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3 Specifications and Dimensional Drawings
3.3.3 SGMGH Servomotors (1500min
Servomotor
Servomotor
Model
Rated
SGMGH-
Out-
Speed
put
W
min
20A AL14
20A AL24
1.8
20A AL54
20A AL74
1500
30A AL14
2.9
30A AL24
30A AL54
44A AL14
4.4
44A AL24
* 1. The maximum input motor speed of the gears is 4000 min
* 2. Output torque and motor speed produce the following trends in efficiency. Values in the table are at
the rated motor speed.
Efficiency
Output torque
Note: 1. For the shaft center allowable radial load, refer to the servomotor dimensional drawing.
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.
3-24
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-1
) With Low-backlash Gears
Rated
Rated
Torque/
Torque
Gear
Efficiency
N m
Ratio
-1
N·m/%
(lb in)
(lb·in/%)
46.0/80
1/5
(407/80)
82.8/80
1/9
(733/80)
11.5
(102)
184/80
1/20
(1630/80)
267/80
1/29
(2360/80)
74.4/80
1/5
(659/80)
18.6
134/80
1/9
(165)
(1190/80)
298/80
1/20
(2640/80)
114/80
1/5
(1010/80)
28.4
(251)
204/80
1/9
(1810/80)
Efficiency
Output torque
Gear Output
Instanta-
neous
Rated
Peak
∗2
Speed
Torque/
-1
Effective
min
N·m/%
(lb·in/%)
115/80
300
(1020/80)
207/80
167
(1830/80)
459/80
75
(4060/80)
666/80
51
(5900/80)
182/80
300
(1610/80)
328/80
167
(2900/80)
730/80
75
(6460/80)
284/80
300
(2510/80)
512/80
167
(4530/80)
-1
.
(Cont'd)
Moment of Inertia J
-4
2
×10
kg·m
-3
2
(×10
lb·in·s
Max.
Motor +
∗1
Speed
Gears
Gears
-1
min
41.9
10.2
600
(37.1)
(9.03)
39.5
7.80
334
(35.0)
(6.90)
51.9
20.2
150
(45.9)
(17.9)
45.1
13.4
102
(39.9)
(11.9)
66.4
20.4
600
(58.8)
(18.1)
58.5
12.5
334
(51.8)
(11.1)
66.2
20.2
150
(58.6)
(17.9)
87.9
20.4
600
(77.8)
(18.1)
80.0
12.5
334
(70.8)
(11.1)
)
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