YASKAWA SGDH User Manual Download

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9.4 Servo Gain Adjustment Functions

9-15

9.4 Servo Gain Adjustment Functions

9.4.1 Feed-forward Reference

Pn109

Feed-forward

Setting Range

Setting Unit

Factory Setting

Setting Validation

0 to 100

Immediately

Pn10A

Feed-forward Filter Time Constant

Setting Range

Setting Unit

Factory Setting

Setting Validation

0 to 6,400

(0.00 to 64.00 ms)

0.01ms

Immediately

Applies feed-forward compensation in position control inside
the

SERVOPACK

. Use this parameter to shorten positioning

time. Too high value may cause the machine to vibrate. For
ordinary machines, set 80% or less in this parameter.

Position

Position
reference pulse

Encoder feedback pulse

+ +

Position loop

gain Kp

Pn109

Pn10A

Differ-

ential

Summary of Contents for SGDH

Page 1: ...YASKAWA SGMAH SGMPH SGMGH SGMSH SGMDH SGMUH Servomotors SGDH SERVOPACK USER S MANUAL YASKAWA MANUAL NO SIEPS80000005C Series SGM H SGDH...

Page 2: ...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...

Page 3: ...ervodrives Description of Technical Terms The terms in this manual are defined as follows Servomotor or motor II Series SGMAH SGMPH SGMGH SGMSH SGMDH SGMUH servomotor SERVOPACK II Series SGDH amplifie...

Page 4: ...explained in this man ual Chapter SERVOPACKs Servomotors and Peripheral Devices Ratings and Character istics System Design Panel Configura tion and Wiring TrialOperation and Servo Adjustment Inspecti...

Page 5: ...monitor equipment for the II Series servomotor II Series SGDH Fully Closed Interface Unit User s Manual Type JUSP FC100 SIE C718 5 Provides detailed information on the fully closed con trol of the JU...

Page 6: ...operation In some situations the precautions indicated could have serious consequences if not heeded Indicates prohibited actions that must not be performed For example this symbol would be used as f...

Page 7: ...lly can be dangerous If the Multiturn Limit Disagreement alarm A CC occurs check the setting of parameter Pn205 in the SERVOPACK to be sure that it is correct If Fn013 is executed when an incorrect va...

Page 8: ...rage or installation temperature conditions Locations subject to humidity outside the range specified in the storage or installation humidity conditions Locations subject to condensation as the result...

Page 9: ...nd prevent any foreign objects from entering the product Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire Be sure to install the product in t...

Page 10: ...rning power ON and OFF causes main power devices such as capacitors and fuses to deteriorate resulting in unexpected problems Observe the following precautions when wiring main circuit terminal blocks...

Page 11: ...and reverse run prohibited N OT signals are not effective during zero point search mode using parameter Fn003 When using the servomotor for a vertical axis install the safety devices to prevent workp...

Page 12: ...shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presented in this man...

Page 13: ...fety Standards UL CSA 1 10 1 4 2 CE Marking 1 10 2 Selections 2 1 Servomotor Model Designations 2 2 2 1 1 Model SGMAH 3000 min 1 2 2 2 1 2 Model SGMPH 3000 min 1 2 4 2 1 3 Model SGMGH 1500 min 1 2 6 2...

Page 14: ...Backlash Gears 3 21 3 3 3 SGMGH Servomotors 1500min 1 With Low backlash Gears 3 23 3 4 Ratings and Specifications of SGMGH 1000min 1 3 26 3 4 1 SGMGH Servomotors 1000min 1 Without Gears 3 26 3 4 2 SGM...

Page 15: ...nsional Drawings of SGMGH Servomotors 1500 min 1 3 94 3 14 1 SGMGH Servomotors 1500 min 1 Without Gears and Brakes 3 94 3 14 2 SGMGH Servomotors 1500 min 1 200 V Specifications Without Gears and With...

Page 16: ...rakes 3 154 3 19 Shaft End Specifications for SGMGH SGMSH and SGMDH Servomotors 3 156 4 SERVOPACK Specifications and Dimensional Drawings 4 1 SERVOPACK Ratings and Specifications 4 3 4 1 1 Single phas...

Page 17: ...E 4 28 4 7 6 Three phase 200 V 5 0 kW 50AE Three phase 400 V 5 0 kW 50DE 4 29 4 7 7 Three phase 200 V 6 0 kW 7 5 kW 60AE 75AE 4 30 4 7 8 Three phase 400 V 6 0 kW 7 5 kW 60DE 75DE 4 31 4 7 9 Three phas...

Page 18: ...onnectors 5 7 5 2 1 Wire Size 5 7 5 2 2 SGMAH and SGMPH Servomotor Connectors for Standard Environments 5 8 5 2 3 SGMGH SGMSH SGMDH and SGMUH Servomotor Connector Configurations 5 11 5 2 4 SGMGH Servo...

Page 19: ...onnectors and Cables for SGMGH SGMSH SGMDH and SGMUH Servomotors 5 57 5 6 Flexible Cables 5 59 5 7 I O Signal Cables for CN1 Connector 5 60 5 7 1 Standard Cables 5 60 5 7 2 Connector Type and Cable Si...

Page 20: ...OPACK 6 27 6 4 6 Extending Encoder Cables 6 28 6 4 7 Operating Conditions on 400 V Power Supply Voltage 6 30 6 4 8 DC Reactor for Harmonic Suppression 6 31 6 5 Connecting Regenerative Resistors 6 33 6...

Page 21: ...18 8 3 1 Setting the Servo ON Signal 8 18 8 3 2 Switching the Servomotor Rotation Direction 8 19 8 3 3 Setting the Overtravel Limit Function 8 20 8 3 4 Setting for Holding Brakes 8 22 8 3 5 Selecting...

Page 22: ...Signals 8 70 8 9 3 Torque Limiting Using an Analog Voltage Reference 8 72 8 9 4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference 8 73 8 9 5 Checking Output Torque Limiting...

Page 23: ...n the Application Module is Used 10 6 10 1 5 Alarm Display Table when the Linear Motor is Used 10 6 10 1 6 Troubleshooting of Alarm and Warning 10 7 10 1 7 Troubleshooting for Malfunction without Alar...

Page 24: ...Unit C500 NC112 SERVOPACK in Position Control Mode 11 23 11 2 9 Example of Connection to MITSUBISHI s AD72 Positioning Unit SERVOPACK in Speed Control Mode 11 24 11 2 10 Example of Connection to MITS...

Page 25: ...1 2 1 Servomotors 1 4 1 2 2 SERVOPACKs 1 5 1 3 Examples of Servo System Configurations 1 7 1 3 1 Single phase 100 V 200 V and 220 V Main Circuit 1 7 1 3 2 Three phase 200 V Main Circuit 1 8 1 3 3 Thr...

Page 26: ...hly by hand Servomotors with brakes however cannot be turned manually Is there any damage Check the overall appearance and check for damage or scratches that may have occurred during shipping AC SERVO...

Page 27: ...RIC MADE IN JAPAN 412808 15 1 SERVOPACK MODEL AC INPUT AC OUTPUT VOLTS Hz PHASE AMPS 200 230 60 60 3 18 6 VOLTS PHASE AMPS KU MP 0 230 3 24 8 3 0 4 0 SGDH 30AE SGDH for 30 W to 5 0 kW SGDH for 6 0 kW...

Page 28: ...ears and Brakes 2 SGMGH SGMSH SGMDH SGMUH Without Gears and Brakes Flange Output shaft Nameplate Encoder connector Servomotor connector Servomotor main circuit cable Encoder cable Encoder Detecting se...

Page 29: ...ct external regenerative resistors Refer to 6 5 Connecting Regenerative Resistors Regenerative resistor connecting terminals Refer to 6 1 Wiring Main Circuit Ground terminal Be sure to connect to prot...

Page 30: ...ndicator Panel operator Charge indicator L1C CN1 CN2 L2C Main circuit power supply terminals L1 L2 L3 Servomotor terminals U V W Regenerative resistor connecting terminals B1 B2 CN3 Connector for pers...

Page 31: ...ty is insufficient Refer to 5 8 6 Turns the servo ON and OFF Install a surge suppressor Refer to 5 8 11 Brake power supply Magnetic contactor Used for a servomotor with a brake Refer to 5 8 5 Turns th...

Page 32: ...resistor to terminals B1 and B2 if the regenerative capacity is insufficient Refer to 5 8 6 Used for a servomotor with a brake Refer to 5 8 5 Turns the brake power supply ON and OFF Install a surge p...

Page 33: ...e phase 400 VAC Protects the power supply line by shutting the circuit OFF when overcurrent is detected Refer to 5 8 9 Used to eliminate external noise from the power line Refer to 5 8 10 Magnetic con...

Page 34: ...Installation Conditions of EMC Directives Because SERVOPACKs and servomotors are built in type reconfirmation is required after being installed in the final product Model UL 1 Standards UL File No CSA...

Page 35: ...f the AC Servomotors 2 14 2 2 2 Servomotor Capacity Selection Examples 2 14 2 3 SERVOPACK Model Designations 2 15 2 4 II Series SERVOPACKs and Applicable Servomotors 2 16 2 5 Selecting Cables 2 17 2 5...

Page 36: ...utput kW Code A3 A5 01 02 03 04 07 08 Rated Output 0 03 0 05 0 1 0 2 0 3 0 4 0 65 0 75 A B D 3rd digit Voltage A 200V B 100V D 400V Code 1 4 A B Remarks Standard Standard Option Specifications 16 bit...

Page 37: ...oltage 7th digit Gear Ratio Code Specifi cations 1 3 7 C 1 5 3 31 1 33 1 21 A3A A3B A5A A5B 01A 01B 02A 02B 04A 08A Code Specifi cations 04A 03D 08A 07D A3A A3B A5A A5B 01A 01B 02A 02B Code Specifi ca...

Page 38: ...r with super capacitor 13 bit incremental encoder 16 bit incremental encoder The number of encoder pulses 16384 P Rev The number of encoder pulses 2048 P Rev Option 1 1 1 2 1 2 5th digits Design Revis...

Page 39: ...coder pulses 2048 P Rev Option 1 1 2 1 2 Specifications Fixed IP67 water proof specifications Code A E 5th digit Design Revision Order 6th digit Gear Type 8th digit Shaft End Code Code G H J Specifica...

Page 40: ...Taper 1 10 with parallel key Taper 1 10 with woodruff key Straight with key and tap 4th digit Serial Encoder Code 2 C Remarks Specifications 17 bit absolute encoder 17 bit incremental encoder Code A...

Page 41: ...Ratio Code Specifications 4th digit Serial Encoder Code 2 C Remarks Specifications 17 bit absolute encoder 17 bit incremental encoder Code A C Specifications Standard For high performance machine tool...

Page 42: ...Revision Order Code B D Specifications Standard For high performance machine tool SGMGH 12 A C B 2 1 7th digit Brake and Oil Seal Code 1 B C D E S Specifications Without options With 90 VDC brake Wit...

Page 43: ...n Order 9th digit Brake Code 1 B C Specifications Without brake With 90 VDC brake With 24 VDC brake A B C 7 1 6 1 11 1 21 1 29 03A 06A 09A 12A 20A 30A 40A 55A 03A 06A 09A 12A 20A 30A 40A 55A 03A 06A 0...

Page 44: ...B C D E S Specifications Without options With 90 VDC brake With 24 VDC brake With oil seal and 90 VDC brake With oil seal and 24 VDC brake With oil seal Code 10 15 20 30 40 50 Rated Output 1 0 1 5 2...

Page 45: ...Revision Order Code A Specifications Fixed Code Specifications L 9th digit Brake Code 1 B C Specifications Without brake With 90 VDC brake With 24 VDC brake 1st 2nd digits 3rd digits 4th digits 5th di...

Page 46: ...brake With oil seal and 24 VDC brake With oil seal Code A Specifications Fixed 6th digit Shaft End Code 2 6 Remarks Standard Option Specifications Straight without key Straight with key and tap Code 2...

Page 47: ...tions Fixed Code 2 3 6 Remarks Standard Option Specifications Straight without key Taper 1 10 with parallel key Straight with key and tap Code 10 15 30 40 Rated Output 1 0 1 5 3 0 4 0 D 1st 2nd digits...

Page 48: ...the capacity of the AC servomotors a CD ROM is available as a support tool CD ROM Programming for the capacity selection on AC servomotor a The display examples of the capacity calculation b The disp...

Page 49: ...15 0 3rd digit Power Supply Voltage Code A B D Voltage Single Three phase 200V Single phase 100V Three phase 400V 4th digit Model Fixed Code E Remarks For torque speed and position control Applicable...

Page 50: ...02 200 W 02BE 02AE 05DE 04 400 W 04AE 05DE 08 750 W 08AE S 08AE 10DE 15 1 5 kW 15AE S 15AE 15DE SGMGH High Speed Feed 1500min 1 10 models 05 450 W 05AE 05DE 09 850 W 10AE 10DE 13 1 3 kW 15AE 15DE 20 1...

Page 51: ...Selecting Cables 2 17 2 2 5 Selecting Cables 2 5 1 Cables for SGMAH and SGMPH Servomotors YASKAWA SERVOPACK SGDH 200V L1 L2 L3 U V W L1C L2 B1 B2 B3 1 2 C N 3 C N 1 C N 2 MODE SET DATA CHARGE POWER C...

Page 52: ...JZSP CMP03 05 10 m 32 8 ft JZSP CMP03 10 15 m 49 2 ft JZSP CMP03 15 20 m 65 6 ft JZSP CMP03 20 Flexible type cable with connec tors at both ends 3 m 9 84 ft JZSP CMP10 03 5 4 5 5 m 16 4 ft JZSP CMP10...

Page 53: ...kit JZSP CMP9 2 Soldered 5 4 3 5 4 5 5 5 1 Cables 5 m 16 4 ft JZSP CMP09 05 5 5 1 10 m 32 8 ft JZSP CMP09 10 15 m 49 2 ft JZSP CMP09 15 20 m 65 6 ft JZSP CMP09 20 30 m 98 4 ft JZSP CMP19 30 40 m 131 2...

Page 54: ...MM00 15 20 m 65 6 ft JZSP CMM00 20 SGMPH 15A 1 5 kW 3 m 9 84 ft JZSP CMM20 03 5 1 1 5 m 16 4 ft JZSP CMM20 05 10 m 32 8 ft JZSP CMM20 10 15 m 49 2 ft JZSP CMM20 15 20 m 65 6 ft JZSP CMM20 20 400 V SGM...

Page 55: ...6 ft JZSP CMM10 20 SGMPH 15A 1 5 kW 3 m 9 84 ft JZSP CMM30 03 5 1 2 5 m 16 4 ft JZSP CMM30 05 10 m 32 8 ft JZSP CMM30 10 15 m 49 2 ft JZSP CMM30 15 20 m 65 6 ft JZSP CMM30 20 400 V SGMAH 300 W 650 W 4...

Page 56: ...Cables and Connectors Cont d For standard environment connector kit without brakes SGMAH 30 W to 750 W SGMPH 100 W to 750 W JZSP CMM9 1 5 2 2 SGMPH 1 5 kW JZSP CMM9 3 For standard environment connect...

Page 57: ...JZSP CMP01 03 With an straight plug 5 4 2 5 m 16 4 ft JZSP CMP01 05 10 m 32 8 ft JZSP CMP01 10 15 m 49 2 ft JZSP CMP01 15 20 m 65 6 ft JZSP CMP01 20 3 m 9 84 ft JZSP CMP02 03 With an L shaped plug 5 m...

Page 58: ...mm 0 26 to 0 37 in Cable clamp JL04 2022CKE 12 Cable diameter 9 5 to 13 mm 0 37 to 0 51 in JL04 2022CKE 14 Cable diameter 12 9 to 15 9 mm 0 51 to 0 63 in SERVOPACK end connector kit JZSP CMP9 1 Solde...

Page 59: ...3m 9 84 ft JZSP CMP12 03 With an L shaped plug 5 m 16 4 ft JZSP CMP12 05 10 m 32 8 ft JZSP CMP12 10 15 m 49 2 ft JZSP CMP12 15 20 m 65 6 ft JZSP CMP12 20 Flexible type cable with loose wire at encode...

Page 60: ...POWER CN3 CN1 CN5 CN8 Analog monitor cable Battery for absolute encoder YASKAWA SERVOPACK SGDH 200V L1 L2 L3 U V W L1C L2 B1 B2 B3 1 2 C N 3 C N 1 C N 2 MODE SET DATA CHARGE POWER NS100 S W 1 S W 2 A...

Page 61: ...28 ft 5 8 2 e Connection Cable for Digital Op erator 1m 3 28 ft JZSP CMS00 1 Only required when using series Digital Operator JUSP OP02A 1 1 5m 4 92 ft JZSP CMS00 2 2 m 6 56 ft JZSP CMS00 3 f Connect...

Page 62: ...6 0 kW to 15 0 kW ER6VC3 To connect to a host controller pro vided by a customer 3 6 V 2000 mAh manufactured by Toshiba Battery Co Ltd Application Module MECHA TROLINK I I F Unit NS100 JUSP NS100 5 8...

Page 63: ...SERVOPACK Model Power Supply Capacity per SERVOPACK kVA Current Capacity of the Molded case Circuit Breaker and the Fuse Arms 1 2 Refer to 5 8 9 Inrush Current Capacity kW SGDH Main Circuit Power Supp...

Page 64: ...X5071 0 20 02AE X5070 0 40 04AE FN2070 10 07 Single phase 250 VAC 10 A X5069 Single phase 220 V 0 75 08AE S FN2070 16 07 Single phase 250 VAC 16 A HI 15J 35 A X5079 1 50 15AE S FN350 30 33 Single phas...

Page 65: ...nd 6 5 Brake Power Supply Unit Refer to 5 8 5 Capacity kW SGDH Built in Externally connected Resistance Capacity W Single phase 100 V 0 03 A3BE 24 VDC brake provided by a customer 5 90 VDC brake LPDE...

Page 66: ...oltage such as surge to the output side and the output side may be damaged even if the voltage is applied Never fail to use the surge suppressor Note 1 If the SERVOPACK cannot process the regenerative...

Page 67: ...4 Ratings and Specifications of SGMGH 1000min 1 3 26 3 4 1 SGMGH Servomotors 1000min 1 Without Gears 3 26 3 4 2 SGMGH Servomotors 1000min 1 With Standard Backlash Gears 3 29 3 4 3 SGMGH Servomotors 10...

Page 68: ...13 1 SGMAH Servomotors 3 93 3 13 2 SGMPH Servomotors 3 93 3 14 Dimensional Drawings of SGMGH Servomotors 1500 min 1 3 94 3 14 1 SGMGH Servomotors 1500 min 1 Without Gears and Brakes 3 94 3 14 2 SGMGH...

Page 69: ...4 SGMSH Servomotors 3000 min 1 With Low backlash Gears and Without Brakes Flange mounted Type 3 147 3 17 Dimensional Drawings of SGMDH Servomotors 2000min 1 3 151 3 17 1 SGMDH Servomotors 2000min 1 W...

Page 70: ...0 V 200 V 400 V Servomotor Model SGMAH A3B A5B 01B 02B A3A A5A 01A 02A 04A 08A 03D 07D Rated Output 1 kW 0 03 0 05 0 1 0 2 0 03 0 05 0 1 0 2 0 4 0 75 0 3 0 65 Rated Torque 1 2 N m 0 0955 0 159 0 318 0...

Page 71: ...00 3000 4000 5000 0 0 1 0 2 0 3 0 4 0 1000 2000 3000 4000 5000 0 0 15 0 3 0 45 0 6 0 1000 2000 3000 4000 5000 0 0 25 0 5 0 75 1 0 1000 2000 3000 4000 5000 0 0 5 1 1 5 2 Motor speed Motor speed Motor s...

Page 72: ...318 45 0 1350 0 067 SGMAH 02 200 7 4 0 637 90 2 1095 0 082 SGMAH 03 300 7 4 0 955 135 1095 0 082 SGMAH 04 400 7 4 1 27 180 1095 0 082 SGMAH 07 650 9 2 07 293 900 0 1 SGMAH 08 750 9 2 39 338 900 0 1 24...

Page 73: ...C 1 21 2 67 80 378 80 9 07 1284 143 190 0 036 0 510 0 014 0 198 A5 AJ7 1 33 4 20 80 595 80 14 3 2025 91 121 0 032 0 453 0 010 0 142 01 AJ1 100 0 318 45 0 1 5 1 27 80 180 80 4 32 612 600 800 0 099 1 40...

Page 74: ...5 9 56 80 1354 80 32 4531 600 800 1 12 15 9 0 450 6 37 08A AJ3 3 31 19 8 80 2804 80 66 6 9431 290 387 1 10 15 6 0 425 6 02 08A AJC 1 21 40 2 80 5692 80 134 18974 143 190 1 15 15 3 0 475 6 73 08A AJ7...

Page 75: ...1 21 2 67 80 378 80 9 12 1292 143 190 0 040 0 566 0 018 0 255 A5 AH7 1 33 4 20 80 595 80 14 3 2025 91 121 0 035 0 496 0 013 0 184 01 AH1 100 0 318 45 0 1 5 1 27 80 180 80 4 34 615 600 800 0 114 1 61 0...

Page 76: ...3 33 5 80 4744 80 115 3 16285 91 121 0 346 4 90 0 173 2 45 07D AH1 650 2 07 293 1 1 5 8 80 85 1246 85 32 4532 600 800 1 25 17 7 0 583 8 26 07D AHB 1 11 19 3 85 2733 85 56 7930 273 363 1 20 17 0 0 528...

Page 77: ...on Permanent magnet Drive Method Direct drive Mounting Flange method Voltage 100 V 200 V 400 V Servomotor Model SGMPH 01B 02B 01A 02A 04A 08A 15A 02D 04D 08D 15D Rated Output 1 kW 0 1 0 2 0 1 0 2 0 4...

Page 78: ...9 Servomotor Model SGMPH 01A 01B 02A 02B 02D 04A 04D 08A 08D 15A 15D Derating Rate 90 95 SGMPH 01B SGMPH 02B A B A B 0 1000 2000 3000 4000 5000 0 0 25 0 5 0 75 1 0 1000 2000 3000 4000 5000 0 0 5 0 1 1...

Page 79: ...3 SGMPH 15 1500 10 4 77 675 832 0 108 24 VDC SGMPH 01 100 8 1 0 318 45 0 71 0 34 SGMPH 02 200 7 6 0 637 90 2 75 8 0 32 SGMPH 04 400 7 6 1 27 180 75 8 0 32 SGMPH 08 750 7 5 2 39 338 76 8 0 31 SGMPH 15...

Page 80: ...0 386 54 7 0 193 2 73 02 J3 3 31 5 27 80 746 80 17 8 2520 290 387 0 283 40 1 0 090 1 27 02 JC 1 21 10 7 80 1515 80 36 1 5112 143 190 0 298 42 2 0 105 1 49 02 J7 1 33 16 8 80 2379 80 56 7 8029 91 121 0...

Page 81: ...W Rated Speed min 1 Rated Torque Nxm ozxin Gear Ratio Rated Torque Effi ciency 2 N m oz in Instanta neous Peak Torque N m oz in Rated Speed min 1 Max Speed 1 min 1 Motor Gears Gears 01 H1 100 3000 0 3...

Page 82: ...8 08 HB 1 11 22 3 85 3158 85 71 3 10054 273 363 2 62 37 1 0 523 7 41 08 HC 1 21 42 7 85 6047 85 140 19826 143 190 2 76 39 1 0 663 9 39 08 H7 1 33 67 85 9488 85 206 3 29172 91 121 2 56 36 3 0 455 6 44...

Page 83: ...5 1 3 1 8 2 9 4 4 5 5 7 5 11 15 Rated Torque 1 N m 2 84 5 39 8 34 11 5 18 6 28 4 35 0 48 0 70 0 95 4 lb in 2 25 48 74 102 165 252 310 425 620 844 Instantaneous Peak Torque 1 N m 8 92 13 8 23 3 28 7 45...

Page 84: ...orque 1 N m 2 84 5 39 8 34 11 5 18 6 28 4 35 0 48 0 70 0 95 4 lb in 2 25 48 74 102 165 252 310 425 620 844 Instantaneous Peak Torque 1 N m 8 92 13 8 23 3 28 7 45 1 71 1 90 7 123 175 221 lb in 2 79 122...

Page 85: ...0 0 10 20 30 40 A B SGMGH 13A A 13D A 0 1000 2000 3000 0 10 20 30 A B SGMGH 1EA A 1ED A 0 1000 2000 3000 0 50 100 150 200 250 A B SGMGH 30A A 30D A 0 1000 2000 3000 0 10 20 30 40 50 A B SGMGH 55A A 55...

Page 86: ...0 11 SGMGH 13 1300 10 1 12 7 112 804 0 11 SGMGH 20 1800 18 5 43 1 381 438 0 21 SGMGH 30 2900 18 5 43 1 381 438 0 21 SGMGH 44 4400 18 5 43 1 381 438 0 21 SGMGH 55 5500 23 5 72 6 643 327 0 28 SGMGH 75...

Page 87: ...haft Gear Rotation Direction Reverse direction of servomotor Gear Lubricating Method Type 4095 to 4115 Grease Type 4130 to 4190 Oil Servomotor Model SGMGH Servomotor Gear Output Moment of Inertia J 10...

Page 88: ...80 397 80 3514 80 136 272 50 8 45 0 4 8 4 25 30D A B6 30A A C6 1 21 313 80 2770 80 758 80 6709 80 71 142 51 9 45 9 5 9 5 22 30D A C6 30A A 76 1 29 432 75 3824 75 1049 80 9285 80 51 103 91 9 81 3 45 9...

Page 89: ...0 35996 80 51 69 519 459 238 0 211 Servomotor Model SGMGH Servomotor Gear Output Moment of Inertia J 10 4 kg m2 10 3lb in s2 Out put W Rated Speed min 1 Rated Torque Nxm lbxin Gear Ratio Rated Torque...

Page 90: ...5 1 30 1 15 09D AL14 09A AL24 1 9 38 8 80 343 80 74 5 60 659 60 167 334 14 8 13 1 0 90 0 797 09D AL24 09A AL54 1 20 86 2 80 763 80 221 80 1956 80 75 150 18 6 16 5 4 70 4 16 09D AL54 09A AL74 1 29 125...

Page 91: ...134 80 1186 80 328 80 2903 80 167 334 58 5 51 8 12 5 11 1 30D AL24 30A AL54 1 20 298 80 2638 80 730 80 6461 80 75 150 66 2 58 6 20 2 17 9 30D AL54 44A AL14 4 4 28 4 251 1 5 114 80 1009 80 284 80 2514...

Page 92: ...re Totally enclosed IP67 self cooled except for shaft opening Ambient Humidity 20 to 80 no condensation Drive Method Direct drive Voltage 200 V Servomotor Model SGMGH 03A B 06A B 09A B 12A B 20A B 30A...

Page 93: ...0 2000 0 20 40 60 A B SGMGH 55A B 0 1000 500 1500 2000 0 50 100 150 A B SGMGH 40A B 0 1000 500 1500 2000 0 50 100 150 A B SGMGH 03A B 0 1000 500 1500 2000 0 2 4 6 8 A B SGMGH 09A B 0 1000 500 1500 200...

Page 94: ...68 F 90 VDC SGMGH 03 300 10 1 4 41 39 0 804 0 11 SGMGH 06 600 10 1 12 7 112 804 0 11 SGMGH 09 900 10 1 12 7 112 804 0 11 SGMGH 12 1200 18 5 43 1 381 438 0 21 SGMGH 20 2000 18 5 43 1 381 438 0 21 SGMG...

Page 95: ...motor Model SGMGH Servomotor Gear Output Moment of Inertia J 10 4 kg m2 10 3 lb in s2 Out put W Rated Speed min 1 Rated Torque Nxm lbxin Gear Ratio Rated Torque Efficiency N m lb in Instanta neous Pea...

Page 96: ...80 306 80 2708 80 166 333 79 5 70 4 12 0 10 6 30A B B6 1 11 250 80 2213 80 561 80 4965 80 90 181 75 2 66 6 7 7 6 82 30A B C6 1 21 477 80 4222 80 1068 80 9453 80 47 95 115 102 47 5 42 0 30A B 76 1 29...

Page 97: ...utput Moment of Inertia J 10 4 kg m2 10 3 lb in s2 Out put W Rated Speed min 1 Rated Torque Nxm lbxin Gear Ratio Rated Torque Efficiency N m lb in Instanta neous Peak Torque Effective N m lb in Rated...

Page 98: ...0 7 80 6 90 12A BL54 1 20 184 80 1629 80 448 80 3965 80 50 100 51 9 45 9 20 2 17 9 12A BL74 1 29 267 80 2363 80 650 80 5753 80 34 68 45 1 39 9 13 4 11 9 12A BL84 1 45 414 80 3664 80 1008 80 8922 80 2...

Page 99: ...ethod Direct drive Voltage 200 V Servomotor Model SGMSH 10A A 15A A 20A A 30A A 40A A 50A A Rated Output 1 kW 1 0 1 5 2 0 3 0 4 0 5 0 Rated Torque 1 N m 3 18 4 9 6 36 9 8 12 6 15 8 lb in 3 28 2 43 56...

Page 100: ...ese values are reference values Voltage 400 V Servomotor Model SGMSH 10D A 15D A 20D A 30D A 40D A 50D A Rated Output 1 kW 1 0 1 5 2 0 3 0 4 0 5 0 Rated Torque 1 N m 3 18 4 9 6 36 9 8 12 6 15 8 lb in...

Page 101: ...00 50 50 150 0 100 200 0 100 200 300 100 0 200 300 100 0 400 Motor speed min 1 Motor speed min 1 Motor speed min 1 Motor speed min 1 Motor speed min 1 Torque N m Torque N m Torque N m Torque lb in Tor...

Page 102: ...mperature 0 to 40 C 32 to 104 F Ambient Humidity 20 to 80 no condensation Excitation Permanent magnet Drive Method Direct drive Mounting Flange method can be mounted in any direction Gear Lubricating...

Page 103: ...089 80 66 89 9 77 8 65 6 58 5 82 20D AL84 30A AL14 3 0 9 8 87 1 5 39 2 80 347 80 118 80 1044 80 600 800 17 2 15 2 10 2 9 03 30D AL14 30A AL24 1 9 70 5 80 624 80 212 80 1876 80 333 444 14 8 13 1 7 80 6...

Page 104: ...eed 50A AL14 5 0 3000 15 8 140 1 5 63 2 80 559 80 190 80 1682 80 600 800 32 7 28 9 20 4 18 1 50A AL24 1 9 114 80 1009 80 343 80 3036 80 333 444 24 8 22 0 12 5 11 1 50A AL54 1 20 253 80 2239 80 762 80...

Page 105: ...d IP67 self cooled except for the shaft opening Ambient Temperature 0 to 40 C 32 to 104 F Ambient Humidity 20 to 80 no condensation Excitation Permanent magnet Drive Method Direct drive Mounting Flang...

Page 106: ...0 0 400 200 0 400 600 200 0 Torque N m Torque lb in A B Continuous Duty Zone Intermittent Duty Zone Motor speed min 1 Motor speed min 1 Motor speed min 1 Torque N m Torque lb in Torque N m Torque lb i...

Page 107: ...e minute Insulation Resistance 500 VDC 10 M min Enclosure Totally enclosed IP67 self cooled except for the shaft opening Ambient Temperature 0 to 40 C 32 to 104 F Ambient Humidity 20 to 80 no condensa...

Page 108: ...6 SGMUH 10D A 0 4000 2000 6000 0 4 8 12 A B SGMUH 30D A SGMUH 15D A 0 4000 2000 6000 0 5 10 15 A B 0 4000 2000 6000 0 10 20 30 A B SGMUH 40D A 0 4000 2000 6000 0 10 20 30 A B 80 40 0 100 50 0 200 100...

Page 109: ...Ambient humidity during storage 80 RH or less with no condensation Installation Site Servomotors are designed for indoor use Install the servomotor in environments that satisfy the follow ing conditi...

Page 110: ...ke sure there are no bends or tension on the power lines Especially be careful to wire signal line cables so that they are not subject to stress because the core wires are very thin at only 0 2 to 0 3...

Page 111: ...motor with the axis horizontal The servomotor will withstand the following vibration accelera tion in three directions Vertical side to side and front to back 3 8 6 Vibration Class The vibration class...

Page 112: ...ed Torque Nxm The rated output torque of the motor is the gear input torque The rated torque is this value multiplied by the inverse of the gear ratio and efficiency Lost Motion arc min Angular differ...

Page 113: ...output torque and motor speed produce the following trends in efficiency The values in the tables Ratings and Specifications of SGM H Servomotors with Gears are at the rated motor torque and rated mo...

Page 114: ...w backlash gears 3 12 5 SGMGH 1500 min 1 200 VAC 0 45 0 85 1 3 1 8 2 9 4 4 5 5 7 5 11 0 15 0 kW 400 VAC 0 45 0 85 1 3 1 8 2 9 4 4 5 5 7 5 11 0 15 0 kW Without gears and brakes 3 14 1 200 V specificati...

Page 115: ...4 3 0 17 Serial encoder 9 6 0 38 22 0 87 20 0 79 15 2 0 60 5 0 20 2 5 0 10 25 0 98 L LL LM 14 0 55 300 11 81 30 1 18 300 11 81 30 1 18 35 1 38 Motor cable 7 0 28 Encoder cable 6 0 24 Motor plug Encod...

Page 116: ...T U W Serial encoder L LM LL LR LE LG QK 9 5 0 37 26 5 1 04 20 0 79 13 0 51 LBh7 Sh6 300 11 81 30 1 18 300 11 81 30 21 18 35 1 38 Motor cable 7 0 28 Encoder cable 6 0 24 UL20276 Motor plug Encoder plu...

Page 117: ...h QK U W T Approx Mass kg lb Allowable Radial Load N lbf Allowable Thrust Load N lbf 02 A21 No tap No key 1 1 2 4 245 55 74 17 02 A41 20 0 79 3 0 12 5 0 20 5 0 20 02 A61 M5 8L 04A A21 No tap No key 1...

Page 118: ...2 76 5 5 0 22 7 0 28 03D A41 03D A61 07D A21 185 7 28 145 5 71 111 5 4 39 40 1 57 8 0 31 80 3 15 90 3 54 7 0 28 8 0 31 07D A41 07D A61 Units mm in Model SGMAH Tap Depth QK U W T Approx Mass kg lb All...

Page 119: ...o tap No key 0 6 1 32 68 15 54 12 A3 A4 1 2 0 047 2 0 079 2 0 079 A3 A6 M2 5 5L A5 A2 133 5 5 26 108 5 4 27 44 0 1 73 No tap No key 0 7 1 54 A5 A4 1 2 0 047 2 0 079 2 0 079 A5 A6 M2 5 5L 01 A2 160 0 6...

Page 120: ...olerances 2 200 W 400 W 750 W INFO Units mm in Model SGMAH Shaft end Dimensions mm in S A3 A2 A3 A4 A3 A6 A5 A2 A5 A4 A5 A6 01 A2 01 A4 01 A6 6 0 0 008 0 236 0 0 0003 6 0 0 008 0 235 0 0 0003 8 0 0 00...

Page 121: ...24 60 2 36 70 2 76 5 5 0 22 04A A4 04A A6 08A A2 229 5 9 04 189 5 7 46 111 4 37 40 1 57 8 0 31 80 3 15 90 3 54 7 0 28 08A A4 08A A6 Units mm in Model SGMAH Tap Depth QK U W T Approx Mass kg lb Allowa...

Page 122: ...4 03D A6 07D A2 229 5 9 04 189 5 7 46 111 4 37 40 1 57 8 0 31 80 3 15 90 3 54 7 0 28 8 0 31 07D A4 07D A6 Units mm in Model SGMAH Tap Depth QK U W T Approx Mass kg lb Allowable Radial Load N lbf Allow...

Page 123: ...6 16 101 5 4 00 68 5 2 70 55 2 17 8 0 31 47 1 85 55 5 2 19 56 2 20 28 1 10 27 1 06 17 0 67 25 0 98 20 0 79 14 0 55 A3 AJ3 1 3 31 156 5 6 16 101 5 4 00 68 5 2 70 55 2 17 8 0 31 47 1 85 55 5 2 19 56 2...

Page 124: ...SGMAH Gear Ratio L LL LM LR LG B LD LB L1 L2 L3 Q QK S Model SGMAH Gear Ratio Tap Depth LC LA LZ U W T Approx Mass kg lb Allowable Radial Load N lbf Allowable Thrust Load N lbf A3 AJ1 1 1 5 M4 8L 60...

Page 125: ...0 0 0012 14 0 0 018 0 55 0 0 0007 56 0 0 030 2 20 0 0 0012 14 0 0 018 0 55 0 0 0007 56 0 0 030 2 20 0 0 0012 14 0 0 018 0 55 0 0 0007 56 0 0 030 2 20 0 0 0012 14 0 0 018 0 55 0 0 0007 65 0 0 030 2 56...

Page 126: ...3 31 4 0 16 12 0 47 82 3 23 98 3 86 100 3 94 40 1 57 40 1 57 23 0 91 42 1 65 36 1 42 25 0 98 04 AJ1 1 1 5 240 9 45 166 6 54 133 5 24 74 2 91 4 0 16 10 0 39 69 2 72 83 3 27 85 3 35 36 1 42 38 1 50 19...

Page 127: ...04 AJ1 1 1 5 90 3 54 105 4 13 9 0 35 M5 10L 3 5 0 14 6 0 24 6 0 24 3 4 7 5 275 62 235 53 04 AJ3 1 3 31 105 4 13 120 4 72 9 0 35 M6 12L 4 0 16 8 0 31 7 0 28 4 3 9 5 460 104 290 66 04 AJC 1 1 21 120 4...

Page 128: ...Ratio L LL LM LR LE LG B LD LB L1 L2 L3 Q QK S 03D AJ1 1 1 5 240 9 45 166 6 54 133 5 24 74 2 91 4 0 16 10 0 39 69 2 72 83 3 27 85 3 35 36 1 42 38 1 50 19 5 0 77 36 1 42 32 1 26 20 0 79 03D AJ3 1 3 31...

Page 129: ...9 310 70 03D AJ7 1 1 33 120 4 72 135 5 31 11 0 43 M8 16L 5 0 20 10 0 39 8 0 31 6 4 14 1 755 171 07D AJ1 1 1 5 105 4 13 120 4 72 9 0 35 8 M6 12L 4 0 16 8 0 31 7 0 28 6 0 13 2 355 80 290 66 07D AJ3 1 3...

Page 130: ...47 1 85 55 5 2 19 56 2 20 28 1 10 27 1 06 17 0 67 25 0 98 20 0 79 14 0 55 A3 AJ7 1 33 203 5 8 01 148 5 5 85 83 5 3 29 55 2 17 8 0 31 47 1 85 55 5 2 19 56 2 20 28 1 10 27 1 06 17 0 67 25 0 98 20 0 79 1...

Page 131: ...76 5 5 0 22 M4 8L 3 0 12 5 0 20 5 0 20 1 3 2 9 145 33 A5 AJ3 3 31 70 2 76 80 3 15 6 6 0 26 M4 8L 3 0 12 5 0 20 5 0 20 1 5 3 3 215 49 145 33 A5 AJC 1 21 70 2 76 80 3 15 6 6 0 26 M4 8L 3 0 12 5 0 20 5...

Page 132: ...2 AJ3 3 31 251 5 9 90 177 5 6 99 104 5 4 11 74 2 91 4 0 16 10 0 39 69 2 72 83 3 27 85 3 35 36 1 42 36 1 42 19 5 0 77 36 1 42 32 1 26 20 0 79 02 AJC 1 21 289 11 38 205 8 07 132 5 20 84 3 31 4 0 16 12 0...

Page 133: ...3 5 0 14 6 0 24 6 0 24 3 3 7 3 275 62 235 53 02 AJ3 3 31 90 3 54 105 4 13 9 0 35 M5 10L 3 5 0 14 6 0 24 6 0 24 3 3 7 3 360 82 02 AJC 1 21 105 4 13 120 4 72 9 0 35 M6 12L 4 0 16 8 0 31 7 0 28 4 7 10 4...

Page 134: ...0 0 035 3 35 0 0 0014 20 0 0 021 0 79 0 0 0008 100 0 0 035 3 94 0 0 0014 25 0 0 021 0 98 0 0 0008 100 0 0 035 3 94 0 0 0014 25 0 0 021 0 98 0 0 0008 85 0 0 035 3 35 0 0 0014 20 0 0 021 0 79 0 0 0008 1...

Page 135: ...345 13 58 240 9 45 167 6 57 105 4 13 5 0 20 13 0 51 93 3 66 112 4 41 115 4 53 45 1 77 80 3 15 26 5 1 04 58 2 28 50 1 97 32 1 26 07D AJ1 1 5 321 5 12 66 237 5 9 35 158 5 6 24 84 3 31 4 0 16 12 0 47 82...

Page 136: ...0 07D AJC 1 21 145 5 71 165 6 50 14 0 55 M10 20L 5 0 20 12 0 47 8 0 31 13 3 29 3 1070 243 490 111 07D AJ7 1 33 145 5 71 165 6 50 14 0 55 M10 20L 5 0 20 12 0 47 8 0 31 13 3 29 3 1205 273 Units mm in Mo...

Page 137: ...43 79 5 3 13 55 2 17 6 0 24 8 0 31 40 1 57 55 5 2 19 56 2 20 28 1 10 27 1 06 20 0 79 25 0 98 20 0 79 14 0 55 A5 AH1 1 1 5 160 6 30 105 4 13 72 0 2 83 55 2 17 6 0 24 8 0 31 40 1 57 55 5 2 19 56 2 20 28...

Page 138: ...5 5 0 22 M4 8L 3 0 12 5 0 20 5 0 20 1 0 2 2 176 40 A3 AHC 1 1 21 60 2 36 70 2 76 5 5 0 22 M4 8L 3 0 12 5 0 20 5 0 20 1 0 2 2 A3 AH7 1 1 33 60 2 36 70 2 76 5 5 0 22 M4 8L 3 0 12 5 0 20 5 0 20 1 0 2 2...

Page 139: ...0012 14 0 0 018 0 55 0 0 00071 56 0 0 030 2 20 0 0 0012 14 0 0 018 0 55 0 0 00071 56 0 0 030 2 20 0 0 0012 14 0 0 018 0 55 0 0 00071 56 0 0 030 2 20 0 0 0012 14 0 0 018 0 55 0 0 00071 65 0 0 030 2 56...

Page 140: ...47 12 0 47 59 2 32 96 3 78 100 3 94 40 1 57 44 1 73 29 1 14 42 1 65 36 1 42 25 0 98 04 AH1 1 1 5 236 5 9 31 162 5 6 40 129 5 08 74 2 91 7 5 0 30 10 0 39 59 2 32 84 3 31 85 3 35 36 1 42 38 1 50 26 1 0...

Page 141: ...7 323 73 02 AHC 1 1 21 105 4 13 120 4 72 9 0 35 M6 12L 4 0 16 8 0 31 7 0 28 3 7 8 2 549 124 294 67 02 AH7 1 1 33 105 4 13 120 4 72 9 0 35 M6 12L 4 0 16 8 0 31 7 0 28 3 8 8 4 608 138 04 AH1 1 1 5 90 3...

Page 142: ...85 0 0 035 3 35 0 0 0014 20 0 0 021 0 79 0 0 0008 100 0 0 035 3 94 0 0 0014 25 0 0 021 0 98 0 0 0008 100 0 0 035 3 94 0 0 0014 25 0 0 021 0 98 0 0 0008 85 0 0 035 3 35 0 0 0014 20 0 0 021 0 79 0 0 00...

Page 143: ...5 0 30 10 0 39 59 2 32 84 3 31 85 3 35 36 1 42 38 1 50 26 1 02 36 1 42 32 1 26 20 0 79 03D AHB 1 1 11 271 5 10 69 187 5 7 38 154 6 06 84 3 31 12 0 47 12 0 47 59 2 32 96 3 78 100 3 94 40 1 57 44 1 73 2...

Page 144: ...12L 4 0 16 8 0 31 7 0 28 5 8 12 8 343 78 294 67 07D AHB 1 1 11 120 4 72 135 5 31 11 0 43 M8 16L 5 0 20 10 0 39 8 0 31 6 6 14 6 451 102 314 71 07D AHC 1 1 21 145 5 71 165 6 50 14 0 55 M10 20L 5 0 20 12...

Page 145: ...A 0 04 0 0016 9 5 0 37 A 0 04 0 0016 Serial encoder 13 0 51 LH Shaft End U T W LC 21 0 83 18 0 71 Dimensions of SGMPH 01 to 04 Dimensions of SGMPH 08 and 15 Tap Depth See the following table 4 L LA L...

Page 146: ...63 3 0 12 5 0 20 5 0 20 04 61 08 21 120 4 72 145 5 71 10 0 39 No key 4 2 9 3 392 88 147 33 08 41 22 0 87 3 0 12 5 0 20 5 0 20 08 61 15 21 120 4 72 145 5 71 10 0 39 No key 6 6 14 6 490 110 15 41 22 0...

Page 147: ...98 5 3 88 48 1 1 89 30 1 18 3 0 12 8 0 31 11 9 0 47 14 0 55 70 2 76 8 25 0 32 No tap 02 4 02 6 M5 8L 04 2 148 5 5 85 118 5 4 67 68 1 2 68 30 1 18 3 0 12 8 0 31 11 9 0 47 14 0 55 70 2 76 8 25 0 32 No...

Page 148: ...63 3 0 12 5 0 20 5 0 20 04 6 08 2 120 4 72 145 5 71 10 0 39 No key 5 7 12 6 392 88 147 33 08 4 22 0 87 3 0 12 5 0 20 5 0 20 08 6 15 2 120 4 72 145 5 71 10 0 39 No key 8 1 17 8 490 110 15 4 22 0 87 3...

Page 149: ...00 3 94 40 1 57 44 1 73 23 0 91 42 1 65 36 1 42 25 0 98 04 AJ1 1 1 5 220 5 8 68 146 5 5 77 127 6 5 02 74 2 91 4 0 16 10 0 39 69 2 72 83 3 27 85 3 35 36 1 42 38 1 50 19 5 0 77 36 1 42 32 1 26 20 0 79 0...

Page 150: ...5 90 105 11 9 9 8 25 M5 10L 3 5 6 6 3 4 7 5 275 62 235 53 02 AJ3 1 3 31 90 105 11 9 9 8 25 M5 10L 3 5 6 6 3 4 7 5 360 81 02 AJC 1 1 21 105 120 11 9 9 8 25 M6 12L 4 8 7 4 7 10 4 585 132 290 65 02 AJ7...

Page 151: ...0 79 0 0 0005 85 0 0 035 3 35 0 0 0014 20 0 0 021 0 79 0 0 0005 100 0 0 035 3 94 0 0 0014 25 0 0 021 0 98 0 0 0005 100 0 0 035 3 94 0 0 0014 25 0 0 021 0 98 0 0 0005 85 0 0 035 3 35 0 0 0014 20 0 0 02...

Page 152: ...32 1 26 20 0 79 01 AJ7 1 33 224 5 8 84 150 5 5 93 102 4 02 74 2 91 4 0 16 10 0 39 69 2 72 83 3 27 85 3 35 36 1 42 38 1 50 19 5 0 77 36 1 42 32 1 26 20 0 79 02 AJ1 1 5 232 9 13 158 6 22 107 6 4 24 74...

Page 153: ...1 77 15 AJ7 1 33 359 14 13 242 9 53 188 7 7 43 117 4 61 17 0 67 16 0 63 135 5 31 163 6 42 165 6 50 53 2 09 64 2 52 51 2 01 60 2 36 45 1 77 45 1 77 Units mm in Model SGMPH Gear Ratio L LL LM LR LE LG...

Page 154: ...200 15 AJ7 1 33 170 6 69 190 7 48 12 8 0 50 14 0 55 10 5 0 41 M10 20L 5 5 0 22 14 0 55 9 0 35 23 1 50 9 Units mm in Model SGMPH Gear Ratio LC LA LF LZ LH Tap Depth U W T Approx Mass kg lb Allowable R...

Page 155: ...8 0 31 9 0 35 40 1 57 64 5 2 54 65 2 56 30 1 18 30 1 18 21 0 83 28 1 10 25 0 98 16 0 63 18 0 71 01 AHB 1 1 11 168 6 61 108 4 25 88 5 3 48 60 2 36 8 0 31 9 0 35 40 1 57 64 5 2 54 65 2 56 30 1 18 30 1...

Page 156: ...3 31 114 4 49 115 4 53 45 1 77 60 2 36 33 1 30 58 2 28 50 1 97 32 1 26 15 AHB 1 1 11 344 5 13 56 202 5 7 97 182 7 7 19 142 5 59 10 0 39 15 0 59 84 3 31 134 5 28 140 5 51 57 2 24 85 3 35 40 1 57 82 3 2...

Page 157: ...647 147 490 111 15 AGC 1 1 21 170 6 69 190 7 48 14 0 55 12 8 0 50 10 5 0 41 M10 20L 5 5 0 22 14 0 55 9 0 35 23 6 52 0 1247 283 882 200 15 AG7 1 1 33 170 6 69 190 7 48 14 0 55 12 8 0 50 10 5 0 41 M10 2...

Page 158: ...t end Dimensions LB S 100 0 0 035 3 94 0 0 0014 25 0 0 021 0 98 0 0 0005 115 0 0 035 4 53 0 0 0014 32 0 0 025 1 26 0 0 0006 140 0 0 040 5 51 0 0 0016 40 0 0 025 1 57 0 0 0006 140 0 0 040 5 51 0 0 0016...

Page 159: ...750 W Dimen sions of Output Shaft mm in LO 7 5 0 30 10 0 39 11 0 43 DO 28 1 10 48 1 89 66 2 60 QK 14 0 55 14 0 55 25 0 98 LB Dimensional Drawing 30 1 181 0 0 021 0 0 00083 50 1 9685 0 0 025 0 0 00098...

Page 160: ...2 1 490 110 98 22 05D A21 09A A21 219 8 62 161 6 34 115 4 53 58 2 28 46 1 81 88 3 46 140 5 51 109 4 29 30 1 18 40 1 57 7 6 16 8 490 110 98 22 09D A21 13A A21 243 9 57 185 7 28 139 5 47 58 2 28 46 1 81...

Page 161: ...71 130 5 12 6 0 24 6 0 24 12 0 47 165 6 50 45 1 77 9 0 35 13D A21 20A A21 200 7 87 180 7 09 3 2 0 13 3 0 12 0 5 0 02 18 0 71 230 9 06 76 2 99 62 2 44 13 5 0 53 20D A21 30A A21 200 7 87 180 7 09 3 2 0...

Page 162: ...cle MS3102A20 29P Applicable plug purchased by the customer Plug MS3108B20 29S Cable clamp MS3057 12A A DATA DATA 0V 5VDC FG Frame ground B C D E F G H J BATT BATT L M N P R S T A DATA DATA 0V 5VDC FG...

Page 163: ...4A A2 356 14 0 277 10 9 230 9 06 79 3 11 47 1 85 139 5 47 255 10 0 146 5 75 45 1 77 76 2 99 28 5 62 8 1470 331 490 110 19 0 0 013 0 75 0 0 0005 19 0 0 013 0 75 0 0 0005 22 0 0 013 0 87 0 0 0005 35 0 0...

Page 164: ...GMGH L LL LM LR LT KB1 KB2 KB3 IE KL1 KL3 Shaft end Dimen sions Approx Mass kg lb S S1 55A A2 424 16 7 311 12 2 263 10 4 113 4 45 48 1 89 174 6 85 289 11 4 231 9 09 123 4 84 150 5 91 123 4 84 45 1 77...

Page 165: ...Specifications for SGMGH SGMSH and SGMDH Servomotors SGMGH 20D A to 1ED A Shaft End SGMGH 05D A to 13D A LR Q R 1 S S1 LJ1 LF1 LE LR Q R 1 S S1 LJ2 LJ1 LF2 LE LF1 KB1 KB2 KB3 L S 100 3 94 KL3 88 3 46...

Page 166: ...lb S S1 Q 35 0 01 0 1 38 0 0004 0 35 0 01 0 1 38 0 0004 0 42 0 0 016 1 65 0 0 0006 42 0 0 016 1 65 0 0 0006 42 0 0 016 1 65 0 0 0006 55 0 030 0 011 2 17 0 0012 0 0004 Units mm in Model SGMGH Flange F...

Page 167: ...G LH LJ1 LJ2 LZ 114 3 0 0 025 4 50 0 0 0010 200 0 0 046 7 87 0 0 0018 200 0 0 046 7 87 0 0 0018 A M L K J H G F E D C B N P R T S A A Phase U Phase V Phase W Frame ground FG B C D D C B Cable Specific...

Page 168: ...3 46 1 81 73 2 87 21 0 83 109 4 29 256 10 1 209 8 23 152 5 98 100 3 94 3240 729 09D ASA6 09A ASB6 CNHX 4105 1 11 417 16 4 161 6 34 115 4 53 46 1 81 73 2 87 21 0 83 109 4 29 256 10 1 209 8 23 152 5 98...

Page 169: ...7 09 135 5 31 45 1 77 60 2 36 11 0 43 35 1 38 32 1 26 28 1 10 7 0 28 4 0 16 8 0 31 M8 19 24 6 54 2 09D ASB6 09A ASC6 1 21 95 3 74 115 4 53 15 0 59 55 2 17 230 9 06 155 6 10 62 2 44 82 3 23 14 0 55 55...

Page 170: ...SB6 05A ASC6 05D ASC6 05A AS76 05D AS76 09A ASA6 09D ASA6 09A ASB6 09D ASB6 09A ASC6 09D ASC6 09A AS76 09D AS76 13A ASA6 13D ASA6 13A ASB6 13D ASB6 13A ASC6 13D ASC6 20A ASA6 20D ASA6 20A ASB6 20D ASB...

Page 171: ...51 370 14 6 300 11 8 246 9 69 150 5 91 5870 1321 44A ASB6 CHHX 4135 1 11 596 23 5 226 8 90 179 7 05 47 1 85 77 3 03 22 0 87 140 5 51 370 14 6 300 11 8 246 9 69 150 5 91 7190 1618 44A ASC6 CHHJ 4160 1...

Page 172: ...39 5 47 18 0 71 90 3 54 80 3 15 60 2 36 11 0 43 7 0 28 18 0 71 M10 18 126 278 30D AS76 44A ASA6 1 6 145 5 71 145 5 71 22 0 87 65 2 56 330 13 0 195 7 68 75 2 95 100 3 94 18 0 71 70 2 76 56 2 20 50 1 97...

Page 173: ...20A ASC6 20D ASC6 20A AS76 20D AS76 30A ASC6 30D ASC6 30A AS76 30D AS76 44A ASA6 44A ASB6 44A ASC6 44A AS76 55A ASA6 55A ASB6 55A ASC6 55A AS76 75A ASB6 75A ASC6 75A AS76 1AA ASB6 1AA ASC6 1AA AS76 U...

Page 174: ...r SE 100 150 BON NOCK M 100 150 GENERAL SP Gear Roll 100 150 Units liter Frame No 4130 4135 4145 4155 4160 4165 4170 4175 4180 4185 4190 Horizontal type 0 7 0 7 0 7 1 4 1 9 2 5 4 0 INFO N 11 Mounting...

Page 175: ...ge Face Dimensions mm in Shaft end Dimensions mm in Approx Mass kg lb LA LB LC LE LG LR N Q QK S T U W Tap Depth 05A ATA6 1 6 134 5 28 110 4 33 160 6 30 3 0 12 9 0 35 48 1 89 4 0 16 35 1 38 32 1 26 28...

Page 176: ...TC6 05D ATC6 05A AT76 05D AT76 09A ATA6 09D ATA6 09A ATB6 09D ATB6 09A ATC6 09D ATC6 09A AT76 09D AT76 13A ATA6 13D ATA6 13A ATB6 13D ATB6 13A ATC6 13D ATC6 20A ATA6 20D ATA6 20A ATB6 20D ATB6 30A ATA...

Page 177: ...5 77 3 03 22 0 87 140 5 51 370 14 6 8940 2012 20D ATC6 20A AT76 CHVX 4135 1 29 536 21 1 166 6 54 119 4 69 47 1 85 77 3 03 22 0 87 140 5 51 370 14 6 9900 2228 20D AT76 30A ATC6 CHVX 4145 1 21 582 22 9...

Page 178: ...76 2 99 70 2 76 56 2 20 M10 18 75 165 55A ATA6 1 6 76 2 99 70 2 76 56 2 2 M10 18 87 192 55A ATB6 1 11 96 3 78 90 3 54 80 3 15 M10 18 88 194 Units mm in Model SGMGH Flange Face Dimensions Shaft end Dim...

Page 179: ...ontal type 0 7 0 7 0 7 1 4 1 9 2 5 4 0 INFO Q LE LG LR R QK KB1 KB2 KL1 88 3 46 LM 47 LL L Sh6 LBf8 L C LA N LZ Mounting holes Oil scavenging plug Hydrant Oil scavenging plug A W T U Tap Depth See the...

Page 180: ...90 3 54 80 3 15 60 2 36 11 0 43 7 0 28 18 0 71 M10 18 126 278 44A AT76 1 29 360 14 2 316 12 4 400 15 7 5 0 20 22 0 87 94 3 70 8 0 31 14 0 55 90 3 54 80 3 15 70 2 76 12 0 47 7 5 0 30 20 0 79 M12 24 17...

Page 181: ...019 2 36 0 0 0007 270 0 056 0 137 10 6 0 0022 0 0054 60 0 0 019 2 36 0 0 0007 316 0 062 0 151 12 4 0 0024 0 0059 70 0 0 019 2 76 0 0 0007 316 0 062 0 151 12 4 0 0024 0 0059 70 0 0 019 2 76 0 0 0007 3...

Page 182: ...ANFJ L40 35 1 38 50 1 97 60 2 36 55 2 17 75 2 95 90 3 54 Frame No Dia S Length Q d L mm 44 1 73 132 5 20 126 4 96 Sh6 45 1 77 91 3 58 94 3 70 LBh7 140 5 51 A 17 0 67 12 0 47 3 0 12 Motor Motor Motor...

Page 183: ...LBh7 Sh6 6 LZ LA LC W T U Shaft End Units mm in Model SGMGH Gear Model Gear Ratio L LB LL LM LR LT KB1 KB2 KL1 R Shaft Center Allowable Radial Load N lbf 05A AL54 ANFJ L30 1 20 491 19 3 190 7 48 138 5...

Page 184: ...160 6 30 47 1 85 77 3 03 22 0 87 140 5 51 383 15 1 3820 860 30D AL14 30A AL24 1 9 607 23 9 240 9 45 192 7 56 145 5 71 160 6 30 47 1 85 77 3 03 22 0 87 140 5 51 415 16 3 4700 1058 30D AL24 30A AL54 1...

Page 185: ...32 70 5 20D AL14 20A AL24 1 9 220 8 66 190 7 48 245 9 65 15 0 59 12 0 47 75 2 95 65 2 56 50 1 97 9 0 35 5 5 0 22 14 0 55 39 86 0 20D AL24 20A AL54 1 20 280 11 0 240 9 45 310 12 2 18 0 71 14 0 55 90 3...

Page 186: ...2 3 62 58 2 28 46 1 81 65 2 56 117 4 61 109 4 29 30 1 18 40 1 57 5 5 12 1 06A B21 219 8 62 161 6 34 115 4 53 58 2 28 46 1 81 88 3 46 140 5 51 109 4 29 30 1 18 40 1 57 7 6 16 8 09A B21 243 9 57 185 7 2...

Page 187: ...5 0 53 1470 331 490 110 40A B21 200 7 87 180 7 09 3 2 0 13 3 0 12 0 5 0 02 18 0 71 230 9 06 76 2 99 62 2 44 13 5 0 53 1764 397 588 132 55A B21 200 7 87 180 7 09 3 2 0 13 3 0 12 0 5 0 02 18 0 71 230 9...

Page 188: ...93 130 5 12 58 2 28 56 2 20 154 6 06 120 4 72 30 1 18 40 1 57 7 5 16 5 06A B2 257 10 1 199 7 83 153 6 02 58 2 28 79 3 11 177 6 97 120 4 72 30 1 18 40 1 57 9 6 21 2 09A B2 281 11 1 223 8 78 177 6 97 5...

Page 189: ...imensions mm in Allowable Radial Load N lbf Allowable Thrust Load N lbf LA LB LC LE LF1 LF2 LG LH LJ1 LJ2 LZ 110 0 0 035 4 33 0 0 0014 110 0 0 035 4 33 0 0 0014 114 3 0 0 025 4 50 0 0 0010 114 3 0 0 0...

Page 190: ...016 A 180 7 09 200 7 87 230 9 06 4 13 5 Mounting holes 123 4 84 Shaft End 113 4 45 110 4 33 R 1 45 1 77 62 2 44 76 2 99 0 5 0 02 3 2 0 13 3 0 12 Note For the specifications of the other shaft ends ref...

Page 191: ...4105 1 11 417 16 4 161 6 34 115 4 53 46 1 81 73 2 87 21 0 83 109 4 29 256 10 1 209 8 23 152 5 98 100 3 94 4550 1024 06A BSC6 CNHX 4115 1 21 449 17 7 161 6 34 115 4 53 46 1 81 73 2 87 21 0 83 109 4 29...

Page 192: ...45 1 77 60 2 36 11 0 43 35 1 38 32 1 26 28 1 10 7 0 28 4 0 16 8 0 31 M8 19 24 6 54 2 06A BSC6 1 21 95 3 74 115 4 53 15 0 59 55 2 17 230 9 06 155 6 10 62 2 44 82 3 23 14 0 55 55 2 17 50 1 97 38 1 50 8...

Page 193: ...A BSB6 20A BSA6 20A BSB6 28 0 0 013 1 10 0 0 0005 28 0 0 013 1 10 0 0 0005 28 0 0 013 1 10 0 0 0005 28 0 0 013 1 10 0 0 0005 28 0 0 013 1 10 0 0 0005 28 0 0 013 1 10 0 0 0005 38 0 0 016 1 50 0 0 0006...

Page 194: ...J 4170 1 21 853 33 6 260 10 2 213 8 39 86 3 39 150 5 91 593 23 3 382 15 0 363 14 3 200 7 87 19560 4401 40A BS76 CHHJ 4175 1 29 853 33 6 260 10 2 213 8 39 86 3 39 150 5 91 593 23 3 382 15 0 363 14 3 20...

Page 195: ...76 12 0 47 7 5 0 30 20 0 79 M12 24 191 421 55A BSB6 1 11 185 7 28 150 5 91 25 0 98 75 2 95 410 16 1 238 9 37 95 3 74 139 5 47 18 0 71 90 3 54 80 3 15 60 2 36 11 0 43 7 0 28 18 0 71 M10 18 155 342 55A...

Page 196: ...pe 55A BS76 Units mm in Model SGMGH Shaft end Dimensions S 80 0 0 019 3 15 0 0 0007 Ambient Temperature Manufacturer COSMO Oil Co Ltd Nippon Oil Co Ltd Tonen General Sekiyu K K 0 to 35 C 32 to 95 F CO...

Page 197: ...11 477 18 8 166 6 54 119 4 69 47 1 85 77 3 03 22 0 87 140 5 51 311 12 2 5700 1283 20A BTA6 CNVX 4115 1 6 503 19 8 192 7 56 145 5 71 47 1 85 77 3 03 22 0 87 140 5 51 311 12 2 4660 1049 20A BTB6 CNVX 41...

Page 198: ...1 97 38 1 50 8 0 31 5 0 20 10 0 39 M10 22 46 101 20A BTB6 180 7 09 140 5 51 210 8 27 4 0 16 13 0 51 69 2 72 6 0 24 55 2 17 50 1 97 38 1 50 8 0 31 5 0 20 10 0 39 M10 22 46 101 Units mm in Model SGMGH...

Page 199: ...aft Cen ter Allow able Radial Load N Flange Face Dimen sions Shaft end Dimensions Approx Mass kg lb LR Q QK Tap Depth 12A BTC6 CHVX 4130 1 21 536 21 1 166 6 54 119 4 69 77 3 03 140 5 51 370 14 6 10180...

Page 200: ...7 87 0 0020 0 0048 50 0 0 016 1 97 0 0 0006 200 0 050 0 122 7 87 0 0020 0 0048 50 0 0 016 1 97 0 0 0006 200 0 050 0 122 7 87 0 0020 0 0048 50 0 0 016 1 97 0 0 0006 200 0 050 0 122 7 87 0 0020 0 0048 5...

Page 201: ...nsions mm in Approx Mass kg lb LA LB LC LE LG LR N LZ Q QK S T U W Tap Depth 20A BT76 1 29 310 12 2 270 10 6 340 13 4 4 0 16 20 0 79 89 3 50 6 0 24 11 0 43 90 3 54 80 3 15 60 2 36 11 0 43 7 0 28 18 0...

Page 202: ...S 20A BT76 30A BTC6 30A BT76 40A BTC6 40A BT76 55A BTB6 55A BTC6 55A BT76 270 0 056 0 137 10 6 0 0022 0 0054 60 0 0 019 2 36 0 0 0007 270 0 056 0 137 10 6 0 0022 0 0054 60 0 0 019 2 36 0 0 0007 316 0...

Page 203: ...20 0 79 20 0 79 55 2 17 6 0 24 18 0 71 39 1 54 47 1 85 1 5 1 9 1 20 1 29 1 45 Gear Ratio A 1 5 1 9 1 20 1 29 1 45 Gear Ratio A 132 5 20 R3 11 0 43 38 1 50 46 1 81 52 2 05 1 5 1 9 1 20 1 29 1 45 Gear...

Page 204: ...nits mm in Model SGMGH Gear Type Gear Ratio L LL LM R Approx Mass kg lb Shaft Center Allowable Radial Load N lbf 03A BL14 ANFJ L20 1 5 394 15 5 138 5 43 92 3 62 256 10 1 14 30 9 833 187 03A BL24 1 9 4...

Page 205: ...6 54 119 4 69 140 5 51 47 1 85 77 3 03 22 0 87 140 5 51 343 13 5 1670 376 12A BL24 1 9 536 21 1 166 6 54 119 4 69 140 5 51 47 1 85 77 3 03 22 0 87 140 5 51 370 14 6 1960 441 12A BL54 ANFJ L40 1 20 581...

Page 206: ...1 12A BL14 1 5 220 8 66 190 7 48 245 9 65 15 0 59 12 0 47 75 2 95 65 2 56 50 1 97 9 0 35 5 5 0 22 14 0 55 32 70 5 12A BL24 1 9 220 8 66 190 7 48 245 9 65 15 0 59 12 0 47 75 2 95 65 2 56 50 1 97 9 0 35...

Page 207: ...LM LR KB1 KB2 KL1 Shaft end Dimensions Approx Mass kg lb S Q 10A A21 194 7 64 149 5 87 103 4 06 45 1 77 76 2 99 128 5 04 96 3 78 40 1 57 4 6 10 1 10D A21 15A A21 220 8 66 175 6 89 129 5 08 45 1 77 102...

Page 208: ...2 6 0 24 6 0 24 12 0 47 165 6 50 9 0 35 1176 265 392 88 40D A21 50A A21 145 5 71 130 5 12 6 0 24 6 0 24 12 0 47 165 6 50 9 0 28 1176 265 392 88 50D A21 95 0 0 035 3 74 0 0 0014 95 0 0 035 3 74 0 0 001...

Page 209: ...M LR KB1 KB2 KL1 Shaft end Dimensions Approx Mass kg lb S Q 10A A2B 238 9 37 193 7 60 147 5 79 45 1 77 67 2 64 171 6 73 102 4 02 40 1 57 6 0 13 2 15A A2B 264 10 4 219 8 62 173 6 81 45 1 77 93 3 66 197...

Page 210: ...12 0 47 165 6 50 9 0 35 1176 265 392 88 50A A2B 145 5 71 130 5 12 6 0 24 6 0 24 12 0 47 165 6 50 9 0 35 1176 265 392 88 95 0 0 035 3 74 0 0 0014 95 0 0 035 3 74 0 0 0014 95 0 0 035 3 74 0 0 0014 110...

Page 211: ...prox Mass kg lb S Q 10D A2 238 9 37 193 7 60 147 5 79 45 1 77 76 2 99 171 6 73 120 4 72 96 3 78 85 3 35 40 1 57 6 0 13 2 15D A2 264 10 4 219 8 62 173 6 81 45 1 77 102 4 02 197 7 76 146 5 75 96 3 78 85...

Page 212: ...265 392 88 50D A2 145 5 71 130 5 12 6 0 24 6 0 24 12 0 47 165 6 50 9 0 35 1176 265 392 88 95 0 0 035 3 74 0 0 0014 95 0 0 035 3 74 0 0 0014 95 0 0 035 3 74 0 0 0014 110 0 0 035 4 33 0 0 0014 110 0 0...

Page 213: ...Frame No Dia S d L mm Length Q 44 1 73 132 5 20 126 4 96 Sh6 45 1 77 91 3 58 94 3 70 LBh7 140 5 51 A 12 0 47 17 0 67 3 0 12 Motor Motor Motor 2 0 08 20 0 79 20 0 79 55 2 17 6 0 24 18 0 71 39 1 54 47 1...

Page 214: ...SGMSH Gear Model Gear Ratio L LL LM LR KB1 KB2 KL1 R Shaft Center Allowable Radial Load N lbf 10A AL54 ANFJ L30 1 20 496 19 5 149 5 87 103 4 06 140 5 51 73 2 87 21 0 83 96 3 78 347 13 7 2650 596 10D...

Page 215: ...3 4 1670 376 40A AL24 ANFJ L40 1 9 649 25 6 236 9 29 190 7 48 160 6 30 77 3 03 22 0 87 114 4 49 413 16 3 4700 1058 40A AL54 1 20 649 25 6 236 9 29 190 7 48 160 6 30 77 3 03 22 0 87 114 4 49 413 16 3 6...

Page 216: ...0 55 29 63 9 30D AL14 30A AL24 1 9 220 8 66 190 7 48 245 9 65 15 0 59 12 0 47 75 2 95 65 2 56 50 1 97 9 0 35 5 5 0 22 14 0 55 36 79 4 30D AL24 30A AL54 1 20 280 11 0 240 9 45 310 12 2 18 0 71 14 0 55...

Page 217: ...43 1 69 LL 0 02 0 0008 A 0 016 0 04 45 1 77 62 2 44 LR Q 4 0 16 4 0 16 R 1 Shaft End Note For the specifications of the other shaft ends refer to 3 19 Shaft End Specifications for SGMGH SGMSH and SGMD...

Page 218: ...g MS3108B20 29S Cale clamp MS3057 12A A DATA DATA 0V 5VDC FG Frame ground FG Frame ground Phase U Phase V Phase W B C D E F G H J K BATT BATT L M N P R S T A DATA DATA 0V 5VDC FG Frame ground B C D E...

Page 219: ...57 4 8 10 1 15DCA21 220 8 66 175 6 89 129 5 08 45 1 77 46 1 81 102 4 02 154 6 06 96 3 78 40 1 57 6 0 13 2 30DCA21 262 10 3 202 7 95 156 6 14 60 2 36 46 1 81 127 5 00 181 7 13 114 4 49 55 2 17 11 5 25...

Page 220: ...motor Connectors Receptacle MS3102A20 29P Applicable plug Purchased by the customer Plug MS3108B20 29S Cale clamp MS3057 12A A DATA DATA 0V 5VDC FG Frame ground B C D E F G H J K L M N P R S T Cable S...

Page 221: ...15DCA2C 130 5 12 116 4 57 10 0 39 150 5 91 9 0 35 490 110 98 22 30DCA2C 165 6 50 155 6 10 12 0 47 190 7 48 11 0 43 686 154 196 44 40DCA2C 165 6 50 155 6 10 12 0 47 190 7 48 11 0 43 686 154 196 44 110...

Page 222: ...i standard 2 3 5 6 Straight without key Taper 1 10 with parallel key Key slot is JISB1301 1976 high precision SGMGH series is interchangeable with USAGED series Taper 1 10 woodruff key Set only for SG...

Page 223: ...22 0 87 28 1 10 QK 32 1 26 36 1 42 25 0 98 1 50 1 97 70 2 76 X 12 5 0 49 16 0 63 10 3 0 41 19 2 0 76 23 0 91 26 1 02 S 24 0 94 28 1 10 16 0 63 19 0 75 32 1 26 42 1 65 55 2 17 V 24 0 94 30 1 18 21 0 8...

Page 224: ...26 50 1 97 25 0 98 60 2 36 90 3 54 45 1 77 50 1 97 S W 8 0 31 5 0 20 6 0 24 10 0 39 12 0 47 16 0 63 8 0 31 10 0 39 T 7 0 28 5 0 20 6 0 24 8 0 31 10 0 39 7 0 28 8 0 31 U 4 0 16 3 0 12 3 5 0 14 5 0 20 6...

Page 225: ...500 W to 1 5 kW and Single phase 220 V 800 W 1 5 kW Models 4 10 4 3 3 Three phase 200 V 2 0 kW to 5 0 kW Models 4 11 4 3 4 Three phase 200 V 6 0 kW to 15 kW Models 4 12 4 3 5 Three phase 400 V 500 W t...

Page 226: ...2 4 7 10 Three phase 400 V 11 0 kW 15 0 kW 1ADE 1EDE 4 33 4 8 Dimensional Drawings of Rack mounted SERVOPACK Model 4 34 4 8 1 Single phase 100 V 30 W 50 W 100 W A3BE R A5BE R 01BE R Single phase 200 V...

Page 227: ...y Main Circuit Single phase 100 to115 VAC 10 to 15 50 60 Hz Control Circuit Single phase 100 to115 VAC 10 to 15 50 60 Hz Configuration Base mounted Rack mounting available as an option Regenerative Pr...

Page 228: ...nput Power Supply Main Circuit Single phase Three phase 220 to 230 VAC 10 to 15 50 60 Hz Control Circuit Single phase 220 to 230 VAC 10 to 15 50 60 Hz Configuration Base mounted Rack mounting availabl...

Page 229: ...e Voltage 3 6 VDC Variable setting range 2 to 10 VDC at rated torque servo motor forward rotation with positive reference input voltage maximum 12 V Input Impedance About 14 k Circuit Time Constant Ab...

Page 230: ...ut Servo alarm 3 bit alarm codes Signal allocation can be modified Positioning completed speed coincidence during servomotor rotation servo ready during current limiting during speed limiting brake re...

Page 231: ...r less with no condensation Operating Con ditions Installation category Overvoltage category Pollution degree 2 Protection class 1X Altitude Maximum 1000 m Installation Site Installation in a Control...

Page 232: ...n above and below each SERVOPACK Install cooling fans above the SERVOPACKs to avoid excessive temperature rise and to maintain even temperature inside the control panel Environmental Conditions in the...

Page 233: ...ase 100 to 115 V Noise filter Voltage sensor Gate drive Relay drive Gate drive over current protector Interface DC DC converter Analog voltage converter Panel operator Connector for application module...

Page 234: ...to 230 V 50 60 Hz 10 15 For 0 5 kW to 1 0 kW When using the single phase 220 V 800 W 1 5 kW models wiring on L2 is unnecessary Noise filter Power OFF Power ON Open during servo alarm 1RY Voltage senso...

Page 235: ...Noise filter Power OFF Power ON Open during servo alarm 1RY Surge suppressor Voltage sensor Gate drive Gate drive Relay drive Voltage sensor Gate drive over current protector Interface Current sensor...

Page 236: ...generative resistor Option Base drive overcurrent protector isolator R T S Gate drive isolator Three phase 200 to 230 V 50 60 Hz Noise filter Power OFF Power ON Open during servo alarm 1RY Voltage sen...

Page 237: ...er supply 100 V 200 V PG M Three phase 380 to 480 V 50 60 Hz Noise filter Power OFF Power ON Open during servo alarm 1RY High speed diode Surge suppressor Voltage sensor Relay drive Voltage sensor Gat...

Page 238: ...to 480 V 50 60 Hz Noise filter Voltage sensor Control power 24 VDC not provided Power OFF Power ON Open during servo alarm 1RY High speed diode Analog voltage converter Connector for application modul...

Page 239: ...24 VDC not provided Power OFF Power ON Open during servo alarm 1RY High speed diode DC DC converter Connector for application module Analog monitor output for supervision Digital operator or personal...

Page 240: ...24 VDC not provided Power OFF Power ON Voltage sensor DC DC converter Open during servo alarm 1RY High speed diode AC power supply 100 V 200 V Panel operator Analog voltage converter Connector for ap...

Page 241: ...ty kW SERVOPACK Model SGDH Output Current Effective Value A Main Circuit Power Loss W Regenerative Resistor Power Loss W Control Circuit Power Loss W Total Power Loss W Single phase 100 V 0 03 A3BE 0...

Page 242: ...or units are provided for this purpose For the SGDH 60AE JUSP RA04 allowable loss 180W For the SGDH 60DE and 75DE JUSP RA18 allowable loss 180W For the SGDH 75AE to 1EAE JUSP RA05 allowable loss 350W...

Page 243: ...ot start1 conditions at a servomotor ambient temperature of 40 C 104 F Note The overload protection characteristics of A and B in the figure are applicable when the SERVOPACK is combined with one of t...

Page 244: ...istor may generate a regeneration overload alarm Take one of the following steps if this occurs Reduce the torque limit Reduce the deceleration rate Reduce the maximum motor speed Install an externall...

Page 245: ...oz in s2 Motor speed min 1 Load moment of inertia 10 4 kg m 2 10 3 oz in s2 Motor speed min 1 Load moment of inertia 10 4 kg m 2 10 3 oz in s2 Motor speed min 1 Motor speed min 1 Load moment of inert...

Page 246: ...egenerative brake to be applied continuously and the regenerative energy of the load may exceed the allowable range causing damage to the SERVOPACK The regenerative brake capacity of the SGDH SERVOPAC...

Page 247: ...20D 30D 200 V 5 0 kW 50A 4 7 6 400 V 5 0 kW 50D 200 V 6 0 kW 7 5 kW 60A 75A 4 7 7 400 V 6 0 kW 7 5 kW 60D 75D 4 7 8 200 V 11 0 kW 15 0 kW 1AA 1EA 4 7 9 400 V 11 0kW 15 0 kW 1AD 1ED 4 7 10 Supply Volta...

Page 248: ...el Manufacturer CN1 10250 52A2JL Sumitomo 3M Co Ltd CN2 53460 0611 Molex Japan Co Ltd CN3 10214 52A2JL Sumitomo 3M Co Ltd Ground terminal 2 M4 screws Mounting pitch 160 6 30 5 0 20 5 5 0 22 149 5 0 5...

Page 249: ...12 0 47 75 2 95 CN3 CN2 CN1 130 5 12 6 0 24 160 6 30 149 5 5 89 5 5 0 22 75 2 95 17 0 67 5 0 20 75 2 95 12 0 47 63 2 48 5 0 20 6 0 24 10 0 39 5 5 0 22 160 6 30 YASKAWA YASKAWA SERVOPACK SGDH 8 0 31 7...

Page 250: ...9 1 54 8 0 31 106 4 17 CN10 7 0 28 141 5 5 57 MODE SET CHARGE POWER DATA YASKAWA 2 M4 screw holes Mounting pitch Mounting Hole Diagram Terminal block Ground terminal 2 M4 screws Units mm in Approx mas...

Page 251: ...HARGE POWER DATA Ground terminal 2 M4 screws Terminal block Nameplate Cooling fan Mounting pitch Mounting pitch 4 M4 screw holes Mounting Hole Diagram Units mm in Approx mass 2 8 kg 6 17 lb External T...

Page 252: ...0 28 141 5 5 57 14 pin terminal M4 mounting screw 250 9 84 238 5 9 39 6 0 24 100 3 94 110 4 33 75 2 95 180 7 09 4 0 16 5 5 0 22 5 0 20 5 0 20 40 1 57 250 9 84 238 5 0 5 9 39 0 02 100 0 5 3 94 0 02 11...

Page 253: ...9 0 02 125 0 5 4 92 0 02 5 5 0 22 5 0 20 5 0 20 6 0 24 MODE SET CHARGE POWER DATA Nameplate Mounting pitch Mounting pitch 4 M5 screw taps Mounting Hole Diagram Units mm in Approx mass 5 5 kg 12 13 lb...

Page 254: ...5 0 30 A View A L1 L2 L3 U B2 B1 V W 8 0 31 WARNING MODE SET DATA Ver POWER BATTERY CHARGE CN2 CN1 CN3 110 4 33 CN5 CN8 SGDH CN10 39 1 54 211 1 8 31 90 3 54 145 5 71 SERVOPARK 200V YASKAWA 335 13 19 7...

Page 255: ...9 133 5 24 222 8 74 CN5 110 4 33 130 5 12 211 8 31 25 0 98 335 13 19 7 5 0 30 7 5 0 30 180 7 09 25 0 98 25 0 98 Main circuit terminal M5 Main circuit terminal M5 Control circuit terminal M4 Ground ter...

Page 256: ...r terminal M6 10 0 39 39 1 54 248 9 76 34 1 34 17 0 67 126 4 96 125 4 92 285 11 22 CN10 CN5 30 1 18 435 17 13 7 5 0 30 7 5 0 30 200 7 87 30 1 18 30 1 18 Main circuit terminal M8 Ground terminal M8 Mai...

Page 257: ...eplate 10 0 39 Cooling fan 117 4 61 30 1 18 435 17 13 7 5 0 30 7 5 0 30 200 7 87 30 1 18 30 1 18 L1 L2 L3 1 2 B1 B2 U V W Main circuit terminal M5 M8 Ground terminal M8 Ground terminal Control circuit...

Page 258: ...6 22 5 0 89 160 6 30 130 5 12 55 2 17 22 5 0 89 7 5 0 30 180 0 5 7 09 0 02 10 0 39 2 0 08 17 0 67 7 5 0 30 22 5 0 89 32 5 1 28 5 0 20 hole 24 5 0 96 75 2 95 7 5 0 30 10 0 39 32 5 1 28 Min 166 6 54 YAS...

Page 259: ...39 22 5 0 89 Min 166 6 54 32 5 1 28 CHANGE MODE SET DATA L1 C N 3 L2 L2C B1 B2 U V W L1C POWER 1 2 C N 1 C N 2 CN10 7 0 28 91 5 3 60 130 5 12 Nameplate 2 0 08 17 0 67 24 5 0 96 75 2 95 Ground terminal...

Page 260: ...SGDH 8 0 31 106 4 17 CN10 7 0 28 141 5 5 57 39 1 54 75 2 95 5 0 20 hole 180 0 5 7 09 0 02 Min 168 6 61 2 M4 screw holes 43 5 1 71 10 0 39 22 5 0 89 CHANGE MODE SET DATA POWER L1 C N 3 L2 L3 L2C B1 B2...

Page 261: ...8 1 89 24 5 0 96 CN10 6 0 24 6 0 24 Heat sink Flange Flange Mounting Hole Diagram Ground terminal 2 M4 screws 4 M4 screw Nameplate Mounting pitch Mounting pitch Units mm in Approx mass 3 0 kg 6 61 lb...

Page 262: ...7 5 0 30 110 4 33 75 2 95 40 1 57 30 1 18 30 1 18 270 0 5 10 63 0 02 50 0 5 1 97 0 02 7 5 0 30 7 5 0 30 14 pin terminal M4 mounting screw CHANGE MODE SET DATA POWER Mounting Hole Diagram 4 M5 tap Moun...

Page 263: ...18 30 1 18 270 0 5 10 63 0 02 50 0 5 1 97 0 02 7 5 0 30 7 5 0 30 14 pin terminal M4 mounting screw CHANGE MODE SET DATA POWER Mounting Hole Diagram 4 M5 tap Mounting pitch Mounting pitch Ground termin...

Page 264: ...27 CN10 CHANGE MODE SET DATA POWER L1 L2 L3 L1C L2C B1 B2 B3 U V W 1 2 Mounting Hole Diagram 4 M5 tap Mounting pitch Mounting pitch Units mm in Approx mass 5 7 kg 12 57 lb 100 Heat sink Flange 6 pin...

Page 265: ...86 312 2 12 29 15 9 0 63 Max 235 9 25 205 8 07 219 8 62 7 0 28 7 0 28 82 3 23 34 1 34 316 12 44 335 13 19 7 5 0 30 2 5 0 10 7 5 0 30 11 5 0 45 7 5 0 30 2 6 0 24 holes Punched hole 145 5 71 217 3 8 56...

Page 266: ...13 19 350 13 78 7 5 0 30 Control circuit terminal M4 10 0 39 39 1 54 211 8 31 18 0 71 24 0 94 121 4 76 76 2 99 145 5 71 83 3 27 228 8 98 21 0 83 52 2 05 250 9 84 48 1 89 CN10 Ground terminal M5 27 5...

Page 267: ...5 94 12 5 0 49 235 9 25 7 0 28 12 5 0 49 260 10 24 8 0 31 7 5 0 30 7 5 0 30 450 17 72 435 17 13 Regenerative Resistor terminal M6 26 5 1 04 320 12 60 POWER MODE SET DATA BATTERY Externals Punched hol...

Page 268: ...2 60 7 0 28 7 0 28 123 5 4 86 52 2 05 84 5 3 33 12 5 0 49 235 9 25 12 5 0 49 260 10 24 435 17 13 450 17 72 7 5 0 30 7 5 0 30 8 0 31 159 5 6 28 46 1 81 39 1 54 248 9 76 17 0 67 19 0 75 24 0 94 117 4 61...

Page 269: ...for Standard Environments 5 8 5 2 3 SGMGH SGMSH SGMDH and SGMUH Servomotor Connector Configurations 5 11 5 2 4 SGMGH Servomotor 1500 min 1 Connectors for Standard Environments 5 12 5 2 5 SGMGH Servom...

Page 270: ...s and Cables for Encoder Signals 5 55 5 5 1 Connectors and Cables for SGMAH and SGMPH Servomotors 5 55 5 5 2 Connectors and Cables for SGMGH SGMSH SGMDH and SGMUH Servomotors 5 57 5 6 Flexible Cables...

Page 271: ...ype Cable Length L Applicable Servomotor Models Cable Type Cable Length L SGMAH 200 V 30 to 750 W 100 V 30 to 200 W SGMPH 200 V 100 to 750 W 100 V 100 W and 200 W JZSP CMM00 03 3 9 84 SGMPH 200 V 1 5...

Page 272: ...P CMM30 03 3 9 84 JZSP CMM10 05 5 16 40 JZSP CMM30 05 5 16 40 JZSP CMM10 10 10 32 81 JZSP CMM30 10 10 32 81 JZSP CMM10 15 15 49 21 JZSP CMM30 15 15 49 21 JZSP CMM10 20 20 65 62 JZSP CMM30 20 20 65 62...

Page 273: ...50 W 100 V 100 W and 200 W JZSP CMM11 03 3 9 84 JZSP CMM11 05 5 16 40 JZSP CMM11 10 10 32 81 JZSP CMM11 15 15 49 21 JZSP CMM11 20 20 65 62 50 1 97 L 35 1 38 Cap 350781 1 6 pin Socket 350536 6 Chained...

Page 274: ...03 3 9 84 JZSP CMM40 05 5 16 40 JZSP CMM40 10 10 32 81 JZSP CMM40 15 15 49 21 JZSP CMM40 20 20 65 62 Units m ft Applicable Servomotor Models Cable Type Cable Length L SGMAH 400 V 300 W and 650 W SGMPH...

Page 275: ...5 2 1 Wire Size 1 100 V 200 V and 400 V SGMAH Servomotors 2 100 V 200 V and 400 V SGMPH Servomotors Rated Output 30 W to 750 W Three phase 100 V AWG20 Three phase 200 V Three phase 400 V Rated Output...

Page 276: ...kW 7 5 kW 11 0 kW 15 0 kW Three phase 200 V HIV2 0 HIV3 5 HIV5 5 HIV8 HIV14 HIV22 Three phase 400 V HIV1 25 HIV2 0 HIV3 5 HIV5 5 HIV8 HIV14 Rated Output 300 W 600 W 900 W 1 2 kW 2 0 kW 3 0 kW 4 0 kW...

Page 277: ...689 3 Soldered type 14 7 0 58 27 4 1 08 7 6 0 30 4 1 27 7 1 09 Connector on servomotor Servomotor main circuit connector Units mm in Pin No Signal Lead Color 1 Phase U Red 2 Phase V White 3 Phase W Bl...

Page 278: ...1 to 4 Soldered type 14 7 0 58 27 4 1 08 7 6 0 30 4 1 27 7 1 09 Connector on servomotor Servomotor main circuit connector Units mm in Pin No Signal Lead Color 1 Phase U Red 2 Phase V White 3 Phase W B...

Page 279: ...or Type Manufacturer Plug JL JA CE Japan Aviation Electronics Industry Ltd Cable clamp DDK Electronics Inc Conduit Nippon Flex Co Ltd Non waterproof cable clamp Cable Standard straight plug Standard L...

Page 280: ...ervomotors require a servomo tor end connector and b brake power supply connector a Servomotor end Connectors i 200 V Servomotors Capacity kW Connector on Servomotor Plug Cable Clamp Straight L shaped...

Page 281: ...ht L shaped 0 45 0 85 1 3 MS3102A18 10P MS3106B18 10S MS3108B18 10S MS3057 10A 1 8 2 9 4 4 MS3102A22 22P MS3106B22 22S MS3108B22 22S MS3057 12A 5 5 7 5 11 0 15 0 MS3102A32 17P MS3106B32 17S MS3108B32...

Page 282: ...ase W FG Frame Ground D B C A Pin No Signal 1 Three phase 200 V 0 45 to 4 4 kW 2 Three phase 200 V 5 5 to 15 0 kW Three phase 400 V 0 45 to 15 0 kW Servomotor end connector Servomotor end connector Br...

Page 283: ...able Clamp Straight L shaped 0 3 0 6 0 9 MS3102A18 10P MS3106B18 10S MS3108B18 10S MS3057 10A 1 2 2 0 3 0 MS3102A22 22P MS3106B22 22S MS3108B22 22S MS3057 12A 4 0 5 5 MS3102A32 17P MS3106B32 17S MS310...

Page 284: ...Ground D B C A Pin No Signal Servomotor end connector 1 Three phase 200 V 0 3 to 3 0 kW 2 Three phase 200 V 4 0 kW and 5 5 kW Servomotor end connector Servomotor end connector Brake end connector Brak...

Page 285: ...ectors i 200 V Servomotors ii 400 V Servomotors Capacity kW Connector on Servomotor Plug Cable Clamp Straight L shaped 1 0 1 5 2 0 MS3102A18 10P MS3106B18 10S MS3108B18 10S MS3057 10A 3 0 4 0 5 0 MS31...

Page 286: ...0 to 5 0 kW Servomotor end connector Servomotor Connector Pin Arrangement A B C D Phase U Phase V Phase W FG Frame Ground Pin No Signal D B C A 1 Three phase 200 V 1 0 to 5 0 kW 2 Three phase 400 V 1...

Page 287: ...r on Servomotor Plug Cable Clamp Straight L shaped 2 2 3 2 4 0 MS3102A24 10P MS3106B24 10S MS3108B24 10S MS3057 16A Capacity kW Connector on Servomotor Plug Cable Clamp Straight L shaped 1 0 1 5 MS310...

Page 288: ...3 Servomotor Main Circuit Connector Pin Arrangement a Without Brakes Capacity kW Connector on Servomotor Plug Cable Clamp Straight L shaped 1 0 1 5 MS3102A18 10P MS3106B18 10S MS3108B18 10S MS3057 10...

Page 289: ...phase 400 V 1 0 to 4 0 kW Servomotor end connector Brake end connector Brake Connector Pin Arrangement B C A Servomotor Connector Pin Arrangement A B C D Phase U Phase V Phase W FG Frame Ground D B C...

Page 290: ...on Servomotor Plug Cable Clamp Applicable Cable Range in mm in For reference Straight L shaped 0 45 0 85 1 3 CE05 2A18 10PD B CE05 6A18 10SD B BSS CE05 8A18 10SD B BAS CE3057 10A 1 10 5 0 41 to 14 1...

Page 291: ...vomotor end Connector i 200 V 0 45 to 4 4 kW INFO Capacity kW Connector on Servomotor Plug Cable Clamp Applicable Cable Range in mm in For reference Straight L shaped 0 45 0 85 1 3 JL04V 2E20 15PE B J...

Page 292: ...0 5 0 41 to 14 1 0 56 CE3057 10A 2 8 5 0 33 to 11 0 0 43 CE3057 10A 3 6 5 0 26 to 8 7 0 34 1 8 2 9 4 4 JL04HV 2E22 22PE B JL04V 6A22 22SE EB or JA06A 22 22S J1 EB JL04V 8A22 22SE EB or JA08A 22 22S J1...

Page 293: ...ailable because the connectors for the main circuit can be used for this purpose Three phase 200 V 5 5 to 15 0 kW Three phase 400 V 0 45 to 15 0 kW Capacity kW Connector on Servomotor Plug Cable Clamp...

Page 294: ...se U Phase V Phase W FG Frame Ground D B C A Pin No Signal 1 Three phase 200 V 0 45 to 4 4 kW 2 Three phase 200 V 5 5 to 15 0 kW Three phase 400 V 0 45 to 15 0 kW Servomotor end connector Servomotor e...

Page 295: ...0 9 CE05 2A18 10PD B CE05 6A18 10SD B BSS CE05 8A18 10SD B BAS CE3057 10A 1 10 5 0 41 to 14 1 0 56 CE3057 10A 2 8 5 0 33 to 11 0 0 43 CE3057 10A 3 6 5 0 26 to 8 7 0 34 1 2 2 0 3 0 JL04HV 2E22 22PE B J...

Page 296: ...n For reference Straight L shaped 0 3 0 6 0 9 JL04V 2E20 15PE B JL04V 6A20 15SE EB JL04V 8A20 15SE EB JL04 2022CK 09 6 5 0 26 to 9 5 0 37 JL04 2022CK 12 9 5 0 37 to 13 0 0 51 JL04 2022CK 14 12 9 0 51...

Page 297: ...5 kW Servomotor Connector Pin Arrangement A B C D Phase U Phase V Phase W FG Frame Ground D B C A Pin No Signal Servomotor end connector 1 Three phase 200 V 0 3 to 3 0 kW 2 Three phase 200 V 4 0 kW an...

Page 298: ...eter The straight plug type JA06A 22 22S J1 EB and L shaped plug type JA08A 22 22S J1 EB conform to IP67 Protective Construction Standard only INFO Capacity kW Connector on Servomotor Plug Cable Clamp...

Page 299: ...Servomotor Plug Cable Clamp Applicable Cable Range in mm in For reference Straight L shaped 1 0 1 5 2 0 JL04V 2E20 15PE B JL04V 6A20 15SE EB JL04V 8A20 15SE EB JL04 2022CK 09 6 5 0 26 to 9 5 0 37 JL0...

Page 300: ...FO Capacity kW Connector on Servomotor Plug Cable Clamp Applicable Cable Range in mm in For reference Straight L shaped 1 0 1 5 2 0 CE05 2A18 10PD B CE05 6A18 10SD B BSS CE05 8A18 10SD B BAS CE3057 10...

Page 301: ...Three phase 200 V 1 0 to 5 0 kW 2 Three phase 400 V 1 0 to 5 0 kW Servomotor end connector Servomotor Connector Pin Arrangement D B G C A F E Servomotor end connector Brake end connector A B C D Phas...

Page 302: ...only 2 SGMDH 2000 min 1 Servomotor Main Circuit Connector Pin Arrangement INFO Capacity kW Connector on Servomotor Plug Cable Clamp Applicable Cable Range in mm in For reference Straight L shaped 2 2...

Page 303: ...o IP67 Protective Construction Standard only INFO Capacity kW Connector on Servomotor Plug Cable Clamp Applicable Cable Range in mm inch For reference Straight L shaped 1 0 1 5 CE05 2A18 10PD B CE05 6...

Page 304: ...r INFO Capacity kW Connector on Servomotor Plug Cable Clamp Applicable Cable Range in mm in For reference Straight L shaped 1 0 1 5 CE05 2A18 10PD B CE05 6A18 10SD B BSS CE05 8A18 10SD B BAS CE3057 10...

Page 305: ...nector A B C D Phase U Phase V Phase W FG Frame Ground D B C A Pin No Signal Three phase 400 V 1 0 to 4 0 kW Servomotor end connector Brake end connector Brake Connector Pin Arrangement B C A Servomot...

Page 306: ...rted only Straight plug L shaped plug Cable clamp Waterproof when inserted only Conduit Note Possible to connect with an MS connector Nippon Flex Co Ltd Manufacturers DAIWA DENGYO CO Ltd NEOFLEX Co Lt...

Page 307: ...BSS 5 8 24UNEF 2B 22 22 0 87 18 6 0 73 40 1 57 5 8 24UNEF 2A CE05 6A18 10SD B BSS 1 1 8 18UNEF 2B 34 13 1 34 32 1 1 26 57 2 24 1 20UNEF 2A V A Q C L 7 85 0 31 min Positioning key 0 0 38 0 015 Position...

Page 308: ...r if a conduit is required Gasket A screw J E L H Q B V screw Positioning key Units mm in Model Joint Screw A OuterDiameter of Nut Q Overall Length L 1 0 04 Conduit Mounting Screw V E 0 5 0 02 B H 0 1...

Page 309: ...crew Length C D E F G 0 7 0 03 H CE3057 4A 1 D265 10SL 20 6 0 811 20 6 0 811 10 3 0 406 41 3 1 63 7 9 0 311 5 6 0 220 22 2 0 87 1 6 0 063 CE3057 10A 1 D265 18 23 8 0 937 30 1 1 19 10 3 0 406 41 3 1 63...

Page 310: ...t Nippon Flex Co Ltd Manufacturers DAIWA DENGYO Co Ltd NEOFLEX Co Ltd SANKEI Manufacturing Co Ltd Receptacle Plug Waterproof Cable Clamp Dimensional Drawings Type Model JL04V 2E20 15PE B Plug JL04V 6A...

Page 311: ...58 5 2 30 33 1 30 17 0 67 1 3 16 18UNEF 2A JL04V 6A22 22SE EB 40 5 1 59 30 05 1 18 67 63 2 66 35 1 38 17 0 67 1 3 16 18UNEF 2A B G B Q B B Wrench width F L Effective screw length V screw Positioning...

Page 312: ...A JL04V 6A22 22SE 40 5 1 59 29 7 1 17 31 2 1 23 8 0 31 1 1 4 18UNEF 2A JL04V 6A32 17SE 56 3 2 22 45 4 1 79 35 8 1 41 10 0 39 1 7 8 16UN 2A V screw L E B Q B B Conduit mounting dimensions Positioning k...

Page 313: ...or are less than the values in the table 600 V Heat resistant Vinyl Cables HIV Note The values in the table are only for reference IMPORTANT Cable Types Allowable Conductor Temperature C F Symbol Name...

Page 314: ...W HIV1 25 HIV2 0 Control power supply input terminals L1C L2C HIV1 25 External regenerative resistor connection terminals B1 B2 HIV1 25 Ground terminal HIV2 0 or more External Terminal Name Terminal...

Page 315: ...s 24V 0V HIV1 25 External regenerative resistor connection terminals B1 B2 HIV1 25 Ground terminal HIV2 0 or more External Terminal Name Terminal Symbol SERVOPACK Model SGDH 50DE 60DE 75DE 1ADE 1EDE M...

Page 316: ...ZSP CMP00 10 10 m 32 81 ft JZSP CMP00 15 15 m 49 21 ft JZSP CMP00 20 20 m 65 62 ft Crimped connector Molex Japan Co Ltd Encoder end Finished dimension 6 5 mm 0 26 in SERVOPACK end L Soldered socket co...

Page 317: ...P03 15 15 m 49 21 ft JZSP CMP03 20 20 m 65 62 ft Encoder end SERVOPACK end Crimped connector Molex Japan Co Ltd L 60 mm 2 36 in 1 2 3 4 5 6 Wire markers Finished dimension 6 5 mm 0 26 in Type Manufact...

Page 318: ...Yaskawa Controls Co Ltd Cable Type Cable Length L Dimensional Drawing JZSP CMP03 03 3 m 9 84 ft JZSP CMP03 05 5 m 16 40 ft JZSP CMP03 10 10 m 32 81 ft JZSP CMP03 15 15 m 49 21 ft JZSP CMP03 20 20 m 65...

Page 319: ...oder Connection Specifications Pin No Signal Lead Color Pin No Signal Lead Color Pin No Signal Lead Color Pin No Signal Lead Color A K A K B L B L C PS Light blue M C PS Light blue M D PS White Light...

Page 320: ...shed dimension 6 8 mm 0 27 in SERVOPACK end L Soldered socket connector Molex Japan Co Ltd Cable Type Cable Length L Dimensional Drawing JZSP CMP13 03 3 m 9 84 ft JZSP CMP13 05 5 m 16 40 ft JZSP CMP13...

Page 321: ...m 65 62 ft Cable Type Cable Length L Dimensional Drawing JZSP CMP13 03 3 m 9 84 ft JZSP CMP13 05 5 m 16 40 ft JZSP CMP13 10 10 m 32 81 ft JZSP CMP13 15 15 m 49 21 ft JZSP CMP13 20 20 m 65 62 ft MS310...

Page 322: ...ncoder Connection Specifications 17 bit Incremental Encoder Connection Specifications Pin No Signal Lead Color Pin No Signal Lead Color Pin No Signal Lead Color Pin No Signal Lead Color A K A K B L B...

Page 323: ...Distance Cables for Maximum 50 m 164 04 ft Wiring Distance Cable Type Cable Length Cable Type Cable Length JZSP CMP09 05 5 m 16 40 ft JZSP CMP19 30 30 m 98 43 ft JZSP CMP09 10 10 m 32 81 ft JZSP CMP1...

Page 324: ...ternal Configuration and Lead Colors Yaskawa Standard Specifications Standard Length 5 m 16 40 ft 10 m 32 81 ft 15 m 49 21 ft 20 m 65 62 ft 30 m 98 43 ft 40 m 131 23 ft 50 m 164 04 ft Light blue Light...

Page 325: ...5 m 16 40 ft JZSP CMP19 30 30 m 98 43 ft JZSP CMP09 10 10 m 32 81 ft JZSP CMP19 40 40 m 131 23 ft JZSP CMP09 15 15 m 49 21 ft JZSP CMP19 50 50 m 164 04 ft JZSP CMP09 20 20 m 65 62 ft Model Manufacture...

Page 326: ...ength 5 m 16 40 ft 10 m 32 81 ft 15 m 49 21 ft 20 m 65 62 ft 30 m 98 43 ft 40 m 131 23 ft 50 m 164 04 ft Light blue Light blue White Orange Orange White Red Black Red Orange White Orange Light blue Wh...

Page 327: ...ecting the shield wire is not taken into account 2 Wiring Precautions Even if the recommended bending radius R is respected in the mechanical design incorrect wiring may cause the early disconnection...

Page 328: ...connector includes a set of case and a connector Manufactured by Sumitomo 3M Ltd 1 Dimensional Drawing of Case Cable Type Cable Length L JZSP CKI01 1 1 m 3 28 ft JZSP CKI01 2 2 m 6 56 ft JZSP CKI01 3...

Page 329: ...Units mm in 1 27 0 05 Pin No 26 Pin No 1 36 7 1 44 30 48 1 20 15 1 27 0 05 41 1 1 62 5 1 0 20 6 6 0 26 19 3 0 76 2 9 0 11 2 3 0 09 12 7 0 50 9 1 0 36 7 5 0 30 Item Specifications Cable Use twisted pai...

Page 330: ...range Orange Gray Gray White White Yellow Yellow Pink Pink Orange Orange Gray Gray White White Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red B...

Page 331: ...td 1 7 8 14 Personal computer end Units mm in SERVOPACK end Cable type AWG26 3C UL2464 1 14 25 13 47 1 85 Personal computer end Signal Pin No Case SERVOPACK end Signal Pin No 14 0 V RXD TXD 0 V RTS CT...

Page 332: ...lug 10114 3000VE Shell 10314 52A0 008 Sumitomo 3M Ltd Half pitch connector Plug 10114 3000VE Shell 10314 52F0 008 Sumitomo 3M Ltd 39 1 54 29 5 1 16 Personal computer end SERVOPACK end Cable AWG26 3C U...

Page 333: ...onitoring items are the factory settings The monitoring items can be changed by set ting the parameter Pn003 Refer to 9 5 Analog Monitor Cable Type Cable Length L JZSP CMS00 1 1 m 3 28 ft JZSP CMS00 2...

Page 334: ...minal block 50P M3 5 screw Connector plug 50P MR 50RMD2 7 0 28 7 0 28 15 5 0 61 45 1 77 15 5 0 61 45 1 77 3 5 0 14 3 5 0 14 29 5 1 16 29 5 1 16 2 3 5 0 14 247 5 9 74 3 5 0 14 3 5 0 14 2 M3 tapped hole...

Page 335: ...ircuit on AC side install a surge suppressor model CR50500BL for the brake power supply near the brake coil to reduce the influence of switching noises When switching the circuit on DC side the influe...

Page 336: ...1H01 Noise Filter for Brake Power Supply 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 Shaffner Electronic...

Page 337: ...04 Regenerative Resistor Unit 2 The values in parentheses are for the optional JUSP RA05 Regenerative Resistor Unit 3 The values in parentheses are for the optional JUSP RA18 Regenerative Resistor Uni...

Page 338: ...RH150 90 W 1 to 100 RH220 120 W 1 to 100 RH300C 200 W 1 to 10 k RH500 300 W 1 to 30 RH120 N 10 J Model N Noninductive winding Resistance Tolerance Resistance Code K J H 10 5 3 Specifications Resistan...

Page 339: ...to 100 RH220 120 W 1 to 100 Rated Power Model Dimensions Units mm in Resistance 138 5 43 170 6 69 4 5 0 18 4 154 6 06 30 1 18 60 2 36 54 2 13 40 1 57 3 0 0 12 Lead wire length L 500 19 69 Rated power...

Page 340: ...prox Mass kg lb JUSP RA04 220 8 66 350 13 78 92 3 62 180 7 09 335 13 19 4 8 82 JUSP RA05 300 11 81 350 13 78 95 3 74 250 9 84 335 13 19 7 15 43 JUSP RA18 220 8 66 350 13 78 92 3 62 180 7 09 335 13 19...

Page 341: ...ttery Co Ltd 5 8 9 Molded case Circuit Breaker MCCB 1 Model MN50 CP The recommended product is manufactured by Mitsubishi Electric Corporation Refer to the manufacturer s instruction manual for detail...

Page 342: ...ly capacity The power consumption of other controllers must be considered when selecting a circuit breaker b Inrush Current Refer to 2 6 2 Molded case Circuit Breaker and Fuse Capacity for SERVOPACK i...

Page 343: ...Ltd Select one of the following noise filters according to SERVOPACK capacity For more details refer to 2 6 3 Noise Filters Magnetic Contactors Surge Suppressors and DC Reactors Refer to 6 1 3 Typical...

Page 344: ...5 0 2 0 98 0 008 40 0 2 1 57 0 008 J 95 0 2 3 74 0 008 K 8 4 0 5 0 33 0 02 8 6 0 5 0 34 0 02 K 51 0 1 2 01 0 004 L 32 4 0 5 1 28 0 02 L M 4 4 0 1 0 17 0 004 5 3 0 1 0 21 0 004 4 4 0 1 0 17 0 004 M 19...

Page 345: ...10 04 0 04 305 1 12 01 0 04 335 1 13 19 0 04 B 126 0 8 4 96 0 03 142 0 8 5 59 0 03 150 1 5 91 0 04 C 50 0 6 1 97 0 02 55 0 6 2 17 0 02 60 0 6 2 36 0 02 D 225 0 8 8 86 0 03 275 0 8 10 83 0 03 305 1 12...

Page 346: ...8 308 12 13 B 201 7 91 231 9 09 C 151 5 94 151 5 94 D E 6 5 0 3 0 26 0 01 6 5 0 3 0 26 0 01 F 115 0 3 4 53 0 01 115 0 3 4 53 0 01 G M6 M6 H 66 2 60 66 2 60 I 121 4 76 121 4 76 J 10 0 39 13 0 51 K 41 1...

Page 347: ...48 13 70 438 17 24 458 18 03 E 110 4 33 180 7 09 200 7 87 F 80 3 15 140 5 51 170 6 69 G 30 1 18 50 1 97 50 1 97 H 25 0 98 25 0 98 35 1 38 I 1 5 0 06 1 5 0 06 1 5 0 06 J 6 5 0 26 6 5 0 26 6 5 0 26 K 25...

Page 348: ...ng Hole Dimensions in mm in Terminal Symbols Approx mass 0 25 kg 0 55 lb Dimensions in mm in Mounting Hole Dimensions in mm in Terminal Symbols Approx mass 0 38 kg 0 84 lb 9 0 35 35 1 38 76 2 99 61 2...

Page 349: ...inal M3 5 Auxiliary contact terminal U V W R S T 111 4 37 79 3 11 45 1 77 4 5 0 18 35 1 38 94 3 70 72 2 83 9 0 35 2 M4 Mounting holes 70 2 76 75 2 95 10 5 0 41 50 1 97 4 0 16 Auxiliary contact Structu...

Page 350: ...Ratings and Specifications b Circuit Connection Diagram Model TCU 500U Input operation Section Rated Voltage 24 VDC Allowable Voltage Fluc tuation 70 to 130 of the rated voltage Current Range 7 3 to...

Page 351: ...7 91 3 58 57 1 2 25 49 1 1 93 65 2 56 4 5 0 18 75 2 95 76 2 99 54 2 13 9 0 35 35 1 38 70 2 76 75 2 95 46 5 1 83 2 M4 Mounting holes 7 0 28 35 1 38 Dimensions in mm in Mounting Hole Dimensions in mm in...

Page 352: ...0 79 15 5 0 61 75 2 95 M3 5 Auxiliary contact terminal Main contact terminals HI 50JCU M5 M3 5 External connection terminals Coil drive unit M3 5 Coil terminal HI 65JCU M6 106 4 17 43 5 1 71 98 3 86...

Page 353: ...tries Co Ltd is recommended a Model CR50500BL b Specifications Units mm in Approx mass 0 02 kg 0 04 lb 6 2 0 24 Operation indicator LED M3 5 Connection terminals 4 7 0 19 34 1 34 22 0 87 26 1 02 22 0...

Page 354: ...a DC reactor according to the SERVOPACK capacity For the connection method refer to 6 4 8 DC Reactor for Harmonic Suppression Applicable SERVOPACK Model SGDH DC Reactor Model DC Reactor Specifications...

Page 355: ...5 2 95 5 0 20 6 4 0 25 1 9 4 19 X5069 40 1 57 59 2 32 105 4 13 125 4 92 45 1 77 60 2 36 65 2 56 4 0 16 4 3 0 17 1 0 2 20 X5070 40 1 57 59 2 32 100 3 94 120 4 72 35 1 38 45 1 77 50 1 97 4 0 16 4 3 0 17...

Page 356: ...30B4 are manufactured by Sakae Tsushin Kogyo Co Ltd Contact Yaskawa Controls Co Ltd 2 Dimensional Drawings 3 Example of Connection to an External Power Supply MD multi dial 25 HP Helicolumn Panel dril...

Page 357: ...2 Output Signals Voltage pulse out put Open collector output Voltage pulse out put Open collector output Input Signal Level Differential voltage 0 3 V built in terminator 100 Output Signal Level H 10...

Page 358: ...eleration Method Linear first second step asymmetric exponential S curve Fully Closed Control Possible Fully Closed System Specifications Fully Closed Encoder Pulse Output Form 5 V differential line d...

Page 359: ...a rotary switch Node Address Setting Select the address from 0 to 63 using the rotary switches Command Format Operation Specifications Positioning using DeviceNet communications Reference Input Devic...

Page 360: ...Communications Baud Rate Setting The baud rate is automatically set by the Master between 9 6 kbps and 12 Mbps Station Address Setting Select the address from 0 to 7D 0 to 125 using the rotary switche...

Page 361: ...n data latching is possible using phase C zero point signals and external signals Protection Parameters damage Parameter setting errors Communications errors etc LED Indicators ERR Module Error COMM C...

Page 362: ...imum 16 axes Baud rate 9600 19200 38400bps Command Table Positioning by designating the command table by the contact input Maximum 128 points Zero Point Return 3 types Other Functions External positio...

Page 363: ...gmaWin 100 Alarm Alarm display Monitoring Product information display Monitoring Status monitor Motion monitor Input signal monitor Output signal monitor Setup Absolute encoder setting Absolute encode...

Page 364: ...less Fully Closed System Specifications Fully Closed Encoder Pulse Output Form 5 V differential line driver output complies with EIA Standard RS 422A Fully Closed Encoder Pulse Signal Form 90 Phase di...

Page 365: ...rque Control Mode 6 12 6 3 4 I O Signal Connector CN1 Terminal Layout 6 13 6 3 5 I O Signal CN1 Names and Functions 6 14 6 3 6 Interface Circuit 6 16 6 4 Others 6 19 6 4 1 Wiring Precautions 6 19 6 4...

Page 366: ...ng power ON and OFF Do not turn the power ON or OFF more than once per minute Since the SERVOPACK has a capacitor in the power supply a high charging current flows for 0 2 seconds when the power is tu...

Page 367: ...ive capacity is insufficient 200 0 03 to 0 4 B1 B2 B3 200 0 5 to 5 0 Normally short B2 and B3 for an internal regenera tive resistor Remove the wire between B2 and B3 and connect an external regenerat...

Page 368: ...f 3 0 to 3 5 mm 0 12 to 0 14 in or type 54932 0000 manufactured by Molex Japan Co Ltd Put the blade into the slot as shown in Fig B and press down firmly to open the wire terminal Either the procedure...

Page 369: ...F R T 1PL FIL 24V 2 1QF FIL 1KM Molded case circuit breaker Noise filter Magnetic contactor Indicator lamp Surge suppressor Flywheel diode 1PL 1SUP 1D 1Ry Relay OFF ON For servo alarm display Indicato...

Page 370: ...SERVOPACK SGDH 08AE S SGDH 15AE S U V W M 0 V 24 1Ry ALM ALM 31 32 1D 1KM 1Ry 1KM 1SUP 1Ry 1KM L3 L2C CN1 1QF R T 1PL FIL 24V A B C D B2 B3 1 2 Main circuit power supply Main circuit power supply L1...

Page 371: ...Servomotor returns the regenerative energy to the power supply when regenerating SERVOPACK does not regenerate with DC power supply input specifications so regenerate the energy on the power supply si...

Page 372: ...erminal When changing the parameters turn the power ON again for the necessity of the effective setting 35 0 V SG 1 0 V 0 V 5 V 5 V PAO PAO PBO PBO PCO PCO PG5V PG0V 1 2 5 6 CN2 33 34 36 19 20 PG CN1...

Page 373: ...O 0 33 mm2 CN1 CN1 2 3 2 1 0 V 0 V 5 V 5 V 5 V 11 5 3 2 1 R 6 7 10 9 8 16 C R R 5 6 1 2 PG5V PG0V PS PS BAT BAT C 5 D 6 H 1 G 2 T 3 S 4 Shield wire Orange White Orange Shell Connector shell Connector...

Page 374: ...PSO 48 49 V REF SG A D 5 6 2 1 LPF T REF SG 1 SG 9 2 LPF 2 5 V 0 V SEN SG 4 ALO1 ALO2 ALO3 37 38 39 Amount of phase S rotation Serial data output Applicable line receiver SN75175 manufactured by Texas...

Page 375: ...49 150 PULS CLR PULS SIGN SIGN CLR CLR PL1 PL2 PL3 PULS 1 150 150 1 SG 4 12 V Open collector reference power supply 1 k 3 13 18 Servo ON Servo ON when ON Reverse run prohibited Prohibited when OFF For...

Page 376: ...REF SG A D 5 6 2 1 LPF T REF SG 9 2 5 LPF 2 5 V 0 V SEN SG 4 ALO1 ALO2 ALO3 37 38 39 1 SG 6 Backup battery 2 8 to 4 5 V 3 Servo ON Servo ON when ON Reverse run prohibited Prohibited when OFF Forward...

Page 377: ...ervo ready output 5 V REF Speed refer ence input 30 S RDY Servo ready output 6 SG GND 31 ALM Servo alarm output 7 PULS Reference pulse input 32 ALM Servo alarm output 8 PULS Reference pulse input 33 P...

Page 378: ...With the internal set speed selected Switches the internal speed settings 8 8 ALM RST 44 Alarm reset Releases the servo alarm state 8 11 1 24VIN 47 Control power supply input for sequence signals Use...

Page 379: ...e phase C signal RS 422 or the equivalent Proper line receiver is SN75175 manufactured by Texas Instruments or the equivalent corresponding to MC3486 6 2 6 3 1 8 4 6 8 5 7 PBO PBO 35 36 Phase B signal...

Page 380: ...er can be either line driver or open collector outputs The following shows by type Analog Voltage Input Circuit Analog Voltage Input Circuit D A 1 8 k 1 2 W min 25HP 10B 2 k 3 2 12 V 1 0 V SG About 14...

Page 381: ...here are three types of SERVOPACK output circuits a Line Driver Output Circuit CN1 connector terminals 33 34 phase A signal 35 36 phase B signal and 19 20 phase C signal are explained below Encoder se...

Page 382: ...DC c Photocoupler Output Circuit Photocoupler output circuits are used for servo alarm ALM servo ready S RDY and other sequence out put signal circuits Connect a photocoupler output circuit through a...

Page 383: ...hanism to prevent noise interference 5 To prevent malfunction due to noise take the following actions Position the input reference device and noise filter as close to the SERVOPACK as possible Always...

Page 384: ...nce The above grounding is required to prevent the adverse effects of switching noise b Noise on the Reference Input Line If the reference input line receives noise ground the 0 V line SG of the refer...

Page 385: ...BE to 01BE FN2070 6 07 Single phase 250 VAC 6A SCHAFFNER SGDH 02BE FN2070 10 07 Single phase 250 VAC 10A Single phase 200 V SGDH A3AE to 02AE FN2070 6 07 Single phase 250 VAC 6A SGDH 04AE FN2070 10 07...

Page 386: ...e to other ground wires 4 When grounding a noise filter inside a unit If a noise filter is located inside a unit connect the noise filter ground wire and the ground wires from other devices inside the...

Page 387: ...actual EMC level may differ depending on the actual system s configuration wiring and other conditions a Single phase 100 V 200 V 220 V SGDH A3BE to 02BE Single phase 100 VAC 30 to 200 W SGDH A3AE to...

Page 388: ...gnals cable Shield cable d Servomotor cable Shield cable e Encoder cable Shield cable f AC Line cable Shield cable U V W L1 L2 L3 L1C L2C CN2 CN1 PE PE Ground Plate Shield Box Core Approx 5 m 16 4 ft...

Page 389: ...e Shield cable f AC Line cable Shield cable g AC Line cable Shield cable U V W L1 L2 L3 24 V 0 V CN2 CN1 Power supply 24 VDC PE PE Ground Plate Box Core Approx 5 m 16 4 ft Core SERVOPACK Brake power s...

Page 390: ...connect the terminals described in the table below Cable Name Mounting Position of the Core I O signals cable Near the host controller and the SERVOPACK Motor cable Near the SERVOPACK and the servomot...

Page 391: ...case circuit breaker QF or noise filter Always select a QF or noise filter that has enough capacity for the total power capacity load conditions of those servos For details refer to 2 6 2 Molded case...

Page 392: ...CMP19 05 5 m 16 4 ft Application Fixed Type Cable type JZSP CMP19 Cable length 50 m 164 0 ft max Basic Specifications UL20276 Max operating temperature 80 C 176 F AWG16 2C AWG26 2P AWG16 1 31 mm2 0 00...

Page 393: ...P CMP9 2 5 4 3 5 4 5 5 5 1 SGMGH SGMSH SGMDH SGMUH For standard environment MS3108B20 29S 1 L shaped plug 5 4 4 5 5 2 MS3106B20 29S 1 Straight plug 5 4 4 5 5 2 MS3057 12A 1 Cable clamp 5 4 4 5 5 2 For...

Page 394: ...d 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 in...

Page 395: ...SERVOPACK For the kind of reactor refer to 5 8 13 DC Reactor for Harmonic Suppres sion Single phase Magnetic contactor for power supply ON and OFF Voltage conversion transformer 100 or 200 VAC SERVOPA...

Page 396: ...is connected in series to the rectifier circuit s output side Note 1 The SERVOPACK 1 and 2 terminals for the DC reactor are short circuited before ship ment Remove the lead wire between these two term...

Page 397: ...uilt in regenerative resistors If the operation exceeds the rotating speed specifications shown in the 4 5 3 Load Moment of Inertia connect an external regenerative resistor 6 5 2 Connecting External...

Page 398: ...or the optional JUSP RA05 Regenerative Resistor Unit 4 The values in parentheses are for the optional JUSP RA18 Regenerative Resistor Unit 5 The values in parentheses are for the optional JUSP RA19 Re...

Page 399: ...racteristics Use the regenerative resistors at no more than 20 of the rated load ratio with natural convection cooling and no more than 50 of the rated load ratio with forced air cooling 2 For safety...

Page 400: ...W or Less b SERVOPACKs with Capacities of 0 5 to 5 0 kW IMPORTANT Connect an external regenerative resistor between B1 and B2 terminals Note The user must provide the regenerative resis tor Disconnect...

Page 401: ...2 terminals The regenerative resis tor unit is provided by the customer Main Circuit Power Supply Applicable SERVOPACK Model SGDH Applicable Regenerative Resistor Unit Resis tance Specifications Three...

Page 402: ...7 11 7 2 5 Alarm Traceback Data Clear Fn006 7 12 7 2 6 Automatic Offset adjustment of Motor Current Detection Signal Fn00E 7 13 7 2 7 Manual Offset adjustment of Motor Current Detection Signal Fn00F...

Page 403: ...or that has a panel indicator and switches located on the front panel of the SERVOPACK This type of digital operator is also called a panel operator The other one is a hand held operator JUSP OP02A 2...

Page 404: ...also used to set the data To display parameter setting and set value Press the UP Key to increase the set value For JOG operation this key is used as Forward Run Start Key Press the DOWN Key to decrea...

Page 405: ...al Operator Turn ON the power Fn Utility Function Mode Refer to 7 2 Pn Monitor Mode Refer to 7 4 Press DSPL SET Key A basic mode is selected in the following order Repeat DATA ENTER DSPL SET Press DSP...

Page 406: ...n one second to display the contents of selected parameter number in the selected mode Refer to each operation instruction described later Status Display Mode Refer to 7 1 4 Press Fn Utility Function...

Page 407: ...ection TGON Lit if motor speed exceeds preset value Not lit if motor speed is below preset value Preset value Set in Pn502 Factory setting is 20 min 1 Rotation Detection TGON Lit if motor speed exceed...

Page 408: ...l Operator 7 7 7 2 Codes and Meanings Code Meaning Baseblock Servo OFF motor power OFF Run Servo ON motor power ON Forward Run Prohibited CN1 42 P OT is OFF Reverse Run Prohibited CN1 43 N OT is OFF A...

Page 409: ...lization 7 2 4 Fn006 Alarm traceback data clear 7 2 5 Fn007 Writing to EEPROM moment of inertia ratio data obtained from online autotuning 9 2 7 Fn008 Absolute encoder multiturn reset and encoder alar...

Page 410: ...or transmission error 1 Digital operator transmission error 2 Alarm Code See the alarm table Alarm Sequence Number The higher the number the older the alarm data is INFO Step Display after Operation D...

Page 411: ...point search mode operations using Fn003 CAUTION For aligning the motor shaft with the machine Step Display after Operation Digital Operator Panel Operator Description 1 Press the DSPL SET or MODE SET...

Page 412: ...y after Operation Digital Operator Panel Operator Description 1 Press the DSPL SET or MODE SET Key to select the utility function mode 2 Press the UP or DOWN Key to select Fn005 Note The enabled digit...

Page 413: ...3 Press the DATA ENTER Key once or DATA SHIFT Key for more than one second and the display will be as shown on the left 4 Press the DSPL SET or MODE SET Key to clear the alarm traceback data The displ...

Page 414: ...erator Description 1 Press the DSPL SET or MODE SET Key to select the utility function mode 2 Press the UP or DOWN Key to select Fn00E Note The enabled digit blinks 3 Press the DATA ENTER Key once or...

Page 415: ...on the left phase U 4 Press the LEFT or RIGHT or DATA SHIFT Key for less than one second to display the phase U offset amount 5 Press the UP or DOWN Key to adjust the offset Care fully adjust the offs...

Page 416: ...enabled digit blinks 3 Press the DATA ENTER Key once or DATA SHIFT Key for more than one second and the display will be as shown on the left 4 Press the UP or DOWN Key to set a value 0000 Write permit...

Page 417: ...ode will be displayed 6 Press the DSPL SET or MODE SET Key to display the SERVOPACK s code for custom orders Note The display y 0000 means standard model 7 Press the DATA ENTER Key once or DATA SHIFT...

Page 418: ...t Fn012 Note The enabled digit blinks 3 Press the DATA ENTER Key once or DATA SHIFT Key for more than one second to display the SERVO PACK software version number 4 Press the DSPL SET or MODE SET Key...

Page 419: ...ial ize the parameter value Fn005 of utility function mode as required IMPORTANT Step Display after Operation Digital Operator Panel Operator Description 1 Press the DSPL SET or MODE SET Key to select...

Page 420: ...to 100 EXAMPLE Step Display after Operation Digital Operator Panel Operator Description 1 Press the DSPL SET or MODE SET Key to select the parameter setting mode If a parameter other than Pn100 is di...

Page 421: ...f the parameter The name of the parameter Position Positoin Speed Torque Torque Applicable control mode for the parameter Speed Speed control internal set speed control Position control Torque control...

Page 422: ...t Pn003 Function Selection Application Switches 0002 Immediately Servo Gain Related Parameter Pn10B Gain Application Switches 0000 After restart Immediately Pn110 Online Autotuning Switches 0010 After...

Page 423: ...digit of current data 4 Press the UP Key once to change to n 0010 Set the control method to position control 5 Press the DATA ENTER Key once or DATA SHIFT Key for more than one second The value blink...

Page 424: ...0 0 The factory setting for the input signal allocation is as follows means factory setting Pn50A n 2 n 8 The number of the parameter Parameter Meaning This section explains the details of the functi...

Page 425: ...n50A 1 n xx x L S ON 0 1 2 3 4 5 6 7 8 H S ON 9 A B C D E F Proportional Operation Reference Pn50A 2 n x xx L P CON 0 1 2 3 4 5 6 7 8 H P CON 9 A B C D E F Forward Run Prohibited Pn50A 3 n xxx H P OT...

Page 426: ...SHIFT Key for more than one second to return to the display Pn50A 7 Press the UP Key to set Pn50B Note The enabled digit blinks 8 Press the DATA ENTER Key once or DATA SHIFT Key for more than one sec...

Page 427: ...oning Completion COIN Pn50E 0 n xxx 0 Invalid L Valid output signal Low level H Valid output signal High level Invalid Do not use the output signal Factory Setting Note The output signals for Position...

Page 428: ...display Pn50E 6 Press the UP Key to set Pn50F Note The enabled digit blinks 7 Press the DATA ENTER Key once or DATA SHIFT Key for more than one second to display the current data of Pn50F BK is set to...

Page 429: ...rom the zero point Un004 Rotation angle 2 Angle from the zero point electrical angle deg Un005 Input signal monitor 1 Un006 Output signal monitor 1 Un007 Input reference pulse speed valid only in posi...

Page 430: ...efer to 7 3 2 Input Circuit Signal Allocation for the relation between input terminals and signals When S ON signal is ON Servo ON at L level When S ON signal is OFF When P OT signal operates Operates...

Page 431: ...tates at 1500 min 1 4 3 2 1 Top OFF H level Bottom ON L level Number 7 6 5 Display LED Number Output Terminal Name Factory Setting 1 CN1 31 32 ALM 2 CN1 25 26 COIN or V CMP 3 CN1 27 28 TGON 4 CN1 29 3...

Page 432: ...The feedback pulse will be 131071 pulse rev when using the 17 bit encoder Step Display after Operation Digital Operator Panel Operator Description 1 Press the DSPL SET or MODE SET Key to select the m...

Page 433: ...5 Selecting the Stopping Method After Servo OFF 8 25 8 3 6 Instantaneous Power Loss Settings 8 26 8 4 Absolute Encoders 8 27 8 4 1 Interface Circuits 8 28 8 4 2 Selecting an Absolute Encoder 8 29 8 4...

Page 434: ...Setting Parameters 8 66 8 8 2 Input Signal Settings 8 67 8 8 3 Operating Using an Internally Set Speed 8 67 8 9 Limiting Torque 8 69 8 9 1 Internal Torque Limit Limiting Maximum Output Torque 8 69 8 9...

Page 435: ...8 3 8...

Page 436: ...rotation direction motor speed and number of rotations Check the operation of the brake overtravel and other pro tective functions 3 Trial Operation for the Servomotor and Machine Combined Refer to 8...

Page 437: ...operation 6 Check input signals Use the internal monitor function to check the input signals Turn ON the power and check the emergency stop brake overtravel and other pro tective functions for correct...

Page 438: ...ncoder wiring With the CN1 connector not connected check the power supply circuit and servomotor wiring Do not use the CN1 I O signals here Refer to 6 1 Wiring Main Circuit for wiring example of main...

Page 439: ...at the right will appear and the servomotor will enter JOG operation mode The servomotor can be operated with the panel operator in this condition 4 Press the SVON or MODE SET Key This will turn ON th...

Page 440: ...ut signal is OFF H level Refer to 8 3 1 Setting the Servo ON Signal 2 Pn50A is not set to n 7 Sets signal ON with the external input signal allocation Refer to 7 3 2 Input Circuit Signal Allocation Pa...

Page 441: ...SERVOPACK and the SERVO PACK operation settings are correct This is final check before connecting the servomotor to the machine 1 Servo ON Command from the Host The following circuits are required Ex...

Page 442: ...ow The input signal setting is not correct if the display is not the same as on the left Check the input signal using the Un005 input signal monitor from the panel operator Check input signal wiring i...

Page 443: ...Selection and Operation for how it is displayed 5 Check the Un000 motor speed min 1 Refer to 7 1 3 Basic Mode Selection and Operation for how it is displayed 6 Check that the Un001 and Un000 values i...

Page 444: ...1 Send the command for the number of motor rotation easy to check for example one motor revolution from the host controller in advance and check the sent number of rotation and actual number of rota t...

Page 445: ...umber of motor rotation pulse by the changed amount before and after the Un003 rotation angle 1 pulse was executed Refer to 7 1 3 Basic Mode Selection and Operation for how it is displayed Un003 rotat...

Page 446: ...re equal 13 Check the motor rotation direction To change the motor rotation direction without chang ing input reference pulse form refer to 8 3 2 Switching the Servomotor Rotation Direction Perform th...

Page 447: ...eed Control with Ana log Reference 8 6 Operating Using Position Control and 8 7 Operating Using Torque Control for control mode used 3 Connect the servomotor to the machine with cou pling etc while th...

Page 448: ...at it is properly broken in 8 Write the parameters set for maintenance in 11 4 Parameter Recording Table Then the trial operation with the servomotor con nected to the machine is completed Step Descri...

Page 449: ...r ence Controls the position with the number of input pulses and controls the speed with the input pulse frequency Use when positioning is required 8 6 n 2 Torque Control Analog voltage speed referenc...

Page 450: ...rvomotor cannot be operated IMPORTANT Always input the servo ON signal before inputting the input reference to start or stop the servomotor Do not input the input reference first and then use the S ON...

Page 451: ...from the drive end Parameter Name Reference Forward Reference Reverse Reference Pn000 n 0 Standard setting CCW For ward Factory setting n 1 Reverse Rotation Mode CW Reverse The direction of P OT and...

Page 452: ...rotation is possible during forward overtravel IMPORTANT When the servomotor stops due to overtravel during position control the position error pulses are held A clear signal CLR input is required to...

Page 453: ...er OFF Mode During torque control these settings affect only the servomotor stopping method After it is stopped the servomotor enters Coast Mode regardless of the setting After changing these paramete...

Page 454: ...mechanical brake while the servomotor is stopped because the servomotor enters servolock status 1 Wiring Example Use the SERVOPACK contact output signal BK and the brake power supply to form a brake O...

Page 455: ...ANT When set to the factory setting the brake signal is invalid When multiple signals are allocated to the same output termi nal the signals are output with OR logic To output the BK signal alone disa...

Page 456: ...507 after the servo OFF When the time set in Pn508 is exceeded after the servo OFF IMPORTANT The servomotor will be limited to its maximum speed even if the value set in Pn507 is higher than the maxim...

Page 457: ...cuit power supply L1 L2 L3 is OFF Similar to the Coast Mode the n 0 setting which stops the servomotor by dynamic braking and then holds it in Dynamic Brake Mode does not generate any braking force wh...

Page 458: ...parameter Pn509 In the following instances however the parameter setting will be invalid If an insufficient voltage alarm A 41 occurs during a power loss with a large servomotor load When control is l...

Page 459: ...r and 12 bit encoder When an infinite length positioning system of the con ventional type is to be configured with the II series be sure to make the following system modification WARNING Absolute posi...

Page 460: ...s R PSO PSO 48 49 PG 1 2 1 1 2 Serial interface circuit Type Name Connector Pin Number Setting Meaning Input SEN CN1 4 OFF low level Input when power is turned ON ON high level Input at absolute data...

Page 461: ...encoder as an incremental encoder The SEN signal and back up battery are not required when using the absolute encoder as an incremental encoder After changing these parameters turn OFF the main circu...

Page 462: ...ery is disconnected which includes disconnecting the encoder cable the absolute encoder data will be deleted The absolute encoder must be setup again Refer to 8 4 5 Absolute Encoder Setup Fn008 8 4 5...

Page 463: ...second The panel operator or digital operator will return to the utility function mode 6 Press the DSPL SET or MODE SET Key This will clear the multiturn data of the absolute encoder When completed do...

Page 464: ...tor shaft has made from the reference position position spec ified at setup Initial incremental pulse Outputs pulses at the same pulse rate as when the motor shaft rotates from the origin to the curre...

Page 465: ...PE PS M Multiturn data rotation count data PO Number of initial incremental pulses Use the following for reverse rotation mode Pn000 0 1 PE M R PO PM PE PS PS Number of initial incremental pulses rea...

Page 466: ...Just as with normal incremental pulses initial incremental pulses which provide absolute data are first divided by the frequency divider inside the SERVOPACK and then output For details refer to 8 5...

Page 467: ...can be utilized to transfer the alarm detection contents from PAO outputs to the host controller as serial data For alarm list refer to 10 1 1 Alarm Display Table L H Error detection Overspeed or Inc...

Page 468: ...ccident will occur WARNING Pn205 Multiturn Limit Setting Setting Range Setting Unit Factory Setting Setting Validation 0 to 65535 Rev 65535 After restart This parameter is valid when Pn002 n 0 when th...

Page 469: ...DATA SHIFT Key for more than one second The display on the left will appear 4 Press the DSPL SET or MODE SET Key The multiturn limit set ting in the absolute encoder will be changed When the setting...

Page 470: ...ation 1 50 to 3000 150 to 30 00 V Rated speed 0 01 V Rated speed 600 Immediately Sets the analog voltage level for the speed reference V REF necessary to operate the servomotor at the rated speed EXAM...

Page 471: ...host controller such as a program mable controller for position control Type Signal Name Connector Pin Number Setting Description Input P CON CN1 41 ON low level Operates the SERVOPACK with proportion...

Page 472: ...ustment of the analog speed torque reference offset Fn009 automatically measures the amount of the offset and adjusts the reference voltage The SERVOPACK automatically adjusts the offset when the host...

Page 473: ...VOPACK and input the 0 V reference voltage from the host controller or external circuit 2 Press the DSPL SET or MODE SET Key to select the utility function mode 3 Press the LEFT RIGHT or UP DOWN Key o...

Page 474: ...the utility function mode 2 Press the UP or DOWN Key to select parameter Fn00A The digit that can be set will blink 3 Press the DATA ENTER Key once or DATA SHIFT Key for more than one second The disp...

Page 475: ...dation 0 to 10000 ms 0 Immediately Pn306 Soft Start Deceleration Time Setting Range Setting Unit Factory Setting Setting Validation 0 to 10000 ms 0 Immediately The soft start function enables smooth s...

Page 476: ...0 to 10000 min 1 10 Immediately Sets the motor speed at which the zero clamp is performed if zero clamp speed control Pn000 n A is selected Even if this value is set higher than the maximum speed of...

Page 477: ...put phase A Output PBO CN1 35 Encoder output phase B PBO CN1 36 Encoder output phase B Output PCO CN1 19 Encoder output phase C zero point pulse PCO CN1 20 Encoder output phase C zero point pulse Even...

Page 478: ...Factory Setting Setting Validation 16 to 16384 P Rev 16384 After restart Set the number of pulses for PG output signals PAO PAO PBO PBO externally from the SERVOPACK Feedback pulses from the encoder p...

Page 479: ...on for details Pn503 Speed Coincidence Signal Output Width Setting Range Setting Unit Factory Setting Setting Validation 0 to 100 min 1 10 Immediately The V CMP signal is output when the difference be...

Page 480: ...Reference Pn200 n 0 Sign pulse train Positive logic Factory setting n 1 CW pulse CCW pulse Positive logic n 2 Two phase pulse train with 90 phase differential Positive logic 1 n 3 2 n 4 4 n 5 Sign pul...

Page 481: ...or counter is set to 0 Position loop operation is disabled Holding the clear status may cause the servo clamp to stop functioning and the servomotor to rotate slowly due to drift in the speed loop Whe...

Page 482: ...nit SGM H Servomotor serial number Encoder Type Incremental encoder 13 bits A B C 1 2 16 bits 17 bits 16 bits 17 bits 16384 2048 32768 16384 32768 Absolute encoder No of Encoder Pulses Motor Model Enc...

Page 483: ...gear ratio B A 100 If the electronic gear ratio is outside this range the SERVOPACK will not operate properly In this case modify the load configuration or reference unit Position Position Electronic...

Page 484: ...2048 P R 13 bit 2048 P R 16 bit 16384 P R 3 Determine the ref erence unit used 1 Reference unit 0 001 mm 1 m 1 Reference unit 0 01 1 Reference unit 0 02 mm 20 m 4 Calculate the travel distance per loa...

Page 485: ...wers Change the parameter as follows 1 Input Output Signal Timing Example Note 1 The interval from the time the servo ON signal is turned ON until a reference pulse is input must be at least 40 ms oth...

Page 486: ...0 kpps For open collector output 200 kpps t1 t2 0 1 ms t3 3 s 1 0 s T 100 50 Two phase pulse train with 90 phase differential phase A and phase B Maximum reference frequency 1 input pulse multiplier 5...

Page 487: ...rent i will be within 7 to 15 mA Represents twisted pair wires Line driver SERVOPACK Host controller Photocoupler CN1 7 8 14 15 12 11 PULS SIGN SIGN CLR CLR PULS 150 150 150 CN1 7 8 14 15 12 11 PULS S...

Page 488: ...ion Control Block Diagram A block diagram for position control is shown below CN1 7 3 8 1 14 15 12 11 13 18 PULS SIGN SIGN CLR CLR PULS PL1 PL2 PL3 150 1k 12V Tr1 1 5 V max at ON SERVOPACK Host contro...

Page 489: ...value is correctly reflected stop the reference pulse from the host controller and input the clear signal CLR or turn the servo OFF to clear the error This function provides smooth motor operating in...

Page 490: ...lse between the number of reference pulses output by the host controller and the travel distance of the servomotor is less than the value set in this parameter Set the number of error pulses in refere...

Page 491: ...level The servomotor has not reached a point near to posi tioning completed The output terminal must be allocated with parameter Pn510 in order to use positioning near signal Refer to 7 3 3 Output Cir...

Page 492: ...l Name Connector Pin Number Setting Meaning Input P CON CN1 41 Factory setting ON low level Turns the INHIBIT function ON Inhibits the SERVOPACK from counting refer ence pulses OFF high level Turns th...

Page 493: ...put Pn400 200 The servomotor operates at the rated torque with 2 V input Speed Position Torque Reference voltage V Reference torque This reference voltage is set Rated torque Type Signal Name Connecto...

Page 494: ...l oper ator or digital operator The automatic adjustment of analog speed torque reference offset Fn009 automatically measures the offset and adjusts the reference voltage The SERVOPACK performs the fo...

Page 495: ...Key to select the utility function mode 3 Press the LEFT RIGHT or UP DOWN Key or UP or DOWN Key to select parameter Fn009 The digit that can be set will blink 4 Press the DATA ENTER Key once or DATA...

Page 496: ...justment mode for the torque reference offset will be entered 4 Servo ON Turn ON the servo ON S ON signal The display will be as shown at the left 5 Press the LEFT or RIGHT Key or DATA SHIFT Key for l...

Page 497: ...nalog voltage reference as the servomotor speed limit value during torque control The smaller value is enabled the speed limit input from V REF or the Pn407 Speed Limit during Torque Control when Pn00...

Page 498: ...s for the Pn301 to Pn303 exceed the maximum speed SERVOPACK 41 45 46 Pn301 SPEED1 Pn302 SPEED2 Pn303 SPEED3 Internally set speed parameters Speed reference Servomotor M Contact inputs P CON SPD D P CL...

Page 499: ...an be performed using the internally set speeds Operation with the P CON P CL and N CL input signals pins allocated in factory setting Operation with the SPD D SPD A and SPD B input signals SPD D SPD...

Page 500: ...tput of the pulse reference from the host controller after the positioning completed COIN signal is output from the SERVOPACK Example Operation with an Internally Set Speed and Soft Start Position Con...

Page 501: ...ting Range Setting Unit Factory Setting Setting Validation 0 to 800 800 Immediately Pn403 Reverse Torque Limit Setting Range Setting Unit Factory Setting Setting Validation 0 to 800 800 Immediately Th...

Page 502: ...ng Range Setting Unit Factory Setting Setting Validation 0 to 800 100 Immediately Speed Position Torque Speed Position Torque Type Signal Name Connector Pin Number Setting Meaning Limit Value Input P...

Page 503: ...this example the servomotor rotation direction is Pn000 n 0 standard setting CCW forward P CL Forward External Torque Limit Input High level Low level N CL Reverse External Torque Limit Input High le...

Page 504: ...value is applied in the forward or reverse direction 1 Related Parameters 2 Input Signals Pn300 Pn400 T REF V REF Forward torque limit value Pn402 Speed loop gain Pn100 Speed feedback Torque limit val...

Page 505: ...s a percentage of rated torque i e the rated torque is 100 Torque limit value Speed reference Pn300 Pn400 T REF V REF Pn404 P CL ON Forward torque limit value Pn402 Pn405 N CL ON Pn100 Speed loop inte...

Page 506: ...smaller OFF high level Forward external torque limit OFF Pn402 Input N CL CN1 46 Factory setting ON low level Reverse external torque limit ON The analog voltage reference limit or the value set in P...

Page 507: ...alog voltage reference n 7 Position control pulse train reference Speed control analog voltage reference n 8 Position control pulse train reference Torque control analog voltage reference n 9 Torque c...

Page 508: ...nce analog voltage reference for speed control and a position reference pulse train reference for position control Type Signal Name Connector Pin Number Setting Pn000 Setting n 7 n 8 n 9 n A n B Input...

Page 509: ...pe Signal Name Connector Pin Number Name Input ALM RST CN1 44 Alarm Reset When a servo alarm ALM has occurred and the cause of the alarm has been eliminated the alarm can be reset by turning this sign...

Page 510: ...peed is above the set ting in Pn502 OFF high level Servomotor is not operating Motor speed is below the setting in Pn502 This signal is output to indicate that the servomotor is currently operating ab...

Page 511: ...utput when there are no servo alarms and the main circuit power supply is turned ON An added condition with absolute encoder specifications is that when the SEN signal is at high level absolute data w...

Page 512: ...f Online Autotuning 9 11 9 3 Manual Tuning 9 12 9 3 1 Explanation of Servo Gain 9 12 9 3 2 Servo Gain Manual Tuning 9 13 9 3 3 Position Loop Gain 9 13 9 3 4 Speed Loop Gain 9 14 9 3 5 Speed Loop Integ...

Page 513: ...intent using 9 1 2 List of Servo Adjustment Functions If the desired responsiveness cannot be achieved adjusting according to the servo gain adjustment methods con sider the following possible causes...

Page 514: ...Feed forward Pn109 Pn10A Feed forward compensation for the posi tion reference is added to the speed refer ence Adjustment is easy The system will be unstable if a large value is set possibly resulti...

Page 515: ...ables smooth operation The reference time increases by the filter delay time even after the reference input has been completed Position 8 6 4 Speed Feedback Filter Pn308 A standard 1st order delay fil...

Page 516: ...s low and mechanical vibration occurs easily or friction is high The speed reference is a stepwise reference If the condition meets one of the above cases or the desired operation cannot be achieved b...

Page 517: ...ration WARNING Start Operate with factory setting Set Pn110 0 0 Operation OK Load moment of inertia varies Operation OK Continuous online autotuning Set Pn110 0 1 Ajust the machine rigidity setting Se...

Page 518: ...ine status and operation references at the beginning of operation may cause minor differences in the calculation results of the load moment of inertia causing differences in the servo responsiveness e...

Page 519: ...ways set the machine rigidity setting When setting the machine rigidity after having changed the position loop gain Pn102 the value closest to the set position loop gain is displayed as the initial va...

Page 520: ...T Key for one second or more The display shown at the left will appear and the rigidity for online autotuning can be set 4 Press the Up or Down Cursor Key to select the machine rigidity setting 5 Pres...

Page 521: ...the default value the next time the power supply is turned ON the utility function mode parameter Fn007 Writing to EEPROM moment of inertia ratio data obtained from online autotuning can be used to s...

Page 522: ...n Cursor Key to select parameter Fn007 The digit that can be set will blink 3 Press the DATA ENTER or DATA SHIFT Key for one second or more The display at the left will appear for a moment of inertia...

Page 523: ...he innermost loop must have the highest response and the middle loop must have higher response than the outermost If this principle is not followed it will result in vibration or responsiveness decrea...

Page 524: ...crease the values in the following parameter to suppress detection of the overflow alarm Step Explanation 1 Set correctly the moment of inertia ratio Pn103 The utility function Fn007 can be used after...

Page 525: ...range that does not cause vibration in the mechanical system The value of speed loop gain is the same as the set value of Pn100 if the moment of inertia ratio in Pn103 has been set correctly Speed Pos...

Page 526: ...Setting Range Setting Unit Factory Setting Setting Validation 0 to 6 400 0 00 to 64 00 ms 0 01ms 0 Immediately Applies feed forward compensation in position control inside the SERVOPACK Use this para...

Page 527: ...value will result in overshooting or undershooting To prevent such troubles set the opti mum value while observing the system responsiveness Connect a speed reference signal line to V REF CN1 5 and 6...

Page 528: ...entiates the position refer ence to generate the feed forward reference and inputs the feed forward reference together with the position reference to the SERVOPACK Too high a speed feed forward value...

Page 529: ...41 is OFF H level PI control CN1 41 is ON L level P control When sending references from the host controller to the SERVOPACK P control mode can be selected from the host controller for particular op...

Page 530: ...VOPACK s Soft Start Acceleration Deceler ation Time Pn305 Pn306 or Position Reference Acceleration Deceleration Time Constant Pn204 1 Selecting the Mode Switch Setting The SERVOPACK provides the follo...

Page 531: ...ppresses torque saturation and eliminates the overshooting or undershooting of the motor speed Using the Speed Reference Level to Switch Modes With this setting the speed loop is switched to P control...

Page 532: ...tor speed Using the Error Pulse Level to Switch Modes This setting is effective with position control only With this setting the speed loop is switched to P control when the error pulse exceeds the va...

Page 533: ...ased on the machine s characteristics The Bias Width Addition Pn108 specifies when the Bias Pn107 is added and the width is expressed in error pulse units The bias input will be added when the error p...

Page 534: ...d When this function is used it is assumed that the moment of inertia ratio set in Pn103 is correct Verify that the moment of inertia ratio has been set correctly Pn110 Online Autotuning Switches Sett...

Page 535: ...1 s 3 Repeat step 2 to increase the speed loop gain while monitoring the settling time with the analog monitor s position error and checking whether vibration occurs in the torque reference If there...

Page 536: ...Pn105 Position loop gain Pn102 Pn106 Parameter Function Pn50A n 1 Enables the input signal allocation for the sequence Set to allocate the gain switching signal G SEL to an input terminal Pn100 Speed...

Page 537: ...vibration frequency such as resonances of ball screw can eliminate the frequency components to stop the vibration Set the machine s vibration frequency in the parameter of a notch filter to be used T...

Page 538: ...peed loop s response frequency Setting the notch filter frequency too close to the response frequency may cause vibration and damage the machine The speed loop response frequency is the value of the S...

Page 539: ...cable JZSP CA01 or DE9404559 to the connector CN5 The analog monitor signals can be selected by setting parameters Pn003 0 and Pn003 1 Pin Number Line Color Signal Name Monitoring Item with Factory Se...

Page 540: ...Monitor 2 Monitor Signal Observation Gain Remarks Pn003 n 0 n 0 Motor speed 1 V 1000 min 1 Factory setting for Monitor 1 n 1 n 1 Speed reference 1 V 1000 min 1 n 2 n 2 Internal torque reference 1 V 1...

Page 541: ...10 1 4 Warning Display Table when the Application Module is Used 10 6 10 1 5 Alarm Display Table when the Linear Motor is Used 10 6 10 1 6 Troubleshooting of Alarm and Warning 10 7 10 1 7 Troubleshoo...

Page 542: ...eated N A L H H H A 30 Regeneration Error Detected Regenerative transistor or regenerative resistor is faulty Available L L H H A 32 Regenerative Overload Regenerative energy exceeds regener ative res...

Page 543: ...ty Available A bF System Alarm A system error occurred in the SER VOPACK N A A C1 Servo Overrun Detected The servomotor ran out of control Available L H L H A C8 Absolute Encoder Clear Error and Multi...

Page 544: ...t ALO1 ALO2 ALO3 A 91 Overload This warning occurs before the overload alarms A 71 or A 72 occur If the warning is ignored and operation con tinues an overload alarm may occur L H H A 92 Regenerative...

Page 545: ...y Closed Encoder Phase A B Disconnection Alarm The phase A B of the fully closed encoder was disconnected L H L H A C7 Fully Closed Encoder Phase C Disconnection Alarm The phase C of the fully closed...

Page 546: ...K and an Application Module Is Used Together Warning Display Application Module which Detects Warnings Warning Name Meaning Warning Code Output Servo Alarm ALM Output NS 100 NS 300 NS 500 NS 600 FC 10...

Page 547: ...every scan through the host controller Replace the SERVOPACK Recheck the parameter writing method The SERVOPACK EEPROM and the related circuit are faulty Replace the SERVOPACK A 03 Main Circuit Encod...

Page 548: ...power exceeds the regenerative resistor s capacity Reconsider the load and operation conditions The direction or the distance of the SERVOPACK to other devices is incorrect Heat radiation of the panel...

Page 549: ...y was turned ON In the DC power input mode AC power is supplied through L1 and L2 or L1 L2 and L3 For AC power input Pn001 2 0 For DC power input Pn001 2 1 In the AC power input mode DC power is suppl...

Page 550: ...o noise interference in the encoder wiring Take measures against noise for the encoder wir ing A SERVOPACK fault occurred Replace the SERVOPACK Occurred when the servomotor started running or in a hig...

Page 551: ...vomotor was run ning The load exceeds the rated load Reconsider the load and operation conditions or reconsider the servomotor capacity The SERVOPACK ambient temperature exceeds 55 C The ambient temp...

Page 552: ...absolute encoder the servomotor runs at 200 min 1 or more Turn ON the encoder power supply when the ser vomotor runs at a speed less than 200 min 1 An encoder fault occurred Replace the servomotor A...

Page 553: ...eration The encoder wiring and the contact are incorrect Correct the encoder wiring Noise interference occurred due to incorrect encoder cable specifications Use tinned annealed copper twisted pair or...

Page 554: ...it value for the encoder is not set or was changed Execute Fn013 at the occurrence of alarm Occurred during normal operation A SERVOPACK board fault occurred Replace the SERVOPACK A d0 Position Error...

Page 555: ...rcuit power supply was turned ON The three phase power supply wiring is incorrect Correct the power supply wiring The three phase power supply is unbalanced Balance the power supply by changing phases...

Page 556: ...PACK A 92 Regenerative Overload Warning for the alarm A320 Occurred when the con trol power supply was turned ON A SERVOPACK fault occurred Replace the SERVOPACK Occurred during nor mal operation Larg...

Page 557: ...ter Pn001 1 Set parameters to match the application SEN input is turned OFF Check the SEN signal input when absolute encoder is used Turn SEN input signal ON Reference pulse mode selection is incorrec...

Page 558: ...ence due to incorrect input signal wire specifications The specifications of input signal wires must be Twisted pair or twisted pair shielded wire with core 0 12 mm2 0 0002 in2 min and tinned annealed...

Page 559: ...nt from the position when the power turned ON Noise interference due to improper encoder cable specifications The specifications of encoder cable must be Twisted pair or twisted pair shielded wire wit...

Page 560: ...The wiring distance must be 20 m 65 6 ft max The encoder cable distance must be within the specified range Noise influence due to damaged encoder cable Check if the encoder cable is bent or its sheat...

Page 561: ...Servomotor surface dirty Check visually Clean dust and oil from servomotor surface Overloaded Run under no load Reconsider load and operation conditions or replace with larger capacity servomotor Tabl...

Page 562: ...aily Touch and listen Levels higher than normal Exterior According to degree of contamination Clean with cloth or compressed air Insulation Resistance Measurement At least once a year Disconnect SERVO...

Page 563: ...firm that the parameters are properly set before starting operation Table 10 11 Periodical Part Replacement Part Standard Replacement Period Replacement Method Operating Conditions Cooling Fan 4 to 5...

Page 564: ...Positioning Module B2813 SERVOPACK in Position Control Mode 11 19 11 2 5 Example of Connection to OMRON s Motion Control Unit 11 20 11 2 6 Example of Connection to OMRON s Position Control Unit 11 21...

Page 565: ...275 m Ball screw length LB 1 4 m Feeding time tm 1 2 s max Ball screw diameter DB 0 04 m Friction coefficient 0 2 Ball screw lead PB 0 01 m Mechanical efficiency 0 9 90 Coupling mass MC 1 kg Coupling...

Page 566: ...ed torque 5 39 N m Instantaneous peak torque 13 8 N m Servomotor moment of inertia 13 9 10 4 kg m2 SERVOPACK allowable load moment of inertia 69 58 10 4 kg m2 8 Verification on the Provisionally Selec...

Page 567: ...in Linear motion section mass M 80 kg Positioning distance 0 25 m Ball screw length LB 0 8 m Positioning time tm Less than 1 2 s Ball screw diameter DB 0 016 m Electrical stop accuracy 0 01 mm Ball sc...

Page 568: ...MPH 02A312 servomotor SGDH 02AP SERVOPACK for position control b Specifications of Servomotor and SERVOPACK Rated output 200 W Rated motor speed 3000 min 1 Rated torque 0 637 N m Instantaneous peak to...

Page 569: ...Frequency 11 Error Counter Pulses Position loop gain Kp 30 1 S 12 Electrical Stop Accuracy The above results confirm that the selected SERVOPACK and servomotor are applicable for the position control...

Page 570: ...s shown in the following table If the rotational energy in the servomotor exceeds these values then connect an external regenerative resistor Calculate the rotational energy Es in the servomotor from...

Page 571: ...Conditions for Allowable Regenerative Frequency Calculation Use the following equation to calculate the allowable frequency for regeneration mode operation n JL JM JM Servomotor rotor moment of inert...

Page 572: ...he allowable regenerative frequencies to the rotation speed and load moment of inertia are the same as the b SERVOPACKs with Capacities of 500 W to 5 0 kW 2 Calculating the Regenerative Energy This se...

Page 573: ...perform the calculation using EL 0 When the operation period in regeneration mode is continuous add the following items to the above calcula tion procedure in order to find the required capacity W for...

Page 574: ...otors 200 V Servomotors SGMAH Servomotors SGMPH Servomotors Model SGMAH W Loss Torque 100 200 300 0 0 20 100 200 180 160 140 120 40 60 80 01B 02B A5B A3B Model SGMPH Torque 100 200 300 0 0 20 100 160...

Page 575: ...0 1600 2000 2400 2200 2600 Model SGMGH Torque 30A A 13A A 20A A 09A A 05A A 44A A 75A A 55A A 1EA A 1AA A W Loss 1800 2000 100 300 0 0 600 800 1200 1400 400 200 1000 1600 200 Model SGMGH Torque 55A B...

Page 576: ...rvomotors 100 200 300 0 500 1000 1500 2500 2000 0 Model SGMGH Torque 05D A 09D A 13D A 20D A 30D A 44D A 1AD A 55D A 75D A 1ED A W Loss 100 200 300 0 200 400 600 800 1200 1000 0 Model SGMSH Torque 140...

Page 577: ...VOPACKs 200 V SERVOPACKs Model SGDH AC Input Power Supply Voltage Vrms 0 6 8 12 18 14 4 2 10 16 100 110 120 90 A5BE to 02BE A3BE Absorbable Energy J Model SGDH 0 20 100 120 40 60 80 200 220 240 180 26...

Page 578: ...50DE to 1EDE 60 80 120 140 360 400 440 40 20 100 320 480 520 Model SGDH 05DE 10DE 15DE 20DE 30DE AC Input Power Supply Voltage Vrms Absorbable Energy J 200 300 500 600 100 0 400 320 Model SGDH 360 400...

Page 579: ...3 4 5 16 7 6 13 12 30 34 29 11 19 14 1 20 28 32 FG 21 22 18 35 10 17 31 2 23 24 20 6 43 42 41 47 4 27 32 30 10 29 31 5 2 33 34 35 36 19 44 21 22 40 NREF SG PA PAL PB PBL PC PCL SG 24V OUT SVON ALMRST...

Page 580: ...B PAL 17 22 47 23 48 24 19 43 18 44 45 26 1 9 15 14 13 12 11 10 8 7 4 3 47 40 41 43 42 44 27 28 25 26 29 30 31 32 21 22 2 4 19 36 35 34 33 10 9 6 5 20 1 24V IN S ON P CON N OT P OT ALM RST TGON TGON V...

Page 581: ...isted pair wires PA PAO 1 33 PAO 2 34 PB PBO 3 35 PBO 4 36 PC PCO 5 19 PCO 6 20 VREF V REF 7 5 SG SG 8 6 BAT BAT 9 21 BAT0 BAT 10 22 24V 24VIN 19 47 SVON S ON 13 40 PCON P CON 14 41 SEN SEN 11 12 0SEN...

Page 582: ...nnect the shield wire to the connector shell 4 represents twisted pair wires 1Ry 024V 24V 12V 5V 0 V ERROR FG PA PB 0V PC MEMOCON GL60 70 Series B2813 manufactured by Yaskawa START STOP PAO SG PCO PBO...

Page 583: ...same way 6 The normally closed N C input terminals not to be used at the motion control unit I O connec tor section must be short circuited at the connector 7 Make the setting so that the servo can b...

Page 584: ...N2 CN1 A3 A5 A6 A7 A4 8 20 25 L1C L3 L2 L1 L2C 19 12 7 14 15 W V A 1 B 2 C 3 D 4 U Position control unit Servomotor SGDH SERVOPACK CS1W NC133 233 433 manufactured by OMRON A16 A11 A14 A1 A2 A8 A20 A22...

Page 585: ...ents twisted pair wires Note Only signals applicable to OMRON s C500 NC221 position control unit and Yaskawa s SGDH SERVOPACK are shown in the diagram 42 43 3Ry 1Ry 4Ry 3Ry 19 36 35 20 1 34 33 CCWLX S...

Page 586: ...Note Only signals applicable to OMRON s C500 NC112 position control unit and Yaskawa s SGDH SERVOPACK are shown in the diagram 4Ry 3Ry 47 43 42 40 8 7 9 20 10 19 4Ry 3Ry 1Ry 4B 12V 10B 10A 12V 5V 1A...

Page 587: ...ector wire to the connector shell 4 represents twisted pair wires Note Only signals applicable to Mitsubishi s AD72 Positioning Unit and Yaskawa s SGDH SERVO PACK are shown in the diagram 43 42 1Ry 24...

Page 588: ...K Note Only signals applicable to Mitsubishi s AD75 Positioning Unit and Yaskawa s SGDH SERVO PACK are shown in the diagram 24V 024V 1Ry CN1 CN1 STOP DOG READY PGO PULSE SIGN CLEAR 1Ry 2 2K 19 14 15 1...

Page 589: ...ertia ratio data obtained from online autotuning 9 2 7 Fn008 Absolute encoder multiturn reset and encoder alarm reset 8 4 5 Fn009 Automatic tuning of analog speed torque reference offset 8 5 3 8 7 3 F...

Page 590: ...parameter Pn000 0 or n Indicates the value for the 1st digit of parameter Pn000 Pn000 1 or n Indicates the value for the 2nd digit of parameter Pn000 Pn000 2 or n Indicates the value for the 3rd digi...

Page 591: ...train reference Internal set speed control contact reference Torque control analog reference Position control pulse train reference Speed control analog reference Position control pulse train referenc...

Page 592: ...of Pn406 to the maximum value decelerates the motor to a stop and then sets it to coasting state Servo OFF or Alarm Stop Mode Refer to 8 3 5 Selecting the Stopping Method After Servo OFF Overtravel O...

Page 593: ...ard Uses T REF as an external torque limit input when P CL and N CL are ON Refer to 8 9 4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference N A Uses V REF as an external spee...

Page 594: ...4 7 Pn107 Bias 0 to 450 min 1 1 min 1 0 min 1 Immedi ately 9 4 6 Pn108 Bias Width Addition 0 to 250 reference units Reference unit 7 refer ence units Immedi ately 9 4 6 Pn109 Feed forward 0 to 100 1 0...

Page 595: ...etting Range Units Factory Setting Setting Validation Reference Section 0 1 2 3 4 0 1 Uses internal torque reference as the condition Level setting Pn10C Uses speed reference as the condition Level se...

Page 596: ...s Pn121 50 Hz Pn122 0 Hz Pn123 0 Parameter No Name Setting Range Units Factory Setting Setting Validation Reference Section 0 1 2 0 1 Tunes only at the beginning of operation Always tunes Does not per...

Page 597: ...rved Do not change 16384 P rev 0 1 2 3 4 5 6 7 8 9 Sign Pulse positive logic CW CCW positive logic Phase A Phase B 1 positive logic Phase A Phase B 2 positive logic Phase A Phase B 4 positive logic Si...

Page 598: ...di ately 8 5 4 Pn307 Speed Reference Filter Time Constant 0 00 to 655 35 ms 0 01 ms 0 40 ms Immedi ately 8 5 5 Pn308 Speed Feedback Filter Time Constant 0 00 to 655 35 ms 0 01 ms 0 00 ms Immedi ately...

Page 599: ...0 min 1 Immedi ately 8 5 8 Pn504 NEAR Signal Width 1 to 250 reference units 1 reference unit 7 refer ence units Immedi ately 8 6 6 Pn505 Overflow Level 1 to 8388352 1 reference unit 262144 reference u...

Page 600: ...ration Proportional Operation Reference 4th digit 3rd digit 2nd digit 1st digit n C D E F Uses the sequence input signal terminals with standard allocation Changes the sequence input signal allocation...

Page 601: ...owed when CN1 41 input signal is OFF H level Reverse run allowed when CN1 42 input signal is OFF H level 0 to F Same as N OT 0 to F Same as S OT the setting of 2nd digit of Pn50A 4th digit 3rd digit 2...

Page 602: ...H level ON when CN1 41 input signal is OFF H level ON when CN1 42 input signal is OFF H level ON when CN1 43 input signal is OFF H level 0 to F Same as SPD D 0 to F Same as SPD D 4th digit 3rd digit 2...

Page 603: ...N when CN1 41 input signal is OFF H level ON when CN1 42 input signal is OFF H level ON when CN1 43 input signal is OFF H level ON when CN1 44 input signal is OFF H level ON when CN1 45 input signal i...

Page 604: ...tation Detection Signal Mapping TGON Refer to 8 11 3 Running Output Signal TGON Servo Ready Signal Mapping S RDY Refer to 8 11 4 Servo Ready S RDY Output 4th digit 3rd digit 2nd digit 1st digit n 0 to...

Page 605: ...t Factory Setting Setting Validation Reference Section 0 1 2 3 Disabled the above signal is not used Outputs the signal from CN1 25 or 26 terminals Outputs the signal from CN1 27 or 28 terminals Outpu...

Page 606: ...pulse speed displayed only in position control mode min 1 Un008 Error counter value amount of position error displayed only in position control mode reference unit Un009 Accumulated load rate Value f...

Page 607: ...Immediately Pn107 0 min 1 Bias Immediately Pn108 7 reference units Bias Width Addition Immediately Pn109 0 Feed forward Immediately Pn10A 0 00 ms Feed forward Filter Time Constant Immediately Pn10B 00...

Page 608: ...iately Pn305 0 ms Soft Start Acceleration Time Immediately Pn306 0 ms Soft Start Deceleration Time Immediately Pn307 0 40 ms Speed Reference Filter Time Constant Immediately Pn308 0 00 ms Speed Feedba...

Page 609: ...l Selections 2 After restart Pn50C 8888 Input Signal Selections 3 After restart Pn50D 8888 Input Signal Selections 4 After restart Pn50E 3211 Output Signal Selections 1 After restart Pn50F 0000 Output...

Page 610: ...SGMUH servomotors 2 22 cables for analog monitor 5 65 cables for connecting personal computers 5 63 calculating the required capacity of regenerative resistors 11 7 CE marking 1 10 checking products...

Page 611: ...NEAR 6 15 noise data 3 46 noise filter for brake power supplies 6 21 noise filters 6 21 selection 2 30 noise interference 6 19 N OT 6 14 notch filter 9 26 O online autotuning 9 5 machine rigidity set...

Page 612: ...rbable energy 11 14 applicable servomotors 2 16 cable types 5 45 dimensional drawings 4 23 installation 4 7 internal block diagrams 4 9 load moment of inertia 4 19 model designations 2 15 nameplate 1...

Page 613: ...s 3 156 shield box 6 26 SigmaIndexer 5 95 SIGN 6 14 soft start 8 43 soft start time setting 4 5 software version display Fn012 7 17 S ON 6 14 specifications and dimensional drawings of servomotor main...

Page 614: ...odule is used 10 6 warning output WARN 8 78 wiring 400 V power supply voltage 6 30 absolute encoders 6 9 DC power supply input 6 7 incremental encoders 6 8 wiring encoders 6 8 wiring example 6 20 wiri...

Page 615: ...th brakes 500 W to 15 kW 3 14 4 1 Revision Dimensional drawing of SGMGH servomotors 1500 min 1 with standard backlash gears and without brakes foot mounted type grease lubricating type 3 14 5 2 Revisi...

Page 616: ...ai 20000 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YATEC ENGINEERING CORPORATION 4F No 49 Wu Kong 6 Rd Wu Ku Industrial Park Taipei Taiwan Phone 886 2 2298 3676 Fax 886 2 2298 3677 YASKAWA ELECT...

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