YASKAWA SGM7D, Product Manual

Page 1: ...OPACKs Specifications Ratings and External Dimensions of SGM7F Servomotors Specifications Ratings and External Dimensions of SGMCV Servomotors Maintenance and Inspection Appendix 1 2 3 4 5 6 7 8 9 10...

Page 2: ...liability is assumed with respect to the use of the informa tion contained herein Moreover because Yaskawa is constantly striving to improve its high quality products the information contained in this...

Page 3: ...nsions of SGM7E Servo motors Describes how to interpret the model numbers of SGM7E Servomotors and gives their specifications ratings and external dimensions 5 Specifications Ratings and Exter nal Dim...

Page 4: ...rs 7C Servomotors Other Documents Built in Function Manuals 7 Series 7S 7W SERVOPACK Product Manuals 7 Series 7S 7W SERVOPACK Hardware Option Product Manuals Option Module User s Manuals 7 Series 7S 7...

Page 5: ...iled information on the specifications system configu ration and communications con nection methods for the Ethernet communications that are used with MP3000 Series Machine Control lers and 7 Series 7...

Page 6: ...d procedures for installing the Safety Module in a SERVOPACK V Series V Series for Large Capacity Models 7 Series Installation Guide INDEXER Module TOBP C720829 02 Provides detailed procedures for ins...

Page 7: ...Manual SIEP S800001 64 7 Series AC Servo Drive 7S SERVOPACK Command Option Attachable Type with DeviceNet Module Product Manual SIEP S800001 70 7 Series AC Servo Drive 7S SERVOPACK with EtherCAT Commu...

Page 8: ...SIEP S800001 95 7 Series AC Servo Drive 7S SERVOPACK with FT EX Specification for Torque Force Assistance for Conveyance Application Product Manual SIEP S800002 09 7 Series AC Servo Drive 7S SERVOPACK...

Page 9: ...Communications Command Manual SIEP S800001 30 Provides detailed information on the MECHATROLINK II communi cations commands that are used for a 7 Series Servo System 7 Series AC Servo Drive MECHATROLI...

Page 10: ...ies Servo System AC Servo Drive Engineering Tool SigmaWin Operation Manual SIET S800001 34 Provides detailed operating proce dures for the SigmaWin Engineer ing Tool for a 7 Series Servo System Distri...

Page 11: ...ies Direct Drive Servomotor SERVOPACK A 7 Series Servo Amplifier Servo Drive The combination of a Servomotor and SERVOPACK Main Circuit Cable One of the cables that connect to the main circuit termina...

Page 12: ...ation marked as shown below is important for safety Always read this information and heed the precau tions that are provided DANGER Indicates precautions that if not heeded are likely to result in los...

Page 13: ...RVOPACK heat sinks regenerative resistors External Dynamic Brake Resistors Servo motors and other components can be very hot while power is ON or soon after the power is turned OFF Implement safety me...

Page 14: ...rvomotor to move the machine There is a risk of damage or injury When you handle a SERVOPACK or Servomotor be careful of sharp parts such as the corners There is a risk of injury Do not place an exces...

Page 15: ...ubject to water oil or chemicals Locations that are subject to vibration or shock that exceeds product specifications Locations that are subject to radiation If you store or install the product in any...

Page 16: ...i nals has been completed If a connector is used for the main circuit terminals remove the main circuit connector from the SER VOPACK before you wire it Insert only one wire per insertion hole in the...

Page 17: ...ration There is a risk of injury Do not touch the moving parts of the Servomotor or machine during operation There is a risk of injury CAUTION Always turn OFF the servo before you turn OFF the power s...

Page 18: ...arm There is a risk of injury or machine damage If there is the possibility that an external force including gravity may move the current position and create a hazardous situation when power is interr...

Page 19: ...red product in a manner in which it was not originally intended Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa Events for whi...

Page 20: ...roperty Systems that require a high degree of reliability such as systems that supply gas water or electricity or systems that operate continuously 24 hours a day Other systems that require a similar...

Page 21: ...No 274 Rotary Servomotors SGM7M SGM7A SGM7J SGM7P SGM7G SGMMV UL 1004 1 UL 1004 6 E165827 Direct Drive Servo motors SGM7E SGM7F A B C and D Small Capacity Ser vomotors with Cores SGMCV SGMCS B C D an...

Page 22: ...0581 SGM7M SGM7J SGM7A SGM7P SGM7G EMC Directive 2014 30 EU EN 55011 group 1 class A EN 61000 6 2 EN 61000 6 4 EN 61800 3 Category C2 Second environment Low Voltage Directive 2015 35 EU EN 60034 1 EN...

Page 23: ...evel IEC 61508 SIL3 IEC 62061 SILCL3 Probability of Dangerous Failure per Hour IEC 61508 IEC 62061 PFH 4 04 10 9 1 h 4 04 of SIL3 Performance Level EN ISO 13849 1 PL e Category 3 Mean Time to Dangerou...

Page 24: ...GM7D SGM7E and SGM7F 1 6 1 2 2 SGMCV 1 6 1 2 3 SGMCS 1 6 1 3 Outline of Model Designations 1 7 1 3 1 Servomotors 1 7 1 3 2 SERVOPACKs 1 7 1 4 Combinations of Servomotors and SERVOPACKs 1 8 Capacity Se...

Page 25: ...f 20 m or Less 4 15 4 4 4 Relay Encoder Cables of 30 m to 50 m 4 16 Specifications Ratings and External Dimensions of SGM7F Servomotors 5 5 1 Model Designations 5 2 5 2 Specifications and Ratings Smal...

Page 26: ...rs Specifications 7 4 7 2 2 Small Capacity Coreless Servomotors Ratings 7 6 7 2 3 Small Capacity Coreless Servomotors Torque Motor Speed Characteristics 7 7 7 2 4 Small Capacity Coreless Servomotors S...

Page 27: ...ure Increase 8 9 Wiring Servomotors and SERVOPACKs 9 9 1 Wiring Precautions 9 2 9 1 1 General Precautions 9 2 9 1 2 Grounding Precautions 9 3 9 1 3 Precautions for Standard Cables 9 3 9 1 4 Precaution...

Page 28: ...or Part Names 1 2 1 1 1 SGM7D 1 2 1 1 2 SGM7E 1 3 1 1 3 SGM7F 1 4 1 1 4 SGMCV 1 4 1 1 5 SGMCS 1 5 1 2 Nameplate 1 6 1 2 1 SGM7D SGM7E and SGM7F 1 6 1 2 2 SGMCV 1 6 1 2 3 SGMCS 1 6 1 3 Outline of Model...

Page 29: ...part mounting screw Fixed part Motor lead Bottom cover Bottom Surface Load mounting surface Nameplate Encoder lead Top Surface Load mounting screw Rotating part Mounting plate fixed part Motor lead En...

Page 30: ...ad mounting surface Top Surface Bottom Surface Motor lead Nameplate Encoder lead Connector box Hollow hole Load mounting screw Fixed part mounting hole Rotating part Fixed part Nameplate Encoder lead...

Page 31: ...onnector Flange outer diameter Encoder connector Nameplate Motor lead Encoder lead Nameplate Rotating part Flange outer diameter Servomotor connector Encoder connector Nameplate Rotating part Flange o...

Page 32: ...m Capacity Servomotors with Cores Flange Specification 1 Flange Specification 4 Connectors Nameplate Servomotor connector Rotating part Flange outer diameter Encoder connector Nameplate Rotating part...

Page 33: ...QR code Thermal class Rated output power supply voltage rated current rated torque and rated current frequency Rated motor speed maximum motor speed number of phases and time rating Order number Seri...

Page 34: ...5th digit Design Revision Order 7th digit Options 6th digit Flange Specifications Series SGM 02 B 3 C 1 1 1st 2nd digits 3rd digit 4th digit 5th digit 6th digit 7th digit Coreless inner rotor Code Sp...

Page 35: ...8F 1 SGM7D 05G 5 00 6 00 SGM7D 08G 8 00 15 0 120A 1 SGM7D 18G 18 0 30 0 SGM7D 24G 24 0 45 0 SGM7D 34G 34 0 60 0 SGM7D 45G 45 0 75 0 SGM7D 03H 3 00 4 00 2R8A 1 2R8F 1 SGM7D 28I 28 0 50 0 120A 1 SGM7D 7...

Page 36: ...5A SGMCV 25C 25 0 75 0 7R6A SGMCV 16D 16 0 48 0 5R5A SGMCV 35D 35 0 105 7R6A 2 120A 7R6A 2 SGMCS Small Capacity Coreless Inner Rotor SGMCS 02B 2 00 6 00 2R8A 2R1F 2R8A SGMCS 05B 5 00 15 0 SGMCS 07B 7...

Page 37: ...This chapter describes calculation methods to use when selecting Servomotor capacities 2 1 Selecting the Servomotor Capacity 2 2 Capacity Selection 2...

Page 38: ...leration deceleration torque Instantaneous maximum torque of Direct Drive Servomotor Load moment of inertia Allowable load moment of inertia ratio JR Moment of inertia of Direct Drive Servomotor JM Tu...

Page 39: ...8 Result It has been verified that the provisionally selected Servomotor is applicable The torque diagram is shown below Item Value Rated Torque 17 N m Instantaneous Maximum Torque 51 N m Moment of In...

Page 40: ...s 3 6 3 2 3 Torque Motor Speed Characteristics 3 12 3 2 4 Servomotor Overload Protection Characteristics 3 14 3 2 5 Allowable Load Moment of Inertia 3 19 3 3 External Dimensions 3 20 3 4 Selecting Cab...

Page 41: ...ation 2 High mechanical precision L Non load side Direct Drive Servomotors SGM7D 4th digit 6th digit 3rd digit 7th digit Options 5th digit Design Revision Order Servomotor Outer Diameter Serial Encode...

Page 42: ...ective Structure 1 Totally enclosed self cooled IP20 Totally enclosed self cooled IP30 Totally enclosed self cooled IP20 Totally en closed self cooled IP30 Environmental Conditions Surrounding Air Tem...

Page 43: ...1 3 s Protective Structure 1 Totally enclosed self cooled IP30 Environmental Conditions Surrounding Air Temperature 0 C to 40 C with no freezing Surrounding Air Humidity 20 to 80 relative humidity wit...

Page 44: ...y 15 s Repeatability 1 3 s Protective Structure 1 Totally enclosed self cooled IP30 Environmental Conditions Surrounding Air Temperature 0 C to 40 C with no freezing Surrounding Air Humidity 20 to 80...

Page 45: ...82 5 76 8 57 11 2 10 2 3 01 Motor Moment of Inertia 10 4 kg m2 960 1190 1420 1670 55 0 75 0 120 150 190 230 270 25 0 Rated Power Rate kW s 9 38 28 3 57 0 72 5 0 307 3 33 5 33 21 6 30 3 50 3 75 0 3 60...

Page 46: ...ne so that the thrust loads or moment loads will not exceed the values given in the table The allowable load is for a static load in one direction When designing the system multiply the allowable load...

Page 47: ...N m 28 0 70 0 100 130 220 240 6 00 9 00 18 0 20 0 38 0 Rated Current Arms 5 2 5 6 5 5 5 0 5 6 4 8 4 0 3 4 3 0 2 2 3 1 Instantaneous Maximum Current Arms 14 1 10 6 Rated Motor Speed min 1 90 60 30 120...

Page 48: ...typical values 2 For the bearings used in these Servomotors the loss depends on the bearing temperature The amount of heat loss is higher at low temperatures F Where F is the external force Thrust lo...

Page 49: ...Instantaneous Maximum Torque N m 5 00 10 0 15 0 10 0 20 0 40 0 Stall Torque N m 2 06 6 00 8 00 6 00 12 0 30 0 Rated Current Arms 1 6 1 8 1 6 1 7 2 1 8 1 Instantaneous Maximum Current Arms 4 2 4 2 4 2...

Page 50: ...coefficient depending on the type of load Smooth load with no shock 1 3 Light repetitive load 1 5 Shock load 1 10 Note 1 These values are for operation in combination with a SERVOPACK when the tempera...

Page 51: ...0 8 16 24 32 0 B Torque N m SGM7D 18J 20 40 60 160 140 120 80 100 A 0 16 48 32 0 B Torque N m SGM7D 20J 20 40 60 160 140 120 80 100 A 0 16 64 48 32 0 B Torque N m SGM7D 38J 20 40 60 160 140 120 80 10...

Page 52: ...he power supply voltage 3 If the effective torque is within the allowable range for the rated torque the Servomotor can be used within the intermittent duty zone 4 If you use a Servomotor Main Circuit...

Page 53: ...40 240 220 200 160 180 10000 1000 100 10 1 10000 1000 100 10 1 100 300 180 140 260 220 10000 1000 100 10 1 80 260 140 200 10000 1000 100 10 1 Detection time s Detection time s Detection time s Detecti...

Page 54: ...280 10000 1000 100 10 1 100 130 340 310 280 250 220 160 190 10000 1000 100 10 1 Current percentage of rated current Current percentage of rated current Current percentage of rated current Current per...

Page 55: ...100 140 260 220 180 10000 1000 100 10 10000 1000 100 10 10000 1000 100 10 SGM7D 28I SGM7D 1CI SGM7D 2BI SGM7D 1ZI SGM7D 70I SGM7D 2DI Current percentage of rated current Current percentage of rated cu...

Page 56: ...50 400 350 200 300 250 10000 1000 100 10 100 140 380 340 180 220 260 300 10000 1000 100 10 100 260 220 180 140 1000 100 10 1 SGM7D 06J SGM7D 20J SGM7D 09J SGM7D 18J SGM7D 38J SGM7D 02K Current percent...

Page 57: ...e 3 2 3 Torque Motor Speed Characteristics on page 3 12 SGM7D 06L 100 120 260 240 220 200 180 160 140 10000 1000 100 10 1 SGM7D 12L 100 120 140 160 180 200 220 10000 1000 100 10 1 SGM7D 30L 100 180 16...

Page 58: ...e Reduce the maximum motor speed If the above steps is not possible install an external regenerative resistor When an External Regenerative Resistor Is Required Install the External Regenerative Resis...

Page 59: ...02 0600 Manufacturer Molex Japan LLC Mating connector 54280 0609 Unit mm CW direction 6 M8 10 Divided into equal sections at 60 CCW direction 246 0 2 dia 1 25 1 3 4 8 6 M6 15 Divided into equal sectio...

Page 60: ...1 Socket 350570 3 or 350689 3 Only absolute value models with multiturn data Model 55102 0600 Manufacturer Molex Japan LLC Mating connector 54280 0609 Unit mm Approx mass 3 kg 158 dia 136 dia 0 02 0...

Page 61: ...Japan LLC Mating connector 54280 0609 Unit mm CW direction CCW direction 1 146 0 2 dia 6 M6 8 Divided into equal sections at 60 L 3 0 2 11 5 2 0 160 dia 136 dia 0 02 0 06 116 dia 0 02 0 05 6 Coated su...

Page 62: ...Cap 350780 1 Socket 350570 3 or 350689 3 Only absolute value models with multiturn data Model 55102 0600 Manufacturer Molex Japan LLC Mating connector 54280 0609 1 10 30 77 0 5 14 3 0 01 A 0 01 B 300...

Page 63: ...or 350550 3 Encoder Connector Only absolute value models with multiturn data Model 55102 0600 Manufacturer Molex Japan LLC Mating connector 54280 0609 2 2 1 35 300 50 300 50 88 88 L 5 0 2 11 5 2 0 79...

Page 64: ...K Mating Connector Cap 350780 1 Socket 350536 3 or 350550 3 Encoder Connector Only absolute value models with multiturn data Model 55102 0600 Manufacturer Molex Japan LLC Mating connector 54280 0609...

Page 65: ...3 Ground pin 350654 1 or 350669 1 No 4 Manufacturer Tyco Electronics Japan G K Mating Connector Cap 350780 1 Socket 350570 3 or 350689 3 Only absolute value models with multiturn data Model 55102 060...

Page 66: ...350669 1 No 4 Manufacturer Tyco Electronics Japan G K Mating Connector Cap 350780 1 Socket 350536 3 or 350550 3 Encoder Connector Only absolute value models with multiturn data Model 55102 0600 Manuf...

Page 67: ...yco Electronics Japan G K Mating Connector Cap 350780 1 Socket 350536 3 or 350550 3 Encoder Connector Only absolute value models with multiturn data Model 55102 0600 Manufacturer Molex Japan LLC Matin...

Page 68: ...he recommended bending radius R is 90 mm or larger Note Direct Drive Servomotors are not available with holding brakes Encoder Cable of 20 m or Less Encoder Cable of 30 m to 50 m Relay Cable SERVOPACK...

Page 69: ...0 20 E For multiturn absolute encoder Without Battery Case 2 3 m JZSP CMP00 03 E JZSP CMP10 03 E 5 m JZSP CMP00 05 E JZSP CMP10 05 E 10 m JZSP CMP00 10 E JZSP CMP10 10 E 15 m JZSP CMP00 15 E JZSP CMP1...

Page 70: ...ue Motor Speed Characteristics 4 5 4 2 4 Servomotor Overload Protection Characteristics 4 6 4 2 5 Allowable Load Moment of Inertia 4 7 4 3 External Dimensions 4 9 4 3 1 Connector Specifications 4 13 4...

Page 71: ...8D 10 0 SGM7E 10C 14 0 SGM7E 14C 16 0 SGM7E 16E 17 0 SGM7E 17D 25 0 SGM7E 25D 35 0 SGM7E 35E 4th digit 6th digit 7th digit Mounting Non load side Non load side with cable on side Options Without optio...

Page 72: ...ve Structure 2 Totally enclosed self cooled IP42 The protective structure is IP40 for CE Marking Environmental Conditions Surrounding Air Temperature 0 C to 40 C with no freezing Surrounding Air Humid...

Page 73: ...9 293 168 356 393 335 550 Rated Torque 1 2 N m 2 00 5 00 7 00 4 00 10 0 14 0 8 00 17 0 25 0 16 0 35 0 Instantaneous Maximum Torque 1 N m 6 00 15 0 21 0 12 0 30 0 42 0 24 0 51 0 75 0 48 0 105 Stall Tor...

Page 74: ...400 500 B SGM7E 05B A 0 0 100 3 6 9 12 15 18 200 300 400 500 B SGM7E 07B A 0 0 100 5 10 15 20 25 30 200 300 400 500 B SGM7E 04C A 0 0 100 3 6 9 12 15 18 200 300 400 500 B SGM7E 10C A 0 0 100 6 12 18...

Page 75: ...ive force remains within the continuous duty zone Refer to the following section for the effective torque 4 2 3 Torque Motor Speed Characteristics on page 4 5 SGM7E 02B 05B 07B 10C 17D and 35E SGM7E 0...

Page 76: ...f the following measures to adjust the load moment of inertia to within the allowable value Reduce the torque limit Reduce the deceleration rate Reduce the maximum motor speed If the above steps is no...

Page 77: ...7E 04C 0 2 4 6 8 10 12 0 100 200 300 400 500 600 SGM7E 07B 0 0 5 1 1 5 2 2 5 3 3 5 0 100 200 300 400 500 600 SGM7E 08D 0 1 2 3 4 5 6 0 100 200 300 400 500 SGM7E 10C 0 0 5 1 1 5 2 2 5 3 3 5 0 50 100 15...

Page 78: ...00 5 8 07B A11 128 120 120 20 100 8 2 Model SGM7E L LL LB LH LA Approx Mass kg 02B A41 59 51 120 20 100 4 8 05B A41 88 80 120 20 100 5 8 07B A41 128 120 120 20 100 8 2 LL L 6 M4 8 Divided into equal s...

Page 79: ...90 80 160 35 130 10 2 14C A41 130 120 160 35 130 14 2 2 M5 8 For use by Yaskawa 6 M5 8 Divided into equal sections at 60 6 M5 8 Divided into equal sections at 60 1 100 dia 173 dia L 5 23 4 25 4 60 R5...

Page 80: ...LA Approx Mass kg 08D A41 74 64 200 60 170 14 0 17D A41 110 100 200 60 170 22 0 25D A41 160 150 200 60 170 29 7 6 M6 10 Divided into equal sections at 60 2 M6 10 For use by Yaskawa 6 M6 10 Divided in...

Page 81: ...16E A41 88 76 260 75 220 26 0 35E A41 112 100 260 75 220 34 0 6 M8 14 Divided into equal sections at 60 2 M8 14 For use by Yaskawa 6 M8 14 Divided into equal sections at 60 6 6 0 1 9 1 160 dia 290 dia...

Page 82: ...g connector JN1DS10SL1 Not provided by Yaskawa Servomotor Connector Encoder Connector Models Plug 350779 1 Pins 350561 3 or 350690 3 No 1 to 3 Ground pin 350654 1 or 350669 1 No 4 Manufacturer Tyco El...

Page 83: ...on for the flange specifications 4 1 Model Designations on page 4 2 Note Direct Drive Servomotors are not available with holding brakes Encoder Cable of 20 m or Less Encoder Cable of 30 m to 50 m Rela...

Page 84: ...tion 2 1 For multiturn absolute encoder without Battery Case 3 3 m JZSP C7PI00 03 E JZSP C7PI20 03 E 5 m JZSP C7PI00 05 E JZSP C7PI20 05 E 10 m JZSP C7PI00 10 E JZSP C7PI20 10 E 15 m JZSP C7PI00 15 E...

Page 85: ...ber 1 Appearance SGM7E F SGM7E 7 Flange specifica tion 2 1 Encoder end Cable for single turn multiturn absolute encoder 0 3 m JZSP C7PRC0 E SGM7E F SGM7E 7 Flange specifica tion 2 1 or 4 Cables with C...

Page 86: ...ment of Inertia 5 8 5 3 Specifications and Ratings Medium Capacity 5 9 5 3 1 Specifications 5 9 5 3 2 Ratings 5 10 5 3 3 Torque Motor Speed Characteristics 5 11 5 3 4 Servomotor Overload Protection Ch...

Page 87: ...1AM 150 SGM7F 1EN 200 SGM7F 2ZN 1A 110 N m 1E 150 N m 2Z 200 N m Small Capacity Medium Capacity Specification Code Specification Code 02 2 00 N m 04 4 00 N m 05 5 00 N m 07 7 00 N m 08 8 00 N m 10 10...

Page 88: ...ions Surrounding Air Temperature 0 C to 40 C with no freezing Surrounding Air Humidity 20 to 80 relative humidity with no condensation Installation Site Must be indoors and free of corrosive and explo...

Page 89: ...wn in the following figures The strength of the vibration that the Servomotor can withstand depends on the application Check the vibration acceleration rate 5 Use derated values for this combination R...

Page 90: ...157 220 126 314 440 251 534 785 503 1100 1000 5 Rated Torque 1 2 N m 2 00 5 00 7 00 4 00 10 0 14 0 8 00 17 0 25 0 16 0 35 0 Instantaneous Maximum Torque 1 N m 6 00 15 0 21 0 12 0 30 0 42 0 24 0 51 0...

Page 91: ...F 04B 1 0 100 200 300 400 500 600 700 0 5 10 15 A B SGM7F 25C 2 0 10 20 30 40 50 60 70 80 0 100 200 300 400 500 600 700 A B SGM7F 10B 0 10 20 30 40 0 100 200 300 400 500 600 700 A B SGM7F 14B 1 0 10 2...

Page 92: ...100 or higher Use the Servomotor so that the effective force remains within the continuous duty zone Refer to the following section for the effective torque 5 2 3 Torque Motor Speed Characteristics on...

Page 93: ...Regenerative Resistor Refer to the following catalog for information on External Regenerative Resistors AC Servo Drives 7 Series Manual No KAEP S800001 23 An Overvoltage Alarm A 400 is likely to occu...

Page 94: ...ve humidity with no condensation Installation Site Must be indoors and free of corrosive and explosive gases Must be well ventilated and free of dust and moisture Must facilitate inspection and cleani...

Page 95: ...Vertical Shock Applied to the Servomotor Vibration Applied to the Servomotor Vertical Voltage 200 V Model SGM7F 45M 80M 1AM 80N 1EN 2ZN Rated Output 1 W 707 1260 1730 1260 2360 3140 Rated Torque 1 2 N...

Page 96: ...e 3 If you use a Servomotor Main Circuit Cable that exceeds 20 m the intermittent duty zone in the torque motor speed characteristics will become smaller because the voltage drop increases A 0 50 100...

Page 97: ...er Use the Servomotor so that the effective torque remains within the contin uous duty zone given in 5 3 3 Torque Motor Speed Characteristics on page 5 11 10000 1000 100 10 1 10000 1000 100 10 1 10000...

Page 98: ...orque limit Reduce the deceleration rate Reduce the maximum motor speed If the above steps is not possible install an external regenerative resistor When an External Regenerative Resistor Is Required...

Page 99: ...3 7 100 15 60 5 5 Model SGM7F L LL LB LH LA Approx Mass kg 02A A41 61 52 7 100 15 60 2 5 05A A41 96 87 7 100 15 60 4 5 07A A41 122 113 7 100 15 60 5 5 6 M4 6 Divided into equal sections at 60 2 M5 8 F...

Page 100: ...78 6 5 14B A11 115 108 3 120 25 78 9 0 Model SGM7F L LL LB LH LA Approx Mass kg 04B A41 60 53 3 120 25 78 5 0 10B A41 85 78 3 120 25 78 6 5 14B A41 115 108 3 120 25 78 9 0 23 4 2 5 4 1 2 7 4 90 R26 5...

Page 101: ...L LL LB LH LA Approx Mass kg 08C A41 73 65 3 160 40 107 9 0 17C A41 87 79 3 160 40 107 11 0 25C A41 117 109 3 160 40 107 15 0 23 4 2 5 4 2 7 5 R43 0 1 1 90 L LL 9 B 0 02 A 0 04 0 07 B A 173 dia 1 2 1...

Page 102: ...F L LL LB LH LA Approx Mass kg 16D A41 78 70 200 60 145 16 0 35D A41 107 99 200 60 145 25 0 Unit mm 60 25 4 23 4 8 M6 10 Divided into equal sections at 45 2 M6 10 For use by Yaskawa 6 M6 10 For use by...

Page 103: ...AM A31 250 235 202 5 237 248 75 110 51 182 41 30 A 15 147 2 6 4 d ia 0 04 0 04 B 0 08 dia 15 280 h7 dia range 15 75 H6 dia range A B 0 08 A B 12 M6 15 Divided into equal sections KB2 KB1 LL 6 5 1 5 Ro...

Page 104: ...210 195 163 197 323 118 160 68 2ZN A31 260 245 213 247 323 118 160 86 15 360 h7 dia range A 30 3 4 4 d i a 15 LB dia 166 dia 12 M8 20 Divided into equal sections 15 118 H6 dia range 0 04 0 04 LH dia...

Page 105: ...pan G K Mating Connector Cap 350780 1 Socket 350570 3 or 350689 3 Only absolute value models with multiturn data Model 55102 0600 Manufacturer Molex Japan LLC Mating connector 54280 0609 Servomotor Co...

Page 106: ...able of 20 m or Less Encoder Cable of 30 m to 50 m Relay Cable SERVOPACK Encoder Cable Encoder Cable Servomotor Servomotor Main Circuit Cable Servomotor Main Circuit Cable A A Battery Case Required to...

Page 107: ...21 15 E 20 m JZSP USA301 20 E JZSP USA321 20 E 3 m JZSP USA302 03 E JZSP USA322 03 E 5 m JZSP USA302 05 E JZSP USA322 05 E 10 m JZSP USA302 10 E JZSP USA322 10 E 15 m JZSP USA302 15 E JZSP USA322 15 E...

Page 108: ...n 2 1 or 3 For multi turn abso lute encoder without Battery Case 3 3 m JZSP C7PI00 03 E JZSP C7PI20 03 E 5 m JZSP C7PI00 05 E JZSP C7PI20 05 E 10 m JZSP C7PI00 10 E JZSP C7PI20 10 E 15 m JZSP C7PI00 1...

Page 109: ...1 Appearance SGM7F F SGM7F 7 Flange specifica tion 2 1 or 3 Encoder end Cable for single turn multiturn absolute encoder 0 3 m JZSP C7PRC0 E SGM7F F SGM7F 7 Flange specifica tion 2 1 3 or 4 Cables wit...

Page 110: ...ue Motor Speed Characteristics 6 6 6 2 4 Servomotor Overload Protection Characteristics 6 7 6 2 5 Allowable Load Moment of Inertia 6 8 6 3 External Dimensions 6 9 6 3 1 Connector Specifications 6 12 6...

Page 111: ...0 SGMCV 17C 25 0 SGMCV 25C 35 0 SGMCV 35D B C 04 4 00 N m 08 8 00 N m 10 10 0 N m 14 14 0 N m 17 17 0 N m 25 25 0 N m D 230 mm dia 16 16 0 N m 35 35 0 N m Mounting Code 1 Non load side 4 Non load side...

Page 112: ...C with no freezing Surrounding Air Humidity 20 to 80 relative humidity with no condensation Installation Site Must be indoors and free of corrosive and explosive gases Must be well ventilated and free...

Page 113: ...e following figures The strength of the vibration that the Servomotor can withstand depends on the application Check the vibration acceleration rate 5 Use derated values for this combination Refer to...

Page 114: ...s higher at low temperatures Voltage 200 V Model SGMCV 04B 10B 14B 08C 17C 25C 16D 35D Rated Output 1 W 126 314 440 251 534 785 503 1100 1000 5 Rated Torque 1 2 N m 4 00 10 0 14 0 8 00 17 0 25 0 16 0...

Page 115: ...tor speed min 1 Torque N m Motor speed min 1 Torque N m Motor speed min 1 Torque N m Motor speed min 1 Torque N m Motor speed min 1 Torque N m Motor speed min 1 Torque N m Motor speed min 1 Torque N m...

Page 116: ...r higher Use the Servomotor so that the effective force remains within the continuous duty zone Refer to the following section for the effective torque 6 2 3 Torque Motor Speed Characteristics on page...

Page 117: ...al Regenerative Resistor is required in the shaded areas of the graphs Note Applicable SERVOPACK models SGD7S 2R8A and 2R8F When an External Regenerative Resistor Is Required Install the External Rege...

Page 118: ...8 3 120 25 78 6 5 14B A11 115 108 3 120 25 78 9 0 Model SGMCV L LL LB LH LA Approx Mass kg 04B A41 60 53 3 120 25 78 5 0 10B A41 85 78 3 120 25 78 6 5 14B A41 115 108 3 120 25 78 9 0 23 4 2 5 4 1 2 7...

Page 119: ...L LL LB LH LA Approx Mass kg 08C A41 73 65 3 160 40 107 9 0 17C A41 87 79 3 160 40 107 11 0 25C A41 117 109 3 160 40 107 15 0 23 4 2 5 4 2 7 5 R43 0 1 1 90 L LL 9 B 0 02 A 0 04 0 07 B A 173 dia 1 2 1...

Page 120: ...V L LL LB LH LA Approx Mass kg 16D A41 78 70 200 60 145 16 0 35D A41 107 99 200 60 145 25 0 Unit mm 60 25 4 23 4 8 M6 10 Divided into equal sections at 45 2 M6 10 For use by Yaskawa 6 M6 10 For use by...

Page 121: ...by Yaskawa Servomotor Connector Encoder Connector Models Plug 350779 1 Pins 350561 3 or 350690 3 No 1 to 3 Ground pin 350654 1 or 350669 1 No 4 Manufacturer Tyco Electronics Japan G K Mating Connecto...

Page 122: ...rger 2 Refer to the following section for the flange specifications 6 1 Model Designations on page 6 2 Note Direct Drive Servomotors are not available with holding brakes Encoder Cable of 20 m or Less...

Page 123: ...urn absolute encoder without Battery Case 3 3 m JZSP C7PI00 03 E JZSP C7PI20 03 E 5 m JZSP C7PI00 05 E JZSP C7PI20 05 E 10 m JZSP C7PI00 10 E JZSP C7PI20 10 E 15 m JZSP C7PI00 15 E JZSP C7PI20 15 E 20...

Page 124: ...ller Servomotor Model Name Length L Order Number 1 Appearance SGMCV Flange specifica tion 2 1 Encoder end Cable for single turn multiturn absolute encoder 0 3 m JZSP C7PRC0 E SGMCV Flange specifica ti...

Page 125: ...otors Servomotor Overload Protection Characteristics 7 8 7 2 5 Medium Capacity Servomotors with Cores Specifications 7 9 7 2 6 Medium Capacity Servomotors with Cores Ratings 7 11 7 2 7 Medium Capacity...

Page 126: ...7 4 Selecting Cables 7 23 7 4 1 Cable Configurations 7 23 7 4 2 Servomotor Main Circuit Cables 7 23 7 4 3 Encoder Cables of 20 m or Less 7 25 7 4 4 Relay Encoder Cables of 30 m to 50 m 7 25...

Page 127: ...4 1 02 2 00 N m 04 4 00 N m 05 5 00 N m 07 7 00 N m 08 8 00 N m 10 10 0 N m 14 14 0 N m 16 16 0 N m 17 17 0 N m 25 25 0 N m 35 35 0 N m 45 45 0 N m 80 80 0 N m 1A 110 N m 1E 150 N m 2Z 200 N m 3rd dig...

Page 128: ...re 2 Totally enclosed self cooled IP42 Environmental Conditions Surrounding Air Temperature 0 C to 40 C with no freezing Surrounding Air Humidity 20 to 80 relative humidity with no condensation Instal...

Page 129: ...ed horizontally and shock or vibration is applied in the directions shown in the following figures The strength of the vibration that the Servomotor can withstand depends on the application Check the...

Page 130: ...5D 16E 35E Rated Output 1 W 42 105 147 84 209 293 168 356 393 335 550 Rated Torque 1 2 N m 2 00 5 00 7 00 4 00 10 0 14 0 8 00 17 0 25 0 16 0 35 0 Instantaneous Maximum Torque 1 N m 6 00 15 0 21 0 12 0...

Page 131: ...5 3 0 4 5 6 0 7 5 9 0 200 300 400 500 B SGMCS 05B A 0 0 100 3 6 9 12 15 18 200 300 400 500 B SGMCS 07B A 0 0 100 5 10 15 20 25 30 200 300 400 500 B SGMCS 04C A 0 0 100 3 6 9 12 15 18 200 300 400 500 B...

Page 132: ...so that the effective force remains within the continuous duty zone Refer to the following section for the effective torque 7 2 3 Small Capacity Coreless Servomotors Torque Motor Speed Characteristics...

Page 133: ...onditions Surrounding Air Temperature 0 C to 40 C with no freezing Surrounding Air Humidity 20 to 80 relative humidity with no condensation Installation Site Must be indoors and free of corrosive and...

Page 134: ...n the directions shown in the following figures The strength of the vibration that the Servomotor can withstand depends on the application Check the vibration acceleration rate B A A A B B Runout at e...

Page 135: ...N 2ZN Rated Output 1 W 707 1260 1730 1260 2360 3140 Rated Torque 1 2 N m 45 0 80 0 110 80 0 150 200 Instantaneous Maximum Torque 1 N m 135 240 330 240 450 600 Stall Torque 1 N m 45 0 80 0 110 80 0 150...

Page 136: ...ne 3 If you use a Servomotor Main Circuit Cable that exceeds 20 m the intermittent duty zone in the torque motor speed characteristics will become smaller because the voltage drop increases A 0 50 100...

Page 137: ...an output of 100 or higher Use the Servomotor so that the effective force remains within the continuous duty zone Refer to the following section for the effective torque 7 2 7 Medium Capacity Servomo...

Page 138: ...f Inertia Use one of the following measures to adjust the load moment of inertia to within the allowable value Reduce the torque limit Reduce the deceleration rate Reduce the maximum motor speed If th...

Page 139: ...10 12 0 100 200 300 400 500 600 SGMCS 04C 0 2 4 6 8 10 12 0 100 200 300 400 500 600 SGMCS 07B 0 0 5 1 1 5 2 2 5 3 3 5 0 100 200 300 400 500 600 SGMCS 08D 0 1 2 3 4 5 6 0 100 200 300 400 500 SGMCS 10C...

Page 140: ...C11 59 51 120 20 100 4 8 05B C11 88 80 120 20 100 5 8 07B C11 128 120 120 20 100 8 2 Model SGMCS L LL LB LH LA Approx Mass kg 02B C41 59 51 120 20 100 4 8 05B C41 88 80 120 20 100 5 8 07B C41 128 120...

Page 141: ...0 160 35 130 14 2 Model SGMCS L LL LB LH LA Approx Mass kg 04C C41 69 59 160 35 130 7 2 10C C41 90 80 160 35 130 10 2 14C C41 130 120 160 35 130 14 2 R51 max connector area 2 M5 8 For use by Yaskawa 6...

Page 142: ...LA Approx Mass kg 08D C41 74 64 200 60 170 14 0 17D C41 110 100 200 60 170 22 0 25D C41 160 150 200 60 170 29 7 2 M6 10 For use by Yaskawa 6 M6 10 Divided into equal sections at 60 R67 5 max connector...

Page 143: ...20 26 0 35E B11 112 100 260 75 220 34 0 Model SGMCS L LL LB LH LA Approx Mass kg 16E B41 88 76 260 75 220 26 0 35E B41 112 100 260 75 220 34 0 60 2 M8 14 For use by Yaskawa R80 max connector area 2 1...

Page 144: ...185 152 5 187 248 75 110 45 1AM A31 250 235 202 5 237 248 75 110 51 A 15 147 182 2 6 4 d ia 41 0 04 0 04 B 0 08 dia 15 280 h7 dia range 15 75 H6 dia range A B 0 08 A B 12 M6 15 Divided into equal sec...

Page 145: ...323 118 160 50 1EN A31 210 195 163 197 323 118 160 68 2ZN A31 260 245 213 247 323 118 160 86 15 360 h7 dia range A 30 3 4 4 d i a 1 3 5 d ia 15 LB dia 166 dia 12 M8 20 Divided into equal sections 15...

Page 146: ...50669 1 No 4 Manufacturer Tyco Electronics Japan G K Mating Connector Cap 350780 1 Socket 350570 3 or 350689 3 Model 55102 0600 Manufacturer Molex Japan LLC Mating connector 54280 0609 Servomotor Conn...

Page 147: ...otor Main Circuit Cables Encoder Cable of 20 m or Less Encoder Cable of 30 m to 50 m Relay Cable SERVOPACK Encoder Cable Encoder Cable Servomotor Servomotor Main Circuit Cable Servomotor Main Circuit...

Page 148: ...A321 15 E 20 m JZSP USA301 20 E JZSP USA321 20 E 3 m JZSP USA302 03 E JZSP USA322 03 E 5 m JZSP USA302 05 E JZSP USA322 05 E 10 m JZSP USA302 10 E JZSP USA322 10 E 15 m JZSP USA302 15 E JZSP USA322 15...

Page 149: ...or incre mental absolute encoder 3 m JZSP CMP60 03 E JZSP CSP60 03 E 5 m JZSP CMP60 05 E JZSP CSP60 05 E 10 m JZSP CMP60 10 E JZSP CSP60 10 E 15 m JZSP CMP60 15 E JZSP CSP60 15 E 20 m JZSP CMP60 20 E...

Page 150: ...Precautions 8 2 8 1 2 Installation Environment 8 3 8 1 3 Installation Orientation 8 3 8 2 Mounting to the Machine 8 4 8 3 Oil and Water Countermeasures 8 7 8 4 Equipment Structure 8 8 8 4 1 Minimum A...

Page 151: ...oing so will damage the connectors Do not place any load on the cover on the rotating part of an SGMCV Direct Drive Servomotor Doing so will deform or damage the cover Do not attempt to install or ope...

Page 152: ...3 Installation Orientation You can install the Servomotor either vertically or horizontally Installation Orientation Figure Precautions Vertical direction Shaft end up Shaft end down Securely attach...

Page 153: ...Servomotor mounting surface has a flatness of 0 01 mm min Otherwise the accuracy or performance of the Servomotor may be affected Do not exceed the tightening torques given in the following table for...

Page 154: ...nting surface and fixed part SGM7D L Servomotors have a connector box Do not apply external force to the connector box Cables may become disconnected or the Servomotor may run out of control Make sure...

Page 155: ...r for the allowable loads on the rotating part of the Servomotor The allowable loads that are given in the specifications include the static load in one direction and the dynamic load that occurs duri...

Page 156: ...r Do not use the Servomotor where it would come into contact with cutting fluids Depending on the type of cutting fluid the cables or other part may be adversely affected Do not use the Servomotor whe...

Page 157: ...brication Consult your Yaskawa representative if you cannot perform this operation 8 4 2 Precautions on Passing the Origin If you use a Servomotor with an Incremental Encoder you must perform an origi...

Page 158: ...f the surface area of the heat sink is too small the temperature of the Servomotor may increase abnormally If the operating environment makes it difficult to use a large heat sink or if the ambient op...

Page 159: ...ors and SERVOPACKs 9 1 Wiring Precautions 9 2 9 1 1 General Precautions 9 2 9 1 2 Grounding Precautions 9 3 9 1 3 Precautions for Standard Cables 9 3 9 1 4 Precautions for Flexible Cables 9 4 9 2 Wiri...

Page 160: ...onductors in the Encoder Cable and Servomotor Main Circuit Cable are as thin as 0 2 mm2 or 0 3 mm2 Wire them so that they are not subjected to excessive stress If you secure the cables with cable ties...

Page 161: ...uire a high degree of flexibility such as twisting and turning or in which the cables themselves must move When you use Standard Cables observe the recommended bending radius given in the following ta...

Page 162: ...the lead wires are electrically charged for which no cracks or damage that affects the performance of the cable sheathing occur Breaking of the shield wire is not considered Straighten out the Flexibl...

Page 163: ...edure 9 5 9 Wiring Servomotors and SERVOPACKs 9 2 Wiring Procedure Wire according to the system configuration diagrams in the relevant chapters Refer to the SERVOPACK manual for information on wiring...

Page 164: ...chapter describes the maintenance inspection and disposal of a Servomotor 10 1 Periodic Inspections 10 2 10 2 Service Lives of Parts 10 3 10 3 Disposing of Servomotors 10 4 Maintenance and Inspection...

Page 165: ...res repairs or part replacement Item Inspection Period Basic Inspection and Maintenance Procedure Remarks Check the cou pling between the Servomotor and the machine Before starting opera tion Make sur...

Page 166: ...n question we will determine whether the part should be replaced Even if the service life of a part has not expired replacement may be required if abnormalities occur The standard service lives in the...

Page 167: ...10 4 10 3 Disposing of Servomotors When disposing of a Servomotor treat it as ordinary industrial waste However local ordinances and national laws must be observed Implement all labeling and warnings...

Page 168: ...mation to use when selecting Servomotor capacities 11 1 Reference Information for Servomotor Capacity Selection 11 2 11 1 1 GD2 for Simple Diagrams 11 2 11 1 2 Conversions between Traditional Units an...

Page 169: ...ollow cylinder OR Density g cm 3 Length m 2 125 D GD L Diameter m D0 2 2 2 D1 2 D0 4 D1 4 L D0 D1 D0 D1 3 Rectangular solid D b b c c 2 2 2 3 4 Cylindrical body D L L D0 D0 2 2 2 5 2 D0 Sphere D D0 2...

Page 170: ...version Factor Force or load kgf N 1 kgf 9 80665 N Weight kgf The numerical values are the same for mass in the traditional unit and the SI unit The mass SI unit Wkg is used for objects in the Wkgf tr...

Page 171: ...of allowable thrust load and allowable moment load of SGM7F 02A 05A and 07A 5 4 Revision Approximate mass of SGM7F 05A and 07A Back cover Revision Address November 2016 3 0 Chapter 4 Newly added Chap...

Page 172: ...66 2 017 0799 http www yaskawa co th YASKAWA ELECTRIC CHINA CO LTD 22F One Corporate Avenue No 222 Hubin Road Shanghai 200021 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 http www yaskawa com cn YA...