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YASKAWA Manuals
Servo Drives
SGM H Series
User manual
YASKAWA SGM H Series User Manual
Servomotors
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YASKAWA
SGM H Series
User Manual
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Contents
Table of Contents
Troubleshooting
Bookmarks
Table of Contents
Table of Contents
1 Outline
Checking Products
Check Items
Servomotors
Servopacks
Product Part Names
Servomotors
Servopacks
Examples of Servo System Configurations
Single-Phase, 100 V and 200 V Main Circuit
Three-Phase, 200 V Main Circuit
Connecting to SGMCS Servomotor
Applicable Standards
North American Safety Standards (UL, CSA)
CE Marking
Σ-II Series SGDM SERVOPACK Upgraded Functions
2 Selections
Servomotor Model Designations
Model SGMAH (3000 Min -1 )
Model SGMPH (3000 Min -1 )
Model SGMGH (1500 Min -1 )
Model SGMGH (1000 Min -1 )
Model SGMSH (3000 Min -1 )
Model SGMDH (2000 Min -1 )
Model SGMCS
Selecting Servomotors
Support Tool for the Capacity Selection of the AC Servomotors
Servomotor Capacity Selection Examples
SERVOPACK Model Designations
Σ-II Series Servopacks and Applicable Servomotors
SGDM Servopacks and SGM H Servomotors
SGDM Servopacks and SGMCS Servomotors
Selecting Cables
Cables for SGMAH and SGMPH Servomotors
Cables for SGMGH/SGMSH/SGMDH Servomotors
Cables for SGMCS Servomotors
Selecting Peripheral Devices
Special Options
Molded-Case Circuit Breaker and Fuse Capacity
Noise Filters, Magnetic Conductors, Surge Suppressors and DC Reactors
Regenerative Resistors and Brake Power Supply Units
3 Specifications and Dimensional Drawings
Ratings and Specifications of SGMAH
SGMAH Servomotors Without Gears
SGMAH Servomotors Without Gears
SGMAH Servomotors with Standard Backlash Gears
SGMAH Servomotors with Low-Backlash Gears
SGMAH Servomotors with Low-Backlash Gears
Ratings and Specifications of SGMPH
SGMPH Servomotors Without Gears
SGMPH Servomotors with Standard Backlash Gears
Ratings and Specifications of SGMPH
SGMPH Servomotors with Low-Backlash Gears
Ratings and Specifications of SGMGH
SGMGH Servomotors
Ratings and Specifications of SGMSH
Ratings and Specifications of SGMDH
Ratings and Specifications of SGMCS Servomotors
Small-Capacity Series SGMCS Servomotors
Middle-Capacity Series SGMCS Servomotors
Mechanical Specifications of SGMAH, SGMPH, SGMGH, SGMSH, and SGMDH Servomotors
Precautions on Servomotor Installation
Mechanical Tolerance
Direction of Servomotor Rotation
Impact Resistance
Vibration Resistance
Vibration Class
Mechanical Specifications of SGMCS Servomotors
Allowable Loads
Mechanical Tolerance
Direction of Servomotor Rotation
Impact Resistance
Vibration Resistance
Vibration Class
Protective Specification
Terms and Data for Servomotors with Gears
Servomotor Dimensional Drawings
SGMAH Servomotors
Without Gears and with Brakes
Dimensional Drawings of SGMAH Servomotors
SGMAH Servomotors
SGMAH Servomotors
With Standard Backlash Gears
With Standard Backlash Gears and Brakes
With Low-Backlash Gears
Model SGMAH (3000 Min -1 )
Without Gears and Brakes
Dimensional Drawings of SGMPH Servomotors
SGMPH Servomotors
With Brakes
Model SGMPH (3000 Min -1 )
And Without Brakes
With Standard Backlash Gears and Without Brakes
With Standard Backlash Gears and Brakes
With Low-Backlash Gears
Dimensional Drawing of Output Shafts with Oil Seals for SGMAH and SGMPH Servomotors
SGMAH Servomotors
SGMPH Servomotors
Dimensional Drawings of SGMGH Servomotors
SGMGH Servomotors (1000 Min (Flange-Mounted Type)
SGMGH Servomotors
SGMGH Servomotors
Dimensional Drawings of SGMGH Servomotors
SGMGH Servomotors
SGMGH Servomotors (1000 Min -1 (Flange-Mounted Type)
SGMGH Servomotors (1000 Min -1 (Flange-Mounted Type)
Dimensional Drawings of SGMSH Servomotors
SGMSH Servomotors
SGMSH Servomotors (3000 Min (Flange-Mounted Type)
SGMSH Servomotors (3000 Min -1 (Flange-Mounted Type)
Dimensional Drawings of SGMDH Servomotors
SGMDH Servomotors
Dimensional Drawings of SGMCS Servomotors
SGMCS Servomotors Φ135 Model
SGMCS Servomotors Φ175 Model
SGMCS Servomotors Φ230 Model
SGMCS Servomotors Φ290 Model
SGMCS Servomotors Φ280 Model
SGMCS Servomotors Φ360 Model
Servomotor Connector for All Small-Capacity Series Servomotors
Servomotor Connector for All Middle-Capacity Series Servomotors
Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors
4 SERVOPACK Specifications and Dimensional Drawings
SERVOPACK Ratings and Specifications
SERVOPACK Ratings and Specifications
SERVOPACK Installation
SERVOPACK Internal Block Diagrams
Single-Phase 200 V, 30 W to 400 W, and 100 V, 30 W to 200 W Models
Three-Phase 200 V, 500 W to 1.5 Kw Models
Three-Phase 200 V, 2.0 Kw to 5.0 Kw Models
Three-Phase 200 V, 6.0 Kw to 15 Kw Models
Servopack's Power Supply Capacities and Power Losses
SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia
Overload Characteristics
Starting and Stopping Time
Load Moment of Inertia
SERVOPACK Dimensional Drawings
Dimensional Drawings of Base-Mounted SERVOPACK Model
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)
Single-Phase 100 V: 200 W (02BD, 02BDA) Single-Phase 200 V: 400 W (04AD, 04ADA)
Three-Phase 200 V: 500 W/750 W/1.0 Kw (05AD to 10AD, 05ADA to 10ADA)
Three-Phase 200 V: 1.5 Kw (15AD, 15ADA)
Three-Phase 200 V: 2.0 Kw/3.0 Kw (20AD to 30AD, 20ADA to 30ADA)
Three-Phase 200 V: 5.0 Kw (50ADA)
Three-Phase 200 V: 6.0 Kw/7.5 Kw (60ADA to 75ADA)
Three-Phase 200 V: 11.0 Kw/15.0 Kw (1AADA to 1EADA)
Dimensional Drawings of Rack-Mounted SERVOPACK Model
Single-Phase 100 V: 30 W/50 W/100 W (A3BD-R to 01BD-R, A3BDA-R to 01BDA-R)
Single-Phase 200 V: 30 W/50 W/100 W/200 W
(A3AD-R to 02AD-R, A3ADA-R to 02ADA-R)
Single-Phase 100 V: 200 W (02BD-R, 02BDA-R)
Single-Phase 200 V: 400 W (04AD-R, 04ADA-R)
Three-Phase 200 V: 500 W/750 W/1.0 Kw (05AD-R to 10AD-R, 05ADA-R to 10ADA-R)
Three-Phase 200 V: 1.5 Kw (15AD-R, 15ADA-R)
Three-Phase 200 V: 2.0 Kw/3.0 Kw (20AD-R to 30AD-R, 20ADA-R to 30ADA-R)
Three-Phase 200 V: 5.0 Kw (50ADA-R)
Dimensional Drawings of Duct-Ventilated SERVOPACK Model
Three-Phase 200 V: 6.0 Kw/7.5 Kw (60ADA-P to 75ADA-P)
Three-Phase 200 V: 11.0 Kw/15.0 Kw (1AADA-P/1EADA-P)
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
Specifications and Dimensional Drawings of Servomotor Main Circuit Cable
Cables for SGMAH and SGMPH Servomotors Without Brakes
Cables for SGMAH and SGMPH Servomotors with Brakes
Flexible Cables for SGMAH and SGMPH Servomotors Without Brakes
Flexible Cables for SGMAH and SGMPH Servomotors with Brakes
Cables for SGMCS Servomotors
Servomotor Main Circuit Wire Size and Connectors
Wire Size
SGMAH and SGMPH Servomotor Connectors for Standard Environments
SGMGH, SGMSH, and SGMDH Servomotor Connector Configurations
SGMGH Servomotor
SGMSH Servomotor
SGMDH Servomotor
Without Gears and With/Without Brakes
SGMGH Servomotor
European Safety Standards
SGMGH Servomotor
European Safety Standards
SGMSH Servomotors
European Safety Standards
SGMDH Servomotors
European Safety Standards
Connectors for SGMCS Servomotors
Connector Dimensional Drawings
SERVOPACK Main Circuit Wire Size
Encoder Cables for CN2 Connector
Encoder Cable with Connectors for SGMAH and SGMPH Servomotors
Encoder Cable with Connectors for SGMGH, SGMSH, and SGMDH Servomotors
Encoder Cable with a SERVOPACK Connector and Encoder Loose Leads for SGMAH and SGMPH Servomotors
Encoder Cable with a SERVOPACK Connector and Encoder Loose Leads for SGMGH, SGMSH, and SGMDH Servomotors
Encoder Flexible Cables for SGMAH and SGMPH Servomotors
Connectors and Cables for Encoder Signals
Connectors and Cables for SGMAH and SGMPH Servomotors
Connectors and Cables for SGMGH, SGMSH, and SGMDH Servomotors
Connectors and Cables for SGMCS Servomotors
Flexible Cables
I/O Signal Cables for CN1 Connector
Standard Cables
Connector Type and Cable Size
Connection Diagram
Peripheral Devices
Cables for Connecting Personal Computers
Digital Operator
Cables for Analog Monitor
Connector Terminal Block Converter Unit
Brake Power Supply Unit
External Regenerative Resistor
Regenerative Resistor Unit
Absolute Encoder Battery
Molded-Case Circuit Breaker (MCCB)
Noise Filter
Magnetic Contactor
Surge Suppressor
DC Reactor for Harmonic Suppression
Variable Resistor for Speed and Torque Setting
Encoder Signal Converter Unit
6 Wiring
Wiring Main Circuit
Names and Functions of Main Circuit Terminals
Wiring Main Circuit Power Supply Connector (Spring Type)
Typical Main Circuit Wiring Examples
Wiring Encoders
Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1)
Encoder Connector (CN2) Terminal Layout
Examples of I/O Signal Connections
Speed Control Mode
Position Control Mode
Torque Control Mode
I/O Signal Connector (CN1) Terminal Layout
I/O Signal (CN1) Names and Functions
Interface Circuit
Others
Wiring Precautions
Wiring for Noise Control
Installation Conditions of EMC Directives
Installation Conditions of UL Standards
Using more than One SERVOPACK
Extending Encoder Cables
Operating Conditions on 400-V Power Supply Voltage
DC Reactor for Harmonic Suppression
Connecting Regenerative Resistors
Regenerative Power and Regenerative Resistance
Connecting External Regenerative Resistors
7 Digital Operator/Panel Operator
Functions on Digital Operator/Panel Operator
Connecting the Digital Operator
Key Names and Functions
Basic Mode Selection and Operation
Status Display
Operation in Utility Function Mode (Fn )
List of Utility Function Modes
Alarm Traceback Data Display (Fn000)
Zero-Point Search Mode (Fn003)
Parameter Settings Initialization (Fn005)
Alarm Traceback Data Clear (Fn006)
Automatic Offset-Adjustment of Motor Current Detection Signal (Fn00E)
Manual Offset-Adjustment of Motor Current Detection Signal (Fn00F)
Password Setting (Protects Parameters from Being Changed) (Fn010)
Motor Models Display (Fn011)
Software Version Display (Fn012)
Operation in Parameter Setting Mode (Pn )
Setting Parameters
Input Circuit Signal Allocation
Output Circuit Signal Allocation
Operation in Monitor Mode (un )
List of Monitor Modes
8 Operation
Trial Operation
Trial Operation for Servomotor Without Load
Trial Operation for Servomotor Without Load from Host Reference
Trial Operation with the Servomotor Connected to the Machine
Servomotor with Brakes
Position Control by Host Controller
Control Mode Selection
Setting Common Basic Functions
Setting the Servo on Signal
Switching the Servomotor Rotation Direction
Setting the Overtravel Limit Function
Setting for Holding Brakes
Selecting the Stopping Method after Servo off
Instantaneous Power Loss Settings
Absolute Encoders
Interface Circuits
Selecting an Absolute Encoder
Handling Batteries
Replacing Batteries
Absolute Encoder Setup (Fn008)
Absolute Encoder Reception Sequence
Multiturn Limit Setting
Multiturn Limit Setting When Multiturn Limit Disagreement (A.CC) Occurred
Operating Using Speed Control with Analog Reference
Setting Parameters
Setting Input Signals
Adjusting Offset
Soft Start
Speed Reference Filter
Using the Zero Clamp Function
Encoder Signal Output
Speed Coincidence Output
Operating Using Position Control
Setting Parameters
Setting the Electronic Gear
Position Reference
Smoothing
Positioning Completed Output Signal
Positioning Near Signal
Reference Pulse Inhibit Function (INHIBIT)
Operating Using Torque Control
Setting Parameters
Torque Reference Input
Adjusting the Reference Offset
Limiting Servomotor Speed During Torque Control
Operating Using Speed Control with an Internally Set Speed
Setting Parameters
Input Signal Settings
Operating Using an Internally Set Speed
Limiting Torque
Internal Torque Limit (Limiting Maximum Output Torque)
External Torque Limit (Output Torque Limiting by Input Signals)
Torque Limiting Using an Analog Voltage Reference
Torque Limiting Using an External Torque Limit and Analog Voltage Reference
Checking Output Torque Limiting During Operation
Control Mode Selection
Setting Parameters
Switching the Control Mode
Other Output Signals
Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3)
Warning Output (/WARN)
Running Output Signal (/TGON)
Servo Ready (/S-RDY) Output
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YASKAWA
SGM H Series
User Manual
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Table of Contents
Troubleshooting
Troubleshooting
537
Troubleshooting of Alarm and Warning
544
Troubleshooting for Malfunction without Alarm Display
555
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