YASKAWA Sigma-III SGMMJ User Manual
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YASKAWA Sigma-III SGMMJ User Manual

YASKAWA Sigma-III SGMMJ User Manual

Ac servo drives
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Table of Contents

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AC Servo Drives
Σ
III
-
SGM/SGDS
USER'S MANUAL
SGMMJ/SGMAS/SGMPS/SGMSS/SGMCS/SGMGH Servomotors
SGDS SERVOPACK
YASKAWA
SGDS-A3B01A
MANUAL NO. SIEP S800000 00G
Series
Specifications and Dimensional Drawings of
Outline
Selections
Servomotor Specifications and
Dimensional Drawings
SERVOPACK Specifications and
Dimensional Drawings
Cables and Peripheral Devices
Panel Operator
Operation
Adjustments
Fully-closed Control
Inspection, Maintenance,
and Troubleshooting
Appendix
1
2
3
4
5
6
Wiring
7
8
9
10
11
12

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Summary of Contents for YASKAWA Sigma-III SGMMJ

  • Page 1 AC Servo Drives Σ Series SGM/SGDS USER'S MANUAL SGMMJ/SGMAS/SGMPS/SGMSS/SGMCS/SGMGH Servomotors SGDS SERVOPACK Outline Selections Servomotor Specifications and Dimensional Drawings YASKAWA SERVOPACK Specifications and Dimensional Drawings SGDS-A3B01A Specifications and Dimensional Drawings of Cables and Peripheral Devices Wiring Panel Operator Operation Adjustments Fully-closed Control...
  • Page 2 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 3: About This Manual

    About this Manual Intended Audience This manual is intended for the following users. • Those selecting Σ-III Series servo drives or peripheral devices for Σ-III Series servo drives. • Those wanting to know about the ratings and characteristics of Σ-III Series servo drives. •...
  • Page 4 Quick access to your required information Read the chapters marked with to get the information required for your purpose. SERVOPACKs, Ratings Panel Trial Inspection Fully- Servomotors, System Configura- Operation Chapter closed and Peripheral Character- Design tion and and Servo Maintenance Control Devices istics...

  • Page 5: Related Manuals

    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 6: Notes For Safe Operation

    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 servo drives. WARNING • Never touch any rotating motor parts while the motor is running. Failure to observe this warning may result in injury.

  • Page 7: Checking On Delivery

    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 8: Installation

    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 9 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 terminal screws and motor output terminal screws. Failure to observe this caution may result in fire.

  • Page 10: Operation

    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 11: Maintenance And Inspection

    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 12: Table Of Contents

    CONTENTS About this Manual- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii Related Manuals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - v Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - v Notes for Safe Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi...
  • Page 13 3 Servomotor Specifications and Dimensional Drawings 3.1 Ratings and Specifications of SGMMJ Servomotors - - - - - - - - - - - - - - - - - - - - 3-4 3.1.1 SGMMJ Servomotors Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4 3.1.2 SGMMJ Servomotors With Standard Backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7 3.2 Ratings and Specifications of SGMAS Servomotors - - - - - - - - - - - - - - - - - - - - 3-8 3.2.1 SGMAS Servomotors without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8...
  • Page 14 3.9 Mechanical Specifications of SGMCS Servomotors - - - - - - - - - - - - - - - - - - - 3-66 3.9.1 Allowable Loads - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-66 3.9.2 Mechanical Tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-67 3.9.3 Direction of Servomotor Rotation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-68 3.9.4 Impact Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-68...
  • Page 15 3.18 Dimensional Drawings of SGMGH Servomotors (1500 min ) - - - - - - - - - - 3-152 3.18.1 SGMGH Servomotors (1500 min ) Without Gears and Brakes - - - - - - - - - - - - - - - - - - - 3-152 3.18.2 SGMGH Servomotors (1500 min ) 200-V Specifications Without Gears and With Brakes 3-154 3.18.3 SGMGH Servomotors (1500 min...
  • Page 16 4.6 SERVOPACK Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18 4.7 Dimensional Drawings of Base-mounted SERVOPACK Model SGDS- 01A/- 02A - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-19...
  • Page 17 5.2.10 Cables for SGMCS- B, C, D, and E Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14 5.2.11 Connectors for SGMCS- M and N Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-15 5.2.12 Cables and Connectors for SGMSS and SGMGH Servomotors - - - - - - - - - - - - - - - - - - - 5-16 5.2.13 Dimensional Drawings of Connectors for SGMSS Servomotors...
  • Page 18 5.10.5 Brake Power Supply Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-70 5.10.6 External Regenerative Resistor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-71 5.10.7 Regenerative Resistor Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-73 5.10.8 Absolute Encoder Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-74...
  • Page 19 7.2 Operation in Utility Function Mode (Fn ) - - - - - - - - - - - - - - - - - - - - - - - - - 7-6 7.2.1 List of Utility Function Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-6 7.2.2 Alarm Traceback Data Display (Fn000) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7 7.2.3 Origin Search Mode (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9 7.2.4 Program JOG Operation (Fn004) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-10...
  • Page 20 8.4 Absolute Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-29 8.4.1 Interface Circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30 8.4.2 Selecting an Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-31 8.4.3 Handling Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-31...
  • Page 21 8.11 Other Output Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-77 8.11.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3) - - - - - - - - - - - - 8-77 8.11.2 Warning Output (/WARN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-78 8.11.3 Rotation Detection Output Signal (/TGON) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-78...
  • Page 22 9.6.13 Vibration Suppression on Stopping - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-52 9.6.14 Backlash Compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-53 9.6.15 Position Integral Time Constant - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-54 9.7 Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-55...
  • Page 23 12.2.6 Connection to MITSUBISHI’s A75 Positioning Unit (SERVOPACK in Position Control Mode) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-20 12.3 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-21 12.3.1 Utility Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-21 12.3.2 Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-22...

  • Page 24: Outline

    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 25: Checking Products

    Check the overall appearance, and check for damage or scratches that 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 26: Servopacks

    Serial number Manufacture date S/N 753000039 S/N 753000039 S/N 753000039 0506 DATE YASKAWA ELECTRIC MADE IN JAP AN YASKAWA ELECTRIC MADE IN JAP AN YASKAWA ELECTRIC MADE IN JAP AN (4) Type SGMCS (Small-capacity series) Nameplate AC SERVO MOTOR Servomotor model...

  • Page 27: Product Part Names

    1 Outline 1.2.1 Servomotors 1.2 Product Part Names 1.2.1 Servomotors (1) Type SGMMJ without Gears and Brakes Servomotor connector Encoder connector Servomotor Encoder main circuit cable cable Nameplate (on the back) Encoder Output (Detecting section) shaft (2) Types SGMAS and SGMPS without Gears and Brakes SGMPS-08, 15 for 750 W, 1.5 kW SGMAS or SGMPS-01 to 04 for 100 W to 400 W Encoder connector...
  • Page 28 1.2 Product Part Names (3) Types SGMSS and SGMGH without Gears and Brakes Servomotor connector Encoder connector Nameplate Flange Encoder (Detecting section) Output shaft (4) Type SGMCS Direct-drive (Small-capacity series) Rotating axis Nameplate Servomotor Encoder connector connector Frame Nameplate Mounting flange View A Servomotor connector...

  • Page 29: Servopacks

    1 Outline 1.2.2 SERVOPACKs 1.2.2 SERVOPACKs With the front cover open Serial number Panel display CN5 Analog monitor connector 5-digit, 7-segment LED used to display Used to monitor motor speed, torque SERVOPACK status, alarm status, and other reference, and other values through S/N D0024B958810004 values when parameters are input.

  • Page 30: Examples Of Servo System Configurations

    Turns the servo (Refer to 2.5.3.) ON and OFF. Install a surge absorber. Digital (Refer to operator 2.5.3.) YASKAWA (Refer to 2.5.1.) SGDS-A3B01A Connection cable Personal computer for digital operator Connection cable for personal computer (Refer to 2.5.1.) Host controller...
  • Page 31 (Refer to 2.5.3.) ON and OFF. Install a surge Digital absorber. operator (Refer to (Refer to 2.5.1.) 2.5.3.) YASKAWA Connection cable Personal computer for digital operator Connection cable for personal computer (Refer to 2.5.1.) Host controller I/O signal cable Regenerative...
  • Page 32 1.3 Examples of Servo System Configurations (3) Cable Connections to SGMAS and SGMPS Servomotors Connect the main circuit cable and encoder cable to SGMAS or SGMPS (100 W to 400 W) servomotor in the following manner. Do not directly touch the connector pins provided with the servomotor. Particularly, the encoder may be IMPORTANT damaged by static electricity, etc.
  • Page 33 1 Outline (4) Connecting to SGMSS/SGMGH Servomotors Power supply Single-phase 200 VAC Notes: 1. For single-phase 200V 800W SERVOPACKS, R S T the terminal L3 is not used. Do not connect. Molded-case circuit breaker 2. Remove the lead wire between the terminals (MCCB) B2 and B3 on the SERVOPACK before Protects the power supply...
  • Page 34 1.3 Examples of Servo System Configurations (5) Connecting to SGMCS Servomotor Power supply Single-phase 100 or 200 VAC Note: For connecting the AC/DC reactor, Molded-case refer to 6.4.5 AC/DC Reactor for circuit breaker (MCCB) Harmonic Suppression. Protects the power supply line by shutting the circuit OFF when overcurrent is detected.

  • Page 35: Applicable Standards

    1 Outline 1.4.1 North American Safety Standards (UL, CSA) 1.4 Applicable Standards 1.4.1 North American Safety Standards (UL, CSA) LISTED ∗1 ∗2 Model Certification Standards (UL File No.) Standards CSA C22.2 UL508C(E147823) SERVOPACK • SGDS No.14 • SGMMJ • SGMAS CSA C22.2 UL1004(E165827) Servomotor...

  • Page 36: Selections

    Selections 2.1 Servomotor Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 2.1.1 Model SGMMJ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 2.1.2 Model SGMAS/SGMPS/SGMSS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4 2.1.3 Model SGMGH (1500 min ) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6...

  • Page 37: Servomotor Model Designations

    2 Selections 2.1.1 Model SGMMJ 2.1 Servomotor Model Designations This section explains how to check the servomotor model and ratings. 2.1.1 Model SGMMJ (1) Without Gears 1st + digits digit digit digit digit digit digit − SGMMJ A1 B A B 2 1 Σ-mini series 8th digit: Options SGMMJ servomotor...
  • Page 38 2.1 Servomotor Model Designations (2) With Gears 1st + 10th digits digit digit digit digit digit digit digit digit − SGMMJ A1 C A J 1 2 1 Σ-mini series 10th digit: Options SGMMJ servomotor Code Specifications None Leads length 300mm 3rd digit: Power Leads length 500mm 1st + 2nd digits:...

  • Page 39: Model Sgmas/Sgmps/Sgmss

    2 Selections 2.1.2 Model SGMAS/SGMPS/SGMSS 2.1.2 Model SGMAS/SGMPS/SGMSS (1) Without Gears 1st + digits digit digit digit digit digit − SGMAS 01 A C A 2 1 7th digit: Options Σ-III Series SGMAS, SGMPS Code Specifications and SGMSS servomotor Without options With 90-VDC brake With 24-VDC brake 1st + 2nd digits:...
  • Page 40 2.1 Servomotor Model Designations (2) With Gears 1st + digits digit digit digit digit digit digit digit − SGMAS 01 A A H 1 2 B Σ-ΙΙΙ Series SGMAS, SGMPS 9th digit: Brake and SGMSS servomotor Without brake With 90-VDC brake With 24-VDC brake 1st+2nd digits: Note: 4 kW, 5 kW and 7 kW SGMSS...

  • Page 41: Model Sgmgh (1500 Min )

    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 3rd digit 7th digit: Brake and Oil Seal 1st+2nd digits Power Supply Rated Output kW Code...
  • Page 42 2.1 Servomotor Model Designations (2) With Grears 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 43: 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 7th digit: Options Rated Output Power Supply (kW)
  • Page 44 2.1 Servomotor Model Designations (2) With Gears 1st + digits digit digit digit digit digit digit digit SGMGH − 20 A B 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 Code...

  • Page 45: Model Sgmcs

    2 Selections 2.1.5 Model SGMCS 2.1.5 Model SGMCS 1st + digits digit digit digit digit digit − SGMCS 02 B 3 C 1 1 Σ-III Series servomotor SGMCS 1st + 2nd + 3rd digits: Rated Torque (N m) Servomotor Outer Diameter (mm) 7th digit: Brake Code Code...

  • Page 46: Servopack Model Designations

    2.2 SERVOPACK Model Designations 2.2 SERVOPACK Model Designations Select the SERVOPACK according to the applied servomotor. 1st + 4th + digits digit digits digit digit A 01 A ∗ SGDS - 7th digit: Mounting Method Σ-III Series SGDS Code Specifications Applicable Model SERVOPACK Base-mounted...

  • Page 47: Σ-Iii Series Servopacks And Applicable Servomotors

    2 Selections 2.3 Σ-III Series SERVOPACKs and Applicable Servomotors Table 2.1 SERVOPACKs and Applicable Servomotors Σ-III Series SGDS SERVOPACK SGM S Servomotor Single-phase Single-phase Three-phase 100 VAC 200 VAC 200 VAC SGMMJ SGMMJ-A1B (10 W) (Σ-mini Series) − − SGDS-A3B SGMMJ-A2B (20 W) SGMMJ-A3B (30 W) 3000min...
  • Page 48 2.3 Σ-III Series SERVOPACKs and Applicable Servomotors Table 2.1 SERVOPACKs and Applicable Servomotors (cont’d) Σ-III Series SGDS SERVOPACK SGM S Servomotor Single-phase Single-phase Three-phase 100 VAC 200 VAC 200 VAC − SGDS-02F SGDS-02A SGMCS-02B − SGDS-02F SGDS-02A SGMCS-05B − SGDS-02F SGDS-02A SGMCS-07B −...

  • Page 49: Selecting Cables

    2 Selections 2.4.1 Cables for SGMMJ Servomotor 2.4 Selecting Cables 2.4.1 Cables for SGMMJ Servomotor Contact Yaskawa Controls Co., Ltd. SERVOPACK Encoder cable Battery unit Servomotor main circuit cable (When the absolute encoder is used.) SGMMJ Servomotor Type Refer- Name...
  • Page 50 JZSP-CFM9-2 without brakes nectors 5.2.2 Servomotor-end connector kit JZSP-CFM9-3 with brakes JZSP-CSM90-05 JZSP-CSM80-05 JZSP-CSM90-10 JZSP-CSM80-10 10 m 20 m max. 5.2.10 Cables JZSP-CSM90-15 JZSP-CSM80-15 15 m JZSP-CSM90-20 JZSP-CSM80-20 20 m Note: For a flexible cable, contact your Yaskawa representative. 2-15...

  • Page 51: Cables For Sgmas And Sgmps Servomotors

    2 Selections 2.4.2 Cables for SGMAS and SGMPS Servomotors 2.4.2 Cables for SGMAS and SGMPS Servomotors Contact Yaskawa Controls Co., Ltd. SGDS SERVOPACK SGMPS-08, 15 Servomotor for 750 W,1.5 kW Servomotor main circuit cable Encoder cable (for relay) (for relay)
  • Page 52 2.4 Selecting Cables Name Servomotor Length Type Specifications Refer- Model ence Standard Type Flexible Type JZSP-CSP01-03 JZSP-CSP21-03 Cable with connec- JZSP-CSP01-05 JZSP-CSP21-05 SERVOPACK end Encoder end tors at both ends 10 m JZSP-CSP01-10 JZSP-CSP21-10 (For incremental SGMAS for 15 m JZSP-CSP01-15 JZSP-CSP21-15 encoder)
  • Page 53 2 Selections 2.4.2 Cables for SGMAS and SGMPS Servomotors (cont’d) Name Servomotor Length Type Specifications Refer- Model ence Standard Type Flexible Type JZSP-CSM01-03 JZSP-CSM21-03 SGMAS JZSP-CSM01-05 JZSP-CSM21-05 50 to 150 W, 5.1.2 10 m JZSP-CSM01-10 JZSP-CSM21-10 SGMPS 15 m JZSP-CSM01-15 JZSP-CSM21-15 100 W 20 m...
  • Page 54 2.4 Selecting Cables (cont’d) Name Servomotor Length Type Specifications Refer- Model ence Standard Type Flexible Type JZSP-CSM11-03 JZSP-CSM31-03 SGMAS JZSP-CSM11-05 JZSP-CSM31-05 50 to 150 W, 5.1.2 10 m JZSP-CSM11-10 JZSP-CSM31-10 SGMPS 15 m JZSP-CSM11-15 JZSP-CSM31-15 100 W 20 m JZSP-CSM11-20 JZSP-CSM31-20 JZSP-CSM12-03 JZSP-CSM32-03...
  • Page 55 2 Selections 2.4.2 Cables for SGMAS and SGMPS Servomotors (cont’d) Name Servomotor Length Type Specifications Refer- Model ence Standard Type Flexible Type SGMPS Caulking Servomotor end 5.2.6 − 1.5 kW JZSP-CMM9-4 connector kit (With brakes) SGMAS JZSP-CSM90-05 JZSP-CSM80-05 50 to 600 W 10 m JZSP-CSM90-10 JZSP-CSM80-10...

  • Page 56: Cables For Sgmss And Sgmgh Servomotors

    2.4 Selecting Cables 2.4.3 Cables for SGMSS and SGMGH Servomotors Contact Yaskawa Controls Co., Ltd. • Cable Connection for Standard Wiring Distance SGDS SERVOPACK Battery case (Required when an absolute encoder is used.) Encoder cable Servomotor main circuit cable SGMSS and SGMGH Servomotors •...
  • Page 57 2 Selections 2.4.3 Cables for SGMSS and SGMGH Servomotors Name Length Type Specifications Refer- ence Standard Flexible Type Type JZSP-CMP01-03 JZSP-CMP11-03 With a straight plug JZSP-CMP01-05 JZSP-CMP11-05 SERVOPACK end Encoder end 10 m JZSP-CMP01-10 JZSP-CMP11-10 15 m JZSP-CMP01-15 JZSP-CMP11-15 Cable with connectors 20 m JZSP-CMP01-20 JZSP-CMP11-20...
  • Page 58 2.4 Selecting Cables (cont’d) Name Length Type Specifications Refer- ence Standard Flexible Type Type Soldered 5.5.3 SERVOPACK end connector kit JZSP-CMP9-1 Straight plug MS3106B20-29S L-shaped plug For standard environment MS3108B20-29S Encoder end connector Cable clamp MS3057-12A Straight plug JA06A-20-29S-J1-EB 5.5.3 Encoder L-shaped plug Cables...

  • Page 59: Cables For Sgmcs Servomotor

    2 Selections 2.4.4 Cables for SGMCS Servomotor 2.4.4 Cables for SGMCS Servomotor Contact Yaskawa Controls Co., Ltd. • Cable Connection for Standard Wiring Distance SGDS SERVOPACK Servomotor SGMCS Encoder Servomotor cable main circuit cable View A Servomotor Encoder cable main circuit cable •...
  • Page 60 15 m JZSP-CMM00-15 JZSP-CMM01-15 20 m JZSP-CMM00-20 JZSP-CMM01-20 Servomotor Cables with connectors, cables, and Main Circuit Without connectors are not provided by Yaskawa. Cable brakes For details, 5.2.14 Dimensional Drawings Connectors (For 5.2.11 of Connectors for SGMSS Servomotors SGMCS- middle-...
  • Page 61 2 Selections 2.4.4 Cables for SGMCS Servomotor (cont’d) Name Length Type Specifications Refer- ence Standard Flexible Type ∗1 Type JZSP-CMP19-30 30 m Wires and connectors Wires and 50 m max. for relay encoder ca- Connectors for JZSP-CMP19-40 ble extensions are 40 m Relay Encoder available for assembly...

  • Page 62: Selecting Peripheral Devices

    2.5 Selecting Peripheral Devices 2.5 Selecting Peripheral Devices Contact Yaskawa Controls Co., Ltd. 2.5.1 Special Options Digital operator With front cover open Connection cable Personal for digital operator computer Analog monitor cable Connection cable S/N D0024B958810004 for personal computer Host controller...

  • Page 63: Molded-Case Circuit Breaker And Fuse Capacity

    2 Selections 2.5.2 Molded-case Circuit Breaker and Fuse Capacity (cont’d) Refer- Name Length Type Specifications ence Battery case JUSP-BA01 (To mount in the battery case) JZSP-BA01 Battery for Absolute Encoder 5.10.8 Note: No battery is mounted in the battery case. A battery must be purchased separately. To connect to a host computer (provided by a customer) 3.6 V 2000 mAh,...

  • Page 64: Noise Filters, Magnetic Contactors, Surge Absorbers And Ac/Dc Reactors

    FN type: SCHAFFNER Noise Filter FMAC type: SCHURTER (formerly TIMONTA) Magnetic Contactor Yaskawa Controls Co., Ltd. Yaskawa Controls Co., Ltd. (surge suppressor) Surge Absorber Okaya Electric Industries Co., Ltd. (surge protector) AC/DC Reactor Yaskawa Controls Co., Ltd. Noise Filter Brake Power Supply NOTE Use the following noise filter at the brake power input for 400 W or less servomotors with holding brakes.

  • Page 65: Regenerative Resistors And Brake Power Supply Units

    Refer to 5.10.7 Regenerative Resistor Unit, 5.10.8 Absolute Encoder Battery, and 6.5 Connecting Regenerative Resistors. 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. 2-30...

  • Page 66: Servomotor Specifications And Dimensional Drawings

    Servomotor Specifications and Dimensional Drawings 3.1 Ratings and Specifications of SGMMJ Servomotors - - - - - - - - - - - - - - - - - 3-4 3.1.1 SGMMJ Servomotors Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4 3.1.2 SGMMJ Servomotors With Standard Backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - 3-7 3.2 Ratings and Specifications of SGMAS Servomotors - - - - - - - - - - - - - - - - - 3-8 3.2.1 SGMAS Servomotors without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8...
  • Page 67 3 Servomotor Specifications and Dimensional Drawings 3.8 Mechanical Specifications of SGMMJ, SGMAS, SGMPS, SGMSS, and SGMGH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-52 3.8.1 Precautions on Servomotor Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-52 3.8.2 Allowable Radial and Thrust Loads - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-54 3.8.3 Mechanical Tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-64...
  • Page 68 3.16 Dimensional Drawings of SGMSS Servomotors - - - - - - - - - - - - - - - - - 3-144 3.16.1 1.0-kW to 5.0-kW SGMSS Servomotors without Gears - - - - - - - - - - - - - - - - - - - - 3-144 3.16.2 7.0-kW SGMSS Servomotors without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-145 3.16.3 SGMSS Servomotors without Gears and with Brakes - - - - - - - - - - - - - - - - - - - - - 3-146 3.16.4 SGMSS Servomotors with Low-backlash Gears and Flange-mounted Type - - - - - 3-147...

  • Page 69: Ratings And Specifications Of Sgmmj Servomotors

    * 2. Rated torques are continuous allowable torque values at 40°C with an aluminum plate (heat sink) attached. A1 and A2: 150 × 150 × 3 (mm) A3: 250 × 250 × 6 (mm) Note: If the heating conditions are more severe than the *2 conditions above, continuous allowable torque decreases. Contact your Yaskawa representative.

  • Page 70: Holding Brake Electrical Specifications

    3.1 Ratings and Specifications of SGMMJ Servomotors (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 SGMMJ-...

  • Page 71: Torque-Motor Speed Characteristics

    3 Servomotor Specifications and Dimensional Drawings 3.1.1 SGMMJ Servomotors Without Gears (4) Torque-motor Speed Characteristics SGMMJ-A1B SGMMJ-A2B 5000 5000 4000 4000 Motor speed Motor speed 3000 3000 (min (min 2000 2000 1000 1000 0.02 0.04 0.06 0.08 0.10 0.04 0.08 0.12 0.16 0.20...

  • Page 72: Sgmmj Servomotors With Standard Backlash Gears

    3.1 Ratings and Specifications of SGMMJ Servomotors 3.1.2 SGMMJ Servomotors With Standard Backlash Gears • Time Rating: Continuous • Withstand Voltage: 1000 VAC for one minute • Insulation Resistance: 500 VDC, 10 MΩ min. • Enclosure: Totally enclosed, self-cooled, IP55 (except for shaft opening) •...
  • Page 73 × × SGMAS-06: 300 mm 300 mm 12 mm × × SGMAS-12: 350 mm 350 mm 12 mm Note: If the heating conditions are more severe than the *2 conditions above, continuous allow- able torque decreases. Contact your Yaskawa representative.

  • Page 74: Ratings And Specifications Of Sgmas Servomotors

    3.2 Ratings and Specifications of SGMAS Servomotors (2) Holding Brake Moment of Inertia The moment of inertia of the servomotor with holding brake is that of the rotor + that of brakes. Holding Brake Moment of Inertia Servomotor Model SGMAS- Holding Brake 0.00754 0.0642...

  • Page 75: Sgmas Servomotors Without Gears

    3 Servomotor Specifications and Dimensional Drawings 3.2.1 SGMAS Servomotors without Gears SGMAS-04A SGMAS-06A 6000 6000 5000 5000 4000 4000 Motor speed Motor speed (min ) (min ) 3000 3000 2000 2000 1000 1000 Torque(N m) Torque (N m) SGMAS-08A SGMAS-12A 6000 6000 5000...

  • Page 76: Ratings And Specifications Of Sgmas Servomotors

    3.2 Ratings and Specifications of SGMAS Servomotors (5) Holding Brake Electrical Specifications Holding Brake Electrical Specifications Holding Brake Specifications Servomotor Holding Holding Brake Servomotor Coil Rated Capacity Capacity Torque Rated Voltage Model Resistance Current ° ° Ω(at 20 A (at 20 (N m) SGMAS-A5A 0.159...

  • Page 77: Sgmas Servomotors With Standard Backlash Gears

    3 Servomotor Specifications and Dimensional Drawings 3.2.2 SGMAS Servomotors with Standard Backlash Gears 3.2.2 SGMAS Servomotors with Standard Backlash Gears • Time Rating: Continuous • Thermal Class: B • Vibration Class: 15 μm or below • Withstand Voltage: 1500 VAC for one minute •...
  • Page 78 This may cause deterioration of the bearing or increase the load ratio. Contact your Yaskawa representative if you are using your servomotor under such conditions. 3-13...

  • Page 79: Sgmas Servomotors With Low-Backlash Gears

    3 Servomotor Specifications and Dimensional Drawings 3.2.3 SGMAS Servomotors with Low-backlash Gears 3.2.3 SGMAS Servomotors with Low-backlash Gears • Time Rating: Continuous • Thermal Class: B • Vibration Class: 15 μm or below • Withstand Voltage: 1500 VAC for one minute •...
  • Page 80 This may cause deterioration of the bearing or increase the load ratio. Contact your Yaskawa representative if you are using your servomotor under such conditions. 3-15...

  • Page 81: Sgmas Flange-Type Servomotors With Low-Backlash Gears

    3 Servomotor Specifications and Dimensional Drawings 3.2.4 SGMAS Flange-type Servomotors with Low-backlash Gears 3.2.4 SGMAS Flange-type Servomotors with Low-backlash Gears • Time Rating: Continuous • Thermal Class: B • Vibration Class: 15 μm or below • Withstand Voltage: 1500 VAC for one minute •...
  • Page 82 This may cause deterioration of the bearing or increase the load ratio. Contact your Yaskawa representative if you are using your servomotor under such conditions. 3-17...

  • Page 83: Ratings And Specifications Of Sgmps Servomotors

    12 mm Note: If the heating conditions are more severe than the *2 conditions above, continuous allow- able torque decreases. Contact your Yaskawa representatives. (2) Holding Brake Moment of Inertia The moment of inertia of the servomotor with holding brake is that of the rotor + that of brakes.
  • Page 84 3.3 Ratings and Specifications of SGMPS Servomotors (3) Derating Ratio for Servomotor fitted with a Shaft Seal Use the following reduction ratings when a motor is fitted with a shaft seal because of the higher friction torque. Derating Ratio for Servomotor fitted with a Shaft Seal Servomotor Model SGMPS- Derating Ratio (%)
  • Page 85 3 Servomotor Specifications and Dimensional Drawings 3.3.1 SGMPS Servomotors without Gears (5) Holding Brake Electrical Specifications Holding Brake Electrical Specifications Holding Brake Specifications Servomotor Holding Brake Servomotor Holding Coil Rated Capacity Capacity Rated Voltage Model Torque Resistance Current ° ° Ω(at 20 A (at 20 (N m)

  • Page 86: Sgmps Servomotors With Standard Backlash Gears

    3.3 Ratings and Specifications of SGMPS Servomotors 3.3.2 SGMPS Servomotors with Standard Backlash Gears • Time Rating: Continuous • Thermal Class: B • Vibration Class: 15 μm or below • Withstand Voltage: 1500 VAC for one minute • Insulation Resistance: 500 VDC, 10 MΩ min. •...
  • Page 87 This may cause deterioration of the bearing or increase the load ratio. Contact your Yaskawa representative if you are using your servomotor under such conditions. 3-22...

  • Page 88: Sgmps Servomotors With Low-Backlash Gears

    3.3 Ratings and Specifications of SGMPS Servomotors 3.3.3 SGMPS Servomotors with Low-Backlash Gears • Time Rating: Continuous • Thermal Class: B • Vibration Class: 15 μm or below • Withstand Voltage:1500 VAC for one minute • Insulation Resistance: 500 VDC, 10 MΩ min. •...
  • Page 89 This may cause deterioration of the bearing or increase the load ratio. Contact your Yaskawa representative if you are using your servomotor under such conditions. 3-24...

  • Page 90: Sgmps Flange-Type Servomotors With Low-Backlash Gears

    3.3 Ratings and Specifications of SGMPS Servomotors 3.3.4 SGMPS Flange-type Servomotors with Low-backlash Gears • Time Rating: Continuous • Thermal Class: B • Vibration Class: 15 μm or below • Withstand Voltage: 1500 VAC for one minute • Insulation Resistance: 500 VDC, 10 MΩ min. •...
  • Page 91 This may cause deterioration of the bearing or increase the load ratio. Contact your Yaskawa representative if you are using your servomotor under such conditions. 3-26...

  • Page 92: Ratings And Specifications Of Sgmss Servomotors

    20 (mm) Note: If the heating conditions are more severe than the *2 conditions above, continuous allow- able torque decreases. Contact your Yaskawa representative. (2) Holding Brake Moment of Inertia The moment of inertia of the servomotor with holding brake is that of the rotor + that of brakes.
  • Page 93 3 Servomotor Specifications and Dimensional Drawings 3.4.1 SGMSS Servomotors without Gears (3) Holding Brake Electrical Specifications Holding Brake Specifications Servomotor Holding Brake Servomotor Holding Coil Rated Capacity Capacity Raged Voltage Model Torque Resistance Current A ° ° Ω (at 20 (at 20 (N m) 1000...
  • Page 94 3.4 Ratings and Specifications of SGMSS Servomotors SGMSS-40A SGMSS-30A 6000 6000 5000 5000 4000 Motor speed Motor speed 4000 (min (min 3000 3000 2000 2000 1000 1000 Torque(N m) Torque(N m) SGMSS-50A SGMSS-70A 6000 6000 5000 5000 4000 4000 Motor speed Motor speed (min (min...

  • Page 95: Sgmss Servomotors With Low-Backlash Gears

    3 Servomotor Specifications and Dimensional Drawings 3.4.2 SGMSS Servomotors with Low-backlash Gears 3.4.2 SGMSS Servomotors with Low-backlash Gears • Time Rating: Continuous • Thermal Class: F • Vibration Class: 15 μm or below • Withstand Voltage: 1500 VAC for one minute •...
  • Page 96 3.4 Ratings and Specifications of SGMSS Servomotors Ratings and Specifications for SGMSS Servomotors with Low-backlash Gears (cont’d) Moment of Inertia Servomotor Motor + Gear Gear Model SGMSS- × × (kg m (kg m 10A AL14 5.18 3.44 4.85 3.11 10A AL24 8.53 6.79 10A AL54...

  • Page 97: Ratings And Specifications Of Sgmgh

    SGMGH-05, 09, and 13: 400 × 400 × 20 (mm) SGMGH-20, 30, 44, 55, and 75: 550 × 550 × 30 (mm) 2. If the heating conditions are more severe than the conditions described in Note 1, continuous allowable torque decreases. Contact your Yaskawa representative. 3-32...
  • Page 98 3.5 Ratings and Specifications of SGMGH (1500min (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 99 3 Servomotor Specifications and Dimensional Drawings 3.5.1 SGMGH Servomotors (1500min ) Without Gears (4) Holding Brake Electrical Specifications Holding Brake Specifications Holding Servomotor Servomotor Holding Coil Rated Brake Rated Capacity Capacity Model Torque Resistance Current Voltage N·m Ω (at 20 °C) A (at 20 °C) SGMGH-05 10.1...
  • Page 100 Note: Contact your Yaskawa representative regarding the use of servomotors in cases such as when the servomotor is frequently started and stopped, or when impact is generated on the gear output shaft by acceleration and deceleration.

  • Page 101: Sgmgh Servomotors

    3 Servomotor Specifications and Dimensional Drawings 3.5.2 SGMGH Servomotors (1500 min ) With Standard Backlash Gears (cont’d) Moment of Inertia J Servomotor Gear Output ×10 kg·m Instanta- Servomotor Rated neous Model Rated Rated Max. Out- Rated Torque/ Gear Peak Motor + SGMGH- Speed Speed...
  • Page 102 3.5 Ratings and Specifications of SGMGH (1500min 3.5.3 SGMGH Servomotors (1500 min ) 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 103: Sgmgh Servomotors

    3 Servomotor Specifications and Dimensional Drawings 3.5.3 SGMGH Servomotors (1500 min ) With Low-backlash Gears Efficiency Efficiency Output torque Motor speed Notes: 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.

  • Page 104: Sgmgh Servomotors

    SGMGH-03, 06, and 09: 400 × 400 × 20 (mm) SGMGH-12, 20, 30, 40 and 55: 550 × 550 × 30 (mm) 2. If the heating conditions are more severe than the conditions described in Note 1, continuous allowable torque decreases. Contact your Yaskawa representative. 3-39...

  • Page 105: Sgmgh Servomotors

    3 Servomotor Specifications and Dimensional Drawings 3.6.1 SGMGH Servomotors (1000 min ) 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 106 3.6 Ratings and Specifications of SGMGH (1000 min (4) Holding Brake Electrical Specifications Holding Brake Specifications Servomotor Holding Brake Servomotor Holding Coil Rated Capacity Capacity Model Rated Voltage Torque Resistance Current N·m Ω (at 20 °C) A (at 20 °C) SGMGH-03 10.1 4.41...

  • Page 107: Sgmgh Servomotors

    Note: Contact your Yaskawa representative regarding the use of servomotors in cases such as when the servomotor is frequently started and stopped, or when impact is generated on the gear output shaft by acceleration and decel- eration.
  • Page 108 3.6 Ratings and Specifications of SGMGH (1000 min (cont’d) Moment of Inertia J Servomotor Gear Output ×10 kg·m Instanta- Servomotor Rated neous Model Rated Rated Max. Out- Rated Gear Torque/ Peak Motor + SGMGH- Speed Speed Speed Torque Gears Ratio Efficiency Torque/ Gears...

  • Page 109: Sgmgh Servomotors

    3 Servomotor Specifications and Dimensional Drawings 3.6.3 SGMGH Servomotors (1000 min ) With Low-backlash Gears 3.6.3 SGMGH Servomotors (1000 min ) With Low-backlash Gears • Time Rating: Continuous • Thermal Class: F • Vibration Class: 15 μm or below • Withstand Voltage: 1500 VAC for one minute •...
  • Page 110 3.6 Ratings and Specifications of SGMGH (1000 min Notes: 1. Output torque and motor speed produce the following trends in efficiency. Values in the table are at the rated motor speed. Efficiency Efficiency Output torque Motor speed 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.

  • Page 111: Ratings And Specifications Of Sgmcs Servomotors

    3 Servomotor Specifications and Dimensional Drawings 3.7.1 Small-capacity Series 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 •...
  • Page 112 3.7 Ratings and Specifications of SGMCS Servomotors Notes: 1. SGMCS servomotor with holding brake is not available. 2. For the bearings used in SGMCS servomotors, loss varies according to the bearing tem- perature. At low temperatures, the amount of heat loss will be large. * 1.

  • Page 113: Small-Capacity Series Sgmcs Servomotors

    3 Servomotor Specifications and Dimensional Drawings 3.7.1 Small-capacity Series SGMCS Servomotors (2) Torque-motor Speed Characteristics SGMCS-02B SGMCS-05B Motor speed Motor speed (min (min Torque (N m) Torque (N m) SGMCS-04C SGMCS-07B Motor speed Motor speed (min (min Torque (N m) Torque (N m) SGMCS-10C A : Continuous Duty Zone...
  • Page 114 3.7 Ratings and Specifications of SGMCS Servomotors SGMCS-08D SGMCS-14C Motor speed Motor speed (min (min Torque(N m) Torque(N m) SGMCS-17D SGMCS-25D Motor speed Motor speed (min (min Torque(N m) Torque(N m) SGMCS-16E SGMCS-35E Motor speed Motor speed (min (min Torque(N m) Torque(N m) A: Continuous Duty Zone B: Intermittent Duty Zone...

  • Page 115: Middle-Capacity Series Sgmcs Servomotors

    3 Servomotor Specifications and Dimensional Drawings 3.7.2 Middle-capacity Series 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 •...
  • Page 116 3.7 Ratings and Specifications of SGMCS Servomotors (2) Torque-motor Speed Characteristics SGMCS-45M SGMCS-80M Motor speed Motor speed (min (min Torque (N m) Torque (N m) SGMCS-1AM SGMCS-80N Motor speed Motor speed (min (min Torque (N m) Torque (N m) SGMCS-1EN SGMCS-2ZN Motor speed Motor speed...

  • Page 117: Mechanical Specifications Of Sgmmj, Sgmas, Sgmps, Sgmss, And Sgmgh Servomotors

    3 Servomotor Specifications and Dimensional Drawings 3.8.1 Precautions on Servomotor Installation 3.8 Mechanical Specifications of SGMMJ, SGMAS, SGMPS, SGMSS, and SGMGH 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 118 3.8 Mechanical Specifications of SGMMJ, SGMAS, SGMPS, SGMSS, and SGMGH Servomotors If the servomotor is used in a location that is subject to Flange water drops, make sure of the servomotor protective Through shaft section specification (except for through shaft section). This refers to the gap where If the servomotor is used in a location that is subject to the shaft protrudes from...

  • Page 119: Allowable Radial And Thrust Loads

    • Driving a helical gear When the loading point is larger than the dimension LR in the table below, the allowable radial load is reduced. Contact your Yaskawa representative for more information. (1) SGMMJ, SGMAS,SGMPS,SGMSS, and SGMGH Servomotors without Gears...
  • Page 120 3.8 Mechanical Specifications of SGMMJ, SGMAS, SGMPS, SGMSS, and SGMGH Servomotors Allowable Radial and Thrust Loads for Servomotors without Gears (cont’d) Allowable Thrust Allowable Radial Load Load Fr Servomotor Model Reference Diagram 03A B21 06A B21 09A B21 SGMGH- 12A B21 1176 (1000min 20A B21...
  • Page 121 3 Servomotor Specifications and Dimensional Drawings 3.8.2 Allowable Radial and Thrust Loads (3) SGMAS Servomotors with Gears Allowable Radial and Thrust Loads for SGMAS Servomotors with Gears With Standard Backlash Gears With Low-backlash Gears Servomotor Servomotor Allowable Radial Allowable Thrust Allowable Radial Allowable Thrust Model...

  • Page 122: With Standard Backlash Gears

    3.8 Mechanical Specifications of SGMMJ, SGMAS, SGMPS, SGMSS, and SGMGH Servomotors (4) SGMGH Servomotor (1500 min ) with Standard Backlash Gears Servomotor Model: Allowable Radial Load for Shaft Center SGMGH- (1500 min 2830 05P A A6 3340 05P A B6 5400 05P A C6 5400...

  • Page 123: With Low-Backlash Gears

    3 Servomotor Specifications and Dimensional Drawings 3.8.2 Allowable Radial and Thrust Loads (5) SGMGH Servomotor (1500 min ) with Low-backlash Gears Servomotor Model: Allowable Radial Load for Shaft Center SGMGH- (1500 min 05A AL14 05A AL24 09A AL14 09A AL24 2650 05A AL54 2940...

  • Page 124: With Standard Backlash Gears

    3.8 Mechanical Specifications of SGMMJ, SGMAS, SGMPS, SGMSS, and SGMGH Servomotors (6) SGMGH Servomotor (1000 min ) with Standard Backlash Gears Servomotor Model: Allowable Radial Load for Shaft Center SGMGH- (1000 min 2840 03P B A6 3340 03P B B6 5400 03P B C6 5400...

  • Page 125: With Low-Backlash Gears

    3 Servomotor Specifications and Dimensional Drawings 3.8.2 Allowable Radial and Thrust Loads (7) SGMGH Servomotor (1000 min ) with Low-backlash Gears Servomotor Model: Allowable Radial Load for Shaft Center SGMGH- (1000 min 03A BL14 03A BL24 Grease-lubricating Type (For small capacity) 1270 03A BL54 06A BL14...
  • Page 126 3.8 Mechanical Specifications of SGMMJ, SGMAS, SGMPS, SGMSS, and SGMGH Servomotors (8) SGMPS Servomotors with Gears Allowable Radial and Thrust Loads for SGMPS Servomotors with Gears With Standard Backlash Gears With Low-backlash Gears Servomotor Servomotor Allowable Radial Allowable Thrust Allowable Radial Allowable Thrust Model Model...
  • Page 127 3 Servomotor Specifications and Dimensional Drawings 3.8.2 Allowable Radial and Thrust Loads (9) SGMSS Servomotors with Gears Allowable Radial and Thrust Loads for SGMSS Servomotors with Gears With Load-backlash Gears Servomotor Allowable Radial Allowable Thrust Model Load Load SGMSS- 72.5 10A AL1 −...
  • Page 128 3.8 Mechanical Specifications of SGMMJ, SGMAS, SGMPS, SGMSS, and SGMGH Servomotors Allowable Radial and Thrust Loads for SGMSS Servomotors with Gears (cont’d) With Load-backlash Gears Servomotor Allowable Radial Allowable Thrust Model Load Load SGMSS- 6860 30A AL7 − 7350 8040 30A AL8 −...

  • Page 129: Mechanical Tolerance

    3 Servomotor Specifications and Dimensional Drawings 3.8.3 Mechanical Tolerance 3.8.3 Mechanical Tolerance The following table shows tolerances for the servomotor’s output shaft and installation area. For more details on tolerances, refer to the dimensional drawing of the individual servomotor. Mechanical Tolerance Tolerance T.

  • Page 130: Vibration Class

    1.5 kW satisfy the servomotor protective specifications when the specified cables are used. For the cable specifications, refer to 5.1 Servomotor Main Circuit Cables. * The connectors on SGMMJ, SGMPS-08, and -15 are excluded. Contact your Yaskawa repre- sentative for the connectors for IP67 specification.

  • Page 131: Mechanical Specifications Of Sgmcs Servomotors

    3 Servomotor 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 132: 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 133: Direction Of Servomotor Rotation

    3 Servomotor 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 134: Terms For Servomotors With Gears

    3.10 Terms for Servomotors with Gears 3.10 Terms 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 The rated output torque of the motor is the gear input torque. Rated Torque −...
  • Page 135 3 Servomotor 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 Specifi- cations of SGMSS, SGMGH servomotors with Gears are at the rated motor torque and rated motor speed. Efficiency Efficiency Output torque...

  • Page 136: 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. Series Groups of Servomotor Dimensional Drawings Reference 3.12.1 Without gears 3.12.2 With brakes SGMMJ 3.12.3 With standard backlash gears...

  • Page 137: Dimensional Drawings Of Sgmmj Servomotors

    3 Servomotor Specifications and Dimensional Drawings 3.12.1 SGMMJ Servomotors without Gears 3.12 Dimensional Drawings of SGMMJ Servomotors 3.12.1 SGMMJ Servomotors without Gears Encoder cable UL20276 300±30 Motor cable AWG24, UL10095 or UL3266 Protective tube φ5, Black ±30 φ5h6 0.04 A Shaft End 0.02 φ0.04 A...

  • Page 138: Sgmmj Servomotors With Brakes

    3.12 Dimensional Drawings of SGMMJ Servomotors 3.12.2 SGMMJ Servomotors with Brakes Encoder cable 300 ±30 UL20276 Motor cable AWG24, UL10095 or UL3266 Protective tube φ6, Black ±30 φ5h6 0.04 Shaft End 0.02 Warning label φ0.04 A 2-M3 Tap × Depth 5 Holding brake (de-energization operation) Nameplate Voltage: 24VDC...

  • Page 139: Sgmmj Servomotor With Standard Backlash Gears And Without Brakes

    3 Servomotor Specifications and Dimensional Drawings 3.12.3 SGMMJ Servomotor with Standard Backlash Gears and without Brakes 3.12.3 SGMMJ Servomotor with Standard Backlash Gears and without Brakes (1) 10 W, 20 W Encoder cable 300 ± 30 UL20276 Motor cable AWG24, UL10095 or UL3266 Protective tube M3 Tap ×...
  • Page 140 3.12 Dimensional Drawings of SGMMJ Servomotors (2) 30 W Encoder cable 300 ±30 UL20276 Motor cable AWG24, UL10095 or UL3266 Protective tube φ5, Black M3 Tap × Depth 6 ±30 0.06 View Y-Y Shaft End 0.04 40.8 42.7 0.05 Warning label Nameplate 4-φ3.4 through hole φ9h7: φ9...

  • Page 141: Sgmmj Servomotors With Standard Backlash Gears And Brakes

    3 Servomotor Specifications and Dimensional Drawings 3.12.4 SGMMJ Servomotors with Standard Backlash Gears and Brakes 3.12.4 SGMMJ Servomotors with Standard Backlash Gears and Brakes (1) 10 W, 20 W Encoder cable 300 ±30 UL20276 Motor cable AWG24, UL10095 or UL3266 Protective tube φ6, Black 300±30...
  • Page 142 3.12 Dimensional Drawings of SGMMJ Servomotors (2) 30 W Encoder cable 300 ±30 UL20276 Motor cable AWG24, UL10095 or UL3266 M3 Tap × Depth 6 Protective tube φ6, Black View Y-Y ±30 Shaft End 0.06 164.3 0.04 146.3 φ0.05 A 42.7 40.8 Warning...

  • Page 143: Dimensional Drawings Of Sgmas Servomotors

    3 Servomotor Specifications and Dimensional Drawings 3.13.1 SGMAS Servomotors without Gears 3.13 Dimensional Drawings of SGMAS Servomotors 3.13.1 SGMAS Servomotors without Gears (1) 50 W, 100 W and 150 W 0.04 0.04 A 20.5 20.2 18.8 Cross-section Y-Y 30h7: φ30 Serial encoder 2-φ4.3 -0.021...
  • Page 144 3.13 Dimensional Drawings of SGMAS Servomotors (2) 200 W, 400 W and 600 W 0.04 φ 0.04 20.5 21.2 Cross-section Y-Y Shaft-end Serial encoder × Units: mm 0.02 depth 4-φ5.5 Approx. Tap × Model Mass SGMAS- Depth No key 02A A21 No tap 02A A41 ×...
  • Page 145 3 Servomotor Specifications and Dimensional Drawings 3.13.1 SGMAS Servomotors without Gears (3) 750 W and 1150 W 0.04 φ0.04 20.5 21.2 Cross-section Y-Y Shaft-end × Serial encoder Units: mm depth φ 0.02 Approx. Tap × Model Mass SGMAS- Depth No key 08A A21 No tap 08A A41...

  • Page 146: Sgmas Servomotors With Brakes

    3.13 Dimensional Drawings of SGMAS Servomotors 3.13.2 SGMAS Servomotors with Brakes (1) 50 W, 100 W and 150 W 0.04 φ0.04 20.5 18.8 20.2 Cross-section Y-Y Shaft-end 30h7: φ30 Holding brake (de-energization operation) 2-φ4.3 -0.021 Serial encoder Power suppoy: 90 VDC or 24 VDC Tap ×...
  • Page 147 3 Servomotor Specifications and Dimensional Drawings 3.13.2 SGMAS Servomotors with Brakes (2) 200 W, 400 W and 600 W 0.04 φ0.04 20.5 21.2 Cross-section Y-Y Shaft -end × depth Holding brake (de-energization operation) 0.02 4-φ5.5 Serial encoder Power supply: 90 VDC or 24 VDC Units: mm Approx.
  • Page 148 3.13 Dimensional Drawings of SGMAS Servomotors (3) 750 W and 1150 W 0.04 φ0.04 20.5 21.2 Cross-section Y-Y Shaft -end × depth Holding brake (de-energization operation) Serial encoder 0.02 Units: mm 4-φ7 Power supply: 90 VDC or 24 VDC φ16h6: φ16 -0.011 φ70h7: φ70 -0.030...

  • Page 149: Sgmas Servomotors With Standard Backlash Gears

    3 Servomotor Specifications and Dimensional Drawings 3.13.3 SGMAS Servomotors with Standard Backlash Gears 3.13.3 SGMAS Servomotors with Standard Backlash Gears (1) 50 W, 100 W and150 W 0.06 0.04 Shaft-end 20.2 Serial encoder Rotating section × Depth (shown with hatching) 4-φLZ Units: mm Model...
  • Page 150 3.13 Dimensional Drawings of SGMAS Servomotors • Dimensional Tolerances Units: mm Shaft-end Dimensions Flange Face Dimensions Model SGMAS- A5A AJ1 1 -0.030 -0.018 A5A AJ3 1 A5A AJC 1 -0.018 -0.030 A5A AJ7 1 01A AJ1 1 -0.018 -0.030 01A AJ3 1 01A AJC 1 -0.021 -0.035...
  • Page 151 3 Servomotor Specifications and Dimensional Drawings 3.13.3 SGMAS Servomotors with Standard Backlash Gears (2) 200 W, 400 W, 600 W, 750 W and 1150 W 0.06 Shaft-end 0.04 0.05 21.2 Serial encoder Tap depth Rotating section 4- LZ (shown with hatching) Units: mm Model Gear...
  • Page 152 3.13 Dimensional Drawings of SGMAS Servomotors (cont’d) Approx. Model Tap × Depth Mass SGMAS- 02A AJ1 1 × 19.5 02A AJ3 1 02A AJC 1 × 02A AJ7 1 × 19.5 04A AJ1 1 × 04A AJ3 1 04A AJC 1 ×...
  • Page 153 3 Servomotor Specifications and Dimensional Drawings 3.13.3 SGMAS Servomotors with Standard Backlash Gears • Dimensional Tolerances Units: mm Shaft-end Dimensions Flange Face Dimensions Model SGMAS- 02A AJ1 1 -0.035 02A AJ3 1 -0.021 02A AJC 1 -0.035 -0.021 02A AJ7 1 04A AJ1 1 -0.021 -0.035...

  • Page 154: Sgmas Servomotors With Standard Backlash Gears And Brakes

    3.13 Dimensional Drawings of SGMAS Servomotors 3.13.4 SGMAS Servomotors with Standard Backlash Gears and Brakes (1) 50 W, 100 W and 150 W 0.06 0.04 Shaft-end φ0.05 20.2 Serial encoder Holding Brake (de-energization operation) Rotating section × depth (shown with Power Suplly: 90 VDC or 24 VDC hatching) Units: mm...
  • Page 155 3 Servomotor Specifications and Dimensional Drawings 3.13.4 SGMAS Servomotors with Standard Backlash Gears and Brakes (cont’d) Approx. Model Tap × Depth Mass SGMAS- A5A AJ1 A5A AJ3 × 14.5 A5A AJC A5A AJ7 01A AJ1 × 14.5 01A AJ3 01A AJC ×...
  • Page 156 3.13 Dimensional Drawings of SGMAS Servomotors (2) 200 W, 400 W, 600 W, 750 W and 1150 W 0.06 Shaft-end 0.04 φ0.05 21.2 Serial encoder Rotating section × Holding Brake (de-energization operation) depth (shown with hatching) 4-φLZ Power Supply: 90 VDC or 24 VDC Units: mm Model Gear...
  • Page 157 3 Servomotor Specifications and Dimensional Drawings 3.13.4 SGMAS Servomotors with Standard Backlash Gears and Brakes (cont’d) Approx. Model Tap × Depth Mass SGMAS- 02A AJ1 × 19.5 02A AJ3 02A AJC × 02A AJ7 × 19.5 04A AJ1 × 04A AJ3 04A AJC ×...
  • Page 158 3.13 Dimensional Drawings of SGMAS Servomotors • Dimensional Tolerances Units: mm Shaft-end Dimensions Flange Face Dimensions Model SGMAS- 02A AJ1 -0.021 02A AJ3 -0.035 02A AJC -0.035 02A AJ7 -0.021 04A AJ1 -0.021 -0.035 04A AJ3 -0.021 -0.035 04A AJC -0.025 -0.035 04A AJ7...

  • Page 159: Sgmas Servomotors With Low-Backlash Gears

    3 Servomotor Specifications and Dimensional Drawings 3.13.5 SGMAS Servomotors with Low-backlash Gears 3.13.5 SGMAS Servomotors with Low-backlash Gears (1) 50 W, 100 W and 150 W 0.06 0.04 Shaft-end φ0.05 20.2 Serial encoder Rotating section × depth 4-φLZ (shown with hatching) Units: mm Model Gear...
  • Page 160 3.13 Dimensional Drawings of SGMAS Servomotors • Dimensional Tolerances Units: mm Shaft-end Dimensions Flange Face Dimensions Model SGMAS- A5A AH1 1 -0.018 -0.030 A5A AH2 1 A5A AHC 1 -0.018 -0.030 A5A AH7 1 01A AH1 1 -0.018 01A AHB 1 -0.030 01A AHC 1 -0.021...
  • Page 161 3 Servomotor Specifications and Dimensional Drawings 3.13.5 SGMAS Servomotors with Low-backlash Gears (2) 200 W, 400 W, 600 W, 750 W and 1150 W 0.06 0.04 Shaft-end φ0.05 21.2 Serial encoder Rotating section × depth (shown with hatching) 4-φLZ Units: mm Model Gear Ratio...
  • Page 162 3.13 Dimensional Drawings of SGMAS Servomotors (cont’d) Approx. Model Tap × Depth Mass SGMAS- 02A AH1 1 × 02A AHB 1 02A AHC 1 × 02A AH7 1 × 04A AH1 1 × 04A AHB 1 04A AHC 1 × 04A AH7 1 ×...
  • Page 163 3 Servomotor Specifications and Dimensional Drawings 3.13.5 SGMAS Servomotors with Low-backlash Gears • Dimensional Tolerances Units: mm Shaft-end Dimensions Flange Face Dimensions Model SGMAS- 02A AH1 1 -0.035 -0.021 02A AHB 1 02A AHC 1 -0.021 -0.035 02A AH7 1 04A AH1 1 -0.035 -0.021...

  • Page 164: Sgmas Servomotors With Low-Backlash Gears And Brakes

    3.13 Dimensional Drawings of SGMAS Servomotors 3.13.6 SGMAS Servomotors with Low-backlash Gears and Brakes (1) 50 W, 100 W and 150 W 0.004 0.04 Shaft-end φ0.05 20.2 Serial encoder Rotating section × depth Holding Brake (de-energization operation) (shown with 4-φLZ Power Supply: 90 VDC or 24 VDC hatching) Units: mm...
  • Page 165 3 Servomotor Specifications and Dimensional Drawings 3.13.6 SGMAS Servomotors with Low-backlash Gears and Brakes • Dimensional Tolerances Units: mm Shaft-end Dimensions Flange Face Dimensions Model SGMAS- A5A AH1 -0.018 -0.030 A5A AH2 A5A AHC -0.018 -0.030 A5A AH7 01A AH1 -0.018 -0.030 01A AHB...
  • Page 166 3.13 Dimensional Drawings of SGMAS Servomotors (2) 200 W, 400 W, 600 W, 750 W and 1150 W 0.06 Shaft-end 0.04 φ0.05 21.2 Serial encoder Rotatins section Holding Brake (de-energization operation) × depth (shown with 4-φLZ Power Supply: 90 VDC or 24 VDC hatching) Units: mm Model...
  • Page 167 3 Servomotor Specifications and Dimensional Drawings 3.13.6 SGMAS Servomotors with Low-backlash Gears and Brakes (cont’d) Approx. Model Tap × Depth Mass SGMAS- 02A AH1 × 02A AHB 02A AHC × 02A AH7 × 04A AH1 × 04A AHB 04A AHC ×...
  • Page 168 3.13 Dimensional Drawings of SGMAS Servomotors • Dimensional Tolerances Units: mm Shaft-end Dimensions Flange Face Dimensions Model SGMAS- 02A AH1 -0.021 -0.035 02A AHB 02A AHC -0.035 02A AH7 -0.021 04A AH1 -0.035 -0.021 04A AHB -0.021 -0.035 04A AHC -0.025 -0.035 04A AH7...

  • Page 169: Sgmas Flange-Type Servomotors With Low-Backlash Gears

    3 Servomotor Specifications and Dimensional Drawings 3.13.7 SGMAS Flange-type Servomotors with Low-backlash Gears 3.13.7 SGMAS Flange-type Servomotors with Low-backlash Gears (1) 50 W, 100 W and 150 W 0.006 0.04 0.04 φ0.05 20.2 × 4-φLZ 8-Tap depth Serial encoder Units: mm Model Gear SGMAS-...
  • Page 170 3.13 Dimensional Drawings of SGMAS Servomotors • Dimensional Tolerances Units: mm Shaft-end Dimensions Flange Face Dimensions Model SGMAS- A5A AH101 +0.018 -0.030 A5A AH201 +0.021 A5A AHC01 -0.030 A5A AH701 01A AH101 +0.021 -0.030 01A AHB01 01A AHC01 +0.021 -0.035 01A AH701 +0.021 C2A AH101...
  • Page 171 3 Servomotor Specifications and Dimensional Drawings 3.13.7 SGMAS Flange-type Servomotors with Low-backlash Gears (2) 200 W, 400 W, 600 W, 750 W, and 1150 W 0.06 0.04 0.04 φ0.05 21.2 4-φLZ × 8-Tap depth Serial encoder Units: mm Model Gear SGMAS- Ratio 02A AH101...
  • Page 172 3.13 Dimensional Drawings of SGMAS Servomotors (cont’d) Approx. Model Tap × Depth Mass SGMAS- 02A AH101 × 02A AHB01 02A AHC01 × 02A AH701 × 04A AH101 04A AHB01 × 04A AHC01 04A AH701 × 06A AH101 06A AHB01 × 06A AHC01 ×...
  • Page 173 3 Servomotor Specifications and Dimensional Drawings 3.13.7 SGMAS Flange-type Servomotors with Low-backlash Gears • Dimensional Tolerances Units: mm Shaft-end Dimensions Flange Face Dimensions Model SGMAS- 02A AH101 +0.021 -0.035 02A AHB01 02A AHC01 +0.021 -0.035 02A AH701 +0.021 04A AH101 -0.035 04A AHB01 +0.021...

  • Page 174: Sgmas Flange-Type Servomotors With Low-Backlash Gears And Brakes

    3.13 Dimensional Drawings of SGMAS Servomotors 3.13.8 SGMAS Flange-type Servomotors with Low-backlash Gears and Brakes (1) 50 W, 100 W and 150 W 0.06 0.04 0.04 φ0.05 20.2 Serial encoder Holding Brake (de-energization operation) 4-φLZ × 8-Tap depth Power Supply: 90 VDC or 24 VDC Units: mm Gear Model...
  • Page 175 3 Servomotor Specifications and Dimensional Drawings 3.13.8 SGMAS Flange-type Servomotors with Low-backlash Gears and Brakes • Dimensional Tolerances Units: mm Shaft-end Dimensions Flange Face Dimensions Model SGMAS- +0.018 A5A AH10 -0.030 A5A AH20 A5A AHC0 +0.021 -0.030 A5A AH70 01A AH10 +0.021 -0.030 01A AHB0...
  • Page 176 3.13 Dimensional Drawings of SGMAS Servomotors (2) 200 W, 400 W, 600 W, 750 W and 1150 W 0.06 A 0.04 0.04 φ0.05 21.2 Serial encoder Holding Brake (de-energization operation) Power Supply: 90 VDC or 24 VDC 4-φLZ × 8-Tap depth Units: mm Model...
  • Page 177 3 Servomotor Specifications and Dimensional Drawings 3.13.8 SGMAS Flange-type Servomotors with Low-backlash Gears and Brakes (cont’d) Approx. Model Tap × Depth Mass SGMAS- 02A AH10 × 02A AHB0 02A AHC0 × 02A AH70 × 04A AH10 04A AHB0 × 04A AHC0 04A AH70 ×...
  • Page 178 3.13 Dimensional Drawings of SGMAS Servomotors • Dimensional Tolerances Units: mm Shaft-end Dimensions Flange Face Dimensions Model SGMAS- 02A AH10 +0.021 -0.035 02A AHB0 02A AHC0 +0.021 -0.035 02A AH70 +0.021 04A AH10 -0.035 04A AHB0 +0.021 -0.035 04A AHC0 +0.025 -0.035 04A AH70...

  • Page 179: Dimensional Drawings Of Sgmps Servomotors

    3 Servomotor Specifications and Dimensional Drawings 3.14.1 SGMPS Servomotors without Gears 3.14 Dimensional Drawings of SGMPS Servomotors 3.14.1 SGMPS Servomotors without Gears (1) 100 W, 200 W and 400 W 0.04 φ0.04 20.5 Shaft-end × depth 0.02 Serial encoder Units: mm Model Tap ×...
  • Page 180 3.14 Dimensional Drawings of SGMPS Servomotors • Dimensional Tolerances Units: mm Shaft-end Dimensions Flange Face Dimensions Model SGMAS- 01A A21 01A A41 -0.009 -0.025 01A A61 02A A21 02A A41 -0.011 -0.030 02A A61 04A A21 04A A41 -0.011 -0.030 04A A61 (2) 750 W and 1500 W 300 ±30...

  • Page 181: Sgmps Servomotors With Brakes

    3 Servomotor Specifications and Dimensional Drawings 3.14.2 SGMPS Servomotors with Brakes 3.14.2 SGMPS Servomotors with Brakes (1) 100 W, 200 W and 400 W 0.04 φ0.04 20.5 Shaft-end × depth 0.02 4 -φLZ Serial encoder (Holding Brake (de-energization operation) Power Supply: 90 VDC or 24 VDC Units: mm Model Tap ×Depth...
  • Page 182 3.14 Dimensional Drawings of SGMPS Servomotors • Dimensional Tolerances Units: mm Shaft-end Dimensions Flange Face Dimensions Model SGMAS- 01A A2 01A A4 -0.009 -0.025 01A A6 02A A2 02A A4 -0.011 -0.030 02A A6 04A A2 04A A4 -0.011 -0.030 04A A6 (2) 750 W and 1500 W 300 ±30...

  • Page 183: Sgmps Servomotors With Standard Backlash Gears

    3 Servomotor Specifications and Dimensional Drawings 3.14.3 SGMPS Servomotors with Standard Backlash Gears 3.14.3 SGMPS Servomotors with Standard Backlash Gears (1) 100 W, 200 W and 400 W 0.06 Shaft-end 0.04 φ0.05 Rotating section Serial encoder × depth (shown with hatching) 4-φLZ Units: mm Model...
  • Page 184 3.14 Dimensional Drawings of SGMPS Servomotors • Dimensional Tolerances Units: mm Shaft-end Dimensions Flange Face Dimensions Model SGMAS- 01A AJ1 1 -0.018 -0.030 01A AJ3 1 01A AJC 1 -0.021 -0.035 01A AJ7 1 02A AJ1 1 -0.021 02A AJ3 1 -0.035 02A AJC 1 -0.035...
  • Page 185 3 Servomotor Specifications and Dimensional Drawings 3.14.3 SGMPS Servomotors with Standard Backlash Gears (2) 750 W and 1500 W Encoder cable UL20276, φ6 Motor cable UL1828, φ7 Encoder connector 300 ±30 Motor connector (35) Shaft-end 0.06 ±30 0.04 φ0.05 10.5 ×...
  • Page 186 3.14 Dimensional Drawings of SGMPS Servomotors • Dimensional Tolerances Units: mm Shaft-end Dimensions Flange Face Dimensions Model SGMAS- 08A AJ1 1 -0.021 -0.035 08A AJ3 1 -0.025 -0.035 08A AJC 1 -0.040 -0.025 08A AJ7 1 15A AJ1 1 -0.035 -0.025 15A AJB 1 -0.040...

  • Page 187: Sgmps Servomotors With Standard Backlash Gears And Brakes

    3 Servomotor Specifications and Dimensional Drawings 3.14.4 SGMPS Servomotors with Standard Backlash Gears and Brakes 3.14.4 SGMPS Servomotors with Standard Backlash Gears and Brakes (1) 100 W, 200 W and 400 W 0.06 0.04 Shaft-end φ0.05 Rotating section Holding Brake (de-energization operation) ×...
  • Page 188 3.14 Dimensional Drawings of SGMPS Servomotors • Dimensional Tolerances Units: mm Shaft-end Dimensions Flange Face Dimensions Model SGMAS- 01A AJ1 -0.030 -0.018 01A AJ3 01A AJC -0.021 -0.035 01A AJ7 02A AJ1 -0.035 -0.021 02A AJ3 02A AJC -0.021 -0.035 02A AJ7 04A AJ1 -0.035...
  • Page 189 3 Servomotor Specifications and Dimensional Drawings 3.14.4 SGMPS Servomotors with Standard Backlash Gears and Brakes (2) 750 W and 1500 W Encoder cable UL20276,φ6 Motor cable UL1828, φ7 Encoder connector 300 ±30 Motor connector (35) 0.06 ± Shaft-end 0.04 φ0.05 13.3 10.5 25.5...
  • Page 190 3.14 Dimensional Drawings of SGMPS Servomotors • Dimensional Tolerances Units: mm Shaft-end Dimensions Flange Face Dimensions Model SGMAS- 08A AJ1 -0.021 -0.035 08A AJ3 -0.035 -0.025 08A AJC -0.025 -0.040 08A AJ7 15A AJ1 -0.025 -0.035 15A AJB -0.025 -0.040 15A AJC -0.025 -0.040...

  • Page 191: Sgmps Servomotors With Low-Backlash Gears

    3 Servomotor Specifications and Dimensional Drawings 3.14.5 SGMPS Servomotors with Low-backlash Gears 3.14.5 SGMPS Servomotors with Low-backlash Gears (1) 100 W, 200 W and 400 W 0.06 0.04 Shaft-end φ0.05 Serial encoder Rotating section × depth (shown with hatching) 4-φLZ Units: mm Model Gear...
  • Page 192 3.14 Dimensional Drawings of SGMPS Servomotors • Dimensional Tolerances Units: mm Shaft-end Dimensions Flange Face Dimensions Model SGMAS- 01A AH1 1 -0.018 -0.030 01A AHB 1 01A AHC 1 -0.021 -0.035 01A AH7 1 02A AH1 1 -0.021 -0.035 02A AHB 1 02A AHC 1 -0.021 -0.035...
  • Page 193 3 Servomotor Specifications and Dimensional Drawings 3.14.5 SGMPS Servomotors with Low-backlash Gears (2) 750 W and 1500 W Encoder cable UL20276,φ6 Motor cable UL1828, φ7 Encoder connector 300 ±30 Motor connector (35) 0.06 ±30 Shaft-end 0.04 φ0.05 10.5 Rotating section ×...
  • Page 194 3.14 Dimensional Drawings of SGMPS Servomotors • Dimensional Tolerances Units: mm Shaft-end Dimensions Flange Face Dimensions Model SGMAS- 08A AH1 1 -0.021 -0.035 08A AH3 1 -0.025 -0.035 08A AHC 1 -0.025 -0.040 08A AH7 1 15A AH1 1 -0.025 -0.035 15A AHB 1 -0.025...

  • Page 195: Sgmps Servomotors With Low-Backlash Gears And Brakes

    3 Servomotor Specifications and Dimensional Drawings 3.14.6 SGMPS Servomotors with Low-backlash Gears and Brakes 3.14.6 SGMPS Servomotors with Low-backlash Gears and Brakes (1) 100 W, 200 W and 400 W 0.06 0.04 Shaft-end φ0.05 Serial encoder Holding Brake (de-energization operation) Rotating section ×...
  • Page 196 3.14 Dimensional Drawings of SGMPS Servomotors • Dimensional Tolerances Units: mm Shaft-end Dimensions Flange Face Dimensions Model SGMAS- 01A AH1 -0.018 -0.030 01A AHB 01A AHC -0.035 -0.021 01A AH7 02A AH1 -0.035 02A AHB -0.021 02A AHC -0.021 -0.035 02A AH7 04A AH1 -0.021...
  • Page 197 3 Servomotor Specifications and Dimensional Drawings 3.14.6 SGMPS Servomotors with Low-backlash Gears and Brakes (2) 750 W and 1500 W Encoder cable UL20276,φ6 Motor cable UL1828, φ7 Encoder connector 300 ±30 Motor connector (35) 0.06 ±30 Shaft-end 0.04 φ0.05 10.5 25.5 Holding Brake (de-energization operation) Rotating section...
  • Page 198 3.14 Dimensional Drawings of SGMPS Servomotors • Dimensional Tolerances Units: mm Shaft-end Dimensions Flange Face Dimensions Model SGMAS- 08A AH1 -0.021 -0.035 08A AHB -0.025 -0.035 08A AHC -0.040 -0.025 08A AH7 15A AH1 -0.035 -0.025 15A AHB -0.040 -0.025 15A AHC -0.025 -0.040...

  • Page 199: Sgmps Flange-Type Servomotors With Low-Backlash Gears

    3 Servomotor Specifications and Dimensional Drawings 3.14.7 SGMPS Flange-type Servomotors with Low-backlash Gears 3.14.7 SGMPS Flange-type Servomotors with Low-backlash Gears (1) 100 W, 200 W and 400 W 0.06 0.04 φ0.05 Serial encoder 4-φLZ × 8-Tap depth Units: mm Model Gear SGMPS- Ratio...
  • Page 200 3.14 Dimensional Drawings of SGMPS Servomotors • Dimensional Tolerances Units: mm Shaft-end Dimensions Flange Face Dimensions Model SGMAS- 01A AH101 +0.021 -0.030 01A AHB01 01A AHC01 +0.021 -0.035 01A AH701 02A AH101 +0.021 -0.035 02A AHB01 02A AHC01 +0.021 -0.035 02A AH701 +0.021 04A AH101...
  • Page 201 3 Servomotor Specifications and Dimensional Drawings 3.14.7 SGMPS Flange-type Servomotors with Low-backlash Gears (2) 750 W and 1500 W Encoder cable UL20276,φ6 Motor cable UL1828, φ7 Encoder connector 300 ±30 Motor connector (35) 0.06 ±30 0.04 φ0.05 A 10.5 4-φLZ 8-Tap depth Serial encoder Units: mm...
  • Page 202 3.14 Dimensional Drawings of SGMPS Servomotors • Dimensional Tolerances Units: mm Shaft-end Dimensions Flange Face Dimensions Model SGMAS- +0.021 08A AH101 -0.035 +0.025 08A AHB01 -0.035 08A AHC01 +0.025 -0.040 08A AH701 +0.025 15A AH101 -0.035 +0.025 15A AHB01 -0.040 15A AHC01 -0.040 −0.025...

  • Page 203: Sgmps Flange-Type Servomotors With Low-Backlash Gears And Brakes

    3 Servomotor Specifications and Dimensional Drawings 3.14.8 SGMPS Flange-type Servomotors with Low-backlash Gears and Brakes 3.14.8 SGMPS Flange-type Servomotors with Low-backlash Gears and Brakes (1) 100 W, 200 W and 400 W 0.06 0.04 φ0.05 Serial encoder Holding Brake (de-energization operation) Power Supply: 90 VDC or 24 VDC 4-φLZ ×...
  • Page 204 3.14 Dimensional Drawings of SGMPS Servomotors • Dimensional Tolerances Units: mm Shaft-end Dimensions Flange Face Dimensions Model SGMAS- 01A AH10 01A AHB0 -0.018 -0.030 01A AHC0 -0.021 -0.035 01A AH70 02A AH10 -0.035 -0.021 02A AHB0 02A AHC0 -0.021 -0.035 02A AH70 04A AH10 -0.021...
  • Page 205 3 Servomotor Specifications and Dimensional Drawings 3.14.8 SGMPS Flange-type Servomotors with Low-backlash Gears and Brakes (2) 750 W and 1500 W Encoder cable UL20276,φ6 Motor cable UL1828, φ7 Encoder connector 300 ±30 Motor connector (35) 0.06 ±30 0.04 φ0.05 10.5 25.5 Holding brake (de-energization operation)
  • Page 206 3.14 Dimensional Drawings of SGMPS Servomotors • Dimensional Tolerances Units: mm Shaft-end Dimensions Flange Face Dimensions Model SGMAS- +0.021 08A AH10 -0.035 +0.025 08A AHB0 -0.035 08A AHC0 +0.025 -0.040 08A AH70 +0.025 15A AH10 -0.035 +0.025 15A AHB0 -0.040 15A AHC0 -0.040 −0.025...

  • Page 207: Output Shaft Of Sgmas And Sgmps Servomotors With Oil Seal

    3 Servomotor Specifications and Dimensional Drawings 3.15.1 SGMAS Servomotors 3.15 Output Shaft of SGMAS and SGMPS Servomotors with Oil Seal The following table shows the external dimensions of the output shaft for SGMAS and SGMPS servomotors with oil seals. Note that the key length, QK, of the servomotors with oil seals, SGMAS-02 to -12, differs from that of the servomotors without oil seals.

  • Page 208: Sgmps Servomotors

    3.15 Output Shaft of SGMAS and SGMPS Servomotors with Oil Seal 3.15.2 SGMPS Servomotors Model SGMPS-01 SGMPS-02, and -04 SGMPS-08 SGMPS-15 Outer Dimensions in Capacity 100 W 200 W, 400 W 750 W 1500 W φS − − φE1 − −...

  • Page 209: Dimensional Drawings Of Sgmss Servomotors

    3 Servomotor Specifications and Dimensional Drawings 3.16.1 1.0-kW to 5.0-kW SGMSS Servomotors without Gears 3.16 Dimensional Drawings of SGMSS Servomotors 3.16.1 1.0-kW to 5.0-kW SGMSS Servomotors without Gears Models with oil seals are of the same configuration. Shaft End 0.04 φ0.04 0.02 4-φLZ...

  • Page 210: Kw Sgmss Servomotors Without Gears

    3.16 Dimensional Drawings of SGMSS Servomotors Cable Specifications for Servomotor Cable Specifications for Encoder End Connectors Connectors (17-bit Encoder) Phase U Receptacle: MS3102A20-29P Phase V Applicable plug (Purchased by the customer) Phase W Plug: MS3108B20-29S Cale clamp: MS3057-12A (Frame ground) H G F With an Absolute Encoder With an Incremental Encoder...

  • Page 211: Sgmss Servomotors Without Gears And With Brakes

    3 Servomotor Specifications and Dimensional Drawings 3.16.3 SGMSS Servomotors without Gears and with Brakes 3.16.3 SGMSS Servomotors without Gears and with Brakes The servomotor with an oil seal has the same configuration. Shaft End 0.04 φ0.04 0.02 4-φLZ Mounting holes Note: For the specifications of the other shaft ends, refer to 3.20 Shaft End Specifications for SGMGH, SGMSH, and SGMDH Servomotors.

  • Page 212: Sgmss Servomotors With Low-Backlash Gears And Flange-Mounted Type

    3.16 Dimensional Drawings of SGMSS Servomotors 3.16.4 SGMSS Servomotors with Low-backlash Gears and Flange-mounted Type (1) Small Grease Lubricating Type Applied Specifications for Shaft-end Tap d-tap×L Shaft End d × L mm Frame No. Dia.S Length Q × ANFJ-L20 × ANFJ-L30 ×...
  • Page 213 3 Servomotor Specifications and Dimensional Drawings 3.16.4 SGMSS Servomotors with Low-backlash Gears and Flange-mounted Type Units: mm Approx. Model Gear Gear Model Mass SGMSS- Ratio 10A AL14 10A AL24 ANFJ-L20 15A AL14 20A AL14 Lubrication INFO • Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease. 3-148...
  • Page 214 3.16 Dimensional Drawings of SGMSS Servomotors (2) Large Grease Lubricating Type Shaft End 6-φLZ Mounting holes Units: mm Model Gear Gear Model SGMSS- Ratio 1/20 10A AL54 1/29 10A AL74 1/45 10A AL84 ANFJ-L30 15A AL24 1/20 15A AL54 1/29 15A AL74 1/45 15A AL84...
  • Page 215 3 Servomotor Specifications and Dimensional Drawings 3.16.4 SGMSS Servomotors with Low-backlash Gears and Flange-mounted Type (cont’d) Shaft-end Dimensions Approx. Flange Face Dimensions mm Model Gear Mass SGMSS- Ratio 1/20 10A AL54 1/29 10A AL74 1/45 10A AL84 30.3 15A AL24 1/20 30.3 15A AL54...

  • Page 216: Shaft End Specifications For Sgmss Servomotors

    3.17 Shaft End Specifications for SGMSS Servomotors 3.17 Shaft End Specifications for SGMSS Servomotors SGMSS - Symbol Specifications Remarks Standard Straight, without key Taper 1/10, with parallel key Option (Key slot is JISB1301-1976 high precision.) Straight, with key and tap for one location (Key slot is JISB1301-1976 high precision.Key slot Option tolerance is JISB1301.

  • Page 217: Sgmgh Servomotors

    3 Servomotor Specifications and Dimensional Drawings 3.18.1 SGMGH Servomotors (1500 min ) Without Gears and Brakes 3.18 Dimensional Drawings of SGMGH Servomotors (1500 min 3.18.1 SGMGH Servomotors (1500 min ) Without Gears and Brakes Models with oil seals are of the same configuration. 0.04 Shaft End φ0.04...

  • Page 218: Dimensional Drawings Of Sgmgh Servomotors

    3.18 Dimensional Drawings of SGMGH Servomotors (1500 min Units: mm Flange Face Dimensions Model SGMGH- − − 05A A21 – 0.035 − − 09A A21 – 0.035 − − 13A A21 – 0.035 13.5 20A A21 114.3 – 0.025 13.5 30A A21 114.3 –...

  • Page 219: Sgmgh Servomotors (1500 Min (Flange-Mounted Type)

    3 Servomotor Specifications and Dimensional Drawings 3.18.2 SGMGH Servomotors (1500 min ) 200-V Specifications Without Gears and With Brakes 3.18.2 SGMGH Servomotors (1500 min ) 200-V Specifications Without Gears and With Brakes (1) 500 W to 4.4 kW Models with oil seals are of the same configuration. Shaft End 0.04 SGMGH-05...
  • Page 220 3.18 Dimensional Drawings of SGMGH Servomotors (1500 min Units: mm Flange Face Dimensions Model SGMGH- − − 05A A2 – 0.035 − − 09A A2 – 0.035 − − 13A A2 – 0.035 114.3 13.5 20A A2 – 0.025 114.3 13.5 30A A2 –...
  • Page 221 3 Servomotor Specifications and Dimensional Drawings 3.18.2 SGMGH Servomotors (1500 min ) 200-V Specifications Without Gears and With Brakes (2) 5.5 kW to 7.5 kW Models with oil seals are of the same configuration. Shaft End 0.04 φ0.04 4-φ13.5 Mounting holes 0.04 Note: For the specifications of the other shaft ends, refer to 3.20 Shaft End Specifications for SGMGH Servomotor.
  • Page 222 3.18 Dimensional Drawings of SGMGH Servomotors (1500 min 3.18.3 SGMGH Servomotors (1500 min ) 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 Shaft Center Model...
  • Page 223 3 Servomotor Specifications and Dimensional Drawings 3.18.3 SGMGH Servomotors (1500 min ) With Standard Backlash Gears and Without Brakes (Foot-mounted Type) (cont’d) Foot-mounted Dimensions Shaft-end Dimensions Approx. Model Gear Mass SGMGH- Ratio × Depth M8 × 20 180 135 20.7 05P AEA6 M8 ×...
  • Page 224 3.18 Dimensional Drawings of SGMGH Servomotors (1500 min • Dimensional Tolerances Units: mm Shaft-end Dimensions Model SGMGH- 05P AEA6 – 0.013 05P AEB6 – 0.013 05P AEC6 – 0.013 05P AE76 – 0.013 09P AEA6 – 0.013 09P AEB6 – 0.013 09P AEC6 –...
  • Page 225 3 Servomotor Specifications and Dimensional Drawings 3.18.3 SGMGH Servomotors (1500 min ) With Standard Backlash Gears and Without Brakes (Foot-mounted Type) (2) Oil Lubricating Type Oil filler plug Oil drain plug Shaft End Tap × Depth (See the Oil drain following plug table.)
  • Page 226 3.18 Dimensional Drawings of SGMGH Servomotors (1500 min Units: mm (cont’d) Foot-mounted Dimensions Shaft-end Dimensions Approx. Model Gear Mass SGMGH- Ratio × XR XC Depth × 1/29 145 145 330 195 14 M10 57.6 13P AE76 × 1/21 145 145 330 195 14 M10 20P AEC6...
  • Page 227 3 Servomotor Specifications and Dimensional Drawings 3.18.3 SGMGH Servomotors (1500 min ) With Standard Backlash Gears and Without Brakes (Foot-mounted Type) Lubrication INFO • Oil lubricating type (frame numbers: 6130 to 6190) 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 228 3.18 Dimensional Drawings of SGMGH Servomotors (1500 min 3.18.4 SGMGH Servomotors (1500 min ) With Standard Backlash Gears and With- out Brakes (Flange-mounted Type) (1) Grease Lubricating Type Shaft End Tap × Depth (See the following table.) N-φ11 Mounting holes 4 Mounting holes 6 Mounting holes Units: mm...
  • Page 229 3 Servomotor Specifications and Dimensional Drawings 3.18.4 SGMGH Servomotors (1500 min ) With Standard Backlash Gears and Without Brakes (Flange-mounted Type) (cont’d) Flange Face Dimensions Shaft-end Dimensions Approx. Model Gear Mass SGMGH- Ratio × Depth × 18.7 05P AFA6 × 1/11 18.7 05P AFB6...
  • Page 230 3.18 Dimensional Drawings of SGMGH Servomotors (1500 min Lubrication INFO • Grease lubricating type (frame numbers: 6090 to 6125) Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease. 3-165...
  • Page 231 3 Servomotor Specifications and Dimensional Drawings 3.18.4 SGMGH Servomotors (1500 min ) With Standard Backlash Gears and Without Brakes (Flange-mounted Type) (2) Small Oil Lubricating Type Oil filler plug Oil drain plug Shaft End Tap × Depth 6-φ11 Mounting Oil drain plug holes φ200f8: φ200 -0.050...
  • Page 232 3.18 Dimensional Drawings of SGMGH Servomotors (1500 min Lubrication INFO • Oil lubricating type (frame numbers: 6130 to 6190) 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 233 3 Servomotor Specifications and Dimensional Drawings 3.18.4 SGMGH Servomotors (1500 min ) With Standard Backlash Gears and Without Brakes (Flange-mounted Type) (3) Large Oil Lubricating Type Oil filler plug Shaft End Oil drain plug Tap × Depth (See the following table.) N-φLZ Mounting holes Oil drain plug...
  • Page 234 3.18 Dimensional Drawings of SGMGH Servomotors (1500 min • Dimensional Tolerances Units: mm Flange Face Dimensions Shaft-end Dimensions Model SGMGH- – 0.056 30P AF76 – 0.019 – 0.137 – 0.056 44P AFC6 – 0.137 – 0.019 – 0.062 44P AF76 –...

  • Page 235: Sgmgh Servomotors

    3 Servomotor Specifications and Dimensional Drawings 3.18.5 SGMGH Servomotors (1500 min ) With Low-backlash Gears and Without Brakes (Flange-mounted Type) 3.18.5 SGMGH Servomotors (1500 min ) With Low-backlash Gears and Without Brakes (Flange-mounted Type) (1) Grease Lubricating Type for Small Applied Specifications of Shaft-end Tap d-tap×L Shaft End...
  • Page 236 3.18 Dimensional Drawings of SGMGH Servomotors (1500 min Units: mm Shaft Center Approx. Model Gear Gear Allowable Mass SGMGH- Model Ratio Radial Load 05A AL14 05A AL24 ANFJ-L20 09A AL14 09A AL24 Lubrication INFO • Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease. 3-171...
  • Page 237 3 Servomotor Specifications and Dimensional Drawings 3.18.5 SGMGH Servomotors (1500 min ) With Low-backlash Gears and Without Brakes (Flange-mounted Type) (2) Large Grease Lubricating Type Shaft End 6-φLZ Units: mm Shaft Center Allowable Model Gear Gear Model Radial Load SGMGH- Ratio 1/20 2650...
  • Page 238 3.18 Dimensional Drawings of SGMGH Servomotors (1500 min (cont’d) Flange Face Dimensions Shaft-end Dimensions Approx. Model Gear Mass SGMGH- Ratio 1/20 05A AL54 1/29 05A AL74 1/45 05A AL84 1/20 09A AL54 1/29 09A AL74 1/45 09A AL84 13A AL14 13A AL24 1/20 13A AL54...
  • Page 239 3 Servomotor Specifications and Dimensional Drawings 3.18.5 SGMGH Servomotors (1500 min ) With Low-backlash Gears and Without Brakes (Flange-mounted Type) • Dimensional Tolerances Units: mm Flange Face Dimensions Shaft-end Dimensions Model SGMGH- 05A AL54 – 0.046 – 0.016 05A AL74 –...

  • Page 240: Sgmgh Servomotors

    3.19 Dimensional Drawings of SGMGH Servomotors (1000 min 3.19 Dimensional Drawings of SGMGH Servomotors (1000 min 3.19.1 SGMGH Servomotors (1000 min ) Without Gears and Brakes Models with oil seals are of the same configuration. Shaft End SGMGH-03A B to 09A B SGMGH-12A B to 55A B 0.04 φ0.04...
  • Page 241 3 Servomotor Specifications and Dimensional Drawings 3.19.1 SGMGH Servomotors (1000 min ) Without Gears and Brakes Units: mm Flange Face Dimensions Allowable Allowable Model Radial Load Thrust Load SGMGH- − − 03A B21 – 0.035 − − 06A B21 – 0.035 −...
  • Page 242 3.19 Dimensional Drawings of SGMGH Servomotors (1000 min 3.19.2 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 0.04 SGMGH-03A B to 09A B SGMGH-12A B to 30A B φ0.04 4-φLZ Mounting holes...
  • Page 243 3 Servomotor Specifications and Dimensional Drawings 3.19.2 SGMGH Servomotors (1000 min ) Without Gears and With Brakes Cable Specifications for Detector Connectors Cable Specifications for Servomotor Connectors (17-bit Encoder) Phase U Brake terminal Receptacle: MS3102A20-29P Phase V Brake terminal Applicable plug (Purchased by the customer) −...
  • Page 244 3.19 Dimensional Drawings of SGMGH Servomotors (1000 min (2) 4.0 kW to 5.5 kW Models with oil seals are of the same configuration. Shaft End 0.04 φ0.04 4-φ13.5 Mounting holes 0.04 Note: For the specifications of the other shaft ends, refer to 3.20 Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors.
  • Page 245 3 Servomotor Specifications and Dimensional Drawings 3.19.3 SGMGH Servomotors (1000 min ) With Standard Backlash Gears and Without Brakes (Foot-mounted Type) 3.19.3 SGMGH Servomotors (1000 min ) With Standard Backlash Gears and With- out Brakes (Foot-mounted Type) (1) Grease Lubricating Type Shaft End Tap ×...
  • Page 246 3.19 Dimensional Drawings of SGMGH Servomotors (1000 min (cont’d) Foot-mounted Dimensions Shaft-end Dimensions Approx. Model Gear Mass SGMGH- Ratio × XR XC Depth × 180 135 20.7 03P BEA6 × 1/11 180 135 20.7 03P BEB6 × 1/21 180 135 22.7 03P BEC6 ×...
  • Page 247 3 Servomotor Specifications and Dimensional Drawings 3.19.3 SGMGH Servomotors (1000 min ) With Standard Backlash Gears and Without Brakes (Foot-mounted Type) • Dimensional Tolerances Units: mm Shaft-end Dimensions Model SGMGH- 03P BEA6 – 0.013 03P BEB6 – 0.013 03P BEC6 –...
  • Page 248 3.19 Dimensional Drawings of SGMGH Servomotors (1000 min (2) Oil Lubricating Type Oil drain Oil filler plug plug Shaft End Tap × Depth Oil drain plug 4-φZ Mounting holes Units: mm Shaft Center Model Gear Allowable Gear Model SGMGH- Ratio Radial Load 1/21 10900...
  • Page 249 3 Servomotor Specifications and Dimensional Drawings 3.19.3 SGMGH Servomotors (1000 min ) With Standard Backlash Gears and Without Brakes (Foot-mounted Type) Dimensions with Feet Shaft-end Dimensions Approx. Model Gear Mass SGMGH- Ratio × Depth × 1/21 145 145 330 195 12P BEC6 ×...
  • Page 250 3.19 Dimensional Drawings of SGMGH Servomotors (1000 min • Dimensional Tolerances Units: mm Shaft-end Dimensions Model SGMGH- 12P BEC6 – 0.016 12P BE76 – 0.016 20P BEC6 – 0.016 20P BE76 – 0.019 30P BEA6 – 0.016 30P BEB6 – 0.016 30P BEC6 –...
  • Page 251 3 Servomotor Specifications and Dimensional Drawings 3.19.4 SGMGH Servomotors (1000 min ) With Standard Backlash Gears and Without Brakes (Flange-mounted Type) 3.19.4 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...
  • Page 252 3.19 Dimensional Drawings of SGMGH Servomotors (1000 min (cont’d) Flange Face Dimensions Shaft-end Dimensions Approx. Model Mass SGMGH- × Depth × 12P BFA6 × 12P BFB6 × 20P BFA6 × 20P BFB6 • Dimensional Tolerances Units: mm Flange Face Dimensions Shaft-end Dimensions Model SGMGH-...
  • Page 253 3 Servomotor Specifications and Dimensional Drawings 3.19.4 SGMGH Servomotors (1000 min ) With Standard Backlash Gears and Without Brakes (Flange-mounted Type) (2) Small Oil Lubricating Type Oil filler plug Shaft End Tap × Depth (See the following Oil drain plug table.) 6-φ11 Mounting holes Oil drain plug...
  • Page 254 3.19 Dimensional Drawings of SGMGH Servomotors (1000 min Lubrication INFO • Oil lubricating type (frame numbers: 6130 to 6190) 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 255 3 Servomotor Specifications and Dimensional Drawings 3.19.4 SGMGH Servomotors (1000 min ) With Standard Backlash Gears and Without Brakes (Flange-mounted Type) (3) Large Oil Lubricating Type Oil drain plug Oil filler plug Shaft End Tap × Depth* N-φLZ Mounting holes Oil drain plug * See the following table.
  • Page 256 3.19 Dimensional Drawings of SGMGH Servomotors (1000 min • Dimensional Tolerances Units: mm Flange Face Dimensions Shaft-end Dimensions Model SGMGH- – 0.056 20P BF76 – 0.019 – 0.137 – 0.056 30P BFC6 – 0.137 – 0.019 – 0.062 30P BF76 –...

  • Page 257: Sgmgh Servomotors

    3 Servomotor Specifications and Dimensional Drawings 3.19.5 SGMGH Servomotors (1000 min ) With Low-backlash Gears and Without Brakes (Flange-mounted Type) 3.19.5 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 d-tap×L Shaft End d ×...
  • Page 258 3.19 Dimensional Drawings of SGMGH Servomotors (1000 min Units: mm Shaft Center Approx. Model Gear Allowable Gear Type Mass SGMGH- Ratio Radial Load 03A BL14 03A BL24 1/20 1270 03A BL54 ANFJ-L20 06A BL14 06A BL24 09A BL14 Lubrication INFO •...

  • Page 259: Sgmgh Servomotors

    3 Servomotor Specifications and Dimensional Drawings 3.19.5 SGMGH Servomotors (1000 min ) With Low-backlash Gears and Without Brakes (Flange-mounted Type) (2) Large Grease Lubricating Type Shaft End 6-φLZ Mounting holes Applied Specifications of Shaft-end Tap d-tap×L Dia.S Length Q d × L mm Frame No.
  • Page 260 3.19 Dimensional Drawings of SGMGH Servomotors (1000 min (cont’d) Flange Face Dimensions Shaft-end Dimensions Approx. Model Gear Mass SGMGH- Ratio 1/29 03A BL74 1/45 03A BL84 1/20 06A BL54 1/29 06A BL74 1/45 06A BL84 09A BL24 1/20 09A BL54 1/29 09A BL74 1/45...

  • Page 261: Shaft End Specifications For Sgmgh Servomotor

    3 Servomotor Specifications and Dimensional Drawings 3.20 Shaft End Specifications for SGMGH Servomotor SGMGH - Symbol Specifications Remarks Standard Straight, without key Taper 1/10, with parallel key (Key slot is JISB1301-1976 high precision. SGMGH Optional series is interchangeable with USAGED series.) Taper 1/10, woodruff key (Set only for SGMGH-05 and 09.
  • Page 262 3.20 Shaft End Specifications for SGMGH Servomotor Units: mm Model SGMGH- Symbol Specifications 03A B 06A B 09A B 12A B 20A B 30A B 40A B 55A B 05A A 09A A 13A A 20A A 30A A 44A A 55A A 75A A Straight –...

  • Page 263: Dimensional Drawings Of Sgmcs Servomotors

    3 Servomotor Specifications and Dimensional Drawings 3.21.1 SGMCS Servomotors φ135 Mode 3.21 Dimensional Drawings of SGMCS Servomotors 3.21.1 SGMCS Servomotors φ135 Mode (1) Applicable flange: 1 6 × M4 tapped, depth 8 6 × M4 tapped, depth 8 (Divided into six equal sections (Divided into six equal sections of sixty degrees) of sixty degrees)

  • Page 264: Sgmcs Servomotors Φ175 Model

    (0.5: Bolt section) ( 1 ) ( 9 ) × 60° M5 tapped, depth 8 0.04 Encoder-end Nameplate Servomotor-end (Only for use by Yaskawa) connector connector Nameplate Units: mm φ130h7: φ130 -0.040 φ160h7: φ160 -0.040 Model Approx. Mass SGMCS- 04C C11 10.2...

  • Page 265: Sgmcs Servomotors Φ230 Model

    (0.5: Bolt section) ( 1 ) ( 9 ) 60° 0.04 2 × M6 tapped, depth 10 Encoder-end Servomotor-end connector connector (Only for use by Yaskawa) Nameplate Nameplate -0.040 Units: mm -0.046 Model Approx. Mass SGMCS- 14.0 08D C11 22.0...

  • Page 266: Sgmcs Servomotors Φ290 Mode

    2 × M8 tapped, 0.08 B 6±1.6 sections of sixty degrees) 0.02 φ depth 14 0.08 (Only for use by Rotating section Yaskawa) (shown with hatching) 2 × M8 tapped, Non- depth 14 rotating (Only for use by section Yaskawa) ( 1 )

  • Page 267: Sgmcs Servomotors Φ280 Model

    3 Servomotor Specifications and Dimensional Drawings 3.21.5 SGMCS Servomotors φ280 Model 3.21.5 SGMCS Servomotors φ280 Model (1) Apllicable flange: 1 12 × M6 screw, depth 15 (Divided into equal sections) 0.08 (within φ280h7) φ0.08 0.04 (Rotating Section) Rotating Section (shown with hatching) (within φ75H6) Rotating...

  • Page 268: Sgmcs Servomotors Φ360 Model

    3.21 Dimensional Drawings of SGMCS Servomotors 3.21.6 SGMCS Servomotors φ360 Model (1) Applicable flange: 1 12 × M8 screw, depth 15 Divided into equal sections 0.08 15 (within φ360h7) φ0.08 A B 0.04 (Rotating Section) Rotating Section (shown with hatching) Rotating (within φ118H6) Section...
  • Page 269 3 Servomotor Specifications and Dimensional Drawings 3.21.6 SGMCS Servomotors φ360 Model • Servomotor Connector for Small-capacity Series Servomotors Applicable flange: 1, 3 Servomotor-end Connector Cable Specifications for small-capacity series, applicable flange: 1, 3 Model: JN1AS04MK2 Manufacturer: Japan Aviation Electronics Industry, Ltd. Applicable plug: JN1DS04FK1 (Provided by the customer.) Phase U...
  • Page 270 3.21 Dimensional Drawings of SGMCS Servomotors Servomotor-end Connector for small-capacity series, applicable flange: 4 Servomotor-end Connector Cable Specifications for small-capacity series, applicable flange: 4 Model Plug: 350779-1 Pin: 350561-3 or 350690-3 (No.1 to 3) Ground pin: 350654-1 or 350669-1 (No.4) Manufacturer: Tyco Electronics AMP K.K.
  • Page 271 3 Servomotor Specifications and Dimensional Drawings 3.21.6 SGMCS Servomotors φ360 Model • 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 Phase W...

  • Page 272: Servopack Specifications And Dimensional Drawings

    SERVOPACK Specifications and Dimensional Drawings 4.1 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - 4-3 4.2 SERVOPACK Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6 4.3 SERVOPACK Internal Block Diagrams - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8 4.3.1 Single-phase 100 V, 50 W to 400 W Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8 4.3.2 Single-phase 200V, 50 W to 400 W Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8...
  • Page 273 4 SERVOPACK Specifications and Dimensional Drawings 4.8 Dimensional Drawings of Rack-mounted SERVOPACK Model SGDS- 01AR/- 02AR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-24 4.8.1 Single-phase 100 V / 200 V, 50 W / 100 W / 200 W - - - - - - - - - - - - - - - - - - - - - - - - -4-24 4.8.2 Single-phase 100 V, 400 W - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-24 4.8.3 Single-phase 200 V, 400 W - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-25...

  • Page 274: Servopack Ratings And Specifications

    4.1 SERVOPACK Ratings and Specifications 4.1 SERVOPACK Ratings and Specifications SERVOPACK Model SGDS- A3B A5 Max. Applicable 0.03 0.05 0.1 0.75 Servomotor Capacity [kW] Continuous Output 0.66 0.91 2.1 − Current [Arms] 100 V Max. Output Current − [Arms] Continuous Output −...
  • Page 275 4 SERVOPACK Specifications and Dimensional Drawings (cont’d) SERVOPACK Model SGDS- A3B A5 Dynamic Brake (DB) Operated at main power OFF, servo alarm, servo OFF or overtravel External regenerative Built-in External resistor regenera- Regenerative Processing tive resistor Overtravel Prevention (OT) Dynamic brake stop at P-OT or N-OT, deceleration to a stop, or free run to a stop ≤...
  • Page 276 4.1 SERVOPACK Ratings and Specifications Applicable SERVOPACK Model SGDS-A3B and A5A to 75A All Capacities ±3 VDC (Variable setting range: ±1 to ±10 VDC) at rated torque (forward rotation Reference Voltage with positive reference), input voltage: ±12 V (max.) Input Input Impedance About 14 kΩ...

  • Page 277: Servopack Installation

    4 SERVOPACK Specifications and Dimensional Drawings 4.2 SERVOPACK Installation The SGDS SERVOPACKs can be mounted on a base or on a rack. 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 278 4.2 SERVOPACK Installation Follow the procedure below to install multiple SERVOPACKs side by side in a control panel. Cooling fan Cooling fan 50 mm min. 50 mm min. 10 mm min. 30 mm min. SERVOPACK Orientation Install the SERVOPACK perpendicular to the wall so the front panel containing connectors faces out- Installation ward.

  • Page 279: Servopack Internal Block Diagrams

    4 SERVOPACK Specifications and Dimensional Drawings 4.3.1 Single-phase 100 V, 50 W to 400 W Models 4.3 SERVOPACK Internal Block Diagrams 4.3.1 Single-phase 100 V, 50 W to 400 W Models Single-phase 100 to 115 V ∗∗A ( Single-phase 100 V, 30 W to 400 W Model SGDS =A5F to 04F) 50/60Hz Noise...

  • Page 280: Three-Phase 200 V, 500 W To 1.0 Kw Models

    4.3 SERVOPACK Internal Block Diagrams 4.3.3 Three-phase 200 V, 500 W to 1.0 kW Models Three-phase +10% Three-phase 200 V, 500 W to 1.0 kW Model SGDS A∗∗A 05 to10 200 to 230 V -15% (50/60 Hz) Noise Servomotor filter Varistor ±12 V Dynamic...

  • Page 281: Three-Phase 200 V, 1.5 Kw To 3.0 Kw Models

    4 SERVOPACK Specifications and Dimensional Drawings 4.3.5 Three-phase 200 V, 1.5 kW to 3.0 kW Models 4.3.5 Three-phase 200 V, 1.5 kW to 3.0 kW Models Three-phase 200 to 230 V Three-phase 200 V, 1.5 kW to 3.0 kW Model SGDS A∗∗A 5 to30 (50/60 Hz)

  • Page 282: Three-Phase 200 V, 6.0 Kw, 7.5 Kw Models

    4.3 SERVOPACK Internal Block Diagrams 4.3.7 Three-phase 200 V, 6.0 kW, 7.5 kW Models Three-phase 200 to 230V Three-phase 200 V, 6.0 kW/7.5 kW Model SGDS- A∗∗A ( = 60 or 75) (50/60Hz) B1 B2 Noise filter Servomotor ±12 V ±12 V ±12 V Varistor...

  • Page 283: Servopack's Power Supply Capacities And Power Losses

    4 SERVOPACK Specifications and Dimensional Drawings 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 Regenera- Control Main Cir- Total...

  • Page 284: Servopack Overload Characteristics And Load Moment Of Inertia

    4.5 SERVOPACK Overload Characteristics and Load Moment of Inertia 4.5 SERVOPACK Overload Characteristics and Load Moment of Inertia 4.5.1 Overload Characteristics The overload detection level is set under hot start conditions at a servomotor ambient temperature of 40°C. 10000.0 1000.0 Detecting time (s) 100.0 10.0...

  • Page 285: 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 50 W to 400 W.
  • Page 286 4.5 SERVOPACK Overload Characteristics and Load Moment of Inertia (1) Load Moment of Inertia and Motor Speed for SGMMJ Servomotors SGMMJ-A1(10W) SGMMJ-A2(20W) SGMMJ-A3(30W) 0.225 0.164 0.106 Load moment Load moment Load moment of inertia of inertia of inertia (×10 kg m (×10 kg m (×10...
  • Page 287 4 SERVOPACK Specifications and Dimensional Drawings 4.5.3 Load Moment of Inertia (4) Load Moment of Inertia and Motor Speed for SGMCS Servomotors SGMCS-07B(147W) SGMCS-02B(42W) SGMCS-05B(105W) Load moment of inertia 183.5 kg m 147.5 109.5 Motor speed Motor speed Motor speed SGMCS-04C(84W) SGMCS-10C(209W) SGMCS-14C(293W)
  • Page 288 4.5 SERVOPACK Overload Characteristics and Load Moment of Inertia (5) Allowable Load Moment of Inertia at the Motor Shaft The rotor moment of inertia ratio is the value for a servomotor without a gear and a brake. Servomotor Allowable Load Moment of Inertia Capacity Range Model (Rotor Moment of Inertia Ratio)

  • Page 289: 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 capacity. (1) Base-mounted Type Reference Supply Voltage Capacity Section 4.7.1 30 W, 50 W, 100 W, 200 W 100 V 4.7.2 400 W 4.7.1...

  • Page 290: Dimensional Drawings Of Base-Mounted Servopack Model Sgds- 01A/-

    4.7 Dimensional Drawings of Base-mounted SERVOPACK Model SGDS- 01A/- 4.7 Dimensional Drawings of Base-mounted SERVOPACK Model SGDS- 01A/- 4.7.1 Single-phase 100 VAC, 30 W Single-phase 100 V/200 V, 50 W/100 W/200 W (15) Mounting Hole Diagram 2 × M4 screw holes Terminal block Nameplate Ground terminal...

  • Page 291: Single-Phase 200 V, 400 W

    4 SERVOPACK Specifications and Dimensional Drawings 4.7.3 Single-phase 200 V, 400 W 4.7.3 Single-phase 200 V, 400 W (15) Mounting Hole Diagram 2 × M4 screw holes 200V YASKAWA Terminal block SERVOPACK CHARGE 47±0.5 Nameplate Ground terminal 2 × M4 screws...

  • Page 292: Three-Phase 200 V, 1.5 Kw

    Mounting Hole Diagram (15) 3 × M4 screw holes YASKAWA 200V CHARGE Terminal block SERVOPACK SGDS - B1/ + YASKAWA ELECTRIC MADE IN JAPAN 80±0.5 Nameplate Ground terminal (Mounting pitch) 2 × M4 screws (75) Units: mm Approx. mass: 2.1 kg 4.7.6 Three-phase 200 V, 2.0 kW / 3.0 kW...

  • Page 293: Three-Phase 200 V, 5.0 Kw

    (15) Terminal block 14P M4 Mounting screws 4 × M5 screw holes Air flow YASKAWA CHARGE SERVOPACK SGDS - YASKAWA ELECTRIC MADE IN JAPAN Nameplate Air flow Ground terminal 100±0.5 Cooling fan 2 × M4 screws Air flow (Mounting pitch)

  • Page 294: Three-Phase 200 V, 6.0 Kw, 7.5 Kw

    4.7 Dimensional Drawings of Base-mounted SERVOPACK Model SGDS- 01A/- 4.7.8 Three-phase 200 V, 6.0 kW, 7.5 kW Mounting Hole Diagram 4 × M6 screw holes Air flow 2×φ7 holes Cooling fan 125° Terminal Name- block 2P plate screws Terminal block 2P M5 screws Terminal block 8P M5 screws...

  • Page 295: Dimensional Drawings Of Rack-Mounted Servopack Model

    2 × M4 screw holes (15) 24.5 (25.5) 19.5 φ5 hole Terminal YASKAWA block SERVOPACK CHARGE YASKAWA ELECTRIC MADE IN JAPAN Nameplate (75) (25.5) 19.5 Ground terminal 2 × M4 screws Units: mm Approx. mass: 0.7 kg 4.8.2 Single-phase 100 V, 400 W Mounting Hole Diagram 2 ×...

  • Page 296: Single-Phase 200 V, 400 W

    4.8.3 Single-phase 200 V, 400 W Mounting Hole Diagram 2 × M4 screw holes 21.5 (7.5) (15) 24.5 39.5 (25.5) φ5 hole Terminal 200V YASKAWA block SERVOPACK CHARGE Nameplate 39.5 (25.5) (75) Ground terminal 2 × M4 screws Units: mm Approx. mass: 0.9 kg 4.8.4 Single-phase 200 V, 750 W...

  • Page 297: Three-Phase 200 V, 1.5 Kw

    4 SERVOPACK Specifications and Dimensional Drawings 4.8.5 Three-phase 200 V, 1.5 kW 4.8.5 Three-phase 200 V, 1.5 kW (15) 24.5 4 × M4 screw holes 4-φ5 hole Terminal block YASKWA 200V SERVOPACK SGDS - Nameplate (20) 50±0.3 (20) 20 50 (2.2) (75) (Mounting pitch)

  • Page 298: Three-Phase 200 V, 5.0 Kw

    02AR 4.8.7 Three-phase 200 V, 5.0 kW Mounting Hole Diagram Terminal block 14P M4 Mounting 24.5 screw 4 × M5 screw holes Air flow YASKAWA CHARGE SERVOPACK SGDS - YASKWA ELECTRIC MADE IN JAPAN Ground Nameplate terminal 2 × M4...

  • Page 299: Dimensional Drawings Of Duct-Ventilated Servopack Model Sgds

    4 SERVOPACK Specifications and Dimensional Drawings 4.9.1 Three-phase 200 V 6.0 kW / 7.5 kW 4.9 Dimensional Drawings of Duct-ventilated SERVOPACK Model SGDS-60A AP/-75A 4.9.1 Three-phase 200 V 6.0 kW / 7.5 kW Mounting Hole Diagram Air flow 4 × M6 screw holes Cooling fan 4-φ7 hole (15)

  • Page 300: Specifications And Dimensional Drawings Of Cables And Peripheral Devices

    Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.1 Servomotor Main Circuit Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-3 5.1.1 Main Circuit Cables for 10 W to 30 W SGMMJ Servomotors - - - - - - - - - - - - - - - - - - - 5-3 5.1.2 Main Circuit Cables for 50 to 150 W SGMAS and 100 W SGMPS Servomotors - - - - - 5-4 5.1.3 Main Circuit Cables for 200 to 600 W SGMAS and 200 to 400 W SGMPS Servomotors 5-5...
  • Page 301 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.3 SERVOPACK Main Circuit Wire Size - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36 5.3.1 Cable Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36 5.3.2 Single-phase for 100 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36 5.3.3 Single-phase for 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-37...

  • Page 302: Servomotor Main Circuit Cables

    5.1 Servomotor Main Circuit Cables 5.1 Servomotor Main Circuit Cables 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 30 cm. Wiring them too close may result in malfunction. 5.1.1 Main Circuit Cables for 10 W to 30 W SGMMJ Servomotors (1) For Servomotors without Brakes (a) Cable Type...

  • Page 303: Main Circuit Cables For 50 To 150 W Sgmas And 100 W Sgmps Servomotors

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.1.2 Main Circuit Cables for 50 to 150 W SGMAS and 100 W SGMPS Servomotors 5.1.2 Main Circuit Cables for 50 to 150 W SGMAS and 100 W SGMPS Servomotors (1) For Servomotors without Brakes (a) Cable Type Standard Type...

  • Page 304: Main Circuit Cables For 200 To 600 W Sgmas And 200 To 400 W Sgmps Servomotors

    5.1 Servomotor Main Circuit Cables 5.1.3 Main Circuit Cables for 200 to 600 W SGMAS and 200 to 400 W SGMPS Servomotors (1) For Servomotors without Brakes (a) Cable Type Standard Type Flexible Type Length (L) Dimensional Drawing JZSP-CSM02-03 JZSP-CSM22-03 SERVOPACK end Servomotor end JZSP-CSM02-05...

  • Page 305: Main Circuit Cables For 750 W And 1.15 Kw Sgmas Servomotors

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.1.4 Main Circuit Cables for 750 W and 1.15 kW SGMAS Servomotors 5.1.4 Main Circuit Cables for 750 W and 1.15 kW SGMAS Servomotors (1) For Servomotors without Brakes (a) Cable Type Standard Type Flexible Type Length (L)

  • Page 306: Main Circuit Cables For 750 W Sgmps Servomotors

    5.1 Servomotor Main Circuit Cables 5.1.5 Main Circuit Cables for 750 W SGMPS Servomotors The 750 W SGMPS servomotor is provided with cables to connect servomotor and encoder cables. The 750 W SGMPS servomotor cable is used to connect the connector on the servomotor cable tip to SERVO- PACK.

  • Page 307: Main Circuit Cables For 1.5 Kw Sgmps Servomotors

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.1.6 Main Circuit Cables for 1.5 kW SGMPS Servomotors 5.1.6 Main Circuit Cables for 1.5 kW SGMPS Servomotors The 1.5 kW SGMPS servomotor is provided with cables to connect servomotor and encoder cables. The 1.5 kW SGMPS servomotor cable is used to connect the connector on the servomotor cable tip to SERVO- PACK.

  • Page 308: Main Circuit Cables For Sgmcs- B, C, D, And E Servomotors

    5.1 Servomotor Main Circuit Cables 5.1.7 Main Circuit Cables for SGMCS- B, C, D, and E Servomotors Yaskawa provides cables for SGMCS- B, C, D, and E servomotors. Cables for SGMCS- M and N servo- motors must be provided by the customers. Refer to 5.2.11 Connectors for SGMCS- M and N Servomotors.

  • Page 309: Servomotor Main Circuit Cables And Connectors

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.1 Connectors for 10 W to 30 W SGMMJ Servomotors 5.2 Servomotor Main Circuit Cables and Connectors This section describes the specifications of servomotor main circuit cables and connectors to be assembled by the customers.

  • Page 310: Connectors For 200 To 600 W Sgmas And 200 To 400 W Sgmps Servomotors

    5.2 Servomotor Main Circuit Cables and Connectors 5.2.3 Connectors for 200 to 600 W SGMAS and 200 to 400 W SGMPS Servomotors Applicable Items Dimensional Drawing Servomotor Model SGMAS-02 to 06 SGMAS Units: mm SGMPS-02 to 04 SGMPS J.S.T. Mfg. Co., Ltd. Manufacturer J27-06FMH-7KL-1 Receptacle...

  • Page 311: Connectors For 750 W Sgmps Servomotors

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.5 Connectors for 750 W SGMPS Servomotors 5.2.5 Connectors for 750 W SGMPS Servomotors Applicable Servomotor Model SGMPS-08 Items With a Brake With a Brake Without a Brake (For Standard Cables) (For Flexible Cables) Tyco Electronics AMP K.K.

  • Page 312: Cables For 50 To 600 W Sgmmj, Sgmas, And 100 To 400 W Sgmps Servomotor

    Green/ White (Yellow) Blue Black 5 m, 10 m, 15 m, 20 m Yaskawa Standard Specifications (Standard Length) * Specify the cable length in of cable type designation. Example: JZSP-CSM91-15 (15 m) 5.2.8 Cables for 750 W and 1.15 kW SGMAS and 750 W SGMPS Servomotors...

  • Page 313: Connectors For Sgmcs- B, C, D, And E Servomotors

    Internal Configuration and Lead Color Black Green/ White (Yellow) Blue Black 5 m, 10 m, 15 m, 20 m Yaskawa Standard Specifi- cations (Standard Length) * Specify the cable length in of cable type designation Example: JZSP-CSM90-15 (15 m) 5-14...

  • Page 314: Connectors For Sgmcs

    5.2.11 Connectors for SGMCS- M and N Servomotors (1) Connector Configuration Diagram Standard straight plug SGMCS servomotor Non-waterproof Cable cable clamp Standard L-shaped plug Servomotor Cable Connector (Not provided by Yaskawa) Receptacle L-shaped plug Straight plug Cable clamp Servomotor-end MS3102A18-10P MS3108B18-10S MS3106B18-10S MS3057-10A...

  • Page 315: Cables And Connectors For Sgmss And Sgmgh Servomotors

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.12 Cables and Connectors for SGMSS and SGMGH Servomotors (c) MS3057A-10A: Cable Clamp with Rubber Bushing φJ (Inner bushing diameter) φE (Inner cable clamp diameter) H (Slide range) Units: mm Cable Clamp Applicable Overall...

  • Page 316: Dimensional Drawings Of Connectors For Sgmss Servomotors (Standard Environment Type)

    Standard straight plug Non-waterproof Cable cable clamp SGMSS Servomotor Standard L-shaped plug (2) Connector Combination List Capacity Servomotor end Cable end (Not provided by Yaskawa) Servomotor Type (Receptacle) Straight plug L-shaped plug Cable clamp （kW） MS3102A18-10P MS3106B18-10S MS3108B18-10S MS3057-10A...

  • Page 317: Dimensional Drawings

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.13 Dimensional Drawings of Connectors for SGMSS Servomotors (Standard Environment Type) (3) Dimensional Drawings (a) MS3108B S: L-shaped Plug Shell Å@ Units: mm Shell Joint Length of Overall Outer Cable Effective Size Screw...

  • Page 318: (Protective Structure Ip67/European Safety Standards Conformed Type)

    Conduit Plug Cable Waterproof straight plug SGMSS Servomotor Waterproof Cable cable clamp Waterproof angled plug (2) Connector Combination List Cable end (Not provided by Yaskawa) Capa- Servo- Servomotor ∗1 Applicable End Bell or Back Shell city motor Cable Range in Manu- ∗2...

  • Page 319: Sgmgh Servomotor

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.15 SGMGH Servomotor (1500 min ) Connectors for Standard Environments 5.2.15 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...
  • Page 320 5.2 Servomotor Main Circuit Cables and Connectors (3) SGMGH Servomotors (1500 min ) Main Circuit Connector Pin Arrangement (a) Without Holding Brakes 0.45 to 7.5 kW Servomotor Connector Pin Arrangement Pin No. Signal Phase U Phase V Phase W FG (Frame Ground) Servomotor-end connector (b) With Holding Brakes...

  • Page 321: European Safety Standards

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.16 SGMGH Servomotor (1500 min ) Connectors Conforming to IP67 and European Safety Standards 5.2.16 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.
  • Page 322 5.2 Servomotor Main Circuit Cables and Connectors (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 323 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.16 SGMGH Servomotor (1500 min ) Connectors Conforming to IP67 and European Safety Standards (5) Servomotor Main Circuit Connector Pin Arrangement (a) Servomotors Without Holding Brakes 0.45 to 7.5 kW Servomotor Connector Pin Arrangement Pin No.

  • Page 324: Sgmgh Servomotor

    5.2 Servomotor Main Circuit Cables and Connectors 5.2.17 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 MS3057-20A...
  • Page 325 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.17 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 326 5.2 Servomotor Main Circuit Cables and Connectors 5.2.18 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. 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 327 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.18 SGMGH Servomotor (1000 min ) Connectors Conforming to IP67 and European Safety Standards (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 328 5.2 Servomotor Main Circuit Cables and Connectors (4) Servomotor Main Circuit Connector Pin Arrangement (a) Servomotors Without Holding Brakes 0.3 to 5.5 kW Servomotor Connector Pin Arrangement Pin No. Signal Phase U Phase V Phase W FG (Frame Ground) Servomotor-end connector (b) Servomotors With Holding Brakes 1 0.3 to 3.0 kW...

  • Page 329: Connectors Manufactured By Ddk Ltd

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.19 Connectors Manufactured by DDK Ltd. 5.2.19 Connectors Manufactured by DDK Ltd. Contact Yaskawa Controls Co., Ltd. (1) Connector Configuration Plug Conduit Waterproof when inserted only) Manuracturers Cable Nippon Flex Co., Ltd.
  • Page 330 5.2 Servomotor Main Circuit Cables and Connectors (4) L-shaped Plug Dimensional Drawing Positioning key V screw Units: mm Outer Effective Diameter Overall Cable Clamp Set Joint Screw Screw of Joint Nut Model Length L Screw R±0.7 U±0.7 (S)±1 Length max. φQ - 0.38 CE05-8A18-10SD...
  • Page 331 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.19 Connectors Manufactured by DDK Ltd. (6) Waterproof Cable Clamp with Rubber Bushing Model CE3057-10A- (D265) V screw Cable clamp inner diameter (Bushing inner diameter Movable range on one side Units: mm Effective Overall...

  • Page 332: Connectors Manufactured By Japan Aviation Electronics Industry, Ltd

    5.2 Servomotor Main Circuit Cables and Connectors 5.2.20 Connectors Manufactured by Japan Aviation Electronics Industry, Ltd. Contact Yaskawa Controls Co., Ltd. (1) Connector Configuration Plug Conduit Waterproof when inserted only) Manufacturers Cable Nippon Flex Co., Ltd. DAIWA DENGYO Co., Ltd.
  • Page 333 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.20 Connectors Manufactured by Japan Aviation Electronics Industry, Ltd. (4) L-shaped Plug Dimensional Drawing Positioning key Wrench width V screw 10±0.5 φG Effective screw length Units: mm Outer Diameter Cable Clamp of Joint Nut Model B±0.8...
  • Page 334 5.2 Servomotor Main Circuit Cables and Connectors (6) Waterproof Cable Clamps with Rubber Bushings V screw φE Cable clamp inner diameter Clamping range) Bushing Units: mm Applicable Applicable Cable Range φQ±0.8 φE±0.8 Model A±0.8 C±0.8 D±0.8 F±0.8 Set Screw V Shell Size (For refer- ence)

  • Page 335: 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 are selected for three cables per bundle at 40°C ambient temperature with the rated current. NOTE 2. Use cable with withstand voltage of 600 V for main circuits. 3.
  • Page 336 5.3 SERVOPACK Main Circuit Wire Size 5.3.3 Single-phase for 200 V SERVOPACK Model Terminal SGDS- External Terminal Name Symbol HIV1.25 HIV2.0 Main circuit power input terminals L1, L2 HIV1.25 Servomotor connection terminals U, V, W HIV1.25 Control power input terminals L1C, L2C External regenerative resistor connection terminal HIV1.25...

  • Page 337: Encoder Cables

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.4.1 Encoder Cables for 50 to 1.15 kW SGMAS and 100 to 400 W SGMPS Servomotors 5.4 Encoder Cables 5.4.1 Encoder Cables for 50 to 1.15 kW SGMAS and 100 to 400 W SGMPS Servomotors When using a cable with encoder loose leads or a cable assembled by the customer, be sure to connect the shield of encoder cable to the connector case (shell).
  • Page 338 5.4 Encoder Cables (b) Wiring Specifications • Standard Type • Flexible Type Encoder (Servomotor) end SERVOPACK end SERVOPACK end Encoder (Servomotor) end Signal Pin No. Pin No. Lead Color Pin No. Lead Color Signal Pin No. Black/pink Light blue/white Light blue Pink/red BAT (-) White/orange...

  • Page 339: Encoder Cables For 750W And 1.5 Kw Sgmmj And Sgmps Servomotors

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.4.2 Encoder Cables for 750W and 1.5 kW SGMMJ and SGMPS Servomotors (4) Cable with a SERVOPACK Connector and Encoder Loose Leads (For Absolute Encoder, With a Battery Case) When using an absolute encoder and connecting a battery to the host controller, no battery case is required. In this case, use a cable for incremental encoder.
  • Page 340 5.4 Encoder Cables (b) Wiring Specifications • Standard Type • Flexible Type SERVOPACK end Encoder (Servomotor) end SERVOPACK end Encoder (Servomotor) end Pin No. Signal Pin No. Lead Color Lead Color Signal Pin No. Pin No. Light blue/white Black/pink Light blue Pink/red BAT(-) White/orange...
  • Page 341 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.4.2 Encoder Cables for 750W and 1.5 kW SGMMJ and SGMPS Servomotors (3) Cable with a SERVOPACK Connector and Encoder Loose Leads (For Incremental Encoder) (a) Cable Type Standard Type Flexible Type Length (L) Dimensional Drawing...
  • Page 342 5.4 Encoder Cables (b) Wiring Specifications • Standard Type • Flexible Type Encoder (Servomotor) end SERVOPACK end SERVOPACK end Encoder (Servomotor) end Lead Color Marker Pin No. Signal Signal Lead Color Marker Pin No. Black/pink Light blue/white Pink/red Light blue BAT(-) Black/lignt blue BAT(-)

  • Page 343: Encoder Cables For Sgmcs Servomotors

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.4.3 Encoder Cables for SGMCS Servomotors 5.4.3 Encoder Cables for SGMCS Servomotors If you use cables with loose leads or assemble the cables, be sure to connect the shield wire of the encoder cable to the connector frame ground (FG).

  • Page 344: Standard Type

    5.4 Encoder Cables (3) 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 SERVOPACK end Encoder end 60mm JZSP-CMP03-05 JZSP-CMP13-05 JZSP-CMP03-10 JZSP-CMP13-10 10 m JZSP-CMP03-15 JZSP-CMP13-15 15 m Plug connector Wire (crimped)

  • Page 345: Encoder Cables For Sgmss And Sgmgh Servomotors

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.4.4 Encoder Cables for SGMSS and SGMGH Servomotors 5.4.4 Encoder Cables for SGMSS and SGMGH Servomotors (1) Cable with a SERVOPACK Connector and Encoder Straight Plug (For Incremental Encoder) (a) Cable Type Standard Type Flexible Type Length (L)
  • Page 346 5.4 Encoder Cables (3) Cable with a SERVOPACK Connector and Encoder Straight Plug (For Absolute Encoder, with a Battery Case) When using an absolute encoder and connecting a battery to the host controller, no battery case is required. In this case, use a cable for incremental encoder. (a) Cable Type Standard Type Flexible Type...
  • Page 347 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.4.4 Encoder Cables for SGMSS and SGMGH Servomotors (b) Wiring Specifications • Standard Type • Flexible Type SERVOPACK end Encoder (Servomotor) end SERVOPACK end Encoder (Servomotor) end Signal Pin No. Lead Color Pin No.
  • Page 348 5.4 Encoder Cables (6) Cable with a SERVOPACK Connector and Encoder Loose Leads (For Absolute Encoder, and with a Battery Case) When using an absolute encoder and connecting a battery to the host controller, no battery case is required. In this case, use a cable for incremental encoder.

  • Page 349: Encoder Cables And Connectors

    The mating connector model on servomotor: 55833-0701 * A caulking tool is required. The following caulking tools are applicable for the cables provided by Yaskawa. When using other wire sizes, contact the respective manufacturer for caulking tools. Applicable caulking tool for Yaskawa’s wire size: Hand Tool Model 57175-5000...

  • Page 350: Encoder Cables And Connectors For 750 W And 1.5 Kw Sgmmj And Sgmps Servomotors

    The mating connector model on servomotor: 55102-0600 * A caulking tool is required. The following caulking tools are applicable for the cables provided by Yaskawa. When using other wire sizes, contact the respective manufacturer for caulking tools. Applicable caulking tool for Yaskawa’s wire size: Hand Tool Model 57175-5000...

  • Page 351: Encoder Cables And Connectors For Sgmss And Sgmgh Servomotors

    Pink Red/ Orange/ Pink White Cable length: 5 m, 10 m, 15 m, 20 m Yaskawa Standard Specifications (Standard Length) * Specify the cable length in of cable type designation. Example: JZSP-CMP09-05 (5 m) 5.5.3 Encoder Cables and Connectors for SGMSS and SGMGH Servomotors...
  • Page 352 Black Orange Green Black/ Orange Pink Orange/ Red/ White Pink Cable length: 5 m, 10 m, 15 m, 20 m Yaskawa Standard Specifications (Standard Length) * Specify the cable length in of cable type designation. Example: JZSP-CMP09-05 (5 m) 5-53...

  • Page 353: Encoder Cables And Connectors For Sgmcs Servomotors

    Black Orange Green Black/ Orange Pink Red/ Orange/ Pink White Cable length: 5 m, 10 m, 15 m, 20 m Yaskawa Standard Specifications (Standard Length) * Specify the cable length in of cable type designation. Example: JZSP-CMP09-05 (5 m) 5-54...

  • Page 354: 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 under the following test conditions. • Conditions 1. Repeat moving one end of the cable forward and backward for 320 mm using the test equipment shown in the following.

  • Page 355: Encoder Cable Extension

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.7 Encoder Cable Extension The standard encoder cable length is 20 m maximum. To extend the wiring distance, use cable extensions to extend the wiring length to 50 m. The customer must provide cables and connectors to extend the relay encoder cable to 50 m.
  • Page 356 5.7 Encoder Cable Extension (b) For SGMSS and SGMGH Servomotors SERVOPACK Relay encoder cable JZSP-CSP12 (SERVOPACK end) Relay encoder cable extension* * To be assembled by the customer SGMSS and SGMGH Servomotor (c) For SGMCS Servomotors SGDS SERVOPACK Relay encoder cable extension* * To be assembled by the customer SGMCS Servomotor...
  • Page 357 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices (2) Relay Encoder Cable With Connectors (a) For 50W to 750 W SGMAS and 100W to 400W SGMPS Servomotors • Cable Type Type Length Dimensional Drawing SERVOPACK end Encoder end 0.3 m JZSP-CSP11 0.3 m...
  • Page 358 Electronics Cable diameter Industry, φ6.5 to φ9.5 mm Ltd. Cable clamp JL04-2022CKE (12) Cable diameter φ9.5 to φ13 mm JL04-2022CKE (14) Cable diameter φ12.9 to φ15.9 mm Cables JZSP-CMP19- Yaskawa Max. wiring length: Electric Co., 50 m 5.5.1 Ltd. 5-59...
  • Page 359 Internal Configuration and Lead Colors Black Orange Light blue Orange/white Light blue/white Cable length: 30 m, 40 m , 50 m Yaskawa Standard Specifications (Standard Length) * Specify the cable length in of cable type designation. Example: JZSP-CMP19-30 (30 m) 5-60...

  • Page 360: Connectors For Main Circuit, Control Power Supply, And Servomotor Cable

    5.8 Connectors for Main Circuit, Control Power Supply, and Servomotor Cable 5.8 Connectors for Main Circuit, Control Power Supply, and Servomo- tor Cable 5.8.1 Spring Type (Standard) Spring-type connectors are provided on SERVOPACK as standard. (1) Connector Types Appearance Type Manufacturer 51446-0301 3-pole (For servomotor main circuit cable connector at...

  • Page 361: Crimp Type (Option)

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.8.2 Crimp Type (Option) 5.8.2 Crimp Type (Option) The crimp type connectors are options. Contact the manufacturer for details. (1) Connector Types Appearance Types Manufacturer 51241-0301 3-pole (For servomotor main circuit cable connector at SERVOPACK end) 51241-0701 7-pole (For 50 to 400 W SERVOPACKs)

  • Page 362: Cn1 Cables For I/O Signals

    5.9 CN1 Cables for I/O Signals 5.9 CN1 Cables for I/O Signals 5.9.1 Standard Cables (1) Cable Types Cable Types Length (L) JZSP-CSI01-1 JZSP-CSI01-2 JZSP-CSI01-3 (2) Dimensional Drawings SERVOPACK end Connector: 10150-6000EL (50P) * Sleeve F2 (black) Case: 10350-52Z0-008 * Cable (black) SSRFPVV-SBAWG#28 ×...

  • Page 363: Cable Size

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.9.2 Connector Type and Cable Size (2) Dimensional Drawings of Connector 2.54 1.27 41.1 Pin No. 1 1.27 * Reference length Pin No. 26 30.48 Units: mm 36.7 (3) Cable Size Item Specifications Cable...

  • Page 364: Connection Diagram For Standard I/O Cable Jzsp-Csi01

    5.9 CN1 Cables for I/O Signals 5.9.3 Connection Diagram for Standard I/O Cable JZSP-CSI01- SERVOPACK end Host controller end Marking Lead Lead Pin No. Signal Name Color Marker Color Dots Orange − Orange Black Gray Gray Black V-REF White White Black PULS Yellow...

  • Page 365: Peripheral Devices

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.10.1 Cables for Connecting Personal Computers 5.10 Peripheral Devices 5.10.1 Cables for Connecting Personal Computers (1) For 25-pin Connector Cable for NEC PC-98 Series PC (a) Cable Type: JZSP-CMS01 (b) Dimensional Drawings Personal computer end SERVOPACK end Personal computer end...

  • Page 366: Digital Operator

    CN3 Connection Cable Length: 1 m (2) Dimensional Drawings P tight countersunk screw: 3 × 12 Tightening torque: 3.5N cm Nameplate SVON COIN TGON CHARGE VCMP YASKAWA SCROLL MODE/SET ALARM RESET DATA SVON READ WRITE SERVO SERVO DIGITAL OPERATOR JUSP-OP05A 17 0.8...

  • Page 367: Cables For Analog Monitor

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.10.3 Cables for Analog Monitor 5.10.3 Cables for Analog Monitor (1) Cable Type: JZSP-CA01 Connect the specified cables to CN5 connector for monitoring the analog monitor signals. For the details, refer to 9.7 Analog Monitor.
  • Page 368 5.10 Peripheral Devices (2) Dimensional Drawings of Terminal Block Terminal Connector plug 50P block 50P M3.5 screw MR-50RMD2 2-φ3.5 247.5 Can be fixed on DIN rail Units: mm (3) Dimensional Drawings of Cable Connector terminal block converter unit end connector (50P) SERVOPACK-end connector (50P) 10150-6000EL (Sumitomo 3M Ltd.) MRP-50F01 (Honda Communication Industries Co., Ltd.)

  • Page 369: Brake Power Supply Unit

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.10.5 Brake Power Supply Unit 5.10.5 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 •...

  • Page 370: Internal Circuits

    5.10 Peripheral Devices (4) Internal Circuits Open or close the circuit for the brake’s power supply so that switching occurs on the AC side of the brake power supply unit. When switching on the DC side, install a surge absorber near the brake coil to prevent damage to the brake coil from voltage surges due to DC-side switching.
  • Page 371 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.10.6 External Regenerative Resistor (3) Specifications K: ± 10%, J: ± 5%, H: ± 3% Resistance Tolerance Temperature Resistance ± 400 PPM / °C (20 Ω max.) , ± 260 PPM / °C (20 Ω min.) Characteristics Δ...

  • Page 372: Regenerative Resistor Unit

    5.10 Peripheral Devices 5.10.7 Regenerative Resistor Unit (1) Models The SERVOPACKs with a capacity of 6.0 kW or more do not have a built-in regenerative resistor. The following regenerative resistor unit is required according to the SERVOPACK model. SERVOPACK Regenerative Resistor Allowable Specifications Model...

  • Page 373: Absolute Encoder Battery

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.10.8 Absolute Encoder Battery 5.10.8 Absolute Encoder Battery After the power supply was turned OFF, a backup battery is required to write the position of absolute encoder. Install one of the absolute encoder batteries below. For more information on the battery replacement, refer to 8.4.3 Handling Batteries.

  • Page 374: Molded-Case Circuit Breaker (Mccb)

    5.10 Peripheral Devices 5.10.9 Molded-case Circuit Breaker (MCCB) If selecting a molded-case circuit breaker, observe the following precautions. Ground Fault Detector • Select ground fault detectors for inverters. IMPORTANT • High-frequency current leaks from the servomotor armature because of switching operation inside the SERVOPACK.

  • Page 375: Noise Filter

    The recommended noise filter is manufactured by SCHAFFNER (FN type) and SCHURTER (formerly TIMONTA) (FMAC type). Contact Yaskawa Controls Co., Ltd. Select one of the following noise filters accord- ing to SERVOPACK capacity. For more details on selecting current capacity for a noise filter, refer to 2.5.3 Noise Filters, Magnetic Contactors, Surge Absorbers and AC/DC Reactors.

  • Page 376: Three-Phase

    5.10 Peripheral Devices (2) Three-phase, 200 V (a) FN Type Model FN258L-7/07 FN258L-16/07 FN258L-30/07 Side view Front and side view 7A to 55A Type Dimensional Drawings Dimensions in mm 255 ± 1 305 ± 1 335 ± 1 126 ± 0.8 142 ±...
  • Page 377 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.10.10 Noise Filter (b) FMAC Type Model FMAC-0934-5010 FMAC-0953-6410 Dimensional Drawings Symbol Dimensions in mm 6.5±0.3 6.5±0.3 External Dimensions 115±0.3 115±0.3 (10) (13) (41) (45) (17) (34) AC440V, 50A AC440V, 64A Specifications Applicable Three-...

  • Page 378: Magnetic Contactor

    5.10.11 Magnetic Contactor HI- J (1) Model: The magnetic contactor is manufactured by Yaskawa Controls Co., Ltd. Contact your Yaskawa representative for details. A magnetic contactor is required to make the AC power to SERVOPACK ON/OFF sequence externally. Be sure to attach a surge absorber to the excitation coil of the magnetic contactor.
  • Page 379 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.10.11 Magnetic Contactor and HI-20J (b) Model: HI-15J Mounting Hole Dimensions in mm Terminal Symbols Dimensions in mm 45.5 HI-15J Coil terminal 15.3 Auxiliary Structure M3.5 contact 1NO1NC HI-20J Auxiliary Structure contact Auxiliary contact...

  • Page 380: Surge Absorber (For Switching Surge)

    5.10 Peripheral Devices 5.10.12 Surge Absorber (for switching surge) (1) Surge Absorber for Magnetic Contactor Contact Yaskawa Controls Co., Ltd. (a) Model: TU-25 , TU-65 (b) Specifications Model Surge Rated Applicable Voltage Range for Operation Applicable Absorption Insula- Magnetic Coil...
  • Page 381 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.10.12 Surge Absorber (for switching surge) (2) Surge Absorber for Brake Power Supply When using a servomotor with holding brake, install a surge absorber near the brake coil to prevent the power supply noises.

  • Page 382: Surge Absorber (For Lightning Surge)

    5.10 Peripheral Devices 5.10.13 Surge Absorber (for lightning surge) R C M-601BQZ-4 and R C M-601BUZ-4 (1) Model: Manufactured by Okaya Electric Industries Co., Ltd. The surge absorber absorbs lightning surge and prevents faulty operation in or damage to electronic circuits. Recommended surge absorbers are listed below.

  • Page 383: Ac/Dc Reactors For Power Supply Harmonic Suppression

    5.10.14 AC/DC Reactors for Power Supply Harmonic Suppression (1) Specifications Manufactured by Yaskawa Controls Co., Ltd. Contact your Yaskawa representative for details. If the power supply harmonic suppression is needed, connect an AC reactor to the AC line for the single-phase input, a DC reactor between the SERVOPACK main circuit terminals 1 and 2 for the three-phase input.

  • Page 384: Variable Resistor For Speed And Torque Setting

    5.10.15 Variable Resistor for Speed and Torque Setting 25HP-10B (1) Model: The multi-turn type winding variable resistors with dial MD10-30B4 are manufactured by Sakae Tsushin Kogyo Co., Ltd. Contact Yaskawa Controls Co., Ltd. (2) Dimensional Drawings Panel 11.5 ±1 25 HP Helicolumn (Panel drilling diagram) φ7.5 hole...

  • Page 385: Wiring

    Wiring 6.1 Wiring Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-2 6.1.1 Names and Descriptions of Main Circuit Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3 6.1.2 Wiring Main Circuit Terminal Block (Spring Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4 6.1.3 Typical Main Circuit Wiring Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5...

  • Page 386: Wiring Main Circuit

    6 Wiring 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 30 cm.

  • Page 387: Names And Descriptions Of Main Circuit Terminals

    6.1 Wiring Main Circuit 6.1.1 Names and Descriptions of Main Circuit Terminals Terminal Name Description Symbol 50 W to 400 W +10% -15% Single-phase 100 to 115 V (50/60 Hz) 50 W to 400 W +10% -15% Single-phase 200 to 230 V (50/60 Hz) L1, L2 Main circuit input...

  • Page 388: Wiring Main Circuit Terminal Block (Spring Type)

    6 Wiring 6.1.2 Wiring Main Circuit Terminal Block (Spring Type) 6.1.2 Wiring Main Circuit Terminal Block (Spring Type) CAUTION • Observe the following precautions when wiring main circuit terminal blocks. • Remove the terminal block from the SERVOPACK prior to wiring. •...

  • Page 389: 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 SGDS- (For servo +24V alarm display) ALM+ 31 Main Main power power supply supply ALM- : Relay Molded-case circuit breaker : Indicator lamp : Noise filter : Surge absorber : Magnetic contactor : Flywhell diode...
  • Page 390 6 Wiring 6.1.3 Typical Main Circuit Wiring Examples (3) 750 W, Single-phase 200V SERVOPACK SGDS-08A01A (For servo alarm +24V display) ALM+ Main Main power power supply supply ALM− 1Ry 1KM : Molded-case circuit breaker : Relay : Noise filter : Indicator lamp : Surge absorber : Magnetic contactor : Flywheel diode...
  • Page 391 6.1 Wiring Main Circuit (4) DC Power Supply Input for SERVOPACK CAUTION • Do not use a DC power supply for the 100V SERVOPACK SGDS- or SGDS- A DC power will destroy the SERVOPACK and may cause a fatal accident or fire. Do not change the factory setting for Pn001 = n.

  • Page 392: Wiring Encoders

    6 Wiring 6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1) 6.2 Wiring Encoders The connection cables between encoder and SERVOPACK and wiring pin numbers differ depending on servo- motor model. Refer to 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices for details. 6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1) (1) Incremental Encoders...

  • Page 393: Absolute Encoders

    6.2 Wiring Encoders (2) Absolute Encoders Host controller SERVOPACK ∗2 ∗4 Line receiver Phase A Phase /PAO Absolute encoder Phase B Phase ∗2 /PBO Light blue ∗1 Phase C Phase /PCO White/ light blue Output line-driver SN75ALS194 manufactured by Texas Instruments or the equivalent.

  • Page 394: Examples Of I/O Signal Connections

    6 Wiring 6.3.1 Speed Control Mode 6.3 Examples of I/O Signal Connections 6.3.1 Speed Control Mode SERVOPACK ∗ 1. ∗ 2. Speed reference V-REF (± ± 2 to /rated motor A / D speed) ∗ 4. ALO1 ∗ 2. External torque T-REF Alarm code output limit/Torque feed...

  • Page 395: Position Control Mode

    6.3 Examples of I/O Signal Connections 6.3.2 Position Control Mode SERVOPACK ∗ 1. PULS PULS 120 Ω /PULS Phase A ALO1 Alarm code output SIGN ALO2 SIGN Max. operating voltage: 120 Ω Position 30 VDC Phase B /SIGN reference ALO3 Max.

  • Page 396: Torque Control Mode

    6 Wiring 6.3.3 Torque Control Mode 6.3.3 Torque Control Mode SERVOPACK ∗ 4. ∗ 1. ∗ 2. External speed limit V-REF ± ± 2 V to 10 V /rated motor speed) A / D ALO1 ∗ 2. Torque reference T-REF Alarm code output ALO2 Max.

  • Page 397: I/O Signal Connector (Cn1) Terminal Layout

    6.3 Examples of I/O Signal Connections 6.3.4 I/O Signal Connector (CN1) Terminal Layout /V-CMP- Speed coinci- (/COIN-) dence detec- /TGON+ TGON signal tion output output − − /TGON- TGON signal output SEN signal /S-RDY+ Servo ready input output V-REF Speed refer- /S-RDY- Servo ready ence input...

  • Page 398: I/O Signal (Cn1) Names And Functions

    6 Wiring 6.3.5 I/O Signal (CN1) Names and Functions 6.3.5 I/O Signal (CN1) Names and Functions (1) Input Signals Refer- Signal Name Pin No. Function ence Section 8.3.1 /S-ON Servo ON: Turns ON the servomotor when the gate block in the inverter is released. −...

  • Page 399: Output Signals

    6.3 Examples of I/O Signal Connections (2) Output Signals Reference Signal Name Pin No. Function Section ALM+ Servo alarm: Turns OFF when an error is detected. 8.11.1 ALM- Detection during servomotor rotation: Detects whether the servomotor is rotating /TGON+ at a speed higher than the motor speed setting. Motor speed detection can be set 8.11.3 /TGON- by using the parameters.

  • Page 400: Interface Circuit

    6 Wiring 6.3.6 Interface Circuit 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 401 6.3 Examples of I/O Signal Connections (c) Clear Input Circuit CN1 connector terminals, 15-14: Clear input is explained below. An output circuit for the reference pulse and position error pulse clear signal at the host controller can be either line-driver or open-collector outputs. The following shows by type. Line-driver Output Circuit Host controller SERVOPACK...
  • Page 402 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 403 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. Con- nect an open-collector output circuit through a photocoupler, relay or line receiver circuit. Photocoupler Circuit Example Relay Circuit Example 5 to 12 VDC...

  • Page 404: 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 5 Specifications and IMPORTANT Dimensional Drawings of Cables and Peripheral Devices for details.

  • Page 405: Wiring For Noise Control

    6.4 Others 6.4.2 Wiring for Noise Control (1) Wiring Example The SGDS SERVOPACK uses high-speed switching elements in the main circuit. It may receive “switching noise” from these high-speed switching elements if wiring or grounding around the SERVOPACK is not appro- priate.
  • Page 406 6 Wiring 6.4.2 Wiring for Noise Control (b) Noise on the Reference Input Line If the reference input line receives noise, ground the 0 V line (SG) of the reference input line. If the main cir- cuit wiring for the motor is accommodated in a metal conduit, ground the conduit and its junction box. For all grounding, ground at one point only.
  • Page 407 6.4 Others Noise Filter Brake Power Supply IMPORTANT Use the following noise filter at the brake power input for 400 W or less servomotors with holding brakes. MODEL: FN2070-6/07 (Manufactured by SCHAFFNER Electronic.) Precautions on Using Noise Filters Always observe the following installation and wiring instructions. Incorrect use of a noise filter halves its benefits.
  • Page 408 6 Wiring 6.4.2 Wiring for Noise Control 3. Connect the noise filter ground wire directly to the ground plate. Do not connect the noise filter ground wire to other ground wires. Incorrect Correct Noise Noise Filter Filter SGDS SGDS SGDS SGDS Shielded Thick and...

  • Page 409: Using More Than One Servopack

    6.4 Others 6.4.3 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 410: 400-V Power Supply Voltage

    6 Wiring 6.4.4 400-V Power Supply Voltage 6.4.4 400-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. • Control the AC power supply ON and OFF sequence at the primary side of voltage conversion transfer. Voltage conversion transfer inductance will cause a surge voltage if the power is turned ON and OFF at the secondary, damaging the SERVOPACK.

  • Page 411: Ac/Dc Reactor For Harmonic Suppression

    6.4 Others 6.4.5 AC/DC Reactor for Harmonic Suppression (1) Reactor Types The SGDS SERVOPACK has reactor connection terminals for power supply harmonic suppression. The type of reactor to be connected differs depending on the SERVOPACK capacity. Refer to the following table. Reactor Specifications Applicable AC/DC Reactor...

  • Page 412: Installation Conditions Of Ul Standards

    6 Wiring 6.4.6 Installation Conditions of UL Standards 6.4.6 Installation Conditions of UL Standards To adapt SERVOPACKs to UL Standards, use the following ring terminal kit for cables to connect the motor out- put terminals U,V, and W. Connecting exposed wires to the terminals in the table below is not allowed under UL standards. IMPORTANT Terminal Kit Model, SERVOPACK Model...

  • Page 413: 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 chargeable energy is exceeded, the regenerative power is further consumed by the regenerative resistor.
  • Page 414 6 Wiring 6.5.2 Connecting Externally 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 415: Parameter Setting

    6.5 Connecting Regenerative Resistors (4) Parameter Setting Pn600 Regenerative Resistor Capacity Speed Position Torque Setting Range Unit Factory Setting Setting Validation 0 to SERVOPACK 10 W Immediately capacity Be sure to set this parameter when installing an external regenerative resistor to the SERVOPACK. When set to the factory setting of “0,”...

  • Page 416: Resistance (Ω)

    6 Wiring 6.5.2 Connecting Externally Regenerative Resistors (c) SERVOPACKs with Capacities of 6.0 kW or more The SERVOPACKs with 6.0 kW or more do not have built-in regenerative resistors. Connect the external regenerative resistor. The following regenerative resistors are available. Models of Main Circuit SERVOPACK Model...

  • Page 417: Panel Operator

    Panel Operator 7.1 Functions on Panel Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-2 7.1.1 Key Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2 7.1.2 Basic Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3 7.1.3 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4...

  • Page 418: Functions On Panel Operator

    7 Panel Operator 7.1.1 Key Names and Functions 7.1 Functions on Panel Operator This section describes the basic operations of the panel operator for setting the operating conditions. Set parameters and JOG operation, and display status using the panel operator. For the operation of hand-held digital operator (Model: JUSP-OP05A), refer to the instructions of digital operator for SGM S/SGDS (manual no.: TOBPS80000001) in the Σ-III series.

  • Page 419: Basic Mode Selection

    7.1 Functions on Panel Operator 7.1.2 Basic Mode Selection 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. Press MODE/SET Key to select a basic mode in the following order. Power ON Press MODE/SET Key.

  • Page 420: Status Display

    7 Panel Operator 7.1.3 Status Display 7.1.3 Status Display Bit data Code (1) Bit Data and Meanings Item Speed or Torque Control Mode Position Control Mode Bit Data Meaning Bit Data Meaning Control Lit when SERVOPACK control power is Control Lit when SERVOPACK control power is Power ON Power ON...
  • Page 421 7.1 Functions on Panel Operator (2) Codes and Meanings Code Meaning Baseblock Servo OFF (servomotor power OFF) Servo ON (servomotor power ON) Forward Run Prohibited CN1-42 (P-OT) is OFF. Reverse Run Prohibited CN1-43 (N-OT) is OFF. Alarm Status Blinks the alarm number.

  • Page 422: Operation In Utility Function Mode (Fn )

    7 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 423: 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 ten previously occurred alarms with time stamp to indicate the total operation time at the moment of alarm occurrence, thus making it possible to check what kind of alarms have been generated.
  • Page 424 7 Panel Operator 7.2.2 Alarm Traceback Data Display (Fn000) • Checking Alarms Follow the procedure below to confirm alarms which have been generated. Display after Operation Panel Operator Description Press MODE/SET Key to select “Alarm Traceback Data Display (Fn000).” If a number other than Fn000 is display, press UP Key or DOWN Key to set Fn000.

  • Page 425: Origin Search Mode (Fn003)

    7.2 Operation in Utility Function Mode (Fn 7.2.3 Origin Search Mode (Fn003) CAUTION • Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are disabled during origin search mode operations using Fn003. The origin search mode is designed to position the origin pulse position of the encoder and to clamp at the posi- tion.

  • Page 426: Program Jog Operation (Fn004)

    7 Panel Operator 7.2.4 Program JOG Operation (Fn004) 7.2.4 Program JOG Operation (Fn004) The Program JOG Operation is a utility function, that allows continuous automatic operation determined by the preset operation pattern, movement distance, movement speed, acceleration/deceleration time, number of time of repetitive operations through the panel operator.
  • Page 427 7.2 Operation in Utility Function Mode (Fn Pn530.0 = 1 → × (Waiting time Pn535 Reverse movement Pn531) No. of times of movement Pn536 Number of times of movement Pn536 At zero speed Movement Pn531 Pn531 Pn531 Speed speed Movement Movement Movement distance...
  • Page 428 7 Panel Operator 7.2.4 Program JOG Operation (Fn004) Pn530.0 = 4 → → → (Waiting time Pn535 Forward movement Pn531 Waiting time Pn535 Reserve movement Pn531) × No. of times of movement Pn536 Number of times of movement Pn536 Movement Pn531 speed Speed...
  • Page 429 7.2 Operation in Utility Function Mode (Fn (3) Parameters Pn530 Program JOG Operation Related Switch Position Speed Torque Setting Range Unit Factory Setting Setting Validation − − 0000 Immediately Pn531 Program JOG Movement Distance Position Speed Torque Setting Range Unit Factory Setting Setting Validation Immediately...
  • Page 430 7 Panel Operator 7.2.4 Program JOG Operation (Fn004) (4) Operation Display after Operation Panel Operator Description Press MODE/SET Key to select the utility function mode. MODE/SET (MODE/SET Key) Press UP Key or DOWN Key to select Fn004. Press DATA/SHIFT Key for more than one second. The display shown on the left appears.

  • Page 431: Initialize Parameter Settings (Fn005)

    7.2 Operation in Utility Function Mode (Fn 7.2.5 Initialize Parameter Settings (Fn005) This function is used when returning to the factory settings after changing parameter settings. Pressing MODE/SET Key during servo ON does not initialize the parameter settings. After initialization, turn OFF the power supply and then turn ON again. Initialize the parameter settings with the servo OFF IMPORTANT Display after Operation...

  • Page 432: Clear Alarm Traceback Data (Fn006)

    7 Panel Operator 7.2.6 Clear Alarm Traceback Data (Fn006) 7.2.6 Clear Alarm Traceback Data (Fn006) This function clears the alarm history, which stores the alarms generated in the SERVOPACK. After having cleared data, “ .----” (No alarm) is set to all the alarm history data. Display after Operation Panel Operator Description...

  • Page 433: Automatic Offset-Signal Adjustment Of The Motor Current Detection (Fn00E)

    7.2 Operation in Utility Function Mode (Fn 7.2.7 Automatic Offset-Signal Adjustment of the Motor Current Detection (Fn00E) 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 434: Manual Offset-Signal Adjustment Of The Motor Current Detection (Fn00F)

    7 Panel Operator 7.2.8 Manual Offset-Signal Adjustment of the Motor Current Detection (Fn00F) 7.2.8 Manual Offset-Signal Adjustment of the Motor Current Detection (Fn00F) The adjusting range of the motor current detection signal 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 servo tuning.

  • Page 435: Write Prohibited Setting (Fn010)

    7.2 Operation in Utility Function Mode (Fn 7.2.9 Write Prohibited Setting (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 436: Servomotor Model Display (Fn011)

    7 Panel Operator 7.2.10 Servomotor Model Display (Fn011) 7.2.10 Servomotor Model Display (Fn011) This function is used to check the servomotor model, voltage, capacity, encoder type, and encoder resolution. If the SERVOPACK has been custom-made, you can also check the specification codes of SERVOPACKs. Display after Operation Panel Operator Description...

  • Page 437: Software Version Display (Fn012)

    7.2 Operation in Utility Function Mode (Fn 7.2.11 Software Version Display (Fn012) Set Fn012 to select the software-version check mode to check the SERVOPACK and encoder software version numbers. Display after Operation Panel Operator Description Press MODE/SET Key to select the utility function mode. MODE/SET (MODE/SET Key) Press UP or DOWN Key to select Fn012.

  • Page 438: Online Vibration Monitor (Fn018)

    7 Panel Operator 7.2.13 Online Vibration Monitor (Fn018) 7.2.13 Online Vibration Monitor (Fn018) When the machine generates vibration, setting a notch filter or torque reference filter according to the vibration frequency may stop the vibration. When vibration occurs while the power is supplied to the servomotor (“online” state), Online Vibration Monitor function detects the vibration elements and analyses the frequency to set a notch filter in the parameter.

  • Page 439: Easyfft (Fn019)

    7.2 Operation in Utility Function Mode (Fn 7.2.14 EasyFFT (Fn019) WARNING • Do not touch the servomotor and machine during EasyFFT operation because the servomotor will run. Failure to observe this warning may cause an injury. When the machine generates vibration, setting a notch filter according to the vibration frequency may stop the vibration.
  • Page 440 7 Panel Operator 7.2.14 EasyFFT (Fn019) (cont’d) Display after Operation Panel Operator Description Press UP or DOWN Key to set a reference amplitude. ∗At the initial execution of Fn019, do not change the reference amplitude setting, but starts from the initial value 15. Though Reference amplitude set- increasing reference amplitude increases the detection accuracy, the ting: 1 to 300)

  • Page 441: Vibration Detection Level Initialization (Fn01B)

    7.2 Operation in Utility Function Mode (Fn (cont’d) Display after Operation Panel Operator Description After the detection completes normally, press MODE/SET Key. the optimum notch filter for the detected frequency “F1250” is automat- ically set. When the notch filter is set correctly (Pn408, Pn409), the (Blinks) display “donE”...
  • Page 442 7 Panel Operator 7.2.15 Vibration Detection Level Initialization (Fn01B) (1) Parameters Pn311 Vibration Detection Sensibility Position Speed Torque Setting Range Unit Factory Setting Setting Validation 50 to 500 Immediately Pn312 Vibration Detection Level Position Speed Torque Setting Range Unit Factory Setting Setting Validation 0 to 5000 Immediately...

  • Page 443: Operation In Parameter Setting Mode (Pn )

    7.3 Operation in Parameter Setting Mode (Pn 7.3 Operation in Parameter Setting Mode (Pn 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 444 7 Panel Operator 7.3.1 Setting Parameters (2) Parameters over six digits (a) Relevant Parameters Following parameters have more than a six digit setting range. Parame- Setting Name Setting Range Setting Unit Factory Setting ters Validation − Pn20E Electronic Gear Ratio After restart 1 to 1073741824(2 (Numerator)
  • Page 445 7.3 Operation in Parameter Setting Mode (Pn (c) Settings Procedures for display and setting of “Pn20E = 1234567890” are shown below. Display after Operation Panel Operator Description Press MODE/SET key to select the parameter setting mode. If Pn20E is not displayed, select Pn20E by pressing UP key or DOWN key.
  • Page 446 7 Panel Operator 7.3.1 Setting Parameters (3) Function Selection Parameters (a) Types of Function Selection Parameters If the parameters with “After restart” in “Setting Validation” column in the table are set, warning “A.941 IMPORTANT Change of Parameter Requires Setting Validation” will occur. Turn OFF the main circuit and control power supply and ON again to validate new setting.
  • Page 447 7.3 Operation in Parameter Setting Mode (Pn The set value of parameters are displayed as follows. Parameters for function selection Hexadecimal display for each digit Parameters for value settings Decimal or hexadecimal display in more than five digits Since each digit in the function selection parameters has a significant meaning, the value can only be changed for each INFO individual digit.

  • Page 448: Input Circuit Signal Allocation

    7 Panel Operator 7.3.2 Input Circuit Signal Allocation (c) Parameter Indications Each digit of the function selection parameters is defined as the hexadecimal display. The parameter display example shows how parameters are displayed in digits for set values. 1st digit 2nd digit 3rd digit 4th digit...
  • Page 449 7.3 Operation in Parameter Setting Mode (Pn (2) Changing the Allocation (Set as 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 validate the new setting. means factory setting.
  • Page 450 7 Panel Operator 7.3.2 Input Circuit Signal Allocation 1. When using Servo ON, Forward Run Prohibited, and Reverse Run Prohibited signals with the setting IMPORTANT “Polarity Reversal,” the machine may not move to the specified safe direction at occurrence of failure such as signal line disconnection.
  • Page 451 7.3 Operation in Parameter Setting Mode (Pn (cont’d) Display after Panel Operator Description Operation Press DATA/SHIFT Key for more than one second. The value blinks and is saved. DATA (DATA/SHIFT) (Press at least one sec.) Press DATA/SHIFT Key for more than one second to return to the display Pn50B.

  • Page 452: Output Circuit Signal Allocation

    7 Panel Operator 7.3.3 Output Circuit Signal Allocation 7.3.3 Output Circuit Signal Allocation Functions can be allocated to the following sequence output signals. After having changed the parameter setting, turn the power OFF and ON again to enable the new setting. means factory setting.
  • Page 453 7.3 Operation in Parameter Setting Mode (Pn • Allocating Output Signals The procedure to set Rotation Detection (/TGON) signal of factory setting to “Invalid” and map Brake Inter- lock (/BK) signal is shown below. Before After Pn50E: Display after Operation Panel Operator Description Press MODE/SET Key to select the parameter setting mode.

  • Page 454: Operation In Monitor Mode (Un )

    7 Panel Operator 7.4.1 List of Monitor Modes 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 servomotor operation. 7.4.1 List of Monitor Modes (1) Contents of Monitor Mode Display Parame-...
  • Page 455 7.4 Operation in Monitor Mode (Un Refer to 7.3.2 Input Circuit Signal Allocation for the relation between input terminals and signals. Display LED Input Terminal Name Factory Setting Number CN1-40 /S-ON CN1-41 /P-CON CN1-42 P-OT CN1-43 N-OT CN1-44 /ALM-RST CN1-45 /P-CL CN1-46 /N-CL...
  • Page 456 7 Panel Operator 7.4.3 Operation in Monitor Mode Seven segments in the top and bottom rows of an LED turn ON and OFF in different combinations to indi- cate various output signals. These segments ON for “L” level and OFF for “H” level. •...

  • Page 457: Monitor Display Of Reference Pulse Counter, Feedback Pulse Counter, Fully-Closed Feedback Pulse Counter And Fully-Closed Feedback Speed

    7.4 Operation in Monitor Mode (Un 7.4.4 Monitor Display of Reference Pulse Counter, Feedback Pulse Counter, Fully-closed Feedback Pulse Counter and Fully-closed Feedback Speed The monitor display of reference pulse counter and feedback pulse counter is expressed in 32-bit hexadecimal. Display after Operation Panel Operator Description...

  • Page 458: Monitor Display At Power On

    7 Panel Operator 7.4.5 Monitor Display at Power ON 7.4.5 Monitor Display at Power ON Pn52F Monitor Display at Power ON Position Speed Torque Setting Range Setting Unit Factory Setting Setting Validation 0 to FFF − Immediately Pn52F is set to the same value as when it was in monitor mode (Un ), the data of Un that was specified in the panel operator is displayed when the power is turned ON.

  • Page 459: 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 460 8 Operation 8.6 Operating Using Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-49 8.6.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-49 8.6.2 Setting the Electronic Gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-51 8.6.3 Position Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-54 8.6.4 Smoothing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-56...

  • Page 462: Trial Operation

    8 Operation 8.1 Trial Operation Make sure that all wiring has been completed prior to trial operation. Perform the following three types of trial operation in order. Instructions are given for speed control mode (stan- dard setting) and position control mode. Unless otherwise specified, the standard parameters for speed control mode (factory setting) are used.
  • Page 463 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 464: Trial Operation For Servomotor Without Load

    Check the power supply circuit, servomotor, and encoder With the CN1 connector not connected, check the power supply wiring. circuit and servomotor wiring. For an example of main circuit wiring, refer to 6.1 Wiring Main YASKAWA 200V Circuit. SERVOP ACK SGDH-...
  • Page 465 8.1 Trial Operation (cont’d) Step Description Conformation and Supplement Operate with the panel operator. Open the SERVOPACK’s front cover, and execute the JOG mode operation (Fn002) using the panel operator. Press the Up Cursor Key for forward rotation and Down Cursor With the front Key for reverse rotation to confirm that the servomotor rotates in cover open...
  • Page 466 8 Operation 8.1.1 Trial Operation for Servomotor without Load CAUTION Pay attention that the Forward Run Prohibited (P-OT) and Reverse Run Prohibited (N-OT) signals are invalid during jog mode operation. • JOG Mode Operation (Fn002) Step Display after Operation Panel Operator Description Press the MODE/SET Key to select the utility function mode.

  • Page 467: 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 This section explains the items to be examined in a final check before connecting the servomotor to a machine and includes: • Correct settings for servomotor commands, references, and I/O signals that are input from the host con- troller to the SERVOPACK •...
  • Page 468 (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 SERVOP ACK SGDH- To omit the external wiring, the input terminal function can be set to “Always ON”...
  • Page 469 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 470 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 471 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 *CLR signal is not connected.
  • Page 472 8 Operation 8.1.2 Trial Operation for Servomotor without Load from Host Reference (cont’d) Step Description Check Method and Remarks Check the motor speed using the Un000 (motor Refer to 7.1.2 Basic Mode Selection for how it is dis- played. speed) [min Un000 (motor speed) [min −...

  • Page 473: Trial Operation With The Servomotor Connected To The Machine

    8.1 Trial Operation 8.1.3 Trial Operation with the Servomotor Connected to the Machine WARNING • Follow the procedure below for trial operation precisely as given. Malfunctions that occur after the servomotor is connected to the machine not only damage the machine, but may also cause an accident resulting death or injury.

  • Page 474: Servomotor With Brakes

    8 Operation 8.1.4 Servomotor with Brakes 8.1.4 Servomotor with Brakes Holding brake operation of the servomotor with brake can be controlled the brake interlock output (/BK) signal of the SERVOPACK. When checking the brake operation, take advance measures to prevent vibration due to gravity acting on the machine or external forces.

  • Page 475: Control Mode Selection

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

  • Page 476: 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 477: Switching The Servomotor Rotation Direction

    8.3 Setting Common Basic Functions 8.3.2 Switching the Servomotor Rotation Direction Only the rotation direction of the servomotor can be switched without changing the reference pulse to the SER- VOPACK or the reference voltage polarity. This causes the travel direction (+, -) of the shaft reverse, but the encoder pulse output and analog monitor signal polarity do not change.

  • Page 478: 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 479 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 servomotor is oper- ating. Parameter Stop Mode Mode After Meaning Stopping...

  • Page 480: 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. A servomotor with brake prevents the movable part from shifting due to gravity when the power supply of the SERVOPACK turns OFF. Refer to 8.1.4 Servomotor with Brakes.
  • Page 481 8.3 Setting Common Basic Functions Table 8.1 Brake Operation Delay Time Brake Open Time Brake Operation Time Model Voltage (ms) (ms) SGMMJ-A1 24 V SGMMJ-A2, A3 24 V SGMAS-A5,01,C2 90 V 24 V SGMAS-02,04 90 V 24 V SGMAS-06 90 V 24 V SGMAS-08,12 90 V...
  • Page 482 8 Operation 8.3.4 Setting for Holding Brakes Table 8.2 Calculation Method for Servomotor Stop Time Using SI Units Conventional Method ) × N 2π ) × N + GD (sec) × (sec) 375 × (T : Rotor moment of inertia (kg m : Motor GD (kgf m : Load moment of inertia (kg m...
  • Page 483 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. The output signal must be allocated (with Pn50F).
  • Page 484 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 servomotor turning OFF or an alarm occurring. Pn507 Brake Reference Output Speed Level Position...

  • Page 485: 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 486: Power Loss Settings

    8 Operation 8.3.6 Power Loss Settings 8.3.6 Power Loss Settings Determines whether to continue operation or turn the servo OFF when the power supply voltage is interrupted. Pn509 Instantaneous Power Cut Hold Time Speed Position Torque Setting Range Setting Unit Factory Setting Setting Validation 20 to 1000...

  • Page 487: Absolute Encoders

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

  • Page 488: 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 cable models and wiring pin numbers depend on the servomotor. For details, refer to chapter 5 Spec- ifications and Dimensional Drawings of Cables and Peripheral Devices.

  • Page 489: Selecting An Absolute Encoder

    8.4 Absolute Encoders 8.4.2 Selecting an Absolute Encoder An absolute encoder can also be used as an incremental encoder. Parameter Meaning n. 0 Pn002 Use the absolute encoder as an absolute encoder. (Factory setting) n. 1 incremental encoder. Use the absolute encoder as an •...

  • Page 490: Replacing Batteries

    8 Operation 8.4.4 Replacing Batteries 8.4.4 Replacing Batteries The SERVOPACK will generate an absolute encoder battery alarm (A.830) when the battery voltage drops below about 2.7 V. This alarm is output, however, only when a warning signal is received from the absolute encoder at the time the SERVOPACK power is turned ON.

  • Page 491: Absolute Encoder Reception Sequence

    8.4 Absolute Encoders Display after Operation Panel Operator Description Alarm generated Press the MODE/SET Key to select the utility function mode. MODE/SET (MODE/SET Key) Press the Up or Down Cursor Key to select parameter Fn008. *The digit that can be set will blink. Press the DATA/SHIFT Key for a minimum of one second.
  • Page 492 8 Operation 8.4.6 Absolute Encoder Reception Sequence (2) Absolute Encoder Transmission Sequence and Contents 1. Set the SEN signal at high level. 2. After 100 ms, set the system to serial data reception-waiting-state. Clear the incremental pulse up/down counter to zero. 3.
  • Page 493 8.4 Absolute Encoders (3) Detailed Signal Specifications (a) PAO Serial Data Specifications The number of revolutions is output in five digits. Data Transfer Method Start-stop Synchronization (ASYNC) Baud rate 9600 bps Start bits 1 bit Stop bits 1 bit Parity Even Character coder ASCII 7-bit coder...
  • Page 494 8 Operation 8.4.6 Absolute Encoder Reception Sequence (4) Transferring Alarm Contents When an absolute encoder is used, SEN signals can be utilized to transfer the alarm contents from PAO outputs to the host device as serial data. For the list of alarm contents, refer to 11.1.1 Alarm Display Table. Alarm Contents Output Example SEN Signal Error detection...

  • Page 495: Multiturn Limit Setting

    8.4 Absolute Encoders 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.CC0) occurs, check the setting of parameter Pn205 to be sure that it is correct.

  • Page 496: Multiturn Limit Setting When The Multiturn Limit Disagreement Alarm (A.cc0) Occurs

    8 Operation 8.4.8 Multiturn Limit Setting when the Multiturn Limit Disagreement alarm (A.CC0) Occurs 8.4.8 Multiturn Limit Setting when the Multiturn Limit Disagreement alarm (A.CC0) Occurs Use the panel operator and perform the operation described below. (This can also be done with SigmaWin+, the tool for supporting the servo drive, or digital operator.) This operation is valid when the A.CC0 alarm occurs.

  • Page 497: Operating Using Speed Control With Analog Reference

    8.5 Operating Using Speed Control with Analog Reference 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 Torque Position Setting Range Setting Unit Factory Setting Setting Validation...

  • Page 498: Setting Input Signals

    8 Operation 8.5.2 Setting Input Signals 8.5.2 Setting Input Signals (1) Speed Reference Input Input the speed reference to the SERVOPACK using the analog reference to control the servomotor speed in pro- portion to the input voltage. Type Signal Connector Pin Name Name Number...

  • Page 499: Adjusting Offset

    8.5 Operating Using Speed Control with Analog Reference 8.5.3 Adjusting Offset When using the speed control, the servomotor may rotate slowly even if 0 V is specified as the analog reference. This happens if the host controller or external circuit has a slight offset in the reference voltage. Adjustments can be done manually or automatically by using the panel operator or digital operator.
  • Page 500 8 Operation 8.5.3 Adjusting Offset Adjust the speed reference offset automatically using the following procedures. Step Display after Operation Panel Operator Description Turn OFF the SERVOPACK, and input the 0-V reference voltage SERVOPACK Servomotor from the host controller or external circuit. 0-V speed Host reference...
  • Page 501 8.5 Operating Using Speed Control with Analog Reference (2) Manual Servo Tuning of the Speed Reference Offset Use the speed reference offset manual servo tuning (Fn00A) in the following situations: • If a loop is formed with the host controller and the error is zeroed when servolock is stopped. •...

  • Page 502: Soft Start

    8 Operation 8.5.4 Soft Start 8.5.4 Soft Start The soft start function converts the stepwise speed reference inside the SERVOPACK to a consistent rate of acceleration and deceleration. Pn305 Soft Start Acceleration Time Speed Setting Range Setting Unit Factory Setting Setting Validation 0 to 10000 1 ms...

  • Page 503: Input Signal Setting

    8.5 Operating Using Speed Control with Analog Reference (2) Parameter Setting Parameter Meaning ⇔ Pn000 Control mode selection: Speed control (analog reference) Zero clamp Zero Clamp Conditions Zero clamp is performed when Pn000 = n. is set, and the following two conditions are satisfied: •...

  • Page 504: Encoder Signal Output

    8 Operation 8.5.7 Encoder Signal Output 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 505 8.5 Operating Using Speed Control with Analog Reference • Pulse Dividing Ratio Setting Pn212 PG Dividing Pulse Setting Torque Speed Position Setting Range Setting Unit Factory Setting Setting Validation 1 P/Rev 2048 After restart 16 to 1073741824(2 Set the number of pulses for PG output signals (PAO, /PAO, PBO, /PBO) externally output. Feedback pulses from the encoder per revolution are divided inside the SERVOPACK by the number set in this parameter before being output.

  • Page 506: Speed Coincidence Output

    8 Operation 8.5.8 Speed Coincidence Output 8.5.8 Speed Coincidence Output The speed coincidence (/V-CMP) output signal is output when the actual servomotor 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 507: Operating Using Position Control

    8.6 Operating Using Position Control 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 508 8 Operation 8.6.1 Setting Parameters (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 509: Setting The Electronic Gear

    8.6 Operating Using Position Control 8.6.2 Setting the Electronic Gear (1) Number of Encoder Pulses (Servomotor serial number) Serial Encoder Specifications Number of Encoder Symbol Specification SGMMJ SGMAS SGMPS SGMSS SGMGH SGMCS Pulses (P/R) 13-bit incremental Standard − − − −...

  • Page 510: Related Parameters

    8 Operation 8.6.2 Setting the Electronic Gear (3) Related Parameters Pn20E Electronic Gear Ratio (Numerator) Position Setting Range Setting Unit Factory Setting Setting Validation − After restart 1 to 1073741824 (2 Pn210 Electronic Gear Ratio (Denominator) Position Setting Range Setting Unit Factory Setting Setting Validation −...

  • Page 511: Electronic Gear Ratio Setting Examples

    8.6 Operating Using Position Control (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: 0.01° Reference Unit: 0.005 mm Load shaft Load shaft...

  • Page 512: Position Reference

    8 Operation 8.6.3 Position Reference 8.6.3 Position Reference The servomotor positioning is controlled by inputting a pulse train reference. Line-driver output can be used as the pulse train output form from the host controller. (1) Input/Output Signal Timing Example Servo ON Release t1 ≤...
  • Page 513 8.6 Operating Using Position Control Table 8.4 Reference Pulse Input Signal Timing (When using a less deviation control) Reference Pulse Form Electrical Specifications Conditions Remarks − Sign and pulse train input t1, t2, t3, t7 ≤ 0.1μs (SIGN and PULS signal) t4, t5, t6 >...

  • Page 514: Smoothing

    8 Operation 8.6.4 Smoothing (3) Connection Example: Line-driver Output Applicable line driver: SN75174 manufactured by Texas Instruments Inc., or MC3487 or equivalent Host controller SERVOPACK Line driver ∗1 PULS PULS 120Ω /PULS Phase A SIGN SIGN 120Ω /SIGN Phase B Photocoupler 150Ω...
  • Page 515 8.6 Operating Using Position Control (2) Filter-related Parameters Pn216 Position Reference Acceleration/Deceleration Time Constant Position Setting Range Setting Unit Factory Setting Setting Validation 0 to 65535 0.1 ms Immediately (0.0 to 6553.5 ms) (0.0 ms) Pn209 Position Reference Acceleration/Deceleration Bias Position Setting Range Setting Unit...

  • Page 516: 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 517: 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 518: 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 Pn000 = n.

  • Page 519: 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 Position Speed Torque...

  • Page 520: 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 521 8.7 Operating Using Torque Control Use the following procedure for automatic adjustment of the torque reference offset. Step Display after Operation Panel Operator Description Turn OFF the SERVOPACK, and input the 0-V reference voltage SERVOPACK Servomotor from the host controller or external circuit. 0-V speed Host reference...

  • Page 522: Speed Limit During Torque Control

    8 Operation 8.7.4 Speed Limit during Torque Control Use the following procedure to manually adjust the torque reference offset. Step Display after Operation Panel Operator Description Press the MODE/SET Key to select the utility function mode. MODE/SET (MODE/SET Key) Press the Up or Down Cursor Key to select parameter Fn00B. *The digit that can be set will blink.
  • Page 523 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 1 min Sets the servomotor speed limit value during torque control. The setting in this parameter is enabled when Pn002 = n.

  • Page 524: 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 525: 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 526 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 527: 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 528: 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) Use this function to limit torque at specific times during machine operation, for example, during press stops and hold operations for robot workpieces.
  • Page 529 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 530: 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 531: 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 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 532: 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 533: 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 534: Switching Other Than Internally Set Speed Control (Pn000.1 = 7, 8, 9, A, Or B)

    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 depending on the signal status as shown below.

  • Page 535: 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 536: 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 for overload (A.710) and regenerative overload (A.320) alarms. For use, this output signal must be allocated with parameter Pn50F.

  • Page 537: 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 538: Adjustments

    Adjustments 9.1 Servo Tuning Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-3 9.1.1 Servo Gain Adjustment Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3 9.1.2 List of Servo Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4 9.2 Normal Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-7...
  • Page 539 9 Adjustments 9.6 Advanced Manual Servo Tuning Functions - - - - - - - - - - - - - - - - - - - - - - 9-26 9.6.1 Feed-forward Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-26 9.6.2 Torque Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-27 9.6.3 Speed Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-28 9.6.4 Proportional Control Operation (Proportional Operation Reference) - - - - - - - - - - - - - 9-29...

  • Page 540: Servo Tuning Methods

    9.1 Servo Tuning Methods 9.1 Servo Tuning Methods 9.1.1 Servo Gain Adjustment Methods The SERVOPACK have a servo gains to determine the responsiveness of the servo. The servo gains are set by using the parameters. Increasing the servo gain of a machine with high rigidity can increase its responsiveness. A machine with low rigidity, however, will have a tendency to vibrate and may not be more responsive if the servo gain is increased.

  • Page 541: List Of Servo Adjustment Functions

    9 Adjustments 9.1.2 List of Servo Adjustment Functions 9.1.2 List of Servo Adjustment Functions (1) Autotuning Functions In autotuning, algorithms are used to calculate the load moment of inertia, which determines the servo drive’s responsiveness, 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 542 9.1 Servo Tuning Methods (2) Positioning Time Reduction Functions Function Name and Description Features Valid Refer- Related Parameters Control ence Modes Section 9.6.1 Feed-forward Feed-forward compensation for the posi- Adjustment is easy. Position tion reference is added to the speed refer- Pn109 The system will be unstable if a large ence.
  • Page 543 9 Adjustments 9.1.2 List of Servo Adjustment Functions (3) Vibration Reduction Functions Function Name and Description Features Valid Refer- Related Parameters Control ence Modes Section 8.6.4 Soft Start Converts a stepwise speed reference to a Constant acceleration/deceleration is Speed constant acceleration or deceleration for achieved for smoother operation.

  • Page 544: Normal Autotuning

    • Execute one-parameter tuning or manual tuning after Pn103 (moment of inertia ratio) is set. Moment of inertia ratio is calculated using the machine specifications or by the moment of inertia detection function in SigmaWin+, a servo drive engineering tool from Yaskawa. The following utility function is also available: Fn007: Writes for the normal autotuning the load moment of inertia calculation result from the normal autotuning as the moment of inertia ratio to Pn103 and uses the result as the default value for the next calculation.

  • Page 545: Normal Autotuning Procedure

    9 Adjustments 9.2.2 Normal Autotuning Procedure 9.2.2 Normal Autotuning Procedure WARNING • Do not perform extreme adjustment or setting changes. Failure to observe this warning may result in damage to the machine and/or injury. • Adjust the gains slowly while confirming motor operation. START Operate with factory settings.

  • Page 546: Selecting The Normal Autotuning Execution Method

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

  • Page 547: Machine Rigidity Setting For Normal Autotuning

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

  • Page 548: Method For Changing The Machine Rigidity Setting

    9.2 Normal 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. Step Display after Operation Panel Operator Description Press the MODE/SET Key to select the utility function mode. MODE/SET (MODE/SET Key) Press the Up or Down Cursor Key to select Fn001.

  • Page 549: Saving The Results Of Normal Autotuning

    9 Adjustments 9.2.6 Saving the Results of Normal Autotuning 9.2.6 Saving the Results of Normal Autotuning CAUTION • Always set the correct moment of inertia ratio when normal autotuning is not used. If the moment of inertia ratio is set incorrectly, vibration may occur. For normal 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 550: Advanced Autotuning

    SigmaWin+ (an AC servo drive support tool from Yaskawa) to set the load moment of inertia ratio in Pn103 and then perform one-parame- ter tuning or manual servo tuning.

  • Page 551: Advanced Autotuning Procedure

    9 Adjustments 9.3.2 Advanced Autotuning Procedure 1. Advanced autotuning performs automatic operation accompanied by vibration. Ensure that an emer- IMPORTANT gency stop is possible while advanced autotuning is being performed. Also, confirm the range and direc- tion of motion and provide protective devices to ensure safety in the event of overtravel or other unexpected movement.
  • Page 552 9.3 Advanced Autotuning (cont’d) Step Display after Operation Panel Operator Description On the level setting display, press the Up or Down Cursor Key to select the level of the gain setting and press the DATA/SHIFT Key for one second or more. Normally, use a setting of “normal”...
  • Page 553 9 Adjustments 9.3.2 Advanced Autotuning Procedure (cont’d) Step Display after Operation Panel Operator Description Display the advanced autotuning display. Press the MODE/SET Key to turn ON the servo. In this status, press the key to the direction of MODE/SET movement specified on the movement distance setting display (Up (MODE/SET Key) Cursor Key to start forward rotation and Down Cursor Key to start Blinks during calculations...

  • Page 554: One-Parameter Tuning

    9.4 One-parameter Tuning 9.4 One-parameter Tuning 9.4.1 One-parameter Tuning One-parameter tuning enables the four servo gains (Kv, Ti, Kp, and Tf) to be set to stable conditions merely by manipulating one autotuning level. One-parameter tuning is executed using utility function Fn01A (One-parame- ter Tuning).

  • Page 555: Manual Servo Tuning

    9 Adjustments 9.5.1 Explanation of Servo Gain 9.5 Manual Servo Tuning 9.5.1 Explanation of Servo Gain Position control loop Speed control loop Speed Servomotor Move Speed Speed pattern reference reference Position Current Speed Electric Error loop control power control counter gain section converting...

  • Page 556: Servo Gain Manual Tuning

    9.5 Manual Servo Tuning 9.5.2 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 557: Position Loop Gain

    9 Adjustments 9.5.3 Position Loop Gain 9.5.3 Position Loop Gain Pn102 Position Loop Gain (Kp) Position Setting Range Setting Unit Factory Setting Setting Validation 10 to 20000 0.1/s Immediately (1.0 to 2,000.0/s) (40.0/s) The responsiveness of the position loop is determined by the position loop gain. The responsiveness increases and the posi- tioning time decreases when the position loop gain is set to a higher value.

  • Page 558: Speed Loop Integral Time Constant

    9.5 Manual Servo Tuning 9.5.5 Speed Loop Integral Time Constant Pn101 Speed Loop Integral Time Constant (Ti) Speed Position Setting Range Setting Unit Factory Setting Setting Validation 15 to 51200 2000 0.01 ms Immediately (0.15 to 512.00 ms) (20.00 ms) The speed loop has an integral element so that the speed loop can respond to minute inputs.
  • Page 559 9 Adjustments 9.5.6 Guidelines for Manual Tuning of Servo Gains (1) When Pn10B.1 = 0 (PI Control) • Speed Loop Gain and Position Loop Gain Pn100 [Hz]　　　 Pn102 [/s] Setting Range for Stable Operation:　Pn102 [/s] ≤ 2π × Pn100 / 4 [Hz] Pn102 [/s] <...
  • Page 560 9.5 Manual Servo Tuning Parameters for Gain Switching Function INFO The relation with the following parameters must be taken into consideration as well. Pn104, Pn105, Pn106, Pn412, Pn12B, Pn12C, Pn12D, Pn413, Pn12E, Pn12F, Pn130, and Pn414 Decimal Point in Parameter Setting For SGDS SERVOPACKs, the parameter settings are shown with a decimal point on the digital operator and in the manu- als.

  • Page 561: Safety Precautions On Adjustment Of Servo Gains

    • Set the excessive position error level between the motor and the load for fully-closed control. (1) Overtravel Function Yaskawa recommends the use of the overtravel function. For details on how to set the overtravel function, refer to 8.3.3 Setting the Overtravel Limit Function.
  • Page 562 (4) Vibration Detection Function Yaskawa recommends that the vibration detection function is set to an appropriate value. For details on how to set the vibration detection function, refer to 7.2.5 Initialize Parameter Settings (Fn005).

  • Page 563: Advanced Manual Servo Tuning Functions

    9 Adjustments 9.6.1 Feed-forward Reference 9.6 Advanced Manual Servo Tuning Functions 9.6.1 Feed-forward Reference Pn109 Feed Forward Gain Position Setting Range Setting Unit Factory Setting Setting Validation 0 to 100 Immediately Pn10A Feed Forward Filter Time Constant Position Setting Range Setting Unit Factory Setting Setting Validation...

  • Page 564: Torque Feed-Forward

    9.6 Advanced Manual Servo Tuning Functions 9.6.2 Torque Feed-forward Parameter Meaning Pn002 Disabled Uses T-REF terminal for torque feed-forward input. Pn400 Torque Reference Input Gain Position Torque Speed Setting Range Setting Unit Factory Setting Setting Validation 10 to 100 (1.0 to 10.0V/Rated 0.1V/Rated torque Immediately (3.0 V/Rated torque)

  • Page 565: Speed Feed-Forward

    9 Adjustments 9.6.3 Speed Feed-forward 9.6.3 Speed Feed-forward Parameter Meaning Pn207 Disabled Uses V-REF terminal for speed feed-forward input. Pn300 Speed Reference Input Gain Speed Position Torque Setting Range Setting Unit Factory Setting Setting Validation 150 to 3,000 0.01 V/Rated (1.50 to 30.00 V/Rated Immediately speed...

  • Page 566: Proportional Control Operation (Proportional Operation Reference)

    9.6 Advanced Manual Servo Tuning Functions 9.6.4 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 567 9 Adjustments 9.6.5 Using the Mode Switch (P/PI Switching) 1. The mode switch function is used in very high-speed positioning when it is necessary to use the servo IMPORTANT drive near the limits of its capabilities. The speed response waveform must be observed to adjust the mode switch.
  • Page 568 9.6 Advanced Manual Servo Tuning Functions Using the Torque Reference Level to Switch Modes (Factory Setting) With this setting, the speed loop is switched to P control when the value Reference speed of torque reference input exceeds the torque set in parameter Pn10C. Motor speed Speed The factory default setting for the torque reference detection point is...
  • Page 569 9 Adjustments 9.6.5 Using the Mode Switch (P/PI Switching) Using the Acceleration Level to Switch Modes With this setting, the speed loop is switched to P control when the Reference speed Motor speed motor’s acceleration rate exceeds the acceleration rate set in param- Speed eter Pn10E.

  • Page 570: Setting The Speed Bias

    9.6 Advanced Manual Servo Tuning Functions 9.6.6 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. Pn107 Bias Position Setting Range Setting Unit Factory Setting Setting Validation...

  • Page 571: Adjustment Procedure

    9 Adjustments 9.6.8 Speed Feedback Compensation When this function is used, it is assumed that the moment of inertia ratio set in Pn103 is correct. Verify that IMPORTANT the moment of inertia ratio has been set correctly. Speed Position reference Torque reference Speed loop Torque reference...

  • Page 572: Switching Gain Settings

    9.6 Advanced Manual Servo Tuning Functions The speed feedback compensation usually makes it possible to increase the speed loop gain and position IMPORTANT loop gain. Once the speed loop gain and position loop gain have been increased, the machinery may vibrate significantly and may even be damaged if the compensation value is changed significantly or Pn110.1 is set to “1”...
  • Page 573 9 Adjustments 9.6.9 Switching Gain Settings (3) Automatic Gain Switch Pattern Automatic switching pattern 1 (Pn139.0=1) Switching Delay 1 Pn135 Condition A Switching Time 1 Pn131 Pn139= Gain Gain Settings 1 Settings 2 Pn100 Pn104 Pn101 Pn105 Pn102 Pn106 Pn401 Pn412 Condition B Switching Delay 2 Pn136...
  • Page 574 9.6 Advanced Manual Servo Tuning Functions (6) Switchable Gain Combinations for Less Deviation Control Setting Servo Rigidity Speed Feedback Filter Integral Compensation Processing Pn1A7=n. Time Constant Gain Pn1A0 Pn1A2 No integral Use integral Use integral No integral Settings 1 Servo Rigidity Speed Feedback Filter compensation compensation.
  • Page 575 9 Adjustments 9.6.9 Switching Gain Settings Pn12B 3rd Speed Loop Gain Position Speed Setting Range Setting Unit Factory Setting Setting Validation 10 to 20000 0.1 Hz Immediately (1.0 to 2,000.0 Hz) (40.0 Hz) Pn12C 3rd Speed Loop Integral Time Constant Position Speed Setting Range...
  • Page 576 9.6 Advanced Manual Servo Tuning Functions (8) Parameters for Automatic Gain Switching Pn131 Gain Switching Time 1 Position Speed Setting Range Setting Unit Factory Setting Setting Validation 0 to 65,535 1 ms Immediately Pn132 Gain Switching Time 2 Position Speed Setting Range Setting Unit Factory Setting...

  • Page 577: Predictive Control

    9 Adjustments 9.6.10 Predictive Control 9.6.10 Predictive Control The Predictive Control function predicts the future error value using the future reference value and mechanical characteristics in the position control mode. There are two kinds Predictive Control in the SERVOPACK. • Predictive Control for Positioning This control method is used to reduce the settling time.
  • Page 578 9.6 Advanced Manual Servo Tuning Functions (1) Related Parameters Pn150 Predictive Control Selection Switches Position Setting Range Setting Unit Factory Setting Setting Validation − − 0210 After restart Parameter Name Function Pn150 Predictive Control Do not use the Predictive Control function. Enable Use the Predictive Control function.
  • Page 579 9 Adjustments 9.6.10 Predictive Control Pn151 Predictive Control Acceleration/Deceleration Gain Position Setting Range Setting Unit Factory Setting Setting Validation 0 to 300 Immediately Increasing the gain setting in Pn151 has the effect of shortening the settling time. The maximum position error is not changed significantly.
  • Page 580 9.6 Advanced Manual Servo Tuning Functions (2) Predictive Control Method (Pn150=n. (a) Predictive Control for Locus Tracking (Pn150=n. The machine is controlled by following the locus of the position reference being input. Use this control to keep the form of locus of position reference. Note that the operation starts a few milliseconds after the command input.
  • Page 581 9 Adjustments 9.6.10 Predictive Control With the Predictive Control function Related parameters are: disabled, use autotuning or manual Pn150 (Predictive Control Selection Switch), gain adjustment to adjust the servo Fn01A (One-parameter Tuning), Pn151 (Predictive Control Acceleration gain to increase response performance. Fn017 (Advanced Autotuning), and Deceleration Gain), others can be used.

  • Page 582: Less Deviation Control

    9.6 Advanced Manual Servo Tuning Functions 9.6.11 Less Deviation Control Less Deviation Control can provide shorter settling times and lower locus tracking errors by reducing the posi- tion error as much as possible for the position control mode. There are two kinds of Less deviation control: Basic Less deviation and Less Deviation control with reference filter.
  • Page 583 9 Adjustments 9.6.11 Less Deviation Control Pn1A1 Servo Rigidity #2 Position Setting Range Setting Unit Factory Setting Setting Validation 1 to 500 Immediately Pn1A2 Speed Feedback Filter Time Constant Position Setting Range Setting Unit Factory Setting Setting Validation 30 to 3200 0.01 ms Immediately (0.30 to 32.00 ms)
  • Page 584 9.6 Advanced Manual Servo Tuning Functions Parameter Meaning n. 0 Pn10B Standard position control n. 1 Use Less Deviation Control. n. 2 Use Less Deviation Control with Reference filter. n. 3 Reserved. (Do not change.) Pn1A7 Do not perform integral compensation processing. Perform integral compensation processing.
  • Page 585 9 Adjustments 9.6.11 Less Deviation Control Start Set the moment of inertia ratio. Set the moment of inertia ratio in Pn103 manually or set it with the moment of inertia calculation. Set the notch filter. Measure the frequency with the function such as Fn019 and set the notch filter if necessary.
  • Page 586 9.6 Advanced Manual Servo Tuning Functions (3) One-parameter Tuning Procedure for Less Deviation Control The following table shows the procedure for one-parameter tuning for less deviation control. This function can be used while using the Less Deviation Control (Pn10B= n. 1 or n.

  • Page 587: Torque Reference Filter

    9 Adjustments 9.6.12 Torque Reference Filter 9.6.12 Torque Reference Filter As shown in the following diagram, the torque reference filter contains three torque reference filters and two notch filters arrayed in series, and each filter operates independently. The notch filters can be enabled and dis- abled with the parameters.

  • Page 588: Notch Filter

    9.6 Advanced Manual Servo Tuning Functions (2) Notch Filter The notch filter can eliminate specific frequency vibration generated by sources such as resonances of ball screw axes. The notch filter puts a notch in the gain curve at the specific vibration frequency. The frequency compo- nents near the notch frequency can be eliminated with this characteristic.

  • Page 589: Vibration Suppression On Stopping

    9 Adjustments 9.6.13 Vibration Suppression on Stopping When the vibration is suppressed but overshooting occurs, increase the Q value and check whether the over- shooting is corrected. Pn40A 1st Step Notch Filter Q Value Speed Position Torque Setting Range Setting Unit Factory Setting Setting Validation 50 to 1000...

  • Page 590: Backlash Compensation

    9.6 Advanced Manual Servo Tuning Functions 9.6.14 Backlash Compensation Pn214 Backlash Compensation Amount Position Setting Range Setting Unit Factory Setting Setting Validation -32767 to 3276 1 Reference unit Immediately Pn215 Backlash Compensation Time Constant Position Setting Range Setting Unit Factory Setting Setting Validation 0 to 65535 0.01 ms...

  • Page 591: Position Integral Time Constant

    This function adds an integral control operation to the position loop. It is effective for electronic cam or electronic shaft applications. Refer to the examples in the user’s manual for the MP9 or MP2 series of Controllers from Yaskawa for details. 9-54...

  • Page 592: Analog Monitor

    9.7 Analog Monitor 9.7 Analog Monitor Signals for analog voltage references can be monitored. To monitor analog signals, connect the analog monitor cable (JZSP-CA01) to the connector CN5. JZSP-CA01 Black Black White Line Color Signal Name Description White Analog monitor 1 Torque reference: 1 V/100% Rated torque Analog monitor 2 Motor speed: 1 V/1000 min...
  • Page 593 9 Adjustments (1) Related Parameters The following signals can be monitored. (a) Pn006 and Pn007: Function Selections Parameter Description Monitor Signal Measurement Gain Remarks Pn006 Motor speed Pn007 Factory Set- 1 V/1000 min ting Pn007 Speed reference 1 V/1000 min Gravity Compensation Torque 1 V/100% Rated torque Pn006 Factory Set-...
  • Page 594 9.7 Analog Monitor The monitor factor can be changed by setting parameters Pn006.2 and Pn007.2. Parameter Multiplier Remarks × Pn006 n. 0 Factory Setting Pn007 × − n. 1 × − n. 2 × − n. 3 1/10 × − n.

  • Page 595: Fully-Closed Control

    Fully-closed Control 10.1 System Configuration for SERVOPACK with Fully-closed Control - - - - - 10-2 10.2 Serial Converter Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3 10.2.1 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3 10.2.2 Analog Signal Input Timing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4 10.2.3 Connection Example of Linear Scale by Heidenhain - - - - - - - - - - - - - - - - - - - - - - - 10-5...

  • Page 596: System Configuration For Servopack With Fully-Closed Control

    10 Fully-closed Control 10.1 System Configuration for SERVOPACK with Fully-closed Control The following figure shows the system configuration for fully-closed control. The SERVOPACK model for fully-closed control is SGDS- 02A. SGDS- 02A SERVOPACK Servomotor main circuit cable Cable with connectors at both ends Serial converter unit Model: JZDP-D00 -000...

  • Page 597: Serial Converter Unit

    10.2 Serial Converter Unit 10.2 Serial Converter Unit 10.2.1 Specifications (1) Model: JZDP-D00 -000 (2) Characteristics and Specifications Items Specifications Power Supply Voltage +5.0 V±5%, ripple content 5% max. ∗1 120 mA Typ. 350 mA Max. Current Consumption Signal Resolution Input 2-phase sine wave: 1/256 pitch Max.

  • Page 598: Analog Signal Input Timing

    10 Fully-closed Control 10.2.2 Analog Signal Input Timing 10.2.2 Analog Signal Input Timing The following figure shows the input timing of the analog signals. When the cos and sin signals are shifted 180 degrees, the differential signals are the /cos and /sin signals. The specifications of the cos, /cos, sin, and /sin signals are identical except for the phase.

  • Page 599: Connection Example Of Linear Scale By Heidenhain

    10.2 Serial Converter Unit 10.2.3 Connection Example of Linear Scale by Heidenhain (1) Serial Converter Unit Model: JZDP-D003-000 (2) Connection Example SERVOPACK Serial converter unit Linear encoder JZDP-D003-000 by Heidenhain Corp. SGDS- JZSP-CLP20- Connection cable by Heidenhain Corp. (3) Dimensional Drawing 4×φ...

  • Page 600: Connection Example Of Linear Scale By Renishaw

    10 Fully-closed Control 10.2.4 Connection Example of Linear Scale by Renishaw 10.2.4 Connection Example of Linear Scale by Renishaw (1) Serial Converter Unit Model: JZDP-D005-000 (2) Connection Example Serial converter unit Linear encoder SERVOPACK JZDP-D005-000 by Renishaw Inc. SGDS- JZSP-CLP20- D-sub 15-pin connector (3) Dimensional Drawing Linear scale end...

  • Page 601: Connection Cable Between Servopack And Serial Converter Unit

    10.2 Serial Converter Unit 10.2.5 Connection Cable between SERVOPACK and Serial Converter Unit (1) Recommended Cables Name Application Type Length (L) Connection between SERVO- JZSP-CLP20-03 PACK connector CN4 and serial JZSP-CLP20-05 Cable with converter unit connectors JZSP-CLP20-10 10 m at both ends JZSP-CLP20-15 15 m JZSP-CLP20-20...

  • Page 602: Internal Configuration Of Fully-Closed Control

    10 Fully-closed Control 10.3 Internal Configuration of Fully-closed Control SERVOPACK Reference × 1 Speed Elec- pulse Error tronic × 2 current Machine counter gear × 4 loop Fully-closed scale Encoder Pitch signal output Serial converter Divider unit ×256 Note: Either an incremental or an absolute encoder can be used. For control methods other than position control, this system operates in the same way as that using the SGDS- 01A SERVOPACK (standard interface specifications).

  • Page 603: Related Parameters

    10.4 Related Parameters 10.4 Related Parameters (1) Parameters The SGDS- 02A SERVOPACKs with fully-closed interface specifications have the following additional parameters that are the SGDS- 01A SERVOPACKs with standard interface specifications do not have. Pn20A Number of External Scale Pitches Position Setting Range Setting Unit...
  • Page 604 10 Fully-closed Control (2) Switches Parameter Name Meaning Pn002 Fully-closed Do not use. (Factory setting) Encoder Usage Use fully-closed encoder in forward rotation direction. Reserved (Do not set). Use fully-closed encoder in reversed rotation direction. Reserved (Do not set). Set parameter Pn002=n.0 for semi-closed position control.

  • Page 605: Related Alarms

    10.5 Related Alarms 10.5 Related Alarms The SGDS- 02A SERVOPACKs with fully-closed interface specifications have the following additional parameters that are the SGDS- 01A SERVOPACKs with standard interface specifications do not have. 10.5.1 Alarm List If an alarm occurs, the servomotor can be stopped by doing either of the following operations. •...

  • Page 606: Alarm Display And Troubleshooting

    10 Fully-closed Control 10.5.2 Alarm Display and Troubleshooting 10.5.2 Alarm Display and Troubleshooting Situation at Alarm Alarm Name Alarm Occur- Cause Corrective Actions Display rence A.8A1 Fully-closed Occurred when Scale fault occurred. Replace the scale. Serial Encoder the control Serial converter unit fault occurred. Replace the serial converter unit.

  • Page 607: Encoder Output Signals From Servopack With A Linear Scale

    10.6 Encoder Output Signals from SERVOPACK with a Linear Scale by Renishaw 10.6 Encoder Output Signals from SERVOPACK with a Linear Scale by Renishaw The output position of the zero point signal (Ref) may vary in some models of the linear scale made by Renishaw. If using a Renishaw model, the phase-C pulses of the SERVOPACK are output at two positions.

  • Page 608: Inspection, Maintenance, And Troubleshooting

    Inspection, Maintenance, and Troubleshooting 11.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2 11.1.1 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2 11.1.2 Warning Displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-5 11.1.3 Troubleshooting of Alarm and Warning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-6...

  • Page 609: Troubleshooting

    11 Inspection, Maintenance, and Troubleshooting 11.1.1 Alarm Display Table 11.1 Troubleshooting 11.1.1 Alarm Display Table If an alarm occurs, the servomotor can be stopped by doing either of the following operations. • DB stop: Stops the servomotor immediately using the dynamic brake. •...
  • Page 610 11.1 Troubleshooting Table 11.1 Alarm Display Table (cont’d) Servomo- Alarm Alarm Code Output Servo Alarm tor Stop Reset Alarm Alarm Name Meaning Method (ALM) Display ALO1 ALO2 ALO3 Output DB stop Available A.510 Overspeed The servomotor speed is excessively high. A.511 DB stop Available...
  • Page 611 11 Inspection, Maintenance, and Troubleshooting 11.1.1 Alarm Display Table Table 11.1 Alarm Display Table (cont’d) Servomo- Alarm Alarm Code Output Servo tor Stop Reset Alarm Alarm Alarm Name Meaning Method (ALM) Display ALO1 ALO2 ALO3 Output A.bF0 DB stop System Alarm 0 “Internal program error 0”...

  • Page 612: Warning Displays

    11.1 Troubleshooting 11.1.2 Warning Displays The relation between warning displays and warning code outputs are shown in table 11.2. Table 11.2 Warning Displays and Outputs Warning Warning Code Output Warning Name Meaning Display ALO1 ALO2 ALO3 A.900 Position Error Pulse Overflow Position error pulse exceeded the parameter settings (Pn520×Pn51E/100).

  • Page 613: Troubleshooting Of Alarm And Warning

    Contact your Yaskawa representative if the problem cannot be solved by the described corrective action. For alarms that relate to the fully-closed control, refer to 10.5 Related Alarms.
  • Page 614 11.1 Troubleshooting Table 11.3 Alarm Display and Troubleshooting (cont’d) Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence A.042 Combination of Occurred when the The speed set for Fn004 “Program JOG Operation” Reduce the electronic gear ratio (Pn20E/Pn210). parameters out power was turned is below the allowable range because the electronic...
  • Page 615 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 A.100 Overcurrent Occurred when the The overload alarm has been reset by turning OFF Change the method to reset the alarm.
  • Page 616 11.1 Troubleshooting Table 11.3 Alarm Display and Troubleshooting (cont’d) Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence A.320 Regenerative Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK. Overload control power sup- ply was turned ON. (Detected when the power to the Occurred when the...
  • Page 617 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 A.510 Overspeed Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK. control power sup- (Detected when ply was turned ON.
  • Page 618 11.1 Troubleshooting Table 11.3 Alarm Display and Troubleshooting (cont’d) Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence A.730 Dynamic Brake Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK. Overload control power sup- A.731 ply was turned ON. (Detected with SERVOPACK of Occurred when the...
  • Page 619 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 A.820 Encoder Occurred when the A fault occurred in the encoder and was detected by Set up the encoder.
  • Page 620 11.1 Troubleshooting Table 11.3 Alarm Display and Troubleshooting (cont’d) Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence A.b11 Speed Refer- Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK. ence A/D Data control power sup- ply was turned ON.
  • Page 621 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 A.C90 Encoder Com- Occurred when the The encoder wiring and the contact are incorrect. Correct the encoder wiring.
  • Page 622 11.1 Troubleshooting Table 11.3 Alarm Display and Troubleshooting (cont’d) Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence A.d00 Position Error Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK. Pulse Overflow control power sup- ply was turned ON. (In servo ON sta- tus, the position Occurred at the ser-...

  • Page 623: Warning Display And Troubleshooting

    11 Inspection, Maintenance, and Troubleshooting 11.1.3 Troubleshooting of Alarm and Warning (2) Warning Display and Troubleshooting Table 11.4 Warning Display and Troubleshooting Warning Warning Name Situation at Warning Cause Corrective Actions Display Occurrence A.900 Position Error Occurred during opera- A SERVOPACK board fault occurred. Replace the SERVOPACK.
  • Page 624 11.1 Troubleshooting Table 11.4 Warning Display and Troubleshooting (cont’d) Warning Warning Name Situation at Warning Cause Corrective Actions Display Occurrence A.921 Regenerative Occurred when the con- A SERVOPACK fault occurred. Replace the SERVOPACK. Overload: trol power supply was turned ON. Before warning for Occurred when the ser- Rotational energy at a DB stop exceeds the DB...

  • Page 625: 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 626 Check if there are unbalanced couplings. Balance the couplings. Defective bearings Check for noise and vibration around the If any problems, contact your Yaskawa representative. bearings. Vibration source on the driven Any foreign matter, damages, or deforma- Contact the machine manufacturer.
  • Page 627 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 inspection. High Rota- Speed loop gain (Pn100) value too Factory setting: Kv=40.0 Hz Reduce the speed loop gain Pn100 preset value.
  • Page 628 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 inspection. Overtravel Forward or reverse run prohibited Check if the voltage of input signal external Connect to the external +24 V power supply. (OT) signal is output (P-OT (CN1-42) or power supply (+24 V) is correct.

  • Page 629: 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 630: 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 631: 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 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-15...

  • Page 632: 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 Ball screw • Load speed: V = 15 m/min • Feeding times: n=40times/min • Linear motion section mass: M = 300 kg •...
  • Page 633 12.1 Servomotor Capacity Selection Examples (6) Load Acceleration Power 18.4 × 10 2π 2π × 1500 = 454 (W) (7) Servomotor Provisional Selection (a) Selecting Conditions ≤ Motor rated torque • T • Pa + Po = (1 to 2) × Motor rated output •...

  • Page 634: 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 1.04 -2.2 12.1.2 Selection Example for Position Control Mechanical Specifications Servomotor Linear motion Coupling...
  • Page 635 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 636 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 637: 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 638 12 Appendix 12.1.3 Calculating the Required Capacity of Regenerative Resistors Load moment of inertia = 0 (motor only) Speed reference Maximum rotation speed Servomotor rotation speed Regeneration mode Maximum torque Servomotor-generated torque Maximum torque (Operating cycle) Allowable frequency = 1/T (times/min) Operating Conditions for Allowable Regenerative Frequency Calculation Use the following equation to calculate the allowable frequency for regeneration mode operation.

  • Page 639: Calculating The Regenerative Energy

    12.1 Servomotor Capacity Selection Examples (2) Calculating the Regenerative Energy This section shows the procedure for calculating the regenerative resistor capacity when acceleration and deceleration operation is as shown in the following diagram. : Motor rotation speed Rotation speed Load torque Motor torque Regenerative torque...
  • Page 640 12 Appendix 12.1.3 Calculating the Required Capacity of Regenerative Resistors If the above calculation determines that the amount of regenerative power (Wk) processed by the built-in resistor is not exceeded, then an external regenerative resistor is not required. If the amount of regenerative power that can be processed by the built-in resistor is exceeded, then install an external regenerative resistor for the capacity obtained from the above calculation.
  • Page 641 12.1 Servomotor Capacity Selection Examples (b) SGMAS servomotor, 100/200V Model: SGMAS- Loss (W) Torque (%) Model: SGMAS- Loss (W) Torque (%) (c) SGMPS servomotor, 100/200 V Model: SGMPS- Loss (W) Torque (%) 12-11...
  • Page 642 12 Appendix 12.1.3 Calculating the Required Capacity of Regenerative Resistors (d) SGMCS servomotor Model: SGMCS- 1000 Loss (W) Torque (%) Model: SGMCS- 3000 2500 2000 Loss (W) 1500 1000 Torque (%) Model: SGMCS- Loss (W) Torque (%) 12-12...
  • Page 643 12.1 Servomotor Capacity Selection Examples (e) SGMSS servomotor Model: SGMSS- 1400 1200 1000 Loss (W) Torque (%) Model: SGMSS- 1600 1400 1200 1000 Loss (W) Torque (%) 12-13...
  • Page 644 12 Appendix 12.1.3 Calculating the Required Capacity of Regenerative Resistors (4) SERVOPACK’s Absorbable Energy The following diagrams show the relationship between the SERVOPACK’s input power supply voltage and its absorbable energy. SERVOPACK for 100 V Model: SGDS- A5F to 02F 3.75 AC Input Power Supply Voltage (Vms) SERVOPACK for 200 V...

  • Page 645: Connection To Host Controller

    /TGON+ BAT(+) 0BAT BAT(-) represents twisted-pair wires. Note: Connection cables (model: JEPMC-W6050- ) to connect the SERVOPACK to the MP920 are provided by Yaskawa. For details, refer to Machine Controller MP920 User’s Manual design and maintenance (manual no. SIEZ-C887-2.1). 12-15...

  • Page 646: Example Of Connection To Cp-9200Sh Servo Controller Module Sva (Servopack In Speed Control Mode)

    12.2.2 Example of Connection to CP-9200SH Servo Controller Module SVA (SERVOPACK in Speed Control Mode) 12.2.2 Example of Connection to CP-9200SH Servo Controller Module SVA (SERVOPACK in Speed Control Mode) CP-9200SH SVA manufactured by Yaskawa Electric Corporation SGDS SERVOPACK +24V +24V-IN Control power supply...

  • Page 647: Example Of Connection To Omron's Motion Control Unit

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

  • Page 648: Example Of Connection To Omron's Position Control Unit

    * 2. Set parameter Pn200.0 to “1.” * 3. Connect the shield wire to the connector shell. * 4. represents twisted-pair wires. Note: Only signals applicable to Yaskawa’s SGDS SERVOPACK and OMRON’s MC unit (positioning unit) are shown in the diagram. 12-18...

  • Page 649: Connection To Mitsubishi's A72 Positioning Unit (Servopack In Speed Control Mode)

    * 2. Pin numbers are the same both for X-axis and Y-axis. * 3. Connect the connector wire to the connector shell. * 4. represents twisted-pair wires. Note: Only signals applicable to Yaskawa’s SGDS SERVOPACK and Mitsubishi’s AD72 Positioning Unit are shown in the diagram. 12-19...

  • Page 650: Connection To Mitsubishi's A75 Positioning Unit (Servopack In Position Control Mode)

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

  • Page 651: List Of Parameters

    12.3 List of Parameters 12.3 List of Parameters 12.3.1 Utility Functions 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 normal autotuning 8.1.1 Fn002 JOG mode operation 7.2.3 Fn003 Origin search mode...

  • Page 652: Parameters

    12 Appendix 12.3.2 Parameters 12.3.2 Parameters Parameter Factory Setting Reference Name Setting Range Units Setting Validation Section − − − 0000 After Pn000 Function Selection Basic Switch 0 restart digit digit digit digit Direction Selection (Refer to "8.3.2 Switching the Servomotor Rotation Direction.") Sets CCW as forward direction.
  • Page 653 12.3 List of Parameters Parameter Factory Setting Reference Name Setting Range Units Setting Validation Section − − − 0000 After Pn001 Function Selection Application Switch 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 DB (dynamic brake).
  • Page 654 12 Appendix 12.3.2 Parameters Parameter Factory Setting Reference Name Setting Range Units Setting Validation Section − − 0000 After − Pn002 Function Selection Application Switch 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.) Uses T-REF as a torque feed forward input.
  • Page 655 12.3 List of Parameters Parameter Factory Setting Reference Name Setting Range Units Setting Validation Section − − − 0002 After Pn006 Function Selection Application Switch 6 restart digit digit digit digit Analog Monitor 1 Signal Selection (Refer to "9.7 Analog Monitor.") Motor speed (1 V/1000 min ) Speed reference (1 V/1000 min ) ∗...
  • Page 656 12 Appendix 12.3.2 Parameters Parameter Factory Setting Reference Name Setting Range Units Setting Validation Section − − 0000 After − Pn007 Function Selection Application Switch 7 restart digit digit digit digit Analog Monitor 2 Signal Selection (Refer to "9.7 Analog Monitor.") Motor speed (1 V/1000 min ) Speed reference (1 V/1000 min ) ∗...
  • Page 657 12.3 List of Parameters Parameter Factory Setting Reference Name Setting Range Units Setting Validation Section 15 to 51200 0.01 ms 2000 Immedi- 9.5.5 Pn101 Speed Loop Integral Time Constant ately 10 to 20000 0.1/s Immedi- 9.5.3 Pn102 Position Loop Gain ately 0 to 20000 Immedi-...
  • Page 658 12 Appendix 12.3.2 Parameters Parameter Factory Setting Reference Name Setting Range Units Setting Validation Section 0 to 10000 1 reference Immedi- 9.6.5 Pn10F Mode Switch (position error pulse) unit ately − − − 0010 After Pn110 Online Autotuning Switches restart digit digit digit...
  • Page 659 12.3 List of Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section 0 to 65535 1 ms Immedi- 9.6.9 Pn132 Gain Switching Time 2 ately 0 to 65535 1 ms Immedi- 9.6.9 Pn135 Gain Switching Waiting Time 1 ately 0 to 65535 1 ms...
  • Page 660 12 Appendix 12.3.2 Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section − − 0210 After − Pn150 Predictive Control Selection Switches restart digit digit digit digit Predictive Control Selection (Refer to "9.6.10 Predictive Control.") Do not perform predictive control selection. Perform predictive control selection.
  • Page 661 12.3 List of Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section − − − 1121 Immedi- Pn1A7 Auxiliary Control Switch ately digit digit digit digit Integral Compensation pro (Refer to "9.6.9 Switching Gain Settings and 9.6.11 Less Deviation Control.") Do not perform integral compensation processing.
  • Page 662 12 Appendix 12.3.2 Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section − − 0000 After − Pn200 Position Control Reference Form Selec- restart tion Switch digit digit digit digit Reference Pulse Form (Refer to "8.6.1 Setting Parameters.") Sign + Pulse, positive logic CW + CCW, positive logic Phase A + Phase B ( ×1), positive logic...
  • Page 663 12.3 List of Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section − − − 0000 After Pn207 Position Control Function Switch restart digit digit digit digit Position Reference Filter Selection (Refer to "8.6.4 Smoothing.") Position reference acceleration/deceleration filter Position reference average movement filter Reserved (Do not use) Position Control Option...
  • Page 664 12 Appendix 12.3.2 Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section 150 to 3000 0.01V Immedi- 8.5.1 Pn300 Speed Reference Input Gain / rated ately 8.7.4 speed 9.6.3 0 to 10000 Immedi- 8.8.1 Pn301 Internal Set Speed 1 1 min ately 0 to 10000...
  • Page 665 12.3 List of Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section 0 to 10000 10000 Immedi- 8.7.4 Pn407 Speed Limit during Torque Control 1 min ately − − − 0000 Immedi- Pn408 Torque Related Function Switch ately/After restart digit...
  • Page 666 12 Appendix 12.3.2 Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section 0 to 10000 Immedi- 8.5.6 Pn501 Zero Clamp Level 1 min ately 1 to 10000 Immedi- 8.11.3 Pn502 Zero Speed Level 1 min ately 0 to 100 Immedi- 8.5.8 Pn503...
  • Page 667 12.3 List of Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section − − − 2100 After Pn50A Input Signal Selection 1 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 668 12 Appendix 12.3.2 Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section − − 6543 After − Pn50B Input Signal Selection 2 restart digit digit digit digit N-OT Signal Mapping (Overtravel when OFF (H-level)) (Refer to "8.3.3 Setting the Overtravel Limit Function.") Reverse run allowed when S10 (CN1-40) input signal is ON (L-level) Reverse run allowed when S11 (CN1-41) input signal is ON (L-level) Reverse run allowed when S12 (CN1-42) input signal is ON (L-level)
  • Page 669 12.3 List of Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section − − − 8888 After Pn50C Input Signal Selection 3 restart digit digit digit digit /SPD-D Signal Mapping (See the internal set speed control function.) (Refer to "8.8.2 Input Signal Settings.") ON when S10 (CN1-40) input signal is ON (L-level).
  • Page 670 12 Appendix 12.3.2 Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section − − 8888 After − Pn50D Input Signal Selection 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 S10 (CN1-40) input signal is ON (L-level).
  • Page 671 12.3 List of Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section − − − 3211 After Pn50E Output Signal Selection 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 SO1 (CN1-25, 26) output terminal.
  • Page 672 12 Appendix 12.3.2 Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section − − 0000 After 7.3.3 Pn510 Output Signal Selection 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 673 12.3 List of Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section − − 8888 After 7.3.2 Pn515 Input Signal Selection 5 restart digit digit digit digit /G-SEL2 Signal Mapping (Gain Change when ON (L-level)) (Refer to "7.3.2 Input Circuit Signal Allocation.") ON when SI0 (CN1-40) input signal is ON (L-level) ON when SI1 (CN1-41) input signal is ON (L-level) ON when SI2 (CN1-42) input signal is ON (L-level)
  • Page 674 12 Appendix 12.3.2 Parameters Parameter Factory Setting Reference Name Setting Range Unit Setting Validation Section − − 0000 Immedi- 7.2.4 Pn530 Program JOG Operation Related Switch ately digit digit digit digit Program JOG Operation Related Switch (Refer to "7.2.4 Program JOG Operation (Fn004).") →...

  • Page 675: 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 Motor speed Un001 Speed reference (displayed only in speed control mode) Un002 Internal torque reference ( in percentage to the rated torque) pulse Un003 Rotation angle 1 (32-bit decimal code)

  • Page 676: Parameter Recording Table

    12 Appendix 12.4 Parameter Recording Table Use the following table for recording parameters. Note: Pn10B, Pn110, and Pn408 have the digit which does not need the setting validation after changing the settings. The underlined digits of the factory setting in the following table show the digit which needs the setting validation.
  • Page 677 12.4 Parameter Recording Table (cont’d) Factory Parame- Setting Name Validation Setting Pn1A0 Immediately Servo Rigidity 60 % Immediately Pn1A1 Servo Rigidity 2 60 % Immediately Pn1A2 Speed Feedback Filter Time Constant 0.72 ms Immediately Pn1A3 Speed Feedback Filter Time Constant 2 0.72 ms Immediately Pn1A4...
  • Page 678 12 Appendix (cont’d) Factory Parame- Setting Name Setting Validation Immediately Pn40D 2nd Step Notch Filter Q Value 0.70 Immediately Pn40F 2nd Step 2nd Torque Reference Filter 2000 Hz Frequency Immediately Pn410 2nd Step 2nd Torque Reference Filter Q 0.70 Value Immediately Pn411 3rd Step Torque Reference Filter Time...
  • Page 679 12.4 Parameter Recording Table (cont’d) Factory Parame- Setting Name Validation Setting Immediately Pn536 Number of Times of Program JOG once Movement Immediately Pn540 Gain Limit 200.0 Hz Immediately Pn550 Analog Monitor 1 Offset Voltage 0.0 V Immediately Pn551 Analog Monitor 2 Offset Voltage 0.0 V Immediately Pn600...
  • Page 680 Index INDEX cable types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38 cables for analog monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-68 cables for connecting personal computers - - - - - - - - - - - - - - - - 5-66 cables for I/O signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-63...
  • Page 681 Index SGMSS servomotors IP67-environment - - - - - - - - - - - - - - 5-19 SGMSS servomotors standard environment- - - - - - - - - - - - 5-17 ground terminal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36 main circuit power input terminals - - - - - - - - - - - - - - - - - - - - - 5-37 grounding - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-21 manual offset-signal adjustment of the motor current detection...
  • Page 682 Index position control mode servo alarm output (ALM) - - - - - - - - - - - - - - - - - - - - - - 8-77 11-2 status display- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4 servo gain position integral time constant - - - - - - - - - - - - - - - - - - - - - - - - 9-54 adjustment methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3...
  • Page 683 Index ratings and specifications (with standard backlash gears) - - - 3-12 SGMSS servomotors ratings and specifications (without gears) - - - - - - - - - - - - - - 3-8 dimensional drawings (flange type, with low backlash gears) - - - - - - - - - - - - - - -3-147 torque-motor speed characteristics - - - - - - - - - - - - - - - - - - - 3-9 dimensional drawings (without gears) - - - - - - - - - - - - - - -3-144 SGMCS servomotors...
  • Page 684 Index troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2 troubleshooting for malfunction without alarm display - - - - - - - 11-18 UL standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12 undershooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-29 using more than one SERVOPACK - - - - - - - - - - - - - - - - - - - - - 6-25...

  • Page 685: 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 00B Published in Japan March 2005 02-07 5 -1 WEB revision number Date of Revision number publication Date of original publication...
  • Page 686 Date of Rev. Rev. Section Revised Content Publication − May 2003 9.6.2 Addition: Section on torque feed-forward 9.6.3 Addition: Section on speed feed-forward 9.6.9 to 9.6.12 Completely revised Chapter 10 Addition: Section on fully-closed control 11.1.1 Addition: Alarm A.042 11.1.2 Addition: Note 2 11.1.3 (1) Addition: Alarm A.042...
  • Page 687 Date of Rev. Rev. Section Revised Content Publication March 2006 2.3, 4.5.1, Slightly revised 4.5.3 (5) January 2008 Based on Japanese user’s manual, SIJPS80000000I<14>-1, available on the web. All chapters Deletion: Non-metric units of measurement, including Fahrenheit. Back cover Revision: Address...
  • Page 688 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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