connector

    5.4 Encoder Cables for CN2 Connector When assembling the encoder cable, refer to 5.5 Connectors and Cables for Encoder Signals. Contact Yaskawa Controls Co., Ltd. for IP67 applicable cables, flexible cables and connectors. 5.4.1 Encoder Cable With Connectors For SGMAH and SGMPH Servomotors...

  • Page 303: Encoder Cable With A Servopack Connector And Encoder Loose Leads For Sgmah And Sgmph Servomotors

    5.4 Encoder Cables for CN2 Connector 5.4.3 Encoder Cable With a SERVOPACK Connector and Encoder Loose Leads for SGMAH and SGMPH Servomotors (1) Cable Type Cable Length Cable Type Dimensional Drawing 3 m (9.84 ft) JZSP-CMP03-03 Encoder end SERVOPACK end 60 mm (2.36 in) 5 m (16.40 ft) JZSP-CMP03-05...

  • Page 304: Encoder Cable With A Servopack Connector And Encoder Loose Leads For Sgmgh, Sgmsh, And Sgmdh Servomotors

    φ6.5 mm (φ0.26 in) 15 m (49.21 ft) JZSP-CMP03-15 Crimped connector (Molex Japan Co., Ltd.) 20 m (65.62 ft) JZSP-CMP03-20 Wire markers (2) Encoder-end Connector Contact Yaskawa Controls Co., Ltd. Cable Cable Cable Cable clamp clamp Plug Cable Clamp (Manufactured by Daiichi Denshi...
  • Page 305 5.4 Encoder Cables for CN2 Connector (3) Encoder Plug Connector Pin Arrangement H G F 17-bit Absolute Encoder Connection Specifications 17-bit Incremental Encoder Connection Specifications Lead Lead Lead Lead Pin No. Signal Pin No. Signal Pin No. Signal Pin No. Signal Color Color...

  • Page 306: Encoder Flexible Cables For Sgmah And Sgmph Servomotors

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.4.5 Encoder Flexible Cables for SGMAH and SGMPH Servomotors 5.4.5 Encoder Flexible Cables for SGMAH and SGMPH Servomotors (1) Flexible Cable With Connectors Cable Length Cable Type Dimensional Drawing 3 m (9.84 ft) JZSP-CMP10-03 SERVOPACK end Encoder end...
  • Page 307 φ6.8 mm (φ0.27 in) 15 m (49.21 ft) JZSP-CMP13-15 Heat-shrinkable tube 20 m (65.62 ft) JZSP-CMP13-20 Wire markers Crimped connector (Molex Japan Co., Ltd.) (b) Encoder-end Connector Contact Yaskawa Controls Co., Ltd. Cable Cable clamp Cable clamp Cable Plug Cable Clamp Connector on...
  • Page 308 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.4.7 Encoder Cables for SGMCS Servomotors (c) Encoder Plug Connector Pin Arrangement H G F 17-bit Absolute Encoder Connection Specifications 17-bit Incremental Encoder Connection Specifications Lead Lead Lead Lead Pin No. Signal Pin No.
  • Page 309 5.4 Encoder Cables for CN2 Connector (2) Cable with a SERVOPACK Connector and Encoder Loose Leads (a) Cable Type Standard Type Flexible Type Length (L) Dimensional Drawing JZSP-CMP03-03 JZSP-CMP13-03 3 m (9.84 ft) SERVOPACK end Encoder end 60mm (2.36 in) JZSP-CMP03-05 JZSP-CMP13-05 5 m (16.4 ft)

  • Page 310: Connectors And Cables For Encoder Signals

    5.5.1 Connectors and Cables for SGMAH and SGMPH Servomotors 5.5 Connectors and Cables for Encoder Signals The IP67 applicable cables, flexible cables and connectors are options. Contact Yaskawa Controls Co., Ltd. 5.5.1 Connectors and Cables for SGMAH and SGMPH Servomotors (1) Cable Type Cables for Maximum 20 m (65.62 ft)
  • Page 311 Light blue/ Lead Colors White White Orange Orange/ White Yaskawa 5 m (16.40 ft), 10 m (32.81 ft), 30 m (98.43 ft), 40 m (131.23 ft), Standard 15 m (49.21 ft), 20 m (65.62 ft) 50 m (164.04 ft) Specifications...

  • Page 312: Connectors And Cables For Sgmgh, Sgmsh, And Sgmdh Servomotors

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.5.2 Connectors and Cables for SGMGH, SGMSH, and SGMDH Servomotors 5.5.2 Connectors and Cables for SGMGH, SGMSH, and SGMDH Servomotors (1) Cable Type Cables for Maximum 20 m (65.62 ft) Cables for Maximum 50 m (164.04 ft) Wiring Distance Wiring Distance...
  • Page 313 Lead Colors Orange White White Orange/ White Yaskawa Stan- 5 m (16.40 ft), 10 m (32.81 ft), 30 m (98.43 ft), 40 m (131.23 ft), dard Specifica- 15 m (49.21 ft), 20 m (65.62 ft) 50 m (164.04 ft) tions (Standard...

  • Page 314: Connectors And Cables For Sgmcs Servomotors

    Red/ Orange/ Pink White Cable length: 5 m (16.4 ft), 10 m (32.8 ft), 15 m (49.2 ft), 20 m (65.6 ft) Yaskawa Standard Specifications (Standard Length) * Specify the cable length in of cable type designation. Example: JZSP-CMP09-05 (5 m (16.4 ft)) 5-52 Artisan Technology Group - Quality Instrumentation ...

  • Page 315: Flexible Cables

    5.6 Flexible Cables 5.6 Flexible Cables (1) Life of Flexible Cable The flexible cable supports 10,000,000 or more operations of bending life with the recommended bending radius R = 90 mm (3.54 in) under the following test conditions. • Conditions 1.

  • Page 316: I/O Signal Cables For Cn1 Connector

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.7.1 Standard Cables 5.7 I/O Signal Cables for CN1 Connector 5.7.1 Standard Cables For the connection diagram, refer to 5.7.3 Connection Diagram. (1) Cable Types Cable Type Cable Length (L) 1 m (3.28 ft) JZSP-CKI01-1 2 m (6.56 ft)
  • Page 317 5.7 I/O Signal Cables for CN1 Connector (2) Dimensional Drawing of Connector Units: mm (in) 2.54 (0.10) 1.27 (0.05) 41.1 (1.62) Pin No. 1 Pin No. 2 1.27 (0.05) Pin No. 26 30.48 (1.20) 36.7 (1.44) (3) Cable Size Item Specifications Cable Use twisted-pair or twisted-pair shielded wire.

  • Page 318: Connection Diagram

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.7.3 Connection Diagram 5.7.3 Connection Diagram Host controller end SERVOPACK end Marking Lead Lead Pin No. Signal Marker No. Color Color Dots Orange Orange Black Gray Gray Black V-REF White White Black PULS...

  • Page 319: Peripheral Devices

    5.8 Peripheral Devices 5.8 Peripheral Devices 5.8.1 Cables for Connecting Personal Computers (1) For 25-pin Connector Cable for NEC PC-98 Series PC (a) Cable Type: JZSP-CMS01 (b) Dimensional Drawing Units: mm (in) Personal computer end SERVOPACK end Half-pitch connector Personal computer end SERVOPACK end D-sub connector (25-pin) Plug: 10114-3000VE...

  • Page 320: Digital Operator

    Cable: × AWG26 3C UL2464 × M 2.6 screws 5.8.2 Digital Operator (1) Model JUSP-OP02A-2 with a 1m (3.28 ft)-connection Cable YASKAWA SERVOPACK Digital Operator Connect to CN3 (2) Dimensional Drawing Units: mm (in) 63 (2.48) 2 (0.08) ×φ4.5 (0.18) 18.5 (0.73)

  • Page 321: Cables For Analog Monitor

    5.8 Peripheral Devices (3) Other Types of the Applicable Connection Cables: JZSP-CMS00- The following cables are applicable for longer distance connection. Cable Length Units: mm (in) Cable Type Digital Operator end SERVOPACK end 1 m (3.28 ft) JZSP-CMS00-1 39 (1.54) 30 (1.18) 1.5 m (4.92 ft) JZSP-CMS00-2...

  • Page 322: Connector Terminal Block Converter Unit

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.8.4 Connector Terminal Block Converter Unit 5.8.4 Connector Terminal Block Converter Unit (1) Model: JUSP-TA50P The connection between the connector terminal block converter and the SERVOPACK is shown below. YA KAWA ERVOPACK +1.97 mm (19.69...

  • Page 323: Brake Power Supply Unit

    5.8 Peripheral Devices 5.8.5 Brake Power Supply Unit LPSE-2H01, LPDE-1H01 (1) Model: Manufactured by Yaskawa Controls Co., Ltd. • 200 V input: LPSE-2H01 • 100 V input: LPDE-1H01 (2) Specifications • Rated output voltage: 90 VDC • Maximum output current: 1.0 ADC •...
  • Page 324 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.8.5 Brake Power Supply Unit (b) Internal Circuit for 100 VAC Brake Power Supply Model: LPDE-1H01 Diode bridge Blue Surge DC (Brake) side Surge AC side suppressor No polarity suppressor 90 to 120 V Black White...

  • Page 325: External Regenerative Resistor

    5.8 Peripheral Devices 5.8.6 External Regenerative Resistor Regenerative resistors for SERVOPACKs are internally or externally mounted as shown in the table below. Regenerative resistors can be externally mounted on all SERVOPACKs. Connect an external regenerative resis- tor to the SERVOPACK if regenerative energy exceeds the capacity of the SERVOPACK. If a regenerative resistor is to be mounted externally, the jumper between B2 and B3 for the internal regenerative resistor must be removed.
  • Page 326 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.8.6 External Regenerative Resistor The external regenerative resistor must be purchased by customers. Refer to the table below for selecting an external regenerative resistor. Refer to 6.5 Connecting Regenerative Resistors for the connection. (1) References for External Regenerative Resistor Regenerative Specifications...

  • Page 327: Regenerative Resistor Unit

    5.8 Peripheral Devices (4) Dimensional Drawings RH120/150/220 RH220B Units: mm (in) Units: mm (in) 138 (5.43) 170 (6.69) 154 (6.06) φ4.5 (φ0.18) Lead wire length L: 300 (11.81) × φ4.5 (φ0.18) Model Resistance Rated Power Dimensions Lead wire length L: 500 (19.69) 1 to 100 Ω...

  • Page 328: Absolute Encoder Battery

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.8.8 Absolute Encoder Battery (2) Dimensional Drawings 4×φ6 (φ0.24) Mounting holes Protective cover Ground terminal (M4 screw) External terminals (M5 screws) Cement resistor Units: mm (in) Approx. Mass Model kg (lb) 220 (8.66) 350 (13.78) 92 (3.62)
  • Page 329 5.8 Peripheral Devices (b) Dimensional Drawing • JZSP-BA01 Lithium battery ER3V 3.6 V 1000 mAh Manufactured by Toshiba Battery Co., Ltd. Units: mm (in) Black Connector 26 (1.02) 20±3 (0.79±0.12) • JZSP-BA01-1 Lithium battery ER3V 3.6 V 1000 mAh Manufactured by Toshiba Battery Co., Ltd. Units: mm (in) Black Connector...

  • Page 330: Molded-Case Circuit Breaker (Mccb)

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.8.9 Molded-case Circuit Breaker (MCCB) 5.8.9 Molded-case Circuit Breaker (MCCB) If selecting a molded-case circuit breaker, observe the following precautions. Circuit Breakers IMPORTANT • Select a breaker for inverters. • High-frequency current leaks from the servomotor armature because of switching operations inside the SERVOPACK.

  • Page 331: Noise Filter

    The noise filters model FN and FS manufactured by Schaffner Electronic and FMAC manufacture by Timonta AG are recommended. Contact Yaskawa Controls Co., Ltd. Select one of the following noise filters according to SERVOPACK capacity. For more details, refer to 2.6.3 Noise Filters, Magnetic Contactors, Surge Suppressors and DC Reactors.
  • Page 332 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.8.10 Noise Filter FN2070 FN2070 Model FN2070-16/07 FN350-30/33 -6/07 -10/07 Symbol Dimensions Dimensions 113.5 ± 1 (4.47± 156 ± 1 (6.14± 105 ± 0.5 119 ± 0.5 (4.69± 0.02) 0.04) 0.04) (4.13±...
  • Page 333 5.8 Peripheral Devices (2) Three-phase, 200 V Select one of the following noise filters according to SERVOPACK capacity. For more details, refer to 2.6.3 Noise Filters, Magnetic Contactors, Surge Suppressors and DC Reactors. Refer to 6.1.3 Typical Main Circuit Wiring Examples for the connection method. (a) FN Series Model FN258L-7/07...
  • Page 334 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.8.10 Noise Filter (b) FMAC Series Model FMAC-0934-5010 FMAC-0953-6410 Dimensional Drawings Symbol Dimensions 251 (9.88) 308 (12.13) 201 (7.91) 231 (9.09) 151 (5.94) 151 (5.94) – – – –  ...
  • Page 335 5.8 Peripheral Devices (c) FS Series Model FS5559-35-33 FS5559-80-34 FS5559-150-35 Dimensional Drawings SCHAFFNER Symbol Dimensions 330 (12.99) 420 (16.54) 440 (17.32) 85 (3.35) 95 (3.74) 150 (5.91) 370 (14.57) 460 (18.11) 480 (18.90) 348 (13.70) 438 (17.24) 458 (18.03) 110 (4.33) 180 (7.09) 200 (7.87) External...

  • Page 336: Magnetic Contactor

    HI- J (1) Model: The magnetic contactor is manufactured by Yaskawa Controls Co., Ltd. A magnetic contactor is required to make the AC power supply to SERVOPACK ON/OFF sequence externally. Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor. Refer to 5.8.12 Surge Sup- pressor for details of the surge suppressor.
  • Page 337 5.8 Peripheral Devices (c) Model: HI-25J and HI-35J Mounting Hole Dimensions in mm (in) Terminal Symbols Dimensions in mm (in) Approx. mass: 0.68 kg (1.50 lb) 58 (2.28) 111 (4.37) (0.16) 79 (3.11) 50 (1.97) M3.5 Coil 23.4 (0.92) 45 (1.77) terminal (0.32) 4.5 (0.18)

  • Page 338: Surge Suppressor

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.8.12 Surge Suppressor 5.8.12 Surge Suppressor (1) Surge Suppressor for Magnetic Contactor Contact Yaskawa Controls Co., Ltd. (a) Model: TU-25 , TU-65 (b) Specifications Applicable Voltage Range for Operation Rated...
  • Page 339 5.8 Peripheral Devices (c) Dimensional Drawings • Model TU-25 Units: mm (in) Approx. mass: 0.02 kg (0.04 lb) Internal Connection Diagram M3.5 Connection terminals (0.24) Operation indicator (LED) Varistor 26 (1.02) 22 (0.87) • Model TU-65 Units: mm (in) Approx. mass: 0.035 kg (0.077 lb) Internal Connection Diagram M3.5 Connection terminals (0.24)

  • Page 340: Dc Reactor For Harmonic Suppression

    5.8.13 DC Reactor for Harmonic Suppression (1) Specifications DC reactor for harmonic suppression is handled by Yaskawa Controls Co., Ltd. If necessary for harmonic suppression, connect a DC reactor to the SERVOPACK. Note that no terminal for con- necting a DC reactor is provided to the 6.0 kW or more SERVOPACKs.
  • Page 341 5.8 Peripheral Devices (2) Dimensional Drawings Units: mm (in) φ ×φ Notch Dimensions in mm (in) Approx. DC Reactor Mass Model φH φI in kg (lb) X5059 (1.97) (2.91) (4.92) (5.51) (1.38) (1.77) (2.36) (0.20) (0.21) (2.43) X5060 (1.57) (2.32) (4.13) (4.92) (1.77)

  • Page 342: Variable Resistor For Speed And Torque Setting

    5.8.14 Variable Resistor for Speed and Torque Setting : 25HP-10B (1) Model The multiturn type winding variable resistors with dial MD10-30B4 are manufactured by Sakae Tsushin Kogyo Co., Ltd. Contact Yaskawa Controls Co., Ltd. (2) Dimensional Drawings Units: mm (in) Panel 11.5±1 (0.45±0.04)

  • Page 343: Encoder Signal Converter Unit

    The encoder signal converter unit (the trade name “Receiver Unit”) converts encoder signal output from the line driver to open-collector or voltage-pulse output. A socket model 11PFA is required to use a Receiver Unit. (1) Model: LRX-01 / A Contact Yaskawa Controls Co., Ltd. (2) Specifications Receiver Unit Specifications...

  • Page 344: Wiring

    Wiring 6.1 Wiring Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2 6.1.1 Names and Functions of Main Circuit Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2 6.1.2 Wiring Main Circuit Power Supply Connector (Spring Type) - - - - - - - - - - - - - - - - - - - - 6-4 6.1.3 Typical Main Circuit Wiring Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5...

  • Page 345: Wiring Main Circuit

    6 Wiring 6.1.1 Names and Functions of Main Circuit Terminals 6.1 Wiring Main Circuit This section describes typical examples of main circuit wiring, functions of main circuit terminals, and the power ON sequence. CAUTION • Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines sepa- rated by at least 300 mm (11.81 in).
  • Page 346 6.1 Wiring Main Circuit Maximum Main Applicable Circuit Terminal Symbol Name Servomotor Functions Voltage Capacity (kW) 0.03 to 0.2 Normally not connected. Connect an external regenerative resistor (provided B1，B2 0.03 to 0.4 by customer) between B1 and B2 if the regenerative capacity is insufficient.

  • Page 347: Wiring Main Circuit Power Supply Connector (Spring Type)

    6 Wiring 6.1.2 Wiring Main Circuit Power Supply Connector (Spring Type) 6.1.2 Wiring Main Circuit Power Supply Connector (Spring Type) CAUTION • Observe the following precautions when wiring main circuit connector. • Remove the connector from the SERVOPACK prior to wiring. •...

  • Page 348: Typical Main Circuit Wiring Examples

    6.1 Wiring Main Circuit 6.1.3 Typical Main Circuit Wiring Examples (1) Single-phase, 100/200 V SERVOPACK SGDM- AD/- SGDM- BD/- +24V (For servo alarm display) ALM+ 31 Main circuit Main circuit power supply power supply ALM− 1Ry 1KM 1SUP 1Ry : Relay Molded-case circuit breaker : Indicator lamp : Surge suppressor...
  • Page 349 6 Wiring 6.1.3 Typical Main Circuit Wiring Examples Designing a Power ON Sequence IMPORTANT Note the following points when designing the power ON sequence. • Design the power ON sequence so that main circuit power supply is turned OFF when a servo alarm sig- nal is output.

  • Page 350: Wiring Encoders

    6.2 Wiring Encoders (b) Setting Parameters Parameter Meaning Not applicable for main circuit DC power supply input: Input the AC power sup- n. 0 ply for the terminal L1, L2 or L3. Applicable for main circuit DC power supply input: Input the DC power supply Pn001 n.

  • Page 351: Encoder Connector (Cn2) Terminal Layout

    6 Wiring 6.2.2 Encoder Connector (CN2) Terminal Layout (2) Absolute Encoders SERVOPACK Host controller ∗2 Line receiver Phase A Phase /PAO Absolute encoder Phase B Phase ∗2 /PBO ∗1 Light Phase C C (5) blue Phase /PCO D (6) White/Light blue Phase S /PSO +5 V...

  • Page 352: Examples Of I/O Signal Connections

    6.3 Examples of I/O Signal Connections 6.3 Examples of I/O Signal Connections 6.3.1 Speed Control Mode SERVOPACK ∗ 1. Speed reference ∗ 2. V-REF ± (± 2 to /rated motor ALO1 Alarm code output speed) A / D Max. operating voltage: ∗...

  • Page 353: Position Control Mode

    6 Wiring 6.3.2 Position Control Mode 6.3.2 Position Control Mode SERVOPACK ∗ 1. 150 Ω PULS PULS Phase A /PULS ALO1 150 Ω Alarm code output SIGN SIGN Max. operating voltage: ALO2 30 VDC Phase B Max. operating current: /SIGN ALO3 20 mA DC 150 Ω...

  • Page 354: Torque Control Mode

    6.3 Examples of I/O Signal Connections 6.3.3 Torque Control Mode SERVOPACK ∗ 4. ∗ 1. ∗ 2. External speed limit V-REF ± ± 2 to 10 V /rated motor speed) ALO1 Alarm code output A / D Max. operating voltage: ∗...

  • Page 355: I/O Signal Connector (Cn1) Terminal Layout

    6 Wiring 6.3.4 I/O Signal Connector (CN1) Terminal Layout 6.3.4 I/O Signal Connector (CN1) Terminal Layout The following diagram shows the terminal layout and the signals that are preset before shipping. Signal Num- Function Name Speed coinci- /V-CMP- dence detec- (/COIN-) tion output Running sig-...

  • Page 356: I/O Signal (Cn1) Names And Functions

    6.3 Examples of I/O Signal Connections 6.3.5 I/O Signal (CN1) Names and Functions (1) Input Signals Refer- Signal Name Pin No. Function ence 8.3.1 /S-ON Servo ON: Turns ON the servomotor when the gate block in the inverter is released. −...
  • Page 357 6 Wiring 6.3.5 I/O Signal (CN1) Names and Functions Note: 1. Pin numbers in parentheses () indicate signal grounds. 2. The functions allocated to /S-ON, /P-CON. P-OT, N-OT, /ALM-RST, /P-CL, and /N-CL input signals can be changed by using the parameters. Refer to 7.3.2 Input Circuit Signal Allocation. 3.

  • Page 358: Interface Circuit

    6.3 Examples of I/O Signal Connections 6.3.6 Interface Circuit This section shows examples of SERVOPACK I/O signal connection to the host controller. (1) Interface for Reference Input Circuits (a) Analog Input Circuit CN1 connector terminals, 5-6: Speed reference input and 9-10: Torque reference input are explained below. Analog signals are either speed or torque reference signals at the impedance below.
  • Page 359 6 Wiring 6.3.6 Interface Circuit (2) Sequence Input Circuit Interface CN1 connector terminals 40 to 47 is explained below. The sequence input circuit interface connects through a relay or open-collector transistor circuit. Select a low- current relay otherwise a faulty contact will result. Relay Circuit Example Open-collector Circuit Example SERVOPACK...
  • Page 360 6.3 Examples of I/O Signal Connections (b) Open-collector Output Circuit CN1 connector terminals 37 to 39: Alarm code output are explained below. Alarm code signals (ALO1, ALO2, ALO3) are output from open-collector transistor output circuits. Connect an open-collector output circuit through a photocoupler, relay circuit, or line receiver circuit. Photocoupler Circuit Example Relay Circuit Example 5 to 12 VDC...

  • Page 361: Others

    6 Wiring 6.4.1 Wiring Precautions 6.4 Others 6.4.1 Wiring Precautions To ensure safe and stable operation, always observe the following wiring precautions. 1. For wiring for reference inputs and encoders, use the specified cables. Refer to Chapter 5 Specifications IMPORTANT and Dimensional Drawings of Cables and Peripheral Devices for details.

  • Page 362: Wiring For Noise Control

    6.4 Others 6.4.2 Wiring for Noise Control (1) Wiring Example The SERVOPACK uses high-speed switching elements in the main circuit. It may receive “switching noise” from these high-speed switching elements if the processing of wiring or grounding around the SERVOPACK is not appropriate.
  • Page 363 6 Wiring 6.4.2 Wiring for Noise Control (3) Using Noise Filters Use an inhibit type noise filter to prevent noise from the power supply line. The following table lists recom- mended noise filters for each SERVOPACK model. Install a noise filter on the power supply line for peripheral equipment as necessary. Recommended Noise Filters SERVOPACK Model Voltage...
  • Page 364 6.4 Others 2. Separate the noise filter ground wire from the output lines. Do not accommodate the noise filter ground wire, output lines, and other signal lines in the same duct or bundle them together. Incorrect Correct Noise Noise filter filter The ground wire can be close to...

  • Page 365: Installation Conditions Of Emc Directives

    Refer to this section for other SERVOPACK models such as the rack mounted types as well. This section describes the EMC installation conditions satisfied in test conditions prepared by Yaskawa. The actual EMC level may differ depending on the actual system’s configuration, wiring, and other conditions.
  • Page 366 6.4 Others (b) Three-phase 200 V SGDM-05AD (SGDM-05ADA) to -1EADA (Three-phase 200 VAC, 500 W to 15.0 kW) Ground Plate / Shield Box Brake power supply SERVOPACK Brake U, V, W Power Supply Noise L1, L2, L3 Three-phase filter 200 VAC Servo- L1C, L2C motor...

  • Page 367: Installation Conditions Of Ul Standards

    6 Wiring 6.4.4 Installation Conditions of UL Standards (c) Fixing the Cable Fix and ground the cable shield using a piece of conductive metal. • Example of Cable Clamp Cable Shield (cable sheath stripped) Host controller side Fix and ground the cable shield using a piece of conductive metal.

  • Page 368: Using More Than One Servopack

    6.4 Others 6.4.5 Using More Than One SERVOPACK The following diagram is an example of the wiring when more than one SERVOPACK is used. Connect the alarm output (ALM) terminals for the three SERVOPACKs in series to enable alarm detection relay 1RY to operate.

  • Page 369: Extending Encoder Cables

    Lead Color Orange/ Light blue/ White White Yaskawa Standards Specifications Cable length: 30 m (98.4 ft), 40 m (131.2 ft), 50 m (164.0 ft) (Standard Length) * Specify the cable length in of cable type designation. (Example) JZSP-CMP19-30 (30 m (98.4 ft)) 6-26 Artisan Technology Group - Quality Instrumentation ...
  • Page 370 6.4 Others (2) Connectors and Connector kits for User-modified Encoder Cables Name Type Specifications Reference SGMAH SGMPH SERVOPACK end 5.5.1 SGMGH JZSP-CMP9-1 connector kit SGMSH SGMDH 5.4.3 SGMAH 5.4.5 JZSP-CMP9-2 SGMPH 5.5.1 L-shaped plug 5.4.4 ∗1 MS3108B20-29S 5.5.2 Straight plug For standard 5.4.4 ∗1...

  • Page 371: Operating Conditions On 400-V Power Supply Voltage

    6 Wiring 6.4.7 Operating Conditions on 400-V Power Supply Voltage 6.4.7 Operating Conditions on 400-V Power Supply Voltage CAUTION • Do not connect the SERVOPACK for 100 V and 200 V directly to a voltage of 400 V. The SERVOPACK will be destroyed. •...

  • Page 372: Dc Reactor For Harmonic Suppression

    6.4 Others Voltage conversion SERVOPACK transformer Single-phase 100 or 200 VAC Magnetic contactor for power supply ON and OFF Single-phase Power Supply Connection Example 6.4.8 DC Reactor for Harmonic Suppression (1) Reactor Types The SERVOPACK has the DC reactor connection terminals for power supply harmonic suppression. However, SERVOPACKs with capacities of 6 kW or more do not have these terminals.
  • Page 373 6 Wiring 6.4.8 DC Reactor for Harmonic Suppression (2) Connecting a Reactor Connect a DC reactor as shown in the following diagram. The DC reactor is connected in series to the rectifier circuit’s output side. DC Reactor Three-phase input SERVOPACK DC reactor Note: 1.

  • Page 374: Connecting Regenerative Resistors

    6.5 Connecting Regenerative Resistors 6.5 Connecting Regenerative Resistors 6.5.1 Regenerative Power and Regenerative Resistance The rotational energy of driven machine such as servomotor is returned to the SERVOPACK. This is called regenerative power. The regenerative power is absorbed by charging the smoothing capacitor, but when the power exceeds the capacitor’s chargeable energy, the regenerative power is further consumed by the regenerative resistor.
  • Page 375 6 Wiring 6.5.2 Connecting External Regenerative Resistors (2) Specifications of Built-in Regenerative Resistor If the amount of regenerative energy exceeds the processing capacity of the SERVOPACK, then install an exter- nal regenerative resistor. The following table shows the specifications of the SERVOPACK’s built-in resistor and the amount of regenerative power (average values) that it can process.
  • Page 376 6.5 Connecting Regenerative Resistors (3) Precautions on Selecting External Regenerative Resistors A built-in regenerative resistor is provided for 500 W to 5.0 kW SGDM SERVOPACKs as standard. When installing an external regenerative resistor with the SERVOPACK, make sure that the resistance is the same as that of the SERVOPACK’s built-in resistor.
  • Page 377 Refer to 5.3 SERVOPACK Main Circuit Wire Size for connecting wire size when connecting an external regenerative resistor. (a) SERVOPACKs with Capacities of 400W or Less Enlarged View YASKAWA SERVOPACK SGDM- Connect an external regenerative resistor between B1 and B2 terminals.
  • Page 378 The following diagram shows the connection method between the SERVOPACK and the regenerative resis- tor unit. SERVOPACK Regenerative Resistor Unit JUSP-RA SERVOPARK 200V SGDM- Ver. YASKAWA POWER BATTERY MODE/SET DATA/ CHARGE W ARNING Note: Connect a regenerative resistor unit between B1 and B2 terminals. The regenerative resistor unit is provided by the customer.

  • Page 379: Digital Operator/Panel Operator

    Digital Operator/Panel Operator 7.1 Functions on Digital Operator/Panel Operator - - - - - - - - - - - - - - - - - - - - - 7-2 7.1.1 Connecting the Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2 7.1.2 Key Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3 7.1.3 Basic Mode Selection and Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4 7.1.4 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-6...

  • Page 380: Functions On Digital Operator/Panel Operator

    There is no need to turn OFF the SERVOPACK to connect this hand-held operator to the SERVOPACK. Refer to the following illustrations to connect the digital operator to the SERVOPACK. Digital Operator Panel Operator JUSP-OP02A-2 YASKAWA 200V SERVOPACK SGDM- ..

  • Page 381: Key Names And Functions

    ENTER To display parameter setting and set value. DATA/ (DATA/ENTER K ey) (DATA/SHIFT Key) YASKAWA Press the UP Key to increase the set value. For JOG operation, this key is used as Forward Run Start Key. (UP Key) (UP Key) Press the DOWN Key to decrease the set value.

  • Page 382: Basic Mode Selection And Operation

    7 Digital Operator/Panel Operator 7.1.3 Basic Mode Selection and Operation 7.1.3 Basic Mode Selection and Operation The basic modes include: Status display mode, Utility Function Mode, Parameter Setting Mode, and Monitor Mode. Select a basic mode to display the operation status, set parameters and operation references. The basic mode is selected in the following order.
  • Page 383 7.1 Functions on Digital Operator/Panel Operator (2) Using the Panel Operator Turn ON the power Press DSPL/SET Key. A basic mode is selected in the following order. Status Display Mode (Refer to 7.1.4) Press MODE/SET Press for more than one second. : Utility Function Mode (Refer to 7.2) DATA/ (DATA/SHIFT)

  • Page 384: Status Display

    7 Digital Operator/Panel Operator 7.1.4 Status Display 7.1.4 Status Display Bit data Code (1) Bit Data and Meanings Speed or Torque Control Mode Position Control Mode Item Bit Data Meaning Bit Data Meaning Control Lit when SERVOPACK control power is Control Lit when SERVOPACK control power sup- Power ON...
  • Page 385 7.1 Functions on Digital Operator/Panel Operator (2) Codes and Meanings Code Meaning Baseblock Servo OFF (motor power OFF) Servo ON (motor power ON) Forward Run Prohibited CN1-42 (P-OT) is OFF. Reverse Run Prohibited CN1-43 (N-OT) is OFF. Alarm Status Displays the alarm number. Artisan Technology Group - Quality Instrumentation ...

  • Page 386: Operation In Utility Function Mode (Fn )

    7 Digital Operator/Panel Operator 7.2.1 List of Utility Function Modes 7.2 Operation in Utility Function Mode (Fn 7.2.1 List of Utility Function Modes This section describes how to apply the basic operations using the panel operator to run and adjust the motor. The following table shows the parameters in the utility function mode.

  • Page 387: Alarm Traceback Data Display (Fn000)

    7.2 Operation in Utility Function Mode (Fn 7.2.2 Alarm Traceback Data Display (Fn000) The alarm traceback display can display up to 10 previously occurred alarms. The alarm data is displayed on Fn000, which is stocked in the alarm traceback data. The data can be cleared using an utility function mode “Alarm Traceback Data Clear.”...

  • Page 388: Zero-Point Search Mode (Fn003)

    7 Digital Operator/Panel Operator 7.2.3 Zero-point Search Mode (Fn003) 7.2.3 Zero-point Search Mode (Fn003) CAUTION • Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are disabled during zero-point search mode operations using Fn003. The zero-point search mode is designed to perform positioning to the zero-point pulse (phase-C) position of the encoder and to clamp at the position.

  • Page 389: Parameter Settings Initialization (Fn005)

    7.2 Operation in Utility Function Mode (Fn Display after Step Digital Operator Panel Operator Description Operation Press the DATA/ENTER Key once, or DATA/SHIFT Key for more than one second. DATA ENTER DATA Fn003 display appears again. (DATA/ENTER K ey) (DATA/SHIFT Key) (Press at least 1 s.) The motor will be servo OFF status.

  • Page 390: Alarm Traceback Data Clear (Fn006)

    7 Digital Operator/Panel Operator 7.2.5 Alarm Traceback Data Clear (Fn006) 7.2.5 Alarm Traceback Data Clear (Fn006) This function clears the alarm traceback data, which stores the alarms generated in the SERVOPACK. After having cleared data, “A.--” (No alarm) is set to all the alarm traceback data. Display after Step Digital Operator...

  • Page 391: Automatic Offset-Adjustment Of Motor Current Detection Signal (Fn00E)

    7.2 Operation in Utility Function Mode (Fn 7.2.6 Automatic Offset-adjustment of Motor Current Detection Signal (Fn00E) Automatic motor current detection offset adjustment has performed at Yaskawa before shipping. Basically, the user need not perform this adjustment. Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by cur- rent offset.

  • Page 392: Manual Offset-Adjustment Of Motor Current Detection Signal (Fn00F)

    7 Digital Operator/Panel Operator 7.2.7 Manual Offset-adjustment of Motor Current Detection Signal (Fn00F) 7.2.7 Manual Offset-adjustment of Motor Current Detection Signal (Fn00F) The adjusting range of the motor current detection offset is -512 to +511. To adjust the offset, perform the automatic adjustment (Fn00E) first. And if the torque ripple is still big after the automatic adjustment, perform the manual adjustment.

  • Page 393: Password Setting (Protects Parameters From Being Changed) (Fn010)

    7.2 Operation in Utility Function Mode (Fn 7.2.8 Password Setting (Protects Parameters from Being Changed) (Fn010) The write prohibited setting is used for preventing accidental changes of the parameter. All the parameters and some of Fn become write prohibited by setting values. Refer to 7.2.1 List of Utility Function Modes for details.

  • Page 394: Motor Models Display (Fn011)

    7 Digital Operator/Panel Operator 7.2.9 Motor Models Display (Fn011) 7.2.9 Motor Models Display (Fn011) This mode is used for motor maintenance, set the parameter Fn011 to select the motor model check mode. If the SERVOPACK has been custom-made, you can also check the specification codes of SERVOPACKs. Display after Step Digital Operator Panel Operator...

  • Page 395: Software Version Display (Fn012)

    7.2 Operation in Utility Function Mode (Fn 7.2.10 Software Version Display (Fn012) Set the Fn012 to select the software-version check mode to check the SERVOPACK and encoder software ver- sion numbers. Display after Step Digital Operator Panel Operator Description Operation DSPL Press the DSPL/SET or MODE/SET Key to select the utility function mode.

  • Page 396: Operation In Parameter Setting Mode (Pn )

    7 Digital Operator/Panel Operator 7.3.1 Setting Parameters Operation in Parameter Setting Mode Functions can be selected or adjusted by setting parameters. There are two types of parameters. One type requires value setting and the other requires function selection. These two types use different setting methods. With value setting, a parameter is set to a value within the specified range of the parameter.
  • Page 397 7.3 Operation in Parameter Setting Mode (Pn (c) Parameter Indications In this manual, the parameter is explained with using the following format. Applicable control mode for the parameter Speed : Speed control, internal set speed control : Position control Positoin : Torque control Torque The name of the...
  • Page 398 7 Digital Operator/Panel Operator 7.3.1 Setting Parameters (2) Function Selection Parameters (a) Types of Function Selection Parameters Refer to 12.3.2 List of Parameters. If the parameters with “After restart” in “Setting Validation” column in the table are changed, turn OFF the IMPORTANT main circuit and control power supply and ON again to validate new setting.
  • Page 399 7.3 Operation in Parameter Setting Mode (Pn (b) Example of Changing Function Selection The procedure to change the setting of control method selection (Pn000.1) of the function selection basic switches (Pn000) from speed control to position control is shown below. Display after Digital Step...

  • Page 400: Input Circuit Signal Allocation

    7 Digital Operator/Panel Operator 7.3.2 Input Circuit Signal Allocation For details on each digit of the parameter, see 12.3.2 List of Parameters. Parameter Meaning Pn50A Input the forward run prohibited signal (P-OT) from CN1-42 (Factory setting). Forward run prohibited signal (P-OT) is disabled (Forward rotation allowed). This blank shows the setting The number of the parameter...
  • Page 401 7.3 Operation in Parameter Setting Mode (Pn (2) Changing the Allocation (Pn50A.0 = 1) Set the parameter in accordance with the relation between the signal to be used and the input connector pin. After having changed the parameter, turn OFF the power and ON again to enable the parameters. means factory setting.
  • Page 402 7 Digital Operator/Panel Operator 7.3.2 Input Circuit Signal Allocation (3) Allocating Input Signals The procedure to replace Servo ON (/S-ON) signal allocated to CN1-40 and Forward External Torque Limit (/ EXAMPLE P-CL) allocated to CN1-45 is shown below. Before After Pn50A: Pn50B: Display after...

  • Page 403: Output Circuit Signal Allocation

    7.3 Operation in Parameter Setting Mode (Pn 7.3.3 Output Circuit Signal Allocation Functions can be allocated to the following sequence output signals. After having changed the parameter, turn OFF the power and ON again to enable the parameters. means factory setting. CN1 Pin No.
  • Page 404 7 Digital Operator/Panel Operator 7.3.3 Output Circuit Signal Allocation • Allocating Output Signals The procedure to replace Rotation Detection (/TGON) signal allocated to CN1-27 (28) with factory setting to EXAMPLE “Invalid” and allocate Brake Interlock (/BK) signal to CN1-27 (28) is shown below. Before After Pn50E:...

  • Page 405: Operation In Monitor Mode (Un )

    7.4 Operation in Monitor Mode (Un 7.4 Operation in Monitor Mode (Un The monitor mode can be used for monitoring the reference values, I/O signal status, and SERVOPACK internal status. The monitor mode can be selected during motor operation. 7.4.1 List of Monitor Modes (1) Contents of Monitor Mode Display Parameter Content of Display...
  • Page 406 7 Digital Operator/Panel Operator 7.4.1 List of Monitor Modes (2) Sequence I/O Signal Monitor Display The following section describes the monitor display for sequence I/O signals. (a) Input Signal Monitor Display The status of input signal allocated to each input terminal is displayed: When the input is in OFF (open) status, the top segment (LED) is lit.
  • Page 407 7.4 Operation in Monitor Mode (Un (b) Output Signal Monitor Display The status of output signal allocated to each output terminal is displayed: When the output is in OFF (open) status, the top segment (LED) is lit. When the output is in ON (short-circuited) status, the bottom segment is lit. Top: OFF (H level) Bottom: ON (L level) 4 3 2 1...
  • Page 408 7 Digital Operator/Panel Operator 7.4.1 List of Monitor Modes (4) Monitor Display of Reference Pulse Counter and Feedback Pulse Counter The monitor display of reference pulse counter and feedback pulse counter is expressed in 32-bit hexadecimal. Display after Digital Panel Step Description Operation...

  • Page 409: Operation

    Operation 8.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4 8.1.1 Trial Operation for Servomotor without Load - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6 8.1.2 Trial Operation for Servomotor without Load from Host Reference - - - - - - - - - - - - - - - 8-9 8.1.3 Trial Operation with the Servomotor Connected to the Machine - - - - - - - - - - - - - - - - 8-15...
  • Page 410 8 Operation 8.6 Operating Using Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-48 8.6.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-48 8.6.2 Setting the Electronic Gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-50 8.6.3 Position Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-53 8.6.4 Smoothing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-57...

  • Page 411: Trial Operation

    Unless otherwise specified, the standard parameters for speed control mode (factory setting) are used. (1)Trial Operation for Servomotor without Load (Refer to 8.1.1.) Purpose The servomotor is operated without connecting the shaft to YASKAWA 200V SERVOPACK SGDM- the machine in order to confirm that the following wiring is...
  • Page 412 8.1 Trial Operation Step Item Description Reference Install the servomotor and SERVOPACK according to the installation conditions. Installation − (Do not connect the servomotor to the machine because the servomotor will be oper- and mounting ated first under a no-load condition for checking.) Connect the power supply circuit (L1 and L2 or L1, L2 and L3), servomotor wiring Wiring and −...

  • Page 413: Trial Operation For Servomotor Without Load

    Do not use the CN1 I/O signals here. Refer to 6.1 Wiring Main Circuit for wiring example of main cir- YASKAWA 200V SERVOPACK SGDM- cuit. Refer to 2.5 Selecting Cables for motor and encoder cables.
  • Page 414 Operate with the panel operator. Use the panel operator to operate the servomotor with utility func- tion Fn002 (Jog Mode Operation). Check that the servomotor rotates in the forward direction by UP YASKAWA SERVOPACK SGDM- key, and reverse direction by DOWN key.
  • Page 415 8 Operation 8.1.1 Trial Operation for Servomotor without Load The servomotor’s rotation direction depends on the setting of parameter Pn000.0 (Direction Selection). The example INFO above describes operation with Pn000.0 in the factory setting. Pn304 JOG Speed Position Torque Speed Setting Range Setting Unit Factory Setting...

  • Page 416: Trial Operation For Servomotor Without Load From Host Reference

    8.1 Trial Operation 8.1.2 Trial Operation for Servomotor without Load from Host Reference Check that the servomotor move reference or I/O signals are correctly set from the host controller to the SERVO- PACK. Also check that the wiring and polarity between the host controller and SERVOPACK, and the SERVO- PACK operation settings are correct.
  • Page 417 (N-OT) input signals are turned ON (L level). (Forward run the CN1 to the SERVOPACK. and reverse run are prohibited.) 3. Reference input (0V reference or 0 pulse) is not input. YASKAWA 200V SERVOPACK SGDM- To omit the external wiring, the input terminal function can be set to “Always ON”...
  • Page 418 8.1 Trial Operation (2) Operating Procedure in Speed Control Mode (Pn000 = n. The following circuit is required: External input signal circuit or equivalent. SERVOPACK +24V /S-ON P-OT N-OT V-REF : Max. voltage (12 V) Step Description Check Method and Remarks Check the power and input signal circuits again, and Refer to the above figure for input signal circuit.
  • Page 419 8 Operation 8.1.2 Trial Operation for Servomotor without Load from Host Reference When Position Control is configured at the Host INFO Analog speed reference Host SERVOPACK Trial operation for servomotor without load Position control Speed control When the SERVOPACK conducts speed control and position control is conducted at the host controller, perform the oper- ations below, following the operations in (2) Operating Procedure in Speed Control Mode (Pn000 = n.
  • Page 420 8.1 Trial Operation (3) Operating Procedure in Position Control Mode (Pn000 = n. The following circuit is required: External input signal circuit or equivalent. SERVOPACK +24V /S-ON P-OT N-OT CLR ∗ PULS /PULS Reference pulse SIGN according to parameter /SIGN Pn200.0 setting ∗...
  • Page 421 8 Operation 8.1.2 Trial Operation for Servomotor without Load from Host Reference Step Description Check Method and Remarks Check the motor speed using the Un000 (motor Refer to 7.1.3 Basic Mode Selection and Operation for how it is displayed. speed) [min Un000 (motor speed) [min −...

  • Page 422: Trial Operation With The Servomotor Connected To The Machine

    Follow the procedures below to perform the trial operation. 1. Set the necessary parameters according to the machine configuration. 2. Match the direction of rotation and speed to equipment specifications. YASKAWA 200V SERVOP ACK SGDM-...

  • Page 423: Servomotor With Brakes

    8 Operation 8.1.4 Servomotor with Brakes Step Description Check Method and Remarks Adjust the servo gain and improve the servomotor Refer to 9.1 Autotuning. response characteristics, if necessary. The servomotor will not be broken in completely dur- ing the trial operation. Therefore, let the system run for a sufficient amount of additional time to ensure that it is properly broken in.

  • Page 424: Control Mode Selection

    8.2 Control Mode Selection 8.2 Control Mode Selection The control modes supported by the SGDM SERVOPACK are described below. Parameter Control Mode Reference Section Pn000 Speed Control (Analog voltage speed reference) (Factory Controls servomotor speed by means of an analog voltage speed reference. Use in the following instances.

  • Page 425: Setting Common Basic Functions

    8 Operation 8.3.1 Setting the Servo ON Signal 8.3 Setting Common Basic Functions 8.3.1 Setting the Servo ON Signal This sets the servo ON signal (/S-ON) that determines whether the servomotor power is ON or OFF. (1) Servo ON signal (/S-ON) Type Name Connector Pin...

  • Page 426: Switching The Servomotor Rotation Direction

    8.3 Setting Common Basic Functions 8.3.2 Switching the Servomotor Rotation Direction The rotation direction of the servomotor can be switched without changing the reference pulse to the SERVO- PACK or the reference voltage polarity. This causes the travel direction (+, -) of the shaft reverse. The output signal polarity such as encoder pulse output and analog monitor signal from the SERVOPACK does not change.

  • Page 427: Setting The Overtravel Limit Function

    8 Operation 8.3.3 Setting the Overtravel Limit Function 8.3.3 Setting the Overtravel Limit Function The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion and turn ON a limit switch. (1) Connecting the Overtravel Signal To use the overtravel function, connect the following overtravel limit switch input signal terminals.
  • Page 428 8.3 Setting Common Basic Functions (3) Selecting the Motor Stop Method When Overtravel is Used This is used to set the stop method when an overtravel (P-OT, N-OT) signal is input while the motor is operating. Parameter Stop Mode Mode After Meaning Stopping Pn001...

  • Page 429: Setting For Holding Brakes

    8 Operation 8.3.4 Setting for Holding Brakes 8.3.4 Setting for Holding Brakes The holding brake is used when a SERVOPACK controls a vertical axis. In other words, a servomotor with brake prevents the movable part from shifting due to gravity when the SERVOPACK power goes OFF. (Refer to 8.1.4 Servomotor with Brakes.) Vertical Shaft Shaft with External Force Applied...
  • Page 430 8.3 Setting Common Basic Functions (2) Brake Interlock Output Type Name Connector Pin Setting Meaning Number Output Must be allocated ON (low level) Releases the brake. OFF (high level) Applies the brake. This output signal controls the brake and is used only for a servomotor with a brake. This output signal is not used with the factory settings.
  • Page 431 8 Operation 8.3.4 Setting for Holding Brakes (5) Setting the Brake ON Timing When Servomotor Running The following parameters can be used to change the /BK signal output conditions when a stop reference is output during servomotor operation due to the servo OFF or an alarm occurring. Pn507 Brake Reference Output Speed Level Speed...

  • Page 432: Selecting The Stopping Method After Servo Off

    8.3 Setting Common Basic Functions 8.3.5 Selecting the Stopping Method After Servo OFF The stopping method when the power to the SERVOPACK turns OFF can be selected. Parameter Stop Mode Mode After Meaning Stopping Pn001 Dynamic Brake Stops the servomotor by dynamic braking (DB), then holds it in Dynamic Brake Mode.

  • Page 433: Instantaneous Power Loss Settings

    8 Operation 8.3.6 Instantaneous Power Loss Settings 8.3.6 Instantaneous Power Loss Settings Determines whether to continue operation or turn the servo OFF when the power supply voltage to the SERVO- PACK main circuit is instantaneously interrupted. Pn509 Instantaneous Power Cut Hold Time Position Speed Torque...

  • Page 434: Absolute Encoders

    8.4 Absolute Encoders 8.4 Absolute Encoders WARNING • The output range of multiturn data for the Σ-II series absolute detection system differs from that for conven- tional systems (15-bit encoder and 12-bit encoder). When an infinite length positioning system of the con- ventional type is to be configured with the Σ-II series, be sure to make the following system modification.

  • Page 435: Interface Circuits

    8 Operation 8.4.1 Interface Circuits 8.4.1 Interface Circuits The following diagram shows the standard connections for a an absolute encoder mounted to a servomotor. The connection cables and wiring pin numbers depend on the servomotor. For details, refer to chapter 5 Specifica- tions and Dimensional Drawings of Cables and Peripheral Devices.

  • Page 436: Selecting An Absolute Encoder

    Ltd. 3.6 V 1000mAh 6.0 to 15.0 kW JZSP-BA01-1 * For Yaskawa model, a connector is included with a battery. (1) Battery Provided for SERVOPACK Install the battery with the following model due to the SERVOPACK capacity. Battery connector (CN8)

  • Page 437: Replacing Batteries

    8 Operation 8.4.4 Replacing Batteries 8.4.4 Replacing Batteries The SERVOPACK will generate an absolute encoder battery alarm (A.83) when the battery voltage drops below about 2.7 V. This alarm is output, however, only when the SERVOPACK power is turned ON. If the voltage drops while the SERVOPACK power is ON, the SERVOPACK will not generate the alarm.
  • Page 438 8.4 Absolute Encoders Display after Digital Panel Step Description Operation Operator Operator Alarm generated Press the DSPL/SET or MODE/SET Key to select the utility func- DSPL tion mode. MODE/SET (DSPL/SET Key) (MODE/SET Key) Press the UP or DOWN Key to select parameter Fn008. Note: The digit that can be set will blink.

  • Page 439: Absolute Encoder Reception Sequence

    8 Operation 8.4.6 Absolute Encoder Reception Sequence 8.4.6 Absolute Encoder Reception Sequence The sequence in which the SERVOPACK receives outputs from the absolute encoder and transmits them to host controller is shown below. (1) Outline of Absolute Signals The serial data, pulses, etc., of the absolute encoder that are output from the SERVOPACK are output from the PAO, PBO, and PCO signals as shown below.
  • Page 440 8.4 Absolute Encoders Reference position (setup) Current position Coordinate value Value M M × R Final absolute data P is calculated by following formula. Current value read by encoder = M × R + P Multiturn data (rotation count data) Number of initial incremental pulses Use the following for reverse rotation Number of initial incremental pulses read at setup (This is saved and...
  • Page 441 8 Operation 8.4.6 Absolute Encoder Reception Sequence (b) PSO Serial Data Specifications The number of revolutions is always output in five digits and seven digits (absolute position within one revo- lution). Data Transfer Method Start-stop Synchronization (ASYNC) Baud rate 9600 bps Start bits 1 bit Stop bits...
  • Page 442 8.4 Absolute Encoders (4) Transferring Alarm Contents When an absolute encoder is used, SEN signals can be utilized to transfer the alarm detection contents from PAO outputs to the host controller as serial data. For alarm list, refer to 11.1.1 Alarm Display Table. SEN Signal Error detection Panel Operator...

  • Page 443: Multiturn Limit Setting

    8 Operation 8.4.7 Multiturn Limit Setting 8.4.7 Multiturn Limit Setting WARNING • The multiturn limit value must be changed only for special applications. Changing it inappropriately or unin- tentionally can be dangerous. • If the Multiturn Limit Disagreement alarm (A.CC) occurs, check the setting of parameter Pn205 to be sure that it is correct.

  • Page 444: Multiturn Limit Setting When Multiturn Limit Disagreement (A.cc) Occurred

    8.4 Absolute Encoders 8.4.8 Multiturn Limit Setting When Multiturn Limit Disagreement (A.CC) Occurred Perform the following operation using the digital operator or panel operator. This operation can only be done when the A.CC alarm is generated. Display after Digital Panel Step Description Operation...

  • Page 445: Operating Using Speed Control With Analog Reference

    8 Operation 8.5.1 Setting Parameters 8.5 Operating Using Speed Control with Analog Reference 8.5.1 Setting Parameters Parameter Description Pn000 Control mode selection: Speed control (analog reference) (factory setting) Pn300 Speed Reference Input Gain Speed Position Torque Setting Range Setting Unit Factory Setting Setting Validation 1.50 to 3000...

  • Page 446: Setting Input Signals

    8.5 Operating Using Speed Control with Analog Reference 8.5.2 Setting Input Signals (1) Speed Reference Input Input the speed reference to the SERVOPACK using the analog voltage reference to control the servomotor speed in proportion to the input voltage. Type Signal Connector Pin Name...

  • Page 447: Adjusting Offset

    8 Operation 8.5.3 Adjusting Offset 8.5.3 Adjusting Offset When using the speed control, the servomotor may rotate slowly even if 0 V is specified as the analog voltage reference. This happens if the host controller or external circuit has a slight offset (in the units of mV) in the ref- erence voltage.
  • Page 448 8.5 Operating Using Speed Control with Analog Reference (1) Automatic Adjustment of the Speed Reference Offset The automatic adjustment of reference offset (Fn009) cannot be used when a position loop has been formed with a host controller and the error pulse is changed to zero at the servomotor stop due to servolock. Use the speed ref- erence offset manual adjustment (Fn00A) described in the next section for a position loop.
  • Page 449 8 Operation 8.5.3 Adjusting Offset (2) Manual Adjustment of the Speed Reference Offset Use the speed reference offset manual adjustment (Fn00A) in the following situations: • If a loop is formed with the host controller and the position error pulse is to be zero when servolock is stopped.

  • Page 450: Soft Start

    The servomotor is clamped within ±1 pulse of when the zero clamp function is turned ON, and will still return to the zero clamp position even if it is forcibly rotated by external force. When the /ZCLAMP signal is turned ON, a speed reference below the Pn501 setting is detected. Host controller YASKAWA SERVOPACK Speed reference SGDM- YASKAWA...
  • Page 451 8 Operation 8.5.6 Using the Zero Clamp Function (2) Parameter Setting Parameter Meaning ⇔ Pn000 Control mode selection: Speed control (analog voltage reference) Zero clamp Zero Clamp Conditions Zero clamp is performed with Pn000 = n. when the following two conditions are satisfied: •...

  • Page 452: Encoder Signal Output

    8.5 Operating Using Speed Control with Analog Reference 8.5.7 Encoder Signal Output Encoder feedback pulses processed inside the SERVOPACK can be output externally. Type Signal Connector Name Name Pin Number Output CN1-33 Encoder output phase A /PAO CN1-34 Encoder output phase /A Output CN1-35 Encoder output phase B...
  • Page 453 8 Operation 8.5.7 Encoder Signal Output If using the SERVOPACK’s phase-C pulse output for a zero point return, rotate the servomotor twice or IMPORTANT more before starting a zero point return. If the configuration prevents the servomotor from rotating the ser- vomotor or more, perform a zero point return at a motor speed of 600 min or below.

  • Page 454: Speed Coincidence Output

    8.5 Operating Using Speed Control with Analog Reference 8.5.8 Speed Coincidence Output The speed coincidence (/V-CMP) output signal is output when the actual motor speed during speed control is the same as the speed reference input. The host controller uses the signal as an interlock. Type Signal Connector...

  • Page 455: Operating Using Position Control

    8 Operation 8.6.1 Setting Parameters 8.6 Operating Using Position Control 8.6.1 Setting Parameters Set the following parameters for position control using pulse trains. (1) Control Mode Selection Parameter Meaning Pn000 Control mode selection: Position control (pulse train reference) (2) Setting a Reference Pulse Form Type Signal Connector...
  • Page 456 8.6 Operating Using Position Control (3) Clear Signal Form Selection Type Signal Connector Name Name Pin Number Input CN1-15 Clear Input /CLR CN1-14 Clear Input The internal processing of the SERVOPACK for the clear signal can be set to either of four types by parameter Pn200.1.

  • Page 457: Setting The Electronic Gear

    8 Operation 8.6.2 Setting the Electronic Gear 8.6.2 Setting the Electronic Gear (1) Number of Encoder Pulses SGM H- (Servomotor serial number) Motor Model Encoder Type No. of Encoder Pulses Encoder Specifications 13 bits 2048 Incremental 16 bits 16384 encoder 17 bits 32768 16 bits...
  • Page 458 8.6 Operating Using Position Control (3) Related Parameters Pn202 Electronic Gear Ratio (Numerator) Position Setting Range Setting Unit Factory Setting Setting Validation − 1 to 65535 After restart Pn203 Electronic Gear Ratio (Denominator) Position Setting Range Setting Unit Factory Setting Setting Validation −...
  • Page 459 8 Operation 8.6.2 Setting the Electronic Gear (5) Electronic Gear Ratio Setting Examples The following examples show electronic gear ratio settings for different load configurations. Step Operation Load Configuration Ball Screw Disc Table Belt and Pulley Reference unit: 0.001 mm Reference unit: 0.1°...

  • Page 460: Position Reference

    8.6 Operating Using Position Control 8.6.3 Position Reference The servomotor positioning is controlled by inputting a pulse train reference. The pulse train output form from the host controller corresponds to the following: • Line-driver Output • +24V Open-collector output • +12V Open-collector output •...
  • Page 461 8 Operation 8.6.3 Position Reference Table 8.1 Reference Pulse Input Signal Timing Reference Pulse Signal Form Electrical Specifications Remarks ≤ Sign and pulse train input Sign (SIGN) t1，t2 0.1 ms t1 t2 SIGN (SIGN and PULS signal) H = Forward ≤...
  • Page 462 8.6 Operating Using Position Control (2) Connection Example (a) Connection Example for Line-driver Output Applicable line driver: SN75174 manufactured by Texas Instruments Inc., or MC3487 or equivalent Host controller SERVOPACK Line driver Photocoupler ∗ 150Ω PULS /PULS 150Ω SIGN /SIGN 150Ω...
  • Page 463 8 Operation 8.6.3 Position Reference When the external power supply is used, the circuit will be isolated by a photocoupler. When the SERVO- PACK internal power supply is used, the circuit will not be isolated. Host controller SERVOPACK +12V 1kΩ Photocoupler PULS 150Ω...

  • Page 464: Smoothing

    8.6 Operating Using Position Control 8.6.4 Smoothing A filter can be applied in the SERVOPACK to a constant-frequency reference pulse. (1) Selecting a Position Reference Filter Parameter Description Pn207 Acceleration/deceleration filter Average movement filter * After resetting the parameter, turn OFF the power once and turn it ON again. (2) Filter-related Parameters Pn204 Position Reference Acceleration/Deceleration Time Constant...

  • Page 465: Positioning Completed Output Signal

    8 Operation 8.6.5 Positioning Completed Output Signal 8.6.5 Positioning Completed Output Signal This signal indicates that servomotor movement has been completed during position control. Use the signal as an interlock to confirm at the host controller that positioning has been completed. Type Signal Connector...

  • Page 466: Positioning Near Signal

    8.6 Operating Using Position Control 8.6.6 Positioning Near Signal This signal indicates that the positioning of the servomotor is near to completion, and is generally used in combi- nation with the positioning completed (/COIN) output signal. The host controller receives the positioning near signal prior to confirming the positioning-completed signal, and performs the following operating sequence after positioning has been completed to shorten the time required for operation.

  • Page 467: Reference Pulse Inhibit Function (Inhibit)

    8 Operation 8.6.7 Reference Pulse Inhibit Function (INHIBIT) 8.6.7 Reference Pulse Inhibit Function (INHIBIT) (1) Description This function inhibits the SERVOPACK from counting input pulses during position control. The servomotor remains locked (clamped) while pulse are inhibited. SERVOPACK Pn000.1 Pn000=n. Reference pulse Error Pn000=n.

  • Page 468: Operating Using Torque Control

    8.7 Operating Using Torque Control 8.7 Operating Using Torque Control 8.7.1 Setting Parameters The following parameters must be set for torque control operation with analog voltage reference. Parameter Meaning Pn000 Control mode selection: Torque control (analog voltage reference) Pn400 Torque Reference Input Gain Speed Position Torque...

  • Page 469: Adjusting The Reference Offset

    8 Operation 8.7.3 Adjusting the Reference Offset Checking the Internal Torque Reference INFO 1. Checking the internal torque reference with the panel operator: Use the Monitor Mode (Un-002). Refer to 7.4 Operation in Monitor Mode (Un 2. Checking the internal torque reference with an analog monitor: The internal torque reference can also be checked with an analog monitor.
  • Page 470 8.7 Operating Using Torque Control Use the following procedure for automatic adjustment of the torque reference offset. Step Display after Digital Panel Description Operation Operator Operator Turn OFF the SERVOPACK, and input the 0-V reference voltage Servo- SERVO- from the host controller or external circuit. 0-V speed motor PACK...

  • Page 471: Limiting Servomotor Speed During Torque Control

    8 Operation 8.7.4 Limiting Servomotor Speed during Torque Control Use the following procedure to manually adjust the torque reference offset. Step Display after Digital Panel Description Operation Operator Operator Press the DSPL/SET or MODE/SET Key to select the utility DSPL function mode.
  • Page 472 8.7 Operating Using Torque Control (2) Internal Speed Limit Function Pn407 Speed Limit During Torque Control Torque Setting Range Setting Unit Factory Setting Setting Validation 0 to 10000 10000 Immediately Sets the servomotor speed limit value during torque control. The setting in this parameter is enabled when Pn002 = n. The servomotor’s maximum speed will be used when the setting in this parameter exceeds the maximum speed of the ser- vomotor used.

  • Page 473: Operating Using Speed Control With An Internally Set Speed

    8 Operation 8.8.1 Setting Parameters 8.8 Operating Using Speed Control with an Internally Set Speed • Internally Set Speed Selection This function allows speed control operation by externally selecting an input signal from among three servo- motor speed settings made in advance with parameters in the SERVOPACK. The speed control operations within the three settings are valid.

  • Page 474: Input Signal Settings

    8.8 Operating Using Speed Control with an Internally Set Speed 8.8.2 Input Signal Settings The following input signals are used to switch the operating speed. Type Signal Connector Pin Meaning Name Number Input /P-CON CN1-41 Switches the servomotor rotation direction. (/SPD-D) Must be allocated Input...
  • Page 475 8 Operation 8.8.3 Operating Using an Internally Set Speed • Example of Operating with Internally Set Speed Selection The shock that results when the speed is changed can be reduced by using the soft start function. For details on the soft start function, refer to 8.5.4 Soft Start. Example: Operation with an Internally Set Speed and Soft Start Servomotor speed 3rd speed...

  • Page 476: Limiting Torque

    8.9 Limiting Torque 8.9 Limiting Torque The SERVOPACK provides the following four methods for limiting output torque to protect the machine. Setting Limiting Method Reference Section Level 8.9.1 Internal torque limit 8.9.2 External torque limit 8.9.3 Torque limiting by analog voltage reference 8.9.4 External torque limit + Torque limiting by analog voltage reference 8.9.1 Internal Torque Limit (Limiting Maximum Output Torque)

  • Page 477: External Torque Limit (Output Torque Limiting By Input Signals)

    8 Operation 8.9.2 External Torque Limit (Output Torque Limiting by Input Signals) 8.9.2 External Torque Limit (Output Torque Limiting by Input Signals) This function allows the torque to be limited at specific times during machine operation, for example, during press stops and hold operations for robot workpieces. An input signal is used to enable the torque limits previously set in parameters.
  • Page 478 8.9 Limiting Torque (3) Changes in Output Torque during External Torque Limiting Example: External torque limit (Pn402, Pn403) set to 800% /P-CL (Forward External Torque Limit Input) High level Low level High Pn403 Pn403 level Torque Torque Pn404 /N-CL Speed Speed (Reverse Pn402...

  • Page 479: Torque Limiting Using An Analog Voltage Reference

    8 Operation 8.9.3 Torque Limiting Using an Analog Voltage Reference 8.9.3 Torque Limiting Using an Analog Voltage Reference Torque limiting by analog voltage reference limits torque by assigning a torque limit in an analog voltage to the T-REF terminals (CN1-9 and 10). This function can be used only during speed or position control, not during torque control.

  • Page 480: Torque Limiting Using An External Torque Limit And Analog Voltage Reference

    8.9 Limiting Torque 8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference This function can be used to combine torque limiting by an external input signal and by analog voltage reference. Because the torque limit by analog voltage reference is input from T-REF (CN1-9, 10), this function cannot be used during torque control.

  • Page 481: Checking Output Torque Limiting During Operation

    8 Operation 8.9.5 Checking Output Torque Limiting during Operation (2) Input Signals Type Signal Connector Pin Name Name Number Input T-REF CN1-9 Torque reference input CN1-10 Signal ground for torque reference input The torque limit input gain is set in parameter Pn400. Refer to 8.7.1 Setting Parameters. Input Specifications ±...

  • Page 482: Control Mode Selection

    8.10 Control Mode Selection 8.10 Control Mode Selection The methods and conditions for switching SERVOPACK control modes are described below. 8.10.1 Setting Parameters The following combinations of control modes can be selected according to the application at hand. Parameter Control Method ⇔...
  • Page 483 8 Operation 8.10.2 Switching the Control Mode (2) Switching Other Than Internally Set Speed Control (Pn000.1 = 7, 8, 9, A, or B) Use the following signals to switch control modes. The control modes switch as shown below for each of the sig- nal states indicated.

  • Page 484: Other Output Signals

    8.11 Other Output Signals 8.11 Other Output Signals The following output signals, which have no direct connection with the control modes, are used for machine pro- tection. 8.11.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3) (1) Servo Alarm Output (ALM) This signal is output when an error is detected in the SERVOPACK.

  • Page 485: Warning Output (/Warn)

    8 Operation 8.11.2 Warning Output (/WARN) 8.11.2 Warning Output (/WARN) Type Signal Connector Setting Meaning Name Pin Number Output /WARN Must be allocated ON (high level) Normal state OFF (low level) Warning state This output signal displays warnings before an overload (A.710) or regenerative overload (A.320) alarm is output. For use, the /WARN signal must be allocated with parameter Pn50F.

  • Page 486: Servo Ready (/S-Rdy) Output

    8.11 Other Output Signals 8.11.4 Servo Ready (/S-RDY) Output Type Signal Connector Pin Setting Meaning Name Number Output /S-RDY CN1-29, 30 ON (low level) Servo is ready. (Factory setting) OFF (high level) Servo is not ready. This signal indicates that the SERVOPACK received the servo ON signal and completed all preparations. It is output when there are no servo alarms and the main circuit power supply is turned ON.

  • Page 487: Adjustments

    Adjustments 9.1 Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2 9.1.1 Servo Gain Adjustment Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2 9.1.2 List of Servo Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3 9.2 Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5...

  • Page 488: Autotuning

    9 Adjustments 9.1.1 Servo Gain Adjustment Methods 9.1 Autotuning 9.1.1 Servo Gain Adjustment Methods The SERVOPACK has the servo gains to determine the servo response characteristics. The servo gains are set in the parameters. The parameters are designated for each function as shown in 9.1.2 List of Servo Adjustment Functions.

  • Page 489: List Of Servo Adjustment Functions

    9.1 Autotuning 9.1.2 List of Servo Adjustment Functions (1) Autotuning Functions Autotuning calculates the load moment of inertia, which determines the servo responsiveness, and automatically adjusts parameters, such as the Speed Loop Gain Kv (Pn100), Speed Loop Integral Time Constant Ti (Pn101), Position Loop Gain Kp (Pn102), and Torque Reference Filter Time Constant Tf (Pn401).
  • Page 490 9 Adjustments 9.1.2 List of Servo Adjustment Functions (3) Vibration Reduction Functions Valid Refer- Function Name and Description Features Control ence Related Parameters Modes Section A constant acceleration/deceleration is Soft Start Converts a stepwise speed reference to a achieved for smoother operation. The 8.5.4 Pn305 constant acceleration or deceleration for...

  • Page 491: Online Autotuning

    If the condition meets one of the above cases or the desired operation cannot be achieved by the online autotun- ing, calculate the load moment of inertia on the basis of the machine specifications or using the moment of inertia detection function of Yaskawa’s servodrive supporting tool “SigmaWin200”. Set the value in Pn103 and perform the adjustment manually.

  • Page 492: Online Autotuning Procedure

    9 Adjustments 9.2.2 Online Autotuning Procedure 9.2.2 Online Autotuning Procedure WARNING • Do not perform extreme adjustment or setting changes causing unstable servo operation. Failure to observe this warning may result in injury and damages to the machine. • Adjust the gains slowly while confirming motor operation. Start Operate with factory setting.

  • Page 493: Selecting The Online Autotuning Execution Method

    9.2 Online Autotuning 9.2.3 Selecting the Online Autotuning Execution Method There are three methods that can be used for online autotuning: At start of operation, constantly, and none. The selection method is described next. Online Autotuning Switches Position Speed Pn110 Setting Range Setting Unit Factory Setting...

  • Page 494: Machine Rigidity Setting For Online Autotuning

    9 Adjustments 9.2.4 Machine Rigidity Setting for Online Autotuning 9.2.4 Machine Rigidity Setting for Online Autotuning There are ten machine rigidity settings for online autotuning. When the machine rigidity setting is selected, the servo gains (Speed Loop Gain, Speed Loop Integral Time Constant, Position Loop Gain, and Torque Reference Filter Time Constant) are determined automatically.

  • Page 495: Method For Changing The Machine Rigidity Setting

    9.2 Online Autotuning 9.2.5 Method for Changing the Machine Rigidity Setting The machine rigidity setting is changed in utility function mode using parameter Fn001. The procedure is given below. Panel Step Display after Operation Digital Operator Description Operator DSPL Press the DSPL/SET or MODE/SET Key to select the utility function mode.

  • Page 496: Saving The Results Of Online Autotuning

    9 Adjustments 9.2.6 Saving the Results of Online Autotuning 9.2.6 Saving the Results of Online Autotuning CAUTION • Always set the correct moment of inertia ratio when online autotuning is not used. If the moment of inertia ratio is set incorrectly, vibration may occur. For online autotuning, the most recent load moment of inertia is calculated and the control parameters are adjusted to achieve response suitable for the machine rigidity setting.

  • Page 497: Procedure For Saving The Results Of Online Autotuning

    9.2 Online Autotuning 9.2.7 Procedure for Saving the Results of Online Autotuning The following procedure is used to save the results of online autotuning. Panel Step Display after Operation Digital Operator Description Operator DSPL Press the DSPL/SET or MODE/SET Key to select the utility function mode.

  • Page 498: Manual Tuning

    9 Adjustments 9.3.1 Explanation of Servo Gain 9.3 Manual Tuning 9.3.1 Explanation of Servo Gain The block diagram for position control is as follows: Position control loop Speed control loop Speed Servomotor Move Speed Speed pattern reference reference Position Current Electric Speed Error...

  • Page 499: Servo Gain Manual Tuning

    9.3 Manual Tuning 9.3.2 Servo Gain Manual Tuning The SERVOPACK has the following parameters for the servo gains. Setting the servo gains in the parameters can adjust the servo responsiveness. • Pn100: Speed loop gain (Kv) • Pn101: Speed loop integral time constant (Ti) •...

  • Page 500: Speed Loop Gain

    9 Adjustments 9.3.4 Speed Loop Gain 9.3.4 Speed Loop Gain Speed Loop Gain (Kv) Speed Position Pn100 Setting Range Setting Unit Factory Setting Setting Validation 1 to 2,000 1 Hz Immediately This parameter determines the responsiveness of the speed loop. If the speed loop’s responsiveness is too low, it will delay the outer position loop and cause overshooting and vibration of the speed reference.

  • Page 501: Servo Gain Adjustment Functions

    9.4 Servo Gain Adjustment Functions 9.4 Servo Gain Adjustment Functions 9.4.1 Feed-forward Reference Feed-forward Position Pn109 Setting Range Setting Unit Factory Setting Setting Validation 0 to 100 Immediately Feed-forward Filter Time Constant Position Setting Range Setting Unit Factory Setting Setting Validation Pn10A 0 to 6,400 0.01ms...

  • Page 502: Torque Feed-Forward

    9 Adjustments 9.4.2 Torque Feed-forward 9.4.2 Torque Feed-forward Parameter Meaning Disabled Pn002 Uses T-REF terminal for torque feed-forward input. Torque Reference Input Gain Speed Position Torque Setting Range Setting Unit Factory Setting Setting Validation Pn400 10 to 100 (1.0 to 10.0V/Rated 0.1V/Rated torque Immediately (3 V/Rated torque)

  • Page 503: Speed Feed-Forward

    9.4 Servo Gain Adjustment Functions 9.4.3 Speed Feed-forward Parameter Meaning Disabled Pn207 Uses V-REF terminal for speed feed-forward input. Speed Reference Input Gain Speed Position Torque Setting Range Setting Unit Factory Setting Setting Validation Pn300 150 to 3,000 0.01 V/Rated (1.50 to 30.00 V/Rated Immediately speed...

  • Page 504: Proportional Control Operation (Proportional Operation Reference)

    9 Adjustments 9.4.4 Proportional Control Operation (Proportional Operation Reference) 9.4.4 Proportional Control Operation (Proportional Operation Reference) If parameter Pn000.1 is set to 0 or 1 as shown below, the /P-CON input signal serves as switch to change between PI control and P control. •...

  • Page 505: Using The Mode Switch (P/Pi Switching)

    9.4 Servo Gain Adjustment Functions 9.4.5 Using the Mode Switch (P/PI Switching) Use the mode switch (P/PI switching) function in the following cases: • To suppress overshooting during acceleration or deceleration (for speed control) • To suppress undershooting during positioning and reduce the settling time (for position control) Speed Overshoot Actual motor operation...
  • Page 506 9 Adjustments 9.4.5 Using the Mode Switch (P/PI Switching) Using the Torque Reference Level to Switch Modes (Factory Setting) With this setting, the speed loop is switched to P control when the Reference speed value of torque reference input exceeds the torque set in parameter Motor speed Speed Pn10C.
  • Page 507 9.4 Servo Gain Adjustment Functions Using the Acceleration Level to Switch Modes With this setting, the speed loop is switched to P control when the Reference speed otor speed Speed motor’s acceleration rate exceeds the acceleration rate set in param- eter Pn10E.

  • Page 508: Setting The Speed Bias

    9 Adjustments 9.4.6 Setting the Speed Bias 9.4.6 Setting the Speed Bias The settling time for positioning can be reduced by setting the following parameters to add bias in the speed ref- erence block in the SERVOPACK. Bias Position Pn107 Setting Range Setting Unit Factory Setting...

  • Page 509: Speed Feedback Compensation

    9.4 Servo Gain Adjustment Functions 9.4.8 Speed Feedback Compensation The speed feedback compensation can be used to reduce vibration and allow a higher speed loop gain to be set. In the end, the speed feedback compensation allows the positioning settling time to be reduced because the position loop gain can also be increased if the speed loop gain can be increased.
  • Page 510 9 Adjustments 9.4.8 Speed Feedback Compensation (1) Adjustment Procedure The following procedure explains how to adjust when the speed loop gain cannot be increased due to vibrations in the mechanical system. When adding a speed feedback compensation, observe the position error and torque reference with the analog monitor while adjusting the servo gain.

  • Page 511: Switching Gain Settings

    9.4 Servo Gain Adjustment Functions 9.4.9 Switching Gain Settings Gain switching by the external signal is possible with the SGDM SERVOPACK. For example, to use different gains while the servomotor is running or stopped, set two values in the gain settings 1 and 2 and switch the gains by the external signal.

  • Page 512: Torque Reference Filter

    9 Adjustments 9.4.10 Torque Reference Filter 9.4.10 Torque Reference Filter As shown in the following diagram, the torque reference filter contains torque reference filter time constant (Pn401) and notch filter frequency (Pn409) arrayed in series. The notch filter can be enabled and disabled using the parameters.
  • Page 513 9.4 Servo Gain Adjustment Functions 1. Sufficient precautions must be taken when setting the notch frequency. Do not set the notch filter frequency IMPORTANT (Pn409) that is close to the speed loop’s response frequency. Set the frequency at least four times higher than the speed loop’s response frequency.

  • Page 514: Analog Monitor

    To monitor analog signals, connect the analog monitor cable (JZSP-CA01 or DE9404559) to the connector CN5. The analog monitor signals can be selected by setting parameters Pn003.0 and Pn003.1. SERVOPARK 200V SGDM- Ver. YASKAWA POWER BATTERY MODE/SET DATA/ Cable Type:...
  • Page 515 9.5 Analog Monitor • Related Parameters The following signals can be monitored. Pn003: Function Selections Parameter Function Monitor 1 Monitor 2 Monitor Signal Observation Gain Remarks Motor speed Factory setting for Monitor 2 1 V / 1000 min − Speed reference 1 V / 1000 min Internal torque reference 1 V / 100% rated torque...

  • Page 516: Upgraded Versions

    Upgraded Versions 10.1 Upgraded Versions for SGDM SERVOPACK - - - - - - - - - - - - - - - - - - - - 10-2 10.2 Upgraded Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3 10.2.1 Additional Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3 10.2.2 Improved Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3 10.3 Additional Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4...

  • Page 517: Upgraded Versions For Sgdm Servopack

    10 Upgraded Versions 10.1 Upgraded Versions for SGDM SERVOPACK This chapter describes the additional and improved functions in the upgraded software versions 32 or later for SGDM- DA SERVOPACKs. • Version Numbers Check the 5-digit version number indicated on the front side of the SERVOPACK. The lower two digits indi- cate the software version number.

  • Page 518: Upgraded Functions

    10.2 Upgraded Functions 10.2 Upgraded Functions This section describes additional and improved functions of upgraded versions. 10.2.1 Additional Functions Reference Functions Description Section 10.3.2 Applicable to direct-drive motors. SGMCS direct-drive motor support- ing function 10.4.2 (Servomotor Model: SGMCS- The upper limit of dividing output 16384 [P/R] (equivalent to 16-bit) 10.3.2 Enhanced dividing output resolution is increased to 262144 [P/R] (equivalent to 20-bit).

  • Page 519: Additional Functions

    10 Upgraded Versions 10.3.1 SGMCS Direct-drive Motor Supporting Function 10.3 Additional Functions 10.3.1 SGMCS Direct-drive Motor Supporting Function (1) Applicable Motors This function is applicable to the following SGMCS servomotors. Servomotor Type SGMCS- SGMCS- SGMCS- SGMCS- SGMCS- SGMCS- Note: For direct-drive motors, indicates the motor rated torque.
  • Page 520 10.3 Additional Functions (2) Model Designation 1st + digits digits digits digits digits digits SGMCS − 02 B 3 A 1 1 SGMCS Direct-drive Servomotor 1st and 2nd digits: 7th digits: Brake Specification 3rd digits: Motor Outer Diameter (mm) Rated Torque (N m) Code Specification Code...
  • Page 521 10 Upgraded Versions 10.3.1 SGMCS Direct-drive Motor Supporting Function Servomotor Model SGMCS- Rated Output Rated Torque 17.0 25.0 16.0 35.0 Instantaneous Peak Torque 24.0 51.0 75.0 48.0 105.0 Rated Current Instantaneous Max. Current 7.90 10.0 Rated Speed Max. Speed 285.0 510.0 1430 ×...
  • Page 522 10.3 Additional Functions (4) Speed Related Parameters When a Direct-drive Motor is Connected As the maximum speed of SGMCS servomotor is approximately 1/10 of standard SGM H servomotor, the unit of parameter setting is changed to 1/10 of the standard. When a SGMCS servomotor is connected, the SERVOPACK changes the setting unit automatically as shown in the following table.
  • Page 523 10 Upgraded Versions 10.3.1 SGMCS Direct-drive Motor Supporting Function Also, the analog monitor output units are changed as shown in the shaded areas in the following table. Parameter Description Monitor 1 Monitor 2 Monitor Signal Measurement Gain Remarks Pn003 Monitor 2: Motor speed 1 V / 100 min Factory setting...

  • Page 524: Improvement Of Dividing Output Resolution

    10.3 Additional Functions 10.3.2 Improvement of Dividing Output Resolution The upper limit of PG dividing pulse (Pn201) is 16384 [P/R] that is decided for 16-bit encoder. However, direct- drive servomotors are equipped with 20-bit encoder as standard. Therefore, the parameter Pn212 is added to adapt the dividing pulse setting for 20-bit encoder.

  • Page 525: Reference Pulse Input Multiplication Switching Function

    10 Upgraded Versions 10.3.3 Reference Pulse Input Multiplication Switching Function (2) Setting PG dividing ratio of 5-digit or more The following table shows a procedure to set Pn212 by a digital operator or a panel operator. Proce- Display After Hand-held Panel Operator Description dure...
  • Page 526 10.3 Additional Functions (1) Related Parameters Parameters Description Pn218 Reference pulse input multiplication switching function: Disabled (Factory setting) Reference pulse input multiplication switching function: Enabled Pn217 Reference Pulse Input Multiplication Position Setting Range Setting Unit Factory Setting Setting Validation ×1 1 to 99 Immediately (2) Timing Chart for Reference Pulse Input Multiplication Switching...

  • Page 527: Second Stage Notch Filter And Changeable Q Value

    10 Upgraded Versions 10.3.4 Second Stage Notch Filter and Changeable Q Value (4) Output Signal Selection The /PSELA signal is the output signal that indicates if switching for reference pulse input multiplication is enabled by /PSEL signal or not. Connector Pin Signal Name Setting Meaning...
  • Page 528 10.3 Additional Functions (1) Notch Filter Function The notch filter function decreases the response to the set frequency, and effective when there are machine vibra- tions. Adjusting the parameter setting according to the machine vibration frequency reduces the machine vibra- tion.

  • Page 529: Automatic Gain Switching Function

    10 Upgraded Versions 10.3.5 Automatic Gain Switching Function Pn409 First Stage Notch Filter Frequency Speed Position Torque Setting Range Setting Unit Factory Setting Setting Validation 50 to 2000 1 Hz 2000* Immediately Pn40A First Stage Notch Filter Q Value Speed Position Torque Setting Range...
  • Page 530 10.3 Additional Functions The following flowchart shows the automatic gain switching. Disabled (Pn10B.2 = 0) Automatic gain switching enabled? Enabled (Pn10B.2 = 1 to 3) Automatic gain switching condition Position reference Position reference Position error (Pn10B.2 = 1) and position error (Pn10B.2 = 2) (Pn10.B = 3) With position reference...

  • Page 531: Improved Functions

    10 Upgraded Versions 10.4.1 Moment of Inertia Ratio Setting Range 10.4 Improved Functions 10.4.1 Moment of Inertia Ratio Setting Range A load with moment of inertia ratio (Pn103) more than the existing maximum value 10,000% may be connected to a direct-drive motor. Accordingly, the upper limit of Pn103 is increased to 20,000%. Pn103 Moment of Inertia Ratio Position...
  • Page 532 10.4 Improved Functions (1) Specifications of Single-turn Data Absolute Encoder Model UTSB -B Item Specifications Not required Battery for absolute encoder (Because no multiturn data needs to be stored.) Absolute encoder multi-turn reset function Set to NO_OP and disabled (Setup and encoder alarm reset) Fn013: Multiturn limit setting change when a multiturn limit disagreement alarm (A.CC) Set to NO_OP and disabled...

  • Page 533: Serial Number And Manufactured Data Reading Function

    10 Upgraded Versions 10.4.3 Serial Number and Manufactured Data Reading Function 10.4.3 Serial Number and Manufactured Data Reading Function The serial number and manufactured data of SERVOPACK and servomotor can be read with the SERVOPACK engineering tool SigmaWin+. 10-18 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 534: Additional And Improved Parameters

    10.5 Additional and Improved Parameters 10.5 Additional and Improved Parameters This section describes the parameters added or improved in the upgraded version products. 10.5.1 Parameters Parameter Setting Factory Category Name Setting Range Remarks Unit Setting Function The settings on 2nd and −...

  • Page 535: Switches

    10 Upgraded Versions 10.5.2 Switches * 1. After changing these parameters, turn OFF the control power supply and then turn it ON again to enable the new settings. * 2. The upper limit differs depending on the resolution (number of bits) of the encoder connected to SERVOPACK. Upper Limit: (2 numbers of encoder bits) / 4 When no encoder is connected, the value in the above list is the upper limit.

  • Page 536: Output Signal Selection

    10.5 Additional and Improved Parameters 10.5.4 Output Signal Selection Parameter Meaning Pn510 n. 0 Disabled (The /PSELA signal is not used.） n. 1 Outputs the /PSELA signal from the CN1-25, CN1-26 output terminal. n. 2 Outputs the /PSELA signal from the CN1-27, CN1-28 output terminal. n.

  • Page 537: Troubleshooting

    10 Upgraded Versions 10.5.6 Troubleshooting 10.5.6 Troubleshooting In this section, explain the alarms and warnings that have been added and also the alarms and warnings whose conditions for detection have been modified. (1) Alarm Display Table Alarm Code Output Servo Alarm Alarm Alarm...
  • Page 538 10.5 Additional and Improved Parameters (Cont’d) Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence A.b3 Current Occurred when the The current sensor is faulty. Replace the SERVOPACK. Detection control power sup- Error ply was turned Occurred when the The current sensor is faulty.
  • Page 539 Inspection, Maintenance, and Troubleshooting 11.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2 11.1.1 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2 11.1.2 Warning Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-5 11.1.3 Troubleshooting of Alarm and Warning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-6...
  • Page 540 11 Inspection, Maintenance, and Troubleshooting 11.1.1 Alarm Display Table 11.1 Troubleshooting 11.1.1 Alarm Display Table The relation between alarm displays and alarm code outputs is shown in Table 11.1. If an alarm occurs, the servomotor can be stopped by doing either of the following operations. •...
  • Page 541 11.1 Troubleshooting Table 11.1 Alarm Displays and Outputs (Cont’d) Alarm Code Output Servo Alarm Alarm Alarm Alarm Name Meaning (ALM) Display Reset ALO1 ALO2 ALO3 Output The motor was operating for several seconds to several tens of seconds A.71 Overload: High Load Available under a torque largely exceeding rat- ings.
  • Page 542 11 Inspection, Maintenance, and Troubleshooting 11.1.1 Alarm Display Table Table 11.1 Alarm Displays and Outputs (Cont’d) Alarm Code Output Servo Alarm Alarm Alarm Alarm Name Meaning (ALM) Display Reset ALO1 ALO2 ALO3 Output The power is not supplied to the servo- A.F5 motor through the SERVOPACK Available...

  • Page 543: Warning Display

    11.1 Troubleshooting 11.1.2 Warning Display The relation between warning displays and warning code outputs is shown in table 11.2. Table 11.2 Warning Displays and Outputs Warning Code Output Warning Warning Name Meaning Display ALO1 ALO2 ALO3 Excessive Position Error A.90 The position errors exceed the setting in Pn51E.

  • Page 544: Troubleshooting Of Alarm And Warning

    However, the display “A.--” is not an alarm. Refer to the following sec- tions to identify the cause of an alarm and the action to be taken. Contact your Yaskawa representative if the problem cannot be solved by the described corrective action. (1) Alarm Display and Troubleshooting Table 11.3 Alarm Display and Troubleshooting...
  • Page 545 11.1 Troubleshooting Table 11.3 Alarm Display and Troubleshooting (Cont’d) Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence The overload alarm has been reset by turning OFF Change the method to reset the alarm. the power too many times. Occurred when the control power sup- The connection is faulty between the SERVOPACK...
  • Page 546 11 Inspection, Maintenance, and Troubleshooting 11.1.3 Troubleshooting of Alarm and Warning Table 11.3 Alarm Display and Troubleshooting (Cont’d) Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence Occurred when the control power sup- A SERVOPACK board fault occurred. Replace the SERVOPACK.
  • Page 547 11.1 Troubleshooting Table 11.3 Alarm Display and Troubleshooting (Cont’d) Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence Occurred when the control power sup- A SERVOPACK board fault occurred. Replace the SERVOPACK. ply was turned ON. The AC power supply voltage must be within the The AC power supply voltage is low.
  • Page 548 11 Inspection, Maintenance, and Troubleshooting 11.1.3 Troubleshooting of Alarm and Warning Table 11.3 Alarm Display and Troubleshooting (Cont’d) Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence Occurred when the control power sup- A SERVOPACK board fault occurred. Replace the SERVOPACK.
  • Page 549 11.1 Troubleshooting Table 11.3 Alarm Display and Troubleshooting (Cont’d) Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence Absolute When the control Encoder power supply was When the absolute encoder was used as an incre- turned ON. Replace the SERVOPACK. Battery Error mental, a SERVOPACK board fault occurred.
  • Page 550 (Program error) ply was turned ON. • Software oper- ation time Replace the SERVOPACK. (Contact your A program is incorrect. A.bF Yaskawa representative.) exceeded • Stack over- Occurred during flow normal operation. A SERVOPACK board fault occurred. Replace the SERVOPACK.
  • Page 551 11.1 Troubleshooting Table 11.3 Alarm Display and Troubleshooting (Cont’d) Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence The encoder wiring and contact are incorrect. Correct the encoder wiring. Use tinned annealed copper twisted-pair or Noise interference occurred due to incorrect encoder twisted-pair shielded wire with a core of at least cable specifications.
  • Page 552 11 Inspection, Maintenance, and Troubleshooting 11.1.3 Troubleshooting of Alarm and Warning Table 11.3 Alarm Display and Troubleshooting (Cont’d) Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence Servomotor Occurred when the control power sup- A SERVOPACK board fault occurred. Replace the SERVOPACK.
  • Page 553 11.1 Troubleshooting (2) Warning Display and Troubleshooting Table 11.4 Warning Display and Troubleshooting Warning Situation at Warning Warning Name Cause Corrective Actions Display Occurrence Correct the servomotor wiring. The contact in the servomotor U, V, and W wir- Occurred at the servo- ings is faulty.
  • Page 554 11 Inspection, Maintenance, and Troubleshooting 11.1.3 Troubleshooting of Alarm and Warning Table 11.4 Warning Display and Troubleshooting (Cont’d) Warning Situation at Warning Warning Name Cause Corrective Actions Display Occurrence Absolute Encoder Occurred when the con- A SERVOPACK board fault occurred. (The abso- trol power supply was Battery Warning lute encoder is used in the incremental encoder...

  • Page 555: Troubleshooting For Malfunction Without Alarm Display

    11.1.4 Troubleshooting for Malfunction without Alarm Display The troubleshooting for the malfunctions that causes no alarm display is listed below. Contact your Yaskawa representative if the problem cannot be solved by the described corrective actions. Table 11.5 Troubleshooting for Malfunction without Alarm Display...
  • Page 556 Check if there are unbalanced couplings. Balance the couplings. Check for noise and vibration around the Defective bearings If any problems, contact your Yaskawa representative. bearings. Vibration source on the driven Any foreign matter, damages, or deforma- Contact the machine manufacturer.
  • Page 557 11.1 Troubleshooting Table 11.5 Troubleshooting for Malfunction without Alarm Display (Cont’d) Inspection Corrective Actions Symptom Cause : Turn OFF the servo system before executing operations. Factory setting: Kv=40.0 Hz Speed loop gain value (Pn100) too Reduce speed loop gain (Pn100) preset value. high.
  • Page 558 11 Inspection, Maintenance, and Troubleshooting 11.1.4 Troubleshooting for Malfunction without Alarm Display Table 11.5 Troubleshooting for Malfunction without Alarm Display (Cont’d) Inspection Corrective Actions Symptom Cause : Turn OFF the servo system before executing operations. Check if the voltage of input signal external Connect to the external +24 V power supply.

  • Page 559: Inspection And Maintenance

    Increase or decrease the frequency to suit the operating conditions and environment. During inspection and maintenance, do not disassemble the servomotor. If disassembly of the servomotor is IMPORTANT required, contact your Yaskawa representative. Table 11.6 Servomotor Inspections Item Frequency...

  • Page 560: Servopack's Parts Replacement Schedule

    The parameters of any SERVOPACKs overhauled by Yaskawa are reset to the factory settings before ship- ping. Be sure to confirm that the parameters are properly set before starting operation.

  • Page 561: Appendix

    Appendix 12.1 Servomotor Capacity Selection Examples - - - - - - - - - - - - - - - - - - - - - - 12-2 12.1.1 Selection Example for Speed Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2 12.1.2 Selection Example for Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-4 12.1.3 Calculating the Required Capacity of Regenerative Resistors - - - - - - - - - - - - - - - - 12-7 12.2 Connection to Host Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-14...

  • Page 562: Servomotor Capacity Selection Examples

    12 Appendix 12.1.1 Selection Example for Speed Control 12.1 Servomotor Capacity Selection Examples 12.1.1 Selection Example for Speed Control Mechanical Specifications Servomotor Linear motion Coupling all screw • Load speed: V = 15 m/min • Feeding times: n = 40 times/min •...
  • Page 563 12.1 Servomotor Capacity Selection Examples • Load moment of inertia at motor shaft J = J + J + J = 44.9 × 10 (kg m ) (5) Load Moving Power 2π × 1500 × 1.73 2πN = 272 (W) (6) Load Acceleration Power 44.9 ×...

  • Page 564: Selection Example For Position Control

    12 Appendix 12.1.2 Selection Example for Position Control (9) Result The provisionally selected servomotor and SERVOPACK are confirmed to be applicable. The torque diagram is shown below. (N m) Torque Speed 1.73 -7.5 12.1.2 Selection Example for Position Control Mechanical Specifications Servomotor Linear motion Coupling...
  • Page 565 12.1 Servomotor Capacity Selection Examples (4) Load Moment of Inertia • Liner motion section 0.005 = 80 × = 0.507 × 10 (kg m ) 2π × 1 2πR • Ball screw π π ρ L × 7.87 × 10 ×...
  • Page 566 12 Appendix 12.1.2 Selection Example for Position Control (8) Verification on Provisionally Selected Servomotor • Required starting torque π π −4 N (J + J ) × 3000 × (0.209 + 1.25) × 10 + T = + 0.139 60 × 0.1 60ta 0.597 (N m) <...

  • Page 567: Calculating The Required Capacity Of Regenerative Resistors

    12.1 Servomotor Capacity Selection Examples 12.1.3 Calculating the Required Capacity of Regenerative Resistors (1) Simple Calculation When driving a servomotor with the horizontal axis, check the external regenerative resistor requirements using the calculation method shown below. (a) SERVOPACKs with Capacities of 400 W or Less SERVOPACKs with capacities of 400 W or less do not have built-in regenerative resistors.
  • Page 568 12 Appendix 12.1.3 Calculating the Required Capacity of Regenerative Resistors (b) SERVOPACKs with Capacities of 500 W to 5.0 kW Servomotors with capacities of 500 W to 5.0 kW have built-in regenerative resistors. The allowable frequen- cies for just the servomotor in acceleration and deceleration operation, during the rotation speed cycle from 0 (min ) to the maximum rotation speed to 0, are summarized in the following table.
  • Page 569 12.1 Servomotor Capacity Selection Examples (c) SERVOPACKs with Capacities of 6.0 kW or More SERVOPACKs with capacities of 6.0 kW or more do not have built-in regenerative resistors. The following table shows the allowable regenerative frequencies when the JUSP-RA04 or JUSP-RA05 regenerative resis- tor is used together with an applicable SERVOPACK.
  • Page 570 12 Appendix 12.1.3 Calculating the Required Capacity of Regenerative Resistors (a) Calculation Procedure The procedure for calculating the regenerative capacity is as follows: Step Item Symbol Equation Calculate the rotational energy of the servo- = JN /182 motor. Calculate the energy consumed by load loss = (π/60) N during the deceleration period.
  • Page 571 12.1 Servomotor Capacity Selection Examples (b) Servomotor Winding Resistance Loss The following diagrams show the relationship, for each servomotor, between the servomotor’s generated torque and the winding resistance loss. • 100-V Servomotors SGMAH Servomotors SGMPH Servomotors Model: SGMAH- Model: SGMPH- Loss Loss Torque (%)
  • Page 572 12 Appendix 12.1.3 Calculating the Required Capacity of Regenerative Resistors SGMGH Servomotors (1500 min SGMGH Servomotors (1000 min Model: SGMGH- Model: SGMGH- 2800 2000 55A B 05A A 2600 1800 09A A 40A B 2400 13A A 1600 20A A 2200 30A A 2000...
  • Page 573 12.1 Servomotor Capacity Selection Examples (3) SERVOPACK’s Absorbable Energy The following diagrams show the relationship between the SERVOPACK’s input power supply voltage and its absorbable energy. • 100-V SERVOPACKs Model: SGDM- A5BD to 02BD A5BDA to 02BDA A3BD, A3BDA AC Input Power Supply Voltage (Vrms) •...

  • Page 574: Connection To Host Controller

    12 Appendix 12.2.1 Example of Connection to MP920 4-axes Analog Module SVA-01 12.2 Connection to Host Controller 12.2.1 Example of Connection to MP920 4-axes Analog Module SVA-01 MP920 Series SVA-01 manufactured by Yaskawa SGDM SERVOPACK ∗ NREF V-REF Control power supply...

  • Page 575: Example Of Connection To Cp-9200Sh Servo Controller Module Sva (Servopack In Speed Control Mode)

    12.2 Connection to Host Controller 12.2.2 Example of Connection to CP-9200SH Servo Controller Module SVA (SERVOPACK in Speed Control Mode) CP-9200SH SVA manufactured by Yaskawa SGDM SERVOPACK +24V +24V-IN Control power supply /S-ON /P-CON N-OT Main circuit power supply P-OT...

  • Page 576: Example Of Connection To Memocon Gl120/130 Series Motion Module Mc20

    12 Appendix 12.2.3 Example of Connection to MEMOCON GL120/130 Series Motion Module MC20 12.2.3 Example of Connection to MEMOCON GL120/130 Series Motion Module MC20 MEMOCON GL120/130 Series SGDM SERVOPACK MC20 manufactured by Yaskawa ∗1 ∗2 /PAO /PBO /PCO VREF V-REF...

  • Page 577: Example Of Connection To Memocon Gl60/70 Series Positioning Module B2813 (Servopack In Position Control Mode)

    12.2 Connection to Host Controller 12.2.4 Example of Connection to MEMOCON GL60/70 Series Positioning Module B2813 (SERVOPACK in Position Control Mode) MEMOCON GL60/70 Series B2813 manufactured by Yaskawa SGDM SERVOPACK V +24V ∗2 SERVO ∗4 NORMAL PULSE PULSE DECELERATION /PULSE...

  • Page 578: Example Of Connection To Omron's Motion Control Unit

    For 6 kW or more: JZSP-BA01-1 (3.6 V, 1000 mA) * 2. represents twisted-pair wires. Note: 1. Only signals applicable to OMRON’s MC unit and Yaskawa’s SGDM SERVOPACK are shown in the diagram. 2. The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example.

  • Page 579: Example Of Connection To Omron's Position Control Unit

    * 3. Connect the shield wire to the connector shell. * 4. represents twisted-pair wires. Note: Only signals applicable to OMRON’s MC unit (positioning unit) and Yaskawa’s SGDM SERVOPACK are shown in the diagram. 12-19 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 580: Example Of Connection To Omron's Position Control Unit C500-Nc221 (Servopack In Speed Control Mode)

    * 2. Connect the I/O cable’s shield wire to the connector shell. * 3. represents twisted-pair wires. Note: Only signals applicable to OMRON’s C500-NC221 position control unit and Yaskawa’s SGDM SERVOPACK are shown in the diagram. 12-20 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 581: (Servopack In Position Control Mode)

    SERVOPACK. * 2. Set parameter Pn200.0 to 1. * 3. Manufactured by Yaskawa Controls Co., Ltd. Note: Only signals applicable to OMRON’s C500-NC112 position control unit and Yaskawa’s SGDM SERVOPACK are shown in the diagram. 12-21...

  • Page 582: Example Of Connection To Mitsubishi's Ad72 Positioning Unit (Servopack In Speed Control Mode)

    * 3. Connect the connector wire to the connector shell. * 4. represents twisted-pair wires. Note: Only signals applicable to Mitsubishi’s AD72 Positioning Unit and Yaskawa’s SGDM SERVOPACK are shown in the diagram. 12-22 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 583: Example Of Connection To Mitsubishi's Ad75 Positioning Unit (Servopack In Position Control Mode)

    ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop the main cir- cuit power supply to the SERVOPACK. Note: Only signals applicable to Mitsubishi’s AD75 Positioning Unit and Yaskawa’s SGDM SERVOPACK are shown in the diagram.

  • Page 584: List Of Parameters

    12 Appendix 12.3.1 Utility Functions List 12.3 List of Parameters 12.3.1 Utility Functions List The following list shows the available utility functions. Parameter Reference Function Remarks Section 7.2.2 Fn000 Alarm traceback data display 9.2.4 Fn001 Rigidity setting during online autotuning 8.1.1 Fn002 JOG mode operation...

  • Page 585: List Of Parameters

    12.3 List of Parameters 12.3.2 List of Parameters (1) Parameter Display Parameter settings are displayed as shown below. Decimal display in five digit (2) Definition of Display for Function Selection Parameters Each digit of the function selection parameters has a meaning. For example, the rightmost digit of parameter Pn000 is expressed as “Pn000.0.”...
  • Page 586 12 Appendix 12.3.2 List of Parameters Parameter Factory Setting Reference Name Setting Range Units Setting Validation Section − − − 0000 After Pn000 Function Selection Basic Switches restart digit digit digit digit Direction Selection (Refer to "8.3.2 Switching the Servomotor Rotation Direction.") Sets CCW as forward direction.
  • Page 587 12.3 List of Parameters Parameter Factory Setting Reference Name Setting Range Units Setting Validation Section − − − 0000 After Pn001 Function Selection Application Switches 1 restart digit digit digit digit Servo OFF or Alarm Stop Mode (Refer to "8.3.5 Selecting the Stopping Method After Servo OFF.") Stops the motor by applying dynamic brake (DB).
  • Page 588 12 Appendix 12.3.2 List of Parameters Parameter Factory Setting Reference Name Setting Range Units Setting Validation Section − − − 0000 After Pn002 Function Selection Application Switches 2 restart digit digit digit digit Speed Control Option (T-REF Terminal Allocation) Uses T-REF as an external torque limit input. (Refer to "8.9.3 Torque Limiting Using an Analog Voltage Reference.") Uses T-REF as a torque feed forward input.
  • Page 589 12.3 List of Parameters Parameter Factory Setting Reference Name Setting Range Units Setting Validation Section − − − 0002 After Pn003 Function Selection Application Switches 3 restart digit digit digit digit Analog Monitor 1 Torque Reference Monitor (Refer to "9.5 Analog Monitor.") Motor speed: 1 V/100 min Speed reference: 1 V/100 min Internal torque reference: 1 V/100%...
  • Page 590 12 Appendix 12.3.2 List of Parameters Parameter Factory Setting Reference Name Setting Range Units Setting Validation Section 0 to 6400 0.01 ms Immedi- 9.4.1 Pn10A Feed-forward Filter Time Constant ately − − 0000 to 2314 0000 After Pn10B Gain-related Application Switches restart/ Immedi- ately...
  • Page 591 12.3 List of Parameters Parameter Factory Setting Reference Name Setting Range Units Setting Validation Section − − − 0010 After Pn110 Online Autotuning Switches restart/ Immedi- ately digit digit digit digit Online Autotuning Method Setting (Refer to "9.2.3 Selecting the Online Autotuning Execution Method.") Validation Tunes only at the beginning of operation.
  • Page 592 12 Appendix 12.3.2 List of Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section − − 0000 After 8.6.1 Pn200 Position Control References Selection restart Switches digit digit digit digit Reference Pulse Form Sign + Pulse, positive logic CW + CCW, positive logic Phase A + Phase B ( ×1), positive logic Phase A + Phase B ( ×2), positive logic...
  • Page 593 12.3 List of Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section − − − 0000 After Pn207 Position Control Function Switches restart digit digit digit digit Position Reference Filter Selection (Refer to "8.6.4 Smoothing.") Acceleration/deceleration filter Average movement filter Position Control Option (Refer to "9.4.3 Speed Feed-forward.")
  • Page 594 12 Appendix 12.3.2 List of Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section Pn304 JOG Speed 0 to 10000 Immedi- 8.1.1 1 min ately Pn305 Soft Start Acceleration Time 0 to 10000 1 ms Immedi- 8.5.4 ately Pn306 Soft Start Deceleration Time...
  • Page 595 12.3 List of Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section ×0.01 50 to 400 Immedi- 10.3.4 Pn40A First Stage Notch Filter Q Value (0.50 to 4.00) (0.70) ately 50 to 2000 1 Hz 2000 Immedi- 10.3.4 Pn40B Second Stage Notch Filter Frequency...
  • Page 596 12 Appendix 12.3.2 List of Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section After Pn50A Input Signal Selections 1 − − − 2100 restart digit digit digit digit Input Signal Allocation Mode (Refer to "7.3.2 Input Circuit Signal Allocation.") Uses the sequence input signal terminals with standard allocation.
  • Page 597 12.3 List of Parameters * When Pn50A.0 is set to 0 for the input signal standard allocation mode, the following modes are compatible: Pn50A.1 = 7, Pn50A.3 = 8, and Pn50B.0 = 8. Parameter Factory Setting Reference Name Setting Range Unit Setting Validation...
  • Page 598 12 Appendix 12.3.2 List of Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section − − − 8888 After Pn50C Input Signal Selections 3 restart digit digit digit digit /SPD-D Signal Mapping (Refer to "8.8 Operating Using Speed Control with an Internally Set Speed.") ON when CN1-40 input signal is ON (L-level).
  • Page 599 12.3 List of Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section − − − 8888 After Pn50D Input Signal Selections 4 restart digit digit digit digit /ZCLAMP Signal Mapping (Zero clamp when ON (L-level)) (Refer to "8.5.6 Using the Zero Clamp Function.") ON when CN1-40 input signal is ON (L-level).
  • Page 600 12 Appendix 12.3.2 List of Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section − − − 3211 After Pn50E Output Signal Selections 1 restart digit digit digit digit Positioning Completion Signal Mapping (/COIN) (Refer to "8.6.5 Positioning Completed Output Signal.") Disabled (the above signal is not used.) Outputs the signal from CN1-25, 26 output terminal.
  • Page 601 12.3 List of Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section − − 0000 to 0333 0000 After Pn510 Output Signal Selections 3 restart digit digit digit digit Near Signal Mapping (/NEAR) (Refer to "8.6.6 Positioning Near Signal.") Disabled (the above signal is not used.) Outputs the signal from CN1-25 or -26 terminals.
  • Page 602 12 Appendix 12.3.2 List of Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section − 0000 to 00FF 0088 After 10.3.3 Pn513 Input Signal Selections 5 restart digit digit digit digit Reference Pulse Input Mulitiplication Change ON when CN1-40 input signal is ON (L-level). ON when CN1-41 input signal is ON (L-level).

  • Page 603: Monitor Modes

    12.3 List of Parameters 12.3.3 Monitor Modes The following list shows monitor modes available. Parameter Content of Display Unit Un000 Actual motor speed Un001 Input speed reference Un002 Internal torque reference (Value for rated torque) pulse Un003 Rotation angle 1 (Number of pulses from the zero point:16-bit decimal code) Un004 Rotation angle 2 (Angle from the zero point (electrical angle)) −...

  • Page 604: Parameter Recording Table

    12 Appendix 12.4 Parameter Recording Table Use the following table for recording parameters. Note: Setting validation (“immediately” or “after restart”) for Pn10B and Pn110 differs depending on the digit. The digits validated after restart are underlined in “Factory Setting” column. Parameter Factory Setting...
  • Page 605 12.4 Parameter Recording Table Parameter Factory Setting Name Setting Validation 0 ms Pn120 Reserved (Do not change) Immediately 50 Hz Pn121 Reserved (Do not change) Immediately 0 Hz Pn122 Reserved (Do not change) Immediately Pn123 Reserved (Do not change) Immediately 1 ms Pn124 Automatic Gain Switching Timer...
  • Page 606 12 Appendix Parameter Factory Setting Name Setting Validation 2000 Hz Pn40B Second Stage Notch Filter Frequency Immediately 70 (0.70) Pn40C Second Stage Notch Filter Q Value Immediately 7 reference Pn500 Positioning Completed Width Immediately units Pn501 Zero Clamp Level Immediately 10 min Pn502 Rotation Detection Level...
  • Page 607 Index INDEX SGMCS servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-27 SGMDH servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - 2-23 SGMGH servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - 2-23 SGMSH servomotors- - - - - - - - - - - - - - - - - - - - - - - - - - - 2-23 cables for analog monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-59...
  • Page 608 Index encoder model unmatched - - - - - - - - - - - - - - - - - - - - - - - - - - 10-22 encoder signal converter unit - - - - - - - - - - - - - - - - - - - - - - - - - 5-81 machine rigidity setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8 encoder signal output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-45 magnetic contactor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-74...
  • Page 609 Index output circuit signal allocation - - - - - - - - - - - - - - - - - - - - - - - - 7-25 frequency- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4 output signal monitor display- - - - - - - - - - - - - - - - - - - - - - - - - 7-29 type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4 output signal selections- - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-19...
  • Page 610 Index nameplate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 small-capacity series - - - - - - - - - - - - - - - - - - - - - - - 2-29 3-39 overhanging loads - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15 torque-motor speed characteristics - - - - - - - - - - - - - - 3-41...
  • Page 611 Index with low-backlash gears - - - - - - - - - - - - - - - - - - - - - - - - - 3-35 T-REF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13 without gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-32 trial operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4 shaft end specifications for SGMGH, SGMSH and SGMDH...

  • Page 612: Revision History

    Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800000 15C Printed in Japan March 2005 03-08 2 -1 WEB revision number Revision number Date of Date of original printing publication...
  • Page 613 Rev. Date of Printing Rev. Section Revised Content April 2005 6.1.3 (3) (a) Revision: Table of main circuit and control power supply input 7.3.1 (2) (a), Addition: Note for the Pn408 and Pn409 factory settings 10.5.1, 12.3.2 (2), 12.4 December 2005 Back cover Revision: Address March 2006...
  • Page 614 No.18 Xizang Zhong Road. Room 1702-1707, Harbour Ring Plaza Shanghai 200001, China Phone 86-21-5385-2200 Fax 86-21-5385-3299 YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE Room 1011A, Tower W3 Oriental Plaza, No.1 East Chang An Ave., Dong Cheng District, Beijing 100738, China...

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