Sgmgh Servomotors (1500Min -1) With Low-Backlash Gears - YASKAWA SGDH User Manual

3 Specifications and Dimensional Drawings
3.3.3 SGMGH Servomotors (1500min
Servomotor
Servomotor
Model
Rated
Out-
SGMGH-
Speed
put
W
min
05A AL14
05D AL14
05A AL24
05D AL24
05A AL54
0.45
05D AL54
05A AL74
05D AL74
05A AL84
05D AL84
09A AL14
09D AL14
09A AL24
09D AL24
09A AL54
0.85
09D AL54
09A AL74
09D AL74
09A AL84
09D AL84
13A AL14
13D AL14
13A AL24
13D AL24
13A AL54
1.3
13D AL54
13A AL74
13D AL74
13A AL84
13D AL84
20A AL14
20D AL14
20A AL24
20D AL24
1.8
20A AL54
20D AL54
20A AL74
20D AL74
-1
) With Low-backlash Gears
Rated
Torque Gear
N m Ratio
-1
(lb in)
1/5
1/9
2.84
1/20
(25)
1/29
1/45
1/5
1/9
5.39
1/20
(48)
1/29
1500 1/45
1/5
1/9
8.34
1/20
(74)
1/29
1/45
1/5
1/9
11.5
(102)
1/20
1/29
Gear Output
Instanta-
Rated
neous
Torque/
Peak
∗2
Torque/
Efficiency
Effective
N·m/%
N·m/%
(lb·in/%)
(lb·in/%)
11.4/80 35.7/80
(101/80) (316/80)
20.4/80 64.2/80
(181/80) (568/80)
45.4/80 143/80
(402/80) (1266/80)
65.9/80 207/80
(583/80) (1832/80)
102/80 321/80
(903/80) (2841/80)
21.6/80 55.2/80
(191/80) (489/80)
38.8/80 74.5/60
(343/80) (659/60)
86.2/80 221/80
(763/80) (1956/80)
125/80 320/80
(1106/80) (2832/80)
194/80 497/80
(1717/80) (4399/80)
33.4/80 93.2/80
(296/80) (825/80)
60.0/80 168/80
(531/80) (1487/80)
133/80 373/80
(1177/80) (3301/80)
193/80 541/80
(1708/80) (4788/80)
300/80 839/80
(2655/80) (7426/80)
46.0/80 115/80
(407/80) (1018/80)
82.8/80 207/80
(733/80) (1832/80)
184/80 459/80
(1629/80) (4063/80)
267/80 666/80
(2363/80) (5895/80)
3-24
Moment of Inertia J
(×10
Max.
Rated
Motor +
∗1
Speed
Speed
Gears
-1
-1
min
min
8.50
300 600
(7.52)
8.18
167 334
(7.24)
11.9
75 150
(10.5)
10.0
51 102
(8.85)
9.05
33 66
(8.01)
15.2
300 600
(13.5)
14.8
167 334
(13.1)
18.6
75 150
(16.5)
16.7
51 102
(14.8)
18.4
33 66
(16.3)
27.7
300 600
(24.5)
25.3
167 334
(22.4)
27.4
75 150
(24.3)
30.9
51 102
(27.3)
27.2
33 66
(24.1)
41.9
300 600
(37.1)
39.5
167 334
(35.0)
51.9
75 150
(45.9)
45.1
51 102
(39.9)
-4 2
×10
kg·m
-3 2
lb·in·s )
Gears
1.26
(1.12)
0.94
(0.832)
4.66
(4.12)
2.76
(2.44)
1.81
(1.60)
1.30
(1.15)
0.90
(0.797)
4.70
(4.16)
2.80
(2.48)
4.50
(3.98)
7.20
(6.37)
4.80
(4.25)
6.90
(6.11)
10.4
(9.21)
6.70
(5.93)
10.2
(9.03)
7.80
(6.90)
20.2
(17.9)
13.4
(11.9)