Professional Documents
Culture Documents
Series SGMH/SGDM
USER'S MANUAL
SGMAH/SGMPH/SGMGH/SGMSH/SGMDH/SGMCS Servomotors
SGDM SERVOPACK
YASKAWA
iii
SERVOPACKs,
Servomotors,
and Peripheral
Devices
Ratings and
Characteristics
System
Design
Panel
Configura-tion
and Wiring
Trial Operation
and Servo
Adjustment
Inspection and
Maintenance
Chapter 1
Outline
Chapter 2
Selections
Chapter 3
Specifications and
Dimensional Drawings
Chapter 4
SERVOPACK Specifications
and Dimensional Drawings
Chapter 5
Specifications and
Dimensional Drawings of
Cables and Peripheral
Devices
Chapter 6
Wiring
Chapter 7
Digital Operator/Panel
Operator
Chapter 8
Operation
Chapter 9
Adjustments
Chapter 10
Upgraded Versions
Chapter 11
Inspection, Maintenance,
and Troubleshooting
Chapter 12
Appendix
Visual Aids
The following aids are used to indicate certain types of information for easier reference.
IMPORTANT
Indicates important information that should be memorized, including precautions such as alarm displays to avoid damaging the devices.
INFO
EXAMPLE
TERMS
iv
Indicates definitions of difficult terms or terms that have not been previously explained in this manual.
Related Manuals
Refer to the following manuals as required.
Manual Name
Manual Number
Contents
TOE-S800-34
SIE-S800-35
Describes the using and the operating methods on software that changes the local personal computer into the
monitor equipment for the -II Series servomotor.
Safety Information
The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided
in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment
and systems.
WARNING
Indicates precautions that, if not heeded, could possibly result in loss of life or serious
injury.
CAUTION
Indicates precautions that, if not heeded, could result in relatively serious or minor
injury, damage to the product, or faulty operation.
In some situations, the precautions indicated could have serious consequences if not heeded.
PROHIBITED
Indicates prohibited actions that must not be performed. For example, this symbol
would be used as follows to indicate that fire is prohibited:
MANDATORY
Indicates compulsory actions that must be performed. For example, this symbol would
be used as follows to indicate that grounding is compulsory:
The warning symbols for ISO and JIS standards are different, as shown below.
ISO
JIS
vi
WARNING
Never touch any rotating motor parts while the motor is running.
Failure to observe this warning may result in injury.
Before starting operation with a machine connected, make sure that an emergency stop can
be applied at any time.
Failure to observe this warning may result in injury.
Never touch the inside of the SERVOPACKs.
Failure to observe this warning may result in electric shock.
Do not touch terminals for five minutes after the power is turned OFF.
Residual voltage may cause electric shock.
Do not touch terminals for five minutes after voltage resistance test.
Residual voltage may cause electric shock.
Follow the procedures and instructions for trial operation precisely as described in this manual.
Malfunctions that occur after the servomotor is connected to the equipment not only damage the
equipment, but may also cause an accident resulting in death or injury.
The multiturn limit value must be changed only for special applications.
Changing it inappropriately or unintentionally 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 value is set in Pn205, an incorrect value will be set in the
encoder. The alarm will disappear even if an incorrect value is set, but incorrect positions will be
detected, resulting in a dangerous situation where the machine will move to unexpected positions.
Do not remove the front cover, cables, connectors, or optional items while the power is ON.
Failure to observe this warning may result in electric shock.
Do not damage, press, exert excessive force or place heavy objects on the cables.
Failure to observe this warning may result in electric shock, stopping operation of the product, or
burning.
Provide an appropriate stopping device on the machine side to ensure safety. A holding
brake for a servomotor with brake is not a stopping device for ensuring safety.
Failure to observe this warning may result in injury.
Do not come close to the machine immediately after resetting momentary power loss to
avoid an unexpected restart. Take appropriate measures to ensure safety against an
unexpected restart.
Failure to observe this warning may result in injury.
Connect the ground terminal to electrical codes (ground resistance: 100 or less).
Improper grounding may result in electric shock or fire.
vii
WARNING
Installation, disassembly, or repair must be performed only by authorized personnel.
Failure to observe this warning may result in electric shock or injury.
Do not modify the product.
Failure to observe this warning may result in injury or damage to the product.
Checking on Delivery
CAUTION
Always use the servomotor and SERVOPACK in one of the specified combinations.
Failure to observe this caution may result in fire or malfunction.
CAUTION
Do not store or install the product in the following places.
Locations subject to direct sunlight.
Locations subject to temperatures outside the range specified in the storage 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 of extreme changes in temperature.
Locations subject to corrosive or flammable gases.
Locations subject to dust, salts, or iron dust.
Locations subject to exposure to water, oil, or chemicals.
Locations subject to shock or vibration.
Failure to observe this caution may result in fire, electric shock, or damage to the product.
Do not hold the product by the cables or motor shaft while transporting it.
Failure to observe this caution may result in injury or malfunction.
Do not place any load exceeding the limit specified on the packing box.
Failure to observe this caution may result in injury or malfunction.
viii
Installation
CAUTION
Never use the products in an environment subject to water, corrosive gases, inflammable gases, or
combustibles.
Failure to observe this caution may result in electric shock or fire.
Do not step on or place a heavy object on the product.
Failure to observe this caution may result in injury.
Do not cover the inlet or outlet parts and 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 the correct direction.
Failure to observe this caution may result in malfunction.
Provide the specified clearances between the SERVOPACK and the control panel or with other devices.
Failure to observe this caution may result in fire or malfunction.
Do not apply any strong impact.
Failure to observe this caution may result in malfunction.
ix
Wiring
CAUTION
Do not connect a three-phase power supply to the U, V, or W output terminals.
Failure to observe this caution may result in injury or fire.
Securely connect the power supply terminals and motor output terminals.
Failure to observe this caution may result in fire.
Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines
separated by at least 30 cm (11.81 in).
Failure to observe this caution may result in malfunction.
Use twisted-pair shielded wires or multi-core twisted pair shielded wires for signal and encoder (PG)
feedback lines.
The maximum length is 3 m (118.11 in) for reference input lines and is 20 m (787.40 in) for PG feedback lines.
Do not touch the power terminals for five minutes after turning power OFF because high voltage may still
remain in the SERVOPACK.
Make sure the charge indicator is turned OFF first before starting an inspection.
Avoid frequently turning power ON and OFF. Do not turn 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
power is turned ON. Frequently turning 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.
Remove the terminal block from the SERVOPACK prior to wiring.
Insert only one wire per terminal on the terminal block.
Make sure that the core wire is not electrically shorted to adjacent core wires.
Do not connect the SERVOPACK for 100 V and 200 V directly to a voltage of 400 V.
The SERVOPACK will be destroyed.
Install the battery at either the host controller or the SERVOPACK of the encoder.
It is dangerous to install batteries at both simultaneously, because that sets up a loop circuit between the batteries.
Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
Always use the specified power supply voltage.
An incorrect voltage may result in burning.
Take appropriate measures to ensure that the input power supply is supplied within the specified voltage
fluctuation range. Be particularly careful in places where the power supply is unstable.
An incorrect power supply may result in damage to the product.
Install external breakers or other safety devices against short-circuiting in external wiring.
Failure to observe this caution may result in fire.
CAUTION
Take appropriate and sufficient countermeasures for each when installing systems in the following
locations.
Locations subject to static electricity or other forms of noise.
Locations subject to strong electromagnetic fields and magnetic fields.
Locations subject to possible exposure to radioactivity.
Locations close to power supplies including power supply lines.
Failure to observe this caution may result in damage to the product.
Do not reverse the polarity of the battery when connecting it.
Failure to observe this caution may damage the battery or cause it to explode.
Operation
CAUTION
Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid
any unexpected accidents.
Failure to observe this caution may result in injury.
Before starting operation with a machine connected, change the settings to match the parameters of the
machine.
Starting operation without matching the proper settings may cause the machine to run out of control or malfunction.
Forward run prohibited (P-OT) 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 workpieces to fall off due
to occurrence of alarm or overtravel. Set the servomotor so that it will stop in the zero clamp state at
occurrence of overtravel.
Failure to observe this caution may cause workpieces to fall off due to overtravel.
When not using the normal autotuning, set to the correct moment of inertia ratio.
Setting to an incorrect moment of inertia ratio may cause vibration.
Do not touch the SERVOPACK heatsinks, regenerative resistor, or servomotor while power is ON or soon
after the power is turned OFF.
Failure to observe this caution may result in burns due to high temperatures.
Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury due to unstable operation.
When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume
operation.
Failure to observe this caution may result in injury.
Do not use the servo brake of the servomotor for ordinary braking.
Failure to observe this caution may result in malfunction.
Do not turn the Servo ON or OFF unless necessary.
Failure to observe this caution may cause internal parts to deteriorate.
xi
CAUTION
When replacing the SERVOPACK, transfer the previous SERVOPACK parameters to the new
SERVOPACK before resuming operation.
Failure to observe this caution may result in damage to the product.
Do not attempt to change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
Do not disassemble the servomotor.
Failure to observe this caution may result in electric shock or injury.
Disposal
CAUTION
When disposing of the products, treat them as ordinary industrial waste.
General Precautions
xii
CONTENTS
About this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -iii
Related Manuals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - v
Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi
Notes for Safe Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii
1 Outline
1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.1 Check Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.2 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.3 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
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
2.1.4 Model SGMGH (1000 min-1)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-8
2.1.5 Model SGMSH (3000 min-1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-10
2.1.6 Model SGMDH (2000 min-1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12
2.1.7 Model SGMCS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13
xiii
xiv
3.14 Dimensional Drawing of Output Shafts With Oil Seals for SGMAH and
SGMPH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-92
3.14.1 SGMAH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-92
3.14.2 SGMPH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-92
xv
3.20 Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors - 3-157
xvi
xvii
xviii
6 Wiring
6.1 Wiring Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.1 Names and Functions of Main Circuit Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.2 Wiring Main Circuit Power Supply Connector (Spring Type) - - - - - - - - - - - - - - - - - - - - - - - - 6-4
6.1.3 Typical Main Circuit Wiring Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5
xix
) - - - - - - - - - - - - - - - - - - - - - - - - - 7-8
)- - - - - - - - - - - - - - - - - - - - - - 7-18
) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27
xx
8 Operation
8.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4
8.1.1 Trial Operation for Servomotor without Load - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6
8.1.2 Trial Operation for Servomotor without Load from Host Reference - - - - - - - - - - - - - - - - - - - - 8-9
8.1.3 Trial Operation with the Servomotor Connected to the Machine - - - - - - - - - - - - - - - - - - - - - 8-15
8.1.4 Servomotor with Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16
8.1.5 Position Control by Host Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16
xxi
8.8 Operating Using Speed Control with an Internally Set Speed - - - - - - - - - - - - - 8-66
8.8.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-66
8.8.2 Input Signal Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-67
8.8.3 Operating Using an Internally Set Speed- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-67
9 Adjustments
9.1 Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.1.1 Servo Gain Adjustment Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-2
9.1.2 List of Servo Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-3
xxii
10 Upgraded Versions
10.1 Upgraded Versions for SGDM SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.2 Upgraded Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3
10.2.1 Additional Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3
10.2.2 Improved Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3
xxiii
12 Appendix
12.1 Servomotor Capacity Selection Examples - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2
12.1.1 Selection Example for Speed Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2
12.1.2 Selection Example for Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-4
12.1.3 Calculating the Required Capacity of Regenerative Resistors - - - - - - - - - - - - - - - - - - - - - - 12-7
INDEX
Revision History
xxiv
1
1
Outline
1-1
1 Outline
1.1.1 Check Items
Comments
Check the model numbers marked on the nameplates on the servomotor and SERVOPACK. (Refer to the descriptions of model numbers in
the following section.)
The servomotor shaft is normal if it can be turned smoothly by hand.
Servomotors with brakes, however, cannot be turned manually.
Check the overall appearance, and check for damage or scratches that
may have occurred during shipping.
If any of the above items are faulty or incorrect, contact your Yaskawa representative or the dealer from whom
you purchased the products.
1.1.2 Servomotors
SGMAH and SGMPH
Nameplate
AC SERVO MOTOR
Servomotor model
Ratings
Order number
Serial number
W
N
SGMAH-02AAA21
V
200 A 2.1
200
min -1
3000 Ins. B
0.637
O/N 9271316-1
S/N DD 9964567890012
YASKAWA ELECTRIC CORPORATION JAPAN
Servomotor model
Ratings
Order number
Serial number
PURODUCT SERVICE
Bauart
..
gepruft
TYPE SGMSH-10ACA21
1000 W 3.18 N m 3000
min-1
5.7 A 200
V CONT ins F
O/N 9W0774 002A
-039
S/N BB2
753000039
DATA 0002
SGMCS
Nameplate
AC SERVO MOTOR
Servomotor model
Ratings
Order number
Serial number
W
N
SGMCS-04C3A11
V
200 A 2.1
84
min -1
200 Ins. A
4.0
O/N 9271316-1
S/N DD 9964567890012
YASKAWA ELECTRIC CORPORATION JAPAN
1-2
Manufacturing
date
1.1.3 SERVOPACKs
SGDM for 30 W to 5.0 kW
SERVOPACK
model
Applicable
power supply
Serial
number
SERVOPACK
MODEL
SGDM-30ADA
AC-INPUT
AC-OUTPUT
VOLTS 200-230 VOLTS 0-230
Hz
60/60
PHASE 3
PHASE 3
AMPS
24.8
AMPS
18.6
KU (MP) 3.0 (4.0)
S/N
Applicable
motor
capacity
412808-15-1
YASKAWA ELECTRIC
MADE IN
JAPAN
1-3
1 Outline
1.2.1 Servomotors
Encoder connector
Servomotor
main circuit cable
Encoder
cable
Nameplate
Flange
Output
shaft
Encoder
(Detecting section)
Encoder connector
Nameplate
Flange
Encoder
(Detecting section)
Output
shaft
Encoder
connector
Frame
Nameplate
Mounting
flange
Encoder
connector
1-4
Nameplate
Servomotor
connector
Servomotor
connector
View A
1.2.2 SERVOPACKs
(1) SGDM for 30 W to 5.0 kW
With the front cover open
Battery holder
DATA/
CHARGE
POWER
YASKAWA SERVOPACK
Panel display
5-digit, 7-segment LED used to display
SERVOPACK status, alarm status, and other
values when parameters are input.
Refer to 7.1.2 Key Names and Functions.
Panel operator
Charge indicator
Lights when the main circuit power supply is
ON and stays lit as long as the main circuit power
supply capacitor remains charged. Therefore,
do not touch the SERVOPACK even after the power
supply is turned OFF if the indicator is lit.
YASKAWA
SGDM-
Front cover
SERVOPACK model
Refer to 2.1 SERVOPACK Model
Designations.
Panel keys
MODE/SET
Regenerative
resistor connecting terminals
Used to connect external regenerative resistors.
Refer to 6.5 Connecting Regenerative Resistors.
DATA/
CHARGE
POWER
Power ON indicator
Lights when the control power supply is ON.
Servomotor terminals
Connects to the servomotor power line.
Refer to 6.1 Wiring Main Circuit.
Ground terminal
Be sure to connect to protect against electrical shock.
Refer to 6.1 Wiring Main Circuit.
INFO
1-5
1 Outline
1.2.2 SERVOPACKs
Panel display
SERVOPACK 200V
SERVOPACK model
CN3 Connector for
personal computer
monitoring and
digital operator
SGDMVer.
POWER
YASKAWA
CN8
Battery holder
CN3
MODE/SET
DATA/
CN5
BATTERY
CN5 Analog
monitor connector
Panel switch
Charge indicator
CHARGE
! WARNING
Control circuit
terminal
CN1
L1C L2C
CN2
CN2 Encoder connector
L1
L2
L3
B1
B2
Servomotor terminals: U, V, W
Ground terminal
Regenerative resistor
connecting terminals: B1, B2
* Control circuit terminal and regenerative resistor connecting terminals differ the position of the terminal block by
the SERVOPACK model.
Refer to Chapter Chapter 4 SERVOPACK Specifications and Dimensional Drawings for details.
SERVOPACK Model
SGDM-60ADA, 75ADA
SGDM-1AADA, 1EADA
1-6
Reference
4.7.7, 4.9.1
4.7.8, 4.9.2
Molded-case
circuit breaker
(MCCB)
SGDMAD
SGDMADA
SGDMBD
SGDMBDA
SERVOPACK
Noise filter
Used to eliminate
external noise from the
power line.
(Refer to 5.8.10.)
Magnetic
contactor
Turns the servo
ON and OFF.
Install a surge
suppressor.
(Refer to 5.8.11.)
YASKAWA
SERVOPACK
200V
SGDM-
Digital
operator
(Refer to 5.8.2.)
DATA/
MODE/SET
CHARGE
POWER
C
N
3
L1
L2
+1
Connection cable
for digital operator
(Refer to 5.8.2.)
Personal computer
Connection cable
for personal computer
(Refer to 5.8.1.)
+2
L1C
L2C
B1
B2
Magnetic
contactor
C
N
1
Host controller
(Refer to 5.7.)
V
W
C
N
Connect an external
regenerative resistor
to terminals B1 and
B2 if the regenerative
capacity is insufficient.
(Refer to 5.8.6.)
Encoder cable
Servomotor
main circuit cable
SGM H
Servomotor
1-7
1 Outline
1.3.2 Three-phase, 200 V Main Circuit
Power supply
Three-phase 200 VAC
R S T
Molded-case
circuit breaker
(MCCB)
Protects the power supply
line by shutting the
circuit OFF when
overcurrent is
detected.
(Refer to 5.8.9.)
Noise filter
Used to eliminate
external noise from the
power line.
(Refer to 5.8.10.)
SGDMAD
SGDMADA
SERVOPACK
Magnetic
contactor
Turns the servo
ON and OFF.
Install a surge
suppressor.
(Refer to
5.8.11.)
Digital
operator
(Refer to 5.8.2.)
Connection cable
for digital operator
(Refer to 5.8.2.)
YASKAWA
200V
SERVOPACK
Personal computer
SGDM-
MODE/SET
L1
Connection cable
for personal computer
DATA/
POWER
CHARGE
(Refer to 5.8.1.)
C
N
3
L2
L3
1
1
3
L1C
Host controller
2
C
N
1
L2C
Regenerative
resistor
Connect an external
regenerative resistor
to terminals B1 and B2
if the regenerative capacity
is insufficient.
(Refer to 5.8.6.)
B1
B2
B3
U
V
C
N
2
(Refer to 5.7.)
Magnetic
contactor
Servomotor
main circuit cable
SGM H
Servomotor
1-8
Encoder cable
Molded-case
circuit breaker
(MCCB)
Power supply
Single-phase or
Three-phase
100/200VAC
R
SGDMADA
SERVOPACK
Noise filter
Used to eliminate
external noise from the
power line.
(Refer to 5.8.10.)
YASKAWA
SERVOP
ACK
200V
SGDM-
Digital
operator
Magnetic
contactor
Turns the
servo ON
and OFF.
Install a surge
suppressor.
(Refer to
5.8.11.)
(Refer to 5.8.2.)
Connection cable
for digital operator
DATA/
MODE/SET
CHARGE
POWER
(Refer to 5.8.2.)
L1
L2
C
N
3
Personal computer
Connection cable
for personal computer
+1
+2
-
Regenerative
resistor
Connect an external
regenerative resistor
to terminals B1 and B2
if the regenerative
capacity is insufficient.
(Refer to 5.8.6.)
L1C
L2C
B1
B2
C
N
1
(Refer to 5.8.1.)
Host controller
U
V
W
(Refer to 5.7.)
C
N
Nameplate
SGMCS Servomotor
Encoder
cable
Servomotor
main circuit cable
Servomotor
main circuit cable
(Refer to 5.1, 5.2.)
View A
Encoder cable
(Refer to 5.4, 5.5.)
1-9
1 Outline
1.4.1 North American Safety Standards (UL, CSA)
UL
R
US
LISTED
Model
SERVOPACK
SGDM
UL508C(E147823)
Servomotor
SGMAH
SGMPH
SGMGH
SGMSH
SGMDH
SGMCS
US
CSA2 Standards
CSA C22.2
No.14
UL1004(E165827)
Certifications
UL
CSA C22.2
No.100
1.4.2 CE Marking
Model
Low Voltage
Directive
SERVOPACK
SGDM
EN50178
Servomotor
SGMAH
SGMPH
SGMGH
SGMSH
SGMDH
SGMCS
EMC Directive
EMI
EMS
IEC60034-1
IEC60034-5
IEC60034-8
IEC60034-9
EN55011
group 1 class A
EN50082-2
or
EN61000-6-2
Certifications
TV PS
1-10
D
DA
A (Software version No. 32 or later)
Refer to the following table for the added or improved functions for each model.
This table can also be used in reference to other SERVOPACK models.
Applicable
capacity range
Speed feed forward
Torque limit
using an external
torque limit and
analog voltage
reference
Input signal
polarity reversal
Output signal
polarity reversal
Multiturn limit
setting
Multiturn limit
disagreement
alarm detection
Average movement filter of
position reference
Notch filter
Second stage
notch filter and
changeable Q
value
Applicable
N/A
Applicable
Applicable
DA
with Software
Version No.
32 or later
Applicable
Applicable
N/A
Applicable
Applicable
9.4.3
To enable the torque limit function using analog voltage reference only when either /P-CL or /
N-CL signal is ON.
N/A
Applicable
Applicable
8.9.4
N/A
Applicable
Applicable
7.3.2
N/A
Applicable
Applicable
7.3.3
N/A
Applicable
Applicable
8.4.7
N/A
Applicable
Applicable
8.4.8
N/A
Applicable
Applicable
8.6.4
N/A
Applicable
Applicable
9.4.10
N/A
N/A
Applicable
10.3.4
Description
30W to 3.0 KW
30W to 15.0 kW
In the position control mode, the
speed feed forward reference
using an analog voltage can be
input by the speed reference (VREF) input.
DA
Reference
Section
1-11
1 Outline
(Contd)
-II Series SERVOPACK SGDMFunction Item
Direct-drive
motor for
SGMCS
Description
Automatic gain
switching
Increase moment
of inertia ratio
range
Read serial number and date of
manufacture
1-12
The switching between Gain Setting 1 and Gain Setting 2 is automatically carried out according
to the conditions of position reference and position error.
The setting range 0 to 10,000%
of moment of inertia ratio is
extended to 0 to 20,000%.
The serial number and manufacture for the data of SERVOPACK
can be read with SigmaWin+
(Ver. 1.00).
DA
DA
with Software
Version No.
32 or later
Reference
Section
N/A
N/A
Applicable
10.3.1
N/A
N/A
Applicable
10.4.2
N/A
N/A
Applicable
10.3.2
N/A
N/A
Applicable
10.3.3
N/A
N/A
Applicable
10.3.5
N/A
N/A
Applicable
10.4.1
N/A
N/A
Applicable
10.4.3
2
Selections
2-30
2-32
2-33
2-34
2-1
2 Selections
2.1.1 Model SGMAH (3000 min-1)
SGMAH 02 A A A 2 1
Specifications
3rd digit:Voltage
A:200V,B:100V
Without brake
Code
Rated Output
A3
0.03
A5
0.05
01
0.1
02
0.2
04
0.4
Code
08
0.75
: Available
Specifications
Remarks
Standard
Option
2-2
Specifications
Specifications
Fixed
Remarks
Standard
Option
SGMAH 01 A A A H 1 2 B
Code
3rd digit:Voltage
Without brake
A:200V,B:100V
Specifications
A3
0.03
A5
0.05
01
0.1
02
0.2
No shaft
04
0.4
08
0.75
: Available
Specifications
Option
G
(Lowbacklash)
1/5
1/9
1/33
1/11
B
1
7th digit:
1st + 2nd + 3rd digits:
6th
Gear Ratio Code of the Rated Output and Voltage
digit;
Gear
Specifi- A3A A5A 01A 02A 04A 08A
Type Code
cations A3B A5B 01B 02B
Code
Standard
Remarks
Specifications
: Available
1/21
: Available
Specifications
Fixed
8th digit:
Shaft End
Code
Specifications
2 6 8
2 6
1
H
(Lowbacklash)
1/5
1/9
1/11
1/33
1/21
: Available
7th digit:
1st + 2nd + 3rd digits:
6th
Gear Ratio Code of the Rated Output and Voltage
digit;
Gear
Specifi- A3A A5A 01A 02A
Type Code
04A 08A
cations A3B A5B 01B 02B
Code
1
1/5
3/31
1/33
J
(Standard)
1/21
: Available
2-3
2 Selections
2.1.2 Model SGMPH (3000 min-1)
SGMPH 02 A A A 2 1
1st + 2nd digits:
Rated Output 3rd digit: Voltage
A:200V,B:100V
(kW)
Code Rated Output
Specifications
1
B
01
02
04
0.4
08
0.75
15
1.5
0.2
0.1
Without options
: Available
Code
Specifications
2
4
Option
1 Standard
Specifications
Fixed
2-4
Remarks
Remarks
1
Specifications
Straight without key
Standard
Option
SGMPH 01 A A A H 1 2 B
1st + 2nd digit:
Rated Output
(kW)
A:200V,B:100V
Specifications
Without brake
01
0.1
02
0.2
04
0.4
08
0.75
15
1.5
Specifications
Code
: Available
Remarks
Standard
Option
01B 02B
Specifications
Standard
8th digit:
Shaft End
Code
0
2 6 8
2 6
1/5
(Low- 7
back- B
lash)
1/33
1/11
1/21
: Available
1/33
0.75 kW
(Low- 7
back- B
lash) C
1/5
1/33
1/11
1/21
: Available
1/5
(Low- 7
back- B
lash) C
1/33
1/11
1/21
: Available
1/5
3/31
(Low- 3
back- 7
1/33
lash) C
1/21
: Available
1/5
(Low- 7
back- B
lash)
Specifications
2 The
Code
Specifications
No shaft
Code
Code
6th digit:
Gear TypeCode
1/11
1/21
: Available
2-5
2 Selections
2.1.3 Model SGMGH (1500 min-1)
SGMGH 13 A C A 2 1
Code
Specifications
Without options
0.45
09
0.85
13
1.3
20
1.8
30
2.9
44
4.4
55
5.5
Code
Remarks
75
7.5
1A
11.0
1E
15.0
: Available
Specifications
2-6
Code
Specifications
Standard
Standard
SGMGH 20 A C A L 1 4 B
Specifications
Without brake
Code
Code
Rated Output
05
09
13
20
30
44
55
75
1A
0.45
0.85
1.3
1.8
2.9
4.4
5.5
7.5
11.0
Specifications
Straight with key
Straight with key and tap
6th digit:
Gear Type Code
L
: Available
Code
L
S
T
: Available
Code
2
C
Specifications
Remarks
17-bit absolute encoder
Standard
17-bit incremental encoder
6th digit: Gear 7th digit: Gear Ratio 1st + 2nd + 3rd digits: Code of the Rated Output and Voltage
Type Code Code Specifications
13A
05A
09A
20A
30A
44A
L
(Lowbacklash)
1
2
5
7
8
1/5
1/9
1/20
1/29
1/45
: Available
6th digit: Gear 7th digit: Gear Ratio 1st + 2nd + 3rd digits: Code of the Rated Output and Voltage
Type Code Code Specifications
13A
55A
75A
05A
09A
20A
30A
44A
S
(Standard)
A
B
C
7
1/6
1/11
1/21
1/29
: Available
6th digit: Gear 7th digit: Gear Ratio 1st + 2nd + 3rd digits: Code of the Rated Output and Voltage
Type Code Code Specifications
13A
55A
75A
05A
09A
20A
30A
44A
T
(Standard)
A
B
C
7
1/6
1/11
1/21
1/29
: Available
2-7
2 Selections
2.1.4 Model SGMGH (1000 min-1)
SGMGH 12 A C B 2 1
1st + 2nd digits:
Rated Output
(kW)
Code Rated Output
Specifications
Without options
1.2
20
2.0
30
3.0
40
4.0
55
5.5
03
0.3
06
0.6
09
0.9
12
Specifications
Remarks
Specifications
2
C
Remarks
: Available
Standard
Specifications
B
D
2-8
Standard
Standard
SGMGH 20 A C B L B 4 B
Specifications
Without brake
Code
A:200V
Rated Output
03
06
09
12
20
30
40
55
Code
Specifications
Straight with key
Straight with key and tap
6
: Available
0.3
0.6
0.9
1.2
2.0
3.0
4.0
5.5
Code
L
S
T
6th digit:
Gear Type Code
: Available
Code
2
C
Specifications
Remarks
17-bit absolute encoder
Standard
17-bit incremental encoder
6th digit:
Gear 7th digit: Gear Ratio 1st + 2nd + 3rd digits: Code of the Rated Output and Voltage
Type
Code Code Specifications 03A 06A 09A 12A 20A 30A 40A 55A
1
2
5
(Lowbacklash)
7
8
: Available
L
1/5
1/9
1/20
1/29
1/45
6th digit:
Gear 7th digit: Gear Ratio 1st + 2nd + 3rd digits: Code of the Rated Output and Voltage
Type
55A
Code Code Specifications 03A 06A 09A 12A 20A 30A 40A
A
B
(StanC
dard)
7
: Available
S
1/6
1/11
1/21
1/29
6th digit:
Gear 7th digit: Gear Ratio 1st + 2nd + 3rd digits: Code of the Rated Output and Voltage
Type
Specifications 03A 06A 09A 12A 20A 30A 40A 55A
Code Code
A
B
(StanC
dard)
7
: Available
T
1/6
1/11
1/21
1/29
2-9
2 Selections
2.1.5 Model SGMSH (3000 min-1)
SGMSH 10 A C A 2 1
1st + 2nd digits:
Rated Output
(kW)
Code
Rated Output
10
Specifications
1.5
20
Code
1.0
15
2.0
30
3.0
40
4.0
50
5.0
6th digit: Shaft End
: Available
Code
Specifications
Code
Specifications
Remarks
Standard
2-10
Specifications
Fixed
Remarks
Standard
Option
SGMSH 10 A C A L 1 4 B
30
3.0
40
4.0
50
2.0
5.0
Specifications
1.5
20
1.0
15
Without brake
Rated Output
10
Code
Code
6th digit:
Gear 7th digit: Gear Ratio
Type
Code Code Specifications
: Available
Specifications
Straight with key
Specifications
Remarks
(Lowbacklash)
Standard
Specifications
Fixed
1/5
1/9
1/20
1/29
1/45
: Available
1
2
5
7
8
Specifications
2-11
2 Selections
2.1.6 Model SGMDH (2000 min-1)
SGMDH 22 A C A 2 B
1st + 2nd digits:
Rated Output
(kW)
3.2
40
Code
2.2
32
4.0
Remarks
Specifications
Standard
Specifications
Remarks
Standard
Option
2-12
Standard
: Available
Code
Remarks
Specifications
Without options
Specifications
Fixed
SGMCS 02 B 3 A 1 1
SGMCS
Direct-drive motor
1st + 2nd digits:
Rated Torque (N m)
Code
02
04
05
07
08
10
14
16
17
25
35
45
80
1A
1E
2Z
Specifications
Specifications
2.0
4.0
5.0
7.0
8.0
10.0
14.0
16.0
17.0
25.0
35.0
45.0
80.0
110.0
150.0
200.0
Without brake
Specifications
C face
Specifications
45 to 200N m
2 to 35N m
Specifications
Remarks
Standard
Option
2-13
2 Selections
2.2.1 Support Tool for the Capacity Selection of the AC Servomotors
2-14
SGDM - 10 A D
Rated Output
Code
Rated Output
A3
0.03
15
Code Specificatioins
1.5
A5
0.05
20
0.10
30
02
0.20
50
5.0
04
0.40
60
6.0
05
0.45
75
7.5
08
0.75
1A
11.0
10
1.0
1E
15.0
0.03 to 15.0kW
Duct-ventilated
6.0 to 15.0kW
-R
3.0
Base-mounted
-P
2.0
01
Rated Output of
Applicable Servomotor (kW)
Rack-mounted
0.03 to 5.0kW
Voltage
Single/Three-phase 200V
Code
D
Remarks
For torque, speed, and position control
Single-phase 100V *
2-15
2 Selections
2.4.1 SGDM SERVOPACKs and SGM H Servomotors
SGMAH
(Super High Power
Capacity)
3000min-1 8 models
SGMPH
(Flat Type)
3000min-1 5 models
SGMGH
(High Speed Feed)
1500min-1 10 models
SGMGH
(High Speed Feed)
1000min-1 8 models
SGMSH
(Super High Power
Capacity)
3000min-1 6 models
SGMDH
(Flat Type)
2000min-1 3 models
A3 (30 W)
A5 (50 W)
01 (100 W)
02 (200 W)
04 (400 W)
08 (750 W)
01 (100 W)
02 (200 W)
04A (400 W)
08A (750 W)
15A (1.5 kW)
05A (450 W)
09A (850 W)
13A (1.3 kW)
20A (1.8 kW)
30A (2.9 kW)
44A (4.4 kW)
55A (5.5 kW)
75A (7.5 kW)
1AA (11.0 kW)
1EA (15.0 kW)
03A (300 W)
06A (600 W)
09A (900 W)
12A (1.2 kW)
20A (2.0 kW)
30A (3.0 kW)
40A (4.0 kW)
55A (5.5 kW)
10A (1.0 kW)
15A (1.5 kW)
20A (2.0 kW)
30A (3.0 kW)
40A (4.0 kW)
50A (5.0 kW)
22A (2.2 kW)
32A (3.2 kW)
40A (4.0 kW)
A5BD, A5BDA
A5AD, A5ADA
01BD, 01BDA
01AD, 01ADA
02BD, 02BDA
02AD, 02ADA
04AD, 04ADA
08AD, 08ADA
01BD, 01BDA
01AD, 01ADA
02BD, 02BDA
02AD, 02ADA
04AD, 04ADA
08AD, 08ADA
15AD, 15ADA
05AD, 05ADA
10AD, 10ADA
15AD, 15ADA
20AD, 20ADA
30AD, 30ADA
50ADA
60ADA
75ADA
1AADA
1EADA
05ADA
08ADA
10ADA
15ADA
20ADA
30ADA
50ADA
60ADA
10ADA
15ADA
20ADA
30ADA
50ADA
50ADA
30ADA
50ADA
50ADA
Note: 1. =A: 200 V, B: 100 V (Be sure to match the voltage ratio on the servomotor and the SERVOPACK.)
2. Servomotors with low-backlash gears are available.
2-16
SGMCS
(Direct-drive series)
150min-1 8 models
200min-1 9 models
02B
05B
07B
04C
10C
14C
08D
17D
25D
16E
35E
45M
80M
1AM
80N
1EN
2ZN
02ADA
02ADA
04ADA
04ADA
04ADA
04ADA
04ADA
04ADA
08ADA
08ADA
10ADA
15ADA
20ADA
15ADA
30ADA
30ADA
2-17
2 Selections
2.5.1 Cables for SGMAH and SGMPH Servomotors
YASKAWA
200V
SERVOPACK
SGDM-
MODE/SET
CHARGE
L1
DATA/
POWER
C
N
3
L2
L3
1
2
L1C
C
N
1
L2
B1
B2
B3
U
V
W
2-18
C
N
2
CN2
Name
CN2
Encoder
Cable
Length
3m
(9.84 ft)
5m
(16.4 ft)
10 m
(32.8 ft)
15 m
(49.2 ft)
20 m
(65.6 ft)
3m
(9.84 ft)
5m
(16.4 ft)
10 m
(32.8 ft)
15 m
(49.2 ft)
20 m
(65.6 ft)
3m
(9.84 ft)
Flexible type
cable with connectors at both ends
Flexible type
cable with loose
wire at encoder
end
5m
(16.4 ft)
10 m
(32.8 ft)
15 m
(49.2 ft)
20 m
(65.6 ft)
3m
(9.84 ft)
5m
(16.4 ft)
10 m
(32.8 ft)
15 m
(49.2 ft)
20 m
(65.6 ft)
Type
Reference
Specifications
JZSP-CMP00-03
JZSP-CMP00-05
JZSP-CMP00-10
SERVOPACK
end
Encoder
end
5.4.1
JZSP-CMP00-15
JZSP-CMP00-20
JZSP-CMP03-03
JZSP-CMP03-05
SERVOPACK
end
Encoder
end
5.4.3
JZSP-CMP03-10
JZSP-CMP03-15
JZSP-CMP03-20
JZSP-CMP10-03
JZSP-CMP10-05
JZSP-CMP10-10
SERVOPACK
end
Encoder
end
JZSP-CMP10-15
JZSP-CMP10-20
5.4.5
JZSP-CMP13-03
JZSP-CMP13-05
JZSP-CMP13-10
SERVOPACK
end
Encoder
end
JZSP-CMP13-15
JZSP-CMP13-20
2-19
2 Selections
2.5.1 Cables for SGMAH and SGMPH Servomotors
Name
Length
Type
Specifications
Soldered
SERVOPACK end
connector kit
5.5.1
JZSP-CMP9-1
Soldered
CN2
Encoder
Cable
(Contd)
Cables
5m
(16.4 ft)
10 m
(32.8 ft)
15 m
(49.2 ft)
20 m
(65.6 ft)
30 m
(98.4 ft)
40 m
(131.2 ft)
50 m
(164.0 ft)
2-20
Reference
JZSP-CMP9-2
5.4.3
5.4.5
5.5.1
JZSP-CMP09-05
JZSP-CMP09-10
JZSP-CMP09-15
5.5.1
JZSP-CMP09-20
JZSP-CMP19-30
JZSP-CMP19-40
JZSP-CMP19-50
Name
Servomotor
Model
SGMAH
SGMPH
100V: 30 to
200 W
200V: 30 to
750 W
Length
3m
(9.84 ft)
5m
(16.4 ft)
10 m
(32.8 ft)
15 m
(49.2 ft)
20 m
(65.6 ft)
3m
(9.84 ft)
5m
(16.4 ft)
10 m
(32.8 ft)
15 m
(49.2 ft)
20 m
(65.6 ft)
3m
(9.84 ft)
5m
400 V SGMAH
(16.4 ft)
300 W, 650 W
10 m
(32.8 ft)
400 V SGMPH
200 W to 1.5 kW 15 m
(49.2 ft)
20 m
(65.6 ft)
SGMPH-15A
1.5 kW
Servomotor
Main Circuit
Cables and
Connectors
Without
brakes
Flexible type
SGMAH
SGMPH
100V: 30 to
200 W
200V: 30 to
750 W
3m
(9.84 ft)
5m
(16.4 ft)
10 m
(32.8 ft)
15 m
(49.2 ft)
20 m
(65.6 ft)
Type
Specifications
Reference
JZSP-CMM00-03
JZSP-CMM00-05
JZSP-CMM00-10
SERVOPACK
end
Servomotor
end
5.1.1
JZSP-CMM00-15
JZSP-CMM00-20
JZSP-CMM20-03
JZSP-CMM20-05
JZSP-CMM20-10
SERVOPACK
end
Servomotor
end
SERVOPACK
end
Servomotor
end
5.1.1
JZSP-CMM20-15
JZSP-CMM20-20
JZSP-CMM40-03
JZSP-CMM40-05
JZSP-CMM40-10
5.1.5
JZSP-CMM40-15
JZSP-CMM40-20
JZSP-CMM01-03
JZSP-CMM01-05
JZSP-CMM01-10
SERVOPACK
end
Servomotor
end
5.1.3
JZSP-CMM01-15
JZSP-CMM01-20
Note: When using the cable for the moving section such as robots, use a flexible type cable.
For the safety precautions, see 5.7 I/O Signal Cables for CN1 Connector.
2-21
2 Selections
2.5.1 Cables for SGMAH and SGMPH Servomotors
Name
Servomotor
Model
SGMAH
SGMPH
100V: 30 to
200 W
200V: 30 to
750 W
SGMPH-15A
1.5 kW
Servomotor
Main Circuit
Cables and
Connectors
(Contd)
With brakes
Length
3m
(9.84 ft)
5m
(16.4 ft)
10 m
(32.8 ft)
15 m
(49.2 ft)
20 m
(65.6 ft)
3m
(9.84 ft)
5m
(16.4 ft)
10 m
(32.8 ft)
15 m
(49.2 ft)
20 m
(65.6 ft)
3m
(9.84 ft)
5m
400 V SGMAH
(16.4 ft)
300 W, 650 W
10 m
(32.8 ft)
400 V SGMPH
200 W to 1.5 kW 15 m
(49.2 ft)
20 m
(65.6 ft)
Flexible type
SGMAH
SGMPH
100 V: 30 to
200 W
200 V: 30 to
750 W
3m
(9.84 ft)
5m
(16.4 ft)
10 m
(32.8 ft)
15 m
(49.2 ft)
20 m
(65.6 ft)
Type
Specifications
JZSP-CMM10-03
JZSP-CMM10-05
JZSP-CMM10-10
SERVOPACK
end
Servomotor
end
SERVOPACK
end
Servomotor
end
SERVOPACK
end
Servomotor
end
5.1.2
JZSP-CMM10-15
JZSP-CMM10-20
JZSP-CMM30-03
JZSP-CMM30-05
JZSP-CMM30-10
5.1.2
JZSP-CMM30-15
JZSP-CMM30-20
JZSP-CMM50-03
JZSP-CMM50-05
JZSP-CMM50-10
5.1.2
JZSP-CMM50-15
JZSP-CMM50-20
JZSP-CMM11-03
JZSP-CMM11-05
JZSP-CMM11-10
SERVOPACK
end
Servomotor
end
JZSP-CMM11-15
JZSP-CMM11-20
Note: When using the cable for the moving section such as robots, use a flexible type cable. For the safety precautions, see 5.7 I/O Signal Cables for CN1 Connector.
2-22
Reference
5.1.4
Servomotor
Model
Name
Servomotor
Main Circuit
Cables and
Connectors
(Contd)
SGMAH
30 W to 750 W
SGMPH
100 W to 750 W
For standard
environment
connector kit
without
brakes
SGMPH
1.5 kW
SGMAH
30 W to 750 W
SGMPH
100 W to 750 W
For standard
environment
connector kit
with brakes
SGMPH
1.5 kW
Length
Type
Specifications
Reference
JZSP-CMM9-1
JZSP-CMM9-3
5.2.2
JZSP-CMM9-2
JZSP-CMM9-4
SGDM-
MODE/SET
CHARGE
L1
DATA/
POWER
C
N
3
L2
L3
1
2
L1C
C
N
1
L2
B1
B2
B3
U
V
W
C
N
2
CN2
2-23
2 Selections
2.5.2 Cables for SGMGH/SGMSH/SGMDH Servomotors
Name
Length
3m
(9.84 ft)
5m
(16.4 ft)
10 m
(32.8 ft)
15 m
(49.2 ft)
20 m
(65.6 ft)
3m
(9.84 ft)
5m
(16.4 ft)
10 m
(32.8 ft)
CN2
Encoder
Cables
* Applicable for Cable with connectors at both ends
every type
and capacity.
15 m
(49.2 ft)
20 m
(65.6 ft)
3m
(9.84 ft)
5m
(16.4 ft)
10 m
(32.8 ft)
15 m
(49.2 ft)
20 m
(65.6 ft)
Type
JZSP-CMP03-05
SERVOPACK end
5.4.4
JZSP-CMP03-15
JZSP-CMP03-20
JZSP-CMP01-03
JZSP-CMP01-05
JZSP-CMP01-10
JZSP-CMP01-15
JZSP-CMP01-20
5.4.2
JZSP-CMP02-03
JZSP-CMP02-05
Encoder end
JZSP-CMP02-10
JZSP-CMP02-15
JZSP-CMP02-20
Straight plug
L-shaped plug
MS3108B20-29S*
Cable clamp
2-24
Encoder end
JZSP-CMP03-10
MS3057-12A*
* Contact DDK Electronics, Inc.
Reference
JZSP-CMP03-03
MS3106B20-29S*
Specifications
5.4.4
5.5.2
Name
Length
Type
Specifications
Reference
Straight plug
JA06A-20-29S-J1-EB
L-shaped plug
JA08A-20-29S-J1-EB
JL04-2022CKE (09)
Cable diameter:
6.5 to 9.5 mm
(0.26 to 0.37 in)
JL04-2022CKE (12)
Cable diameter:
9.5 to 13 mm
(0.37 to 0.51 in)
Cable clamp
JL04-2022CKE (14)
Cable diameter:
12.9 to 15.9 mm
(0.51 to 0.63 in)
CN2
Encoder
Cables
(Contd)
* Applicable for SERVOPACK end
every type
connector kit
and capacity.
Cables
5.5.2
Soldered
5.5.2
JZSP-CMP9-1
5m
(16.4 ft)
10 m
(32.8 ft)
15 m
(49.2 ft)
20 m
(65.6 ft)
30m
(98.4 ft)
40m
(131.2 ft)
50m
(164.0 ft)
JZSP-CMP09-05
JZSP-CMP09-10
JZSP-CMP09-15
5.5.2
JZSP-CMP09-20
JZSP-CMP19-30
JZSP-CMP19-40
JZSP-CMP19-50
2-25
2 Selections
2.5.2 Cables for SGMGH/SGMSH/SGMDH Servomotors
Name
Flexible type
cable with
connectors at both
ends
CN2
Encoder
Cables
(Contd)
* Applicable for
every type
and capacity.
3m
(9.84 ft)
5m
(16.4 ft)
10 m
(32.8 ft)
15 m
(49.2 ft)
20 m
(65.6 ft)
3m
(9.84 ft)
5m
(16.4 ft)
10 m
(32.8 ft)
15 m
(49.2 ft)
Flexible type
cable with
loose wire at
encoder end
Servomotor
Main Circuit
Cables and
Connectors
Length
20 m
(65.6 ft)
3m
(9.84 ft)
5m
(16.4 ft)
10 m
(32.8 ft)
15 m
(49.2 ft)
20 m
(65.6 ft)
Type
Reference
Specifications
JZSP-CMP11-03
JZSP-CMP11-05
JZSP-CMP11-10
Encoder
end
JZSP-CMP11-15
JZSP-CMP11-20
JZSP-CMP12-03
JZSP-CMP12-05
JZSP-CMP12-10
Encoder
end
5.4.6
JZSP-CMP12-15
JZSP-CMP12-20
JZSP-CMP13-03
JZSP-CMP13-05
JZSP-CMP13-10
SERVOPACK
end
Encoder
end
JZSP-CMP13-15
JZSP-CMP13-20
Cables with connectors are not available. Refer to Chapter 5 Specifications and Dimensional Drawings of
Cables and Peripheral Devices.
Note: When using the cable for the moving section such as robots, use a flexible type cable. For the safety precautions, see 5.7 I/O Signal Cables for CN1 Connector.
2-26
200V
SGDM SERVOPACK
DATA/
MODE/SET
CHARGE POWER
L1
L2
C
N
3
+1
+2
L1C
L2C
C
N
1
B1
B2
U
V
W
C
N
SGMCS
Servomotor
Servomotor
main circuit
cable
Encoder
cable
View A
Servomotor
main circuit
cable
Encoder
cable
A
200V
SGDM-
DATA/
MODE/SET
CHARGE
L1
L2
POWER
SGDM SERVOPACK
C
N
3
+1
+2
L1C
L2C
B1
B2
C
N
1
U
V
W
C
N
SGMCS
Servomotor
Encoder
cable
Servomotor
main circuit
cable
View A
2-27
2 Selections
2.5.3 Cables for SGMCS Servomotors
Name
Servomotor Model
Type
Length
Encoder
Cables
* Applicable for
every
type.
5m
(16.4 ft)
JZSP-CMP60-05
JZSP-CMP60-10
JZSP-CSP60-10
15 m
(49.2 ft)
JZSP-CMP60-15
JZSP-CSP60-15
JZSP-CMP60-20
JZSP-CSP60-20
JZSP-CMP03-03
JZSP-CMP13-03
5m
(16.4 ft)
JZSP-CMP03-05
JZSP-CMP13-05
10 m
(32.8 ft)
JZSP-CMP03-10
JZSP-CMP13-10
15 m
(49.2 ft)
JZSP-CMP03-15
JZSP-CMP13-15
20 m
(65.6 ft)
JZSP-CMP03-20
JZSP-CMP13-20
SERVOPACK end
Encoder end
5.4.7
SERVOPACK end
Encoder end
Solder type
SERVOPACK-end Connector kit
JZSP-CMP9-1
Encoder-end Connector
(Straight plug)
Encoder-end Connector
(Socket contact)
JN1DS10SL1*2
JZSP-CMP09-05
10 m
(32.8 ft)
JZSP-CMP09-10
JZSP-CSP39-10
15 m
(49.2 ft)
JZSP-CMP09-15
JZSP-CSP39-15
JZSP-CMP09-20
JZSP-CSP39-20
5.5.3
JZSP-CSP39-05
20 m
(65.6 ft)
Cables
Crimping type
JN1-22-22S-PKG100*2
5m
(16.4 ft)
2-28
Reference
JZSP-CSP60-05
10 m
(32.8 ft)
Specifications
JZSP-CSP60-03
3m
(9.84 ft)
CN2
JZSP-CMP60-03
20 m
(65.6 ft)
Flexible
Type*1
3m
(9.84 ft)
Standard type
Name
Servomotor Model
Type
Length
Servomotor main
circuit
cables and
connectors
10 m
(32.8 ft)
JZSP-CMM60-10
JZSP-CSM60-10
JZSP-CMM60-15
JZSP-CSM60-15
JZSP-CMM60-20
JZSP-CSM60-20
SERVOPACK end
Encoder-end
(Same for incremental and
absolute encoder)
Wires and
Connectors
for Relay
Encoder
Cable
Extensions
JZSP-CSM90-05
10 m
(32.8 ft)
JZSP-CSM90-10
JZSP-CSM80-10
15 m
(49.2 ft)
JZSP-CSM90-15
5.1.5
5.2.12
JZSP-CSM80-15
JZSP-CSM90-20
JZSP-CSM80-05
20 m
(65.6 ft)
Relay
Encoder
Cables
5.1.5
JN1DS04FK1*2
5m
(16.4 ft)
Cables
Encoder end
M,N
Servomotor-end Connector
SGMCSB,C,D,E
Reference
JZSP-CSM60-05
15 m
(49.2 ft)
SGMCS-
JZSP-CMM60-05
Specifications
JZSP-CSM60-03
20 m
(65.6 ft)
Without
Brakes
(For middlecapacity series)
JZSP-CMM60-03
5m
(16.4 ft)
SGMCSB,C,D,E
Flexible
Type*1
3m
(9.84 ft)
Without
Brakes
(For smallcapacity series)
Standard type
JZSP-CSM80-20
0.3 m
(0.984 ft)
JZSP-CSP13
30m
(98.4 ft)
JZSP-CMP19-40
50m
(164.0 ft)
Encoder end
JZSP-CMP19-30
40m
(131.2 ft)
SERVOPACK end
JZSP-CMP19-50
2-29
2 Selections
2.6.1 Special Options
Connection cable
for digital operator
YASKAWA
200V
SERVOPACK
Connection cable
for personal computer
SGDM-
MODE/SET
CHARGE
L1
DATA/
POWER
C
N
3
L2
Personal
computer
CN3
L3
1
L1C
C
N
1
Host controller
CN1
L2
B1
B2
B3
U
V
C
N
2
CN8
Name
Length
I/O Signal
Cables
2-30
Cable with
loose wires at
one end
Type
Specifications
Reference
JUSP-TA50P
1m
JZSP-CKI01-1
(3.28 ft)
2m
JZSP-CKI01-2
(6.56 ft)
3m
JZSP-CKI01-3
(9.84 ft)
Name
Length
Type
Specifications
Reference
CN3
Connection Cable for Digital Operator
JUSP-OP02A-2
1m
JZSP-CMS00-1
(3.28 ft)
1.5m
JZSP-CMS00-2
(4.92 ft)
2m
JZSP-CMS00-3
(6.56 ft)
5.8.2
Operator
end
CN3
Connection Cable for Personal
Computer
SERVOPACK
end
Personal
computer end
SERVOPACK
end
Personal
computer end
5.8.1
CN5
Analog Monitor Cable
1m
JZSP-CA01 or
(3.28 ft) DE9404559
SERVOPACK
end
Personal
computer end
SERVOPACK end
Monitor end
5.8.3
JZSP-BA01-1
CN8
5.8.8
ER6VC3
2-31
2 Selections
2.6.2 Molded-case Circuit Breaker and Fuse Capacity
Singlephase
100 V
Singlephase
200 V
Threephase
200 V
SERVOPACK Model
Capacity
(kW)
SGDM-
0.03
0.05
0.10
0.20
0.03
0.05
0.10
0.20
0.40
0.45
0.75
1.0
1.5
2.0
3.0
5.0
6.0
7.5
11.0
15.0
A3BD, A3BDA
A5BD, A5BDA
01BD, 01BDA
02BD, 02BDA
A3AD, A3ADA
A5AD, A5ADA
01AD, 01ADA
02AD, 02ADA
04AD, 04ADA
05AD, 05ADA
08AD, 08ADA
10AD, 10ADA
15AD, 15ADA
20AD, 20ADA
30AD, 30ADA
50ADA
60ADA
75ADA
1AADA
1EADA
Power Supply
Capacity per
SERVOPACK
(kVA)
0.15
0.25
0.40
0.60
0.20
0.25
0.40
0.75
1.2
1.4
1.9
2.3
3.2
4.3
5.9
7.5
12.5
15.5
22.7
30.9
Inrush Current
Main Circuit
Power Supply
0.26
32A
30A
0.13
63A
60A
8
4
7
10
13
17
28
32
41
60
81
118A
0.153
63A
60A
67A
0.273
40A
0.33
80A
* 1. Nominal value at the rated load. The specified derating is required to select an appropriate fuse capacity.
* 2. Cutoff characteristics (25C): 300% five seconds min. and inrush current of 20ms.
* 3. Make sure the current capacity is accurate. For the SERVOPACK with the cooling fan built-in, an
inrush current flows; 200 % of the current capacity in the table above for two seconds, when turning
ON the control circuit power supply to start the fan working.
Note: Do not use a fast-acting fuse. Because the SERVOPACKs power supply is a capacitor input type, a
fast-acting fuse may blow when the power is turned ON.
2-32
The SGDM SERVOPACK does not include a protective grounding circuit. Install a ground-fault protector to
protect the system against overload and short-circuit or protective grounding combined with the molded-case
circuit breaker.
IMPORTANT
SERVOPACK Model
A3BD, A3BDA
A5BD, A5BDA
01BD, 01BDA
FN2070-6/07
Single-phase
250 VAC, 6 A
02BD, 02BDA
FN2070-10/07
0.03
0.05
0.10
0.20
A3AD, A3ADA
A5AD, A5ADA
01AD, 01ADA
02AD, 02ADA
FN2070-6/07
Single-phase
250 VAC, 6 A
04AD, 04ADA
FN2070-10/07
05AD, 05ADA
FN258L-7/07
0.75
1.0
1.5
2.0
08AD, 08ADA
10AD, 10ADA
15AD, 15ADA
20AD, 20ADA
FN258L-16/07
3.0
30AD, 30ADA
FN258L-30/07
5.0
6.0
50ADA
60ADA
FMAC-0934-5010
7.5
75ADA
FMAC-0953-6410
11.0
15.0
1AADA
1EADA
Surge
Suppressor
(Refer to
5.8.12.)
DC
Reactor
(Refer to
5.8.13.)
Single-phase
250 VAC, 10 A
0.45
Three-phase
200 V
Type
0.40
Single-phase
200 V
SGDM-
0.20
Single-phase
100 V
Capacity
(kW)
0.03
0.05
0.10
Magnetic
Contactor
(Refer to
5.8.11.)
FS5559-150-35
Single-phase
250 VAC, 10 A
Three-phase
480 VAC, 7 A
HI-11J (20 A)
TU-25C120
X5062
HI-11J (20 A)
TU-25C240
X5071
X5070
X5069
HI-11J (20 A)
X5061
Three-phase
480 VAC, 16 A
HI-15J (35 A)
Three-phase
480 VAC, 30 A
Three-phase
440 VAC, 50 A
Three-phase
440 VAC, 64 A
HI-20J (35 A)
Three-phase
480 VAC, 150 A
X5063
TU-25C240
X5060
X5059
X5068
HI-25J (50 A)
HI-35J (65 A)
TU-65C240
HI-50J (75 A)
HI-65J (100 A)
Note: 1. If some SERVOPACKs are wired at the same time, select the proper magnetic contactors according to the
total capacity.
2. The following table shows the manufacturers of each device.
Peripheral Device
Noise Filter
Magnetic Contactor
Surge Suppressor
DC Reactor
Manufacturer
FN, FS type: Schaffner Electronic
FMAC type: Timonta AG
Yaskawa Controls Co., Ltd.
Yaskawa Controls Co., Ltd.
Yaskawa Controls Co., Ltd.
2-33
2 Selections
2.6.4 Regenerative Resistors and Brake Power Supply Units
Built-in
Three-phase
200 V
SGDM-
0.03
0.05
0.10
0.20
0.03
0.05
0.10
0.20
0.40
0.45
0.75
1.0
1.5
2.0
3.0
5.0
A3BD, A3BDA
A5BD, A5BDA
01BD, 01BDA
02BD, 02BDA
A3AD, A3ADA
A5AD, A5ADA
01AD, 01ADA
02AD, 02ADA
04AD, 04ADA
05AD, 05ADA
08AD, 08ADA
10AD, 10ADA
15AD, 15ADA
20AD, 20ADA
30AD, 30ADA
50ADA
7.5
11.0
15.0
Single-phase
200 V
Capacity
(kW)
6.0
Single-phase
100 V
Regenerative Resistor
(Refer to 5.8.6, 5.8.7, and 6.5.)
Resistance
()
Capacity
(W)
Externally
connected
50
60
30
25
12.5
8
70
140
140
280
60ADA
(6.251
(880)1
JUSP-RA04
75ADA
1AADA
1EADA
(3.13)2
(1760)2
90 VDC brake
LPDE-1H01
for 100 VAC input
LPSE-2H01
for 200 VAC input
JUSP-RA05
2-34
Manufacturer
Iwaki Wireless Research Institute
Yaskawa Electric Corporation
Yaskawa Controls Co., Ltd.
3
Specifications and Dimensional
Drawings
3
3-1
3.14 Dimensional Drawing of Output Shafts With Oil Seals for SGMAH and
SGMPH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-92
3.14.1 SGMAH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-92
3.14.2 SGMPH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-92
3-2
-1
3-151
3-151
3-152
3-152
3-153
3-154
3-155
3-156
3-3
Voltage
Servomotor Model SGMAHRated Output
Thermal Class: B
Withstand Voltage:
100 V, 200 V Servomotors: 1500 VAC for one
minute
Enclosure: Totally enclosed, self-cooled, IP55
(except for shaft opening)
Ambient Humidity: 20% to 80% (no condensation)
Drive Method: Direct drive
A3B
0.03
kW
100 V
A5B
01B
0.05
0.0955 0.159
Nm
0.1
02B
A3A
A5A
0.2
0.03
0.05
200 V
01A
02A
04A
08A
0.1
0.2
0.4
0.75
0.318
0.318
0.637
1.27
2.39
338
ozin 3
13.5
22.5
45.0
90.2
13.5
22.5
45.0
90.2
180
Instantaneous Peak Nm
Torque 1
ozin 3
0.286
0.477
0.955
1.91
0.286
0.477
0.955
1.91
3.82
7.16
40.5
67.5
135
270
40.5
67.5
135
270
541
1010
Arms
Rated Current 1
Instantaneous Max.
Arms
Current 1
0.66
0.95
2.4
3.0
0.44
0.64
0.91
2.1
2.8
4.4
2.0
2.9
7.2
9.0
1.3
2.0
2.8
6.5
8.5
13.4
Rated Speed 1
Max. Speed
Torque Constant
Rotor Moment of
Inertia J
Rated Power Rate
1
Rated Angular
Acceleration 1
min-1
3000
min-1
5000
Nm/Arms
0.157
0.182
0.146
0.234
0.238
0.268
0.378
0.327
0.498
0.590
22.2
25.8
20.7
33.1
33.7
38.0
53.5
46.3
70.5
83.6
x10-4 kgm2
0.173
0.672
x10-3
ozins2 3
0.235
0.312
0.515
1.50
0.235
0.312
0.515
1.50
2.45
9.52
kW/s
5.49
11.5
27.8
38.2
5.49
11.5
27.8
38.2
93.7
84.8
ozin/Arms
rad/s2
57500 72300 87400 60100 57500 72300 87400 60100 73600 35500
* 1. These items and torque-motor speed characteristics quoted in combination with an SGDM/SGDH
SERVOPACK are at an armature winding temperature of 100C (212F). Other values quoted at
20C (68F). All values are typical.
* 2. Rated torques are continuous allowable torque values at 40C (104F) with an 250 250 6 (mm)
[10 10 0.24 (in.)] aluminum plate (heat sink) attached.
* 3. These values are reference values.
3-4
A3A A5A
A3B A5B
01A
01B
02A
02B
04A
08A
10-4 kg m2
0.0085
0.058
0.14
10-3 oz in s2
0.120
0.821
1.98
(%)
A3A
A3B
70
A5A
A5B
80
01A
01B
02A
02B
04A
90
08A
95
5000
4000
Motor 3000
A
speed
2000
-1)
(min
1000
60
20
40
Torque (oz in)
SGMAH-01B
5000
SGMAH-02B
5000
4000
4000
Motor 3000
A
speed
2000
-1)
(min
1000
0
SGMAH-A5B
5000
4000
Motor 3000
A
speed
2000
-1)
(min
1000
0
Motor 3000
A
speed
2000
-1)
(min
1000
0
0 0.5 1 1.5 2
Torque (N m)
0
50 100 150
Torque (oz in)
5000
4000
Motor 3000
speed
A
2000
-1)
(min
1000
4000
4000
Motor 3000
A
speed
2000
(min-1)
1000
0
SGMAH-02A
5000
Motor 3000
A
speed
2000
-1)
(min
1000
0
0 0.5 1 1.5 2
Torque (N m)
0
50 100 150
Torque (oz in)
SGMAH-08A
5000
4000
Motor 3000
speed
A
2000
(min-1)
1000
0
0 20 40 60 80 100
Torque (oz in)
20
60
40
Torque (oz in)
SGMAH-04A
5000
SGMAH-01A
5000
4000
4000
Motor 3000
speed
A
2000
(min-1)
1000
0
SGMAH-A5A
5000
1 2 3 4
Torque (N m)
Motor 3000
A
speed
2000
(min-1)
1000
0
2 4 6 8
Torque (N m)
3-5
Holding Brake
Rated Voltage
90 VDC
24 VDC
Servomotor
Model
Servomotor
Capacity
W
Capacity
W
SGMAH-A3
SGMAH-A5
SGMAH-01
SGMAH-02
SGMAH-04
SGMAH-08
SGMAH-A3
SGMAH-A5
SGMAH-01
SGMAH-02
SGMAH-04
SGMAH-08
30
50
100
200
400
750
30
50
100
200
400
750
6
6
6
7.4
7.4
9
6
6
6
6.9
6.9
7.7
Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor.
3-6
Rated
Current
A (at 20C
(68 F))
0.067
0.067
0.067
0.082
0.082
0.1
0.25
0.25
0.25
0.29
0.29
0.32
Thermal Class: B
Withstand Voltage:
100 V, 200 V Servomotors: 1500 VAC for one minute
Enclosure: Totally enclosed, self-cooled, IP55 (except
for shaft opening)
Ambient Humidity: 20% to 80% (no condensation)
Drive Method: Direct drive
Backlash: 15 to 20 min max.
Gear Rotation Direction: Same direction as servomotor
Servomotor
Moment of Inertia J
10-4 kgm2
Gear Output
(x 10-3 ozins2)
Servomotor
Model
SGMAH-
A3
AJC
A3
Rated
Torque
Nm
(oz in)
Gear
Ratio
1/5
AJ3
A3
Rated
Speed
min-1
AJ1
A3
Output
W
Rated
Torque/
Efficiency2
Nm/%
(ozin/%)
0.238/50
(33.7/50)
Instantaneous
Peak
Torque
Nm
(ozin)
Rated
Speed
min-1
Max.
Speed 1
min-1
Motor +
Gears
1.16
(164)
600
800
0.044
(0.623)
3/31
0.687/70
(97.3/70)
2.37
(336)
290
387
0.033
(0.467)
1/21
1.60/80
(227/80)
5.48
(776)
143
190
0.023
(0.326)
AJ7
1/33
2.51/80
(355/80)
8.61
(1220)
91
121
0.021
(0.297)
A5
AJ1
1/5
0.557/70
(78.9/70)
1.92
(272)
600
800
0.050
(0.708)
A5
AJ3
3/31
1.15/70
(163/70)
3.95
(559)
290
387
0.040
(0.566)
A5
AJC
1/21
2.67/80
(378/80)
9.07
(1280)
143
190
0.036
(0.510)
A5
AJ7
1/33
4.20/80
(595/80)
14.3
(2030)
91
121
0.032
(0.453)
01
AJ1
1/5
1.27/80
(180/80)
4.32
(612)
600
800
0.099
(1.40)
01
AJ3
3/31
2.63/80
(372/80)
8.88
(1260)
290
387
0.054
(0.765)
01
AJC
1/21
5.34/80
(756/80)
18.1
(2560)
143
190
0.071
(1.00)
01
AJ7
1/33
8.40/80
(1190/80)
28.4
(4020)
91
121
0.057
(0.807)
0.095
(13.45)
30
50
100
3000
0.159
(22.5)
0.318
(45.0)
Gears
0.028
(0.397)
0.016
(0.227)
0.007
(0.0991)
0.005
(0.0708)
0.028
(0.397)
0.018
(0.255)
0.014
(0.198)
0.010
(0.142)
0.063
(0.892)
0.018
(0.255)
0.035
(0.496)
0.021
(0.297)
3-7
Servomotor
(Contd)
Moment of Inertia J
10-4 kgm2
Gear Output
(x 10-3 ozins2)
Servomotor
Model
SGMAH-
02
Rated
Speed
min-1
Gear
Ratio
1/5
AJ1
02
Output
W
Rated
Torque
Nm
(oz in)
AJ3
0.637
(90.2)
200
Rated
Torque/
Efficiency2
Nm/%
(ozin/%)
2.55/80
(361/80)
Instantaneous
Peak
Torque
Nm
(ozin)
Rated
Speed
min-1
Max.
Speed 1
min-1
Motor +
Gears
8.60
(1220)
600
800
0.299
(4.23)
3/31
5.27/80
(746/80)
17.8
(2520)
290
387
0.196
(2.78)
1/21
10.7/80
(1520/80)
36.1
(5110)
143
190
0.211
(2.99)
02
AJC
02
AJ7
1/33
16.8/80
(2380/80)
56.7
(8030)
91
121
0.181
(2.56)
04A AJ1
1/5
5.08/80
(719/80)
17.2
(2440)
600
800
0.366
(5.18)
3/31
10.5/80
(1490/80)
35.5
(5030)
290
387
0.353
(5.00)
1/21
21.3/80
(3020/80)
72.2
(10200)
143
190
0.403
(5.71)
04A AJ7
1/33
33.5/80
(4740/80)
113.0
(16000)
91
121
0.338
(4.79)
08A AJ1
1/5
9.56/80
(1350/80)
32
(4530)
600
800
1.12
(15.9)
3/31
19.8/80
(2800/80)
66.6
(9430)
290
387
1.10
(15.6)
1/21
40.2/80
(5690/80)
134
(19000)
143
190
1.15
(15.3)
1/33
63.1/80
(8940/80)
213
(30000)
91
121
0.972
(13.8)
04A AJ3
400
04A AJC
08A AJ3
750
08A AJC
08A AJ7
3000
1.27
(179.8)
2.39
(338)
3-8
Gears
0.193
(2.73)
0.090
(1.27)
0.105
(1.49)
0.075
(1.06)
0.193
(2.73)
0.180
(2.55)
0.230
(3.26)
0.165
(2.34)
0.450
(6.37)
0.425
(6.02)
0.475
(6.73)
0.300
(4.25)
Thermal Class: B
Withstand Voltage:
100V, 200V Servomotors: 1500 VAC for one minute
Enclosure: Totally enclosed, self-cooled, IP55 (except
for shaft opening)
Ambient Humidity: 20% to 80% (no condensation)
Drive Method: Direct drive
Backlash: 3 min max.
Gear Rotation Direction: Same direction as servomotor
Servomotor
Servomotor
Model
SGMAH-
Moment of Inertia J
10-4 kgm2
(x 10-3 ozins2)
Gear Output
1/5
0.238/50
(33.7/50)
Instantaneous
Peak
Torque
Nm
(ozin)
1.16
(164)
1/9
0.599/70
(84.8/70)
2.35
(333)
333
444
0.029
(0.411)
1/21
1.60/80
(227/80)
5.48
(776)
143
190
0.025
(0.354)
AH7
1/33
2.51/80
(355/80)
8.61
(1220)
91
121
0.023
(0.326)
A5
AH1
1/5
0.557/70
(78.9/70)
1.92
(272)
600
800
0.058
(0.821)
A5
AH2
1/9
1.00/70
(142/70)
3.89
(551)
333
444
0.055
(0.779)
A5
AHC
1/21
2.67/80
(378/80)
9.12
(1290)
143
190
0.040
(0.566)
A5
AH7
1/33
4.20/80
(595/80)
14.3
(2030)
91
121
01
AH1
1/5
1.27/80
(180/80)
600
800
01
AHB
1/11
2.80/80
(396/80)
273
363
01
AHC
1/21
5.34/80
(756/80)
4.34
(615)
9.55
(1350)
18.2
(2580)
143
190
01
AH7
1/33
8.40/80
(1190/80)
28.7 3
(4060)
91
121
A3
AH2
A3
AHC
A3
Rated
Speed
min-1
AH1
A3
Output
W
Rated
Torque
Nm
(oz in)
0.159
(22.5)
30
50
100
3000
0.159
(22.5)
0.318
(45.0)
Gear
Ratio
Rated
Torque/Effi2
ciency
Nm/%
(ozin/%)
Rated
Speed
min-1
Max.
Speed 1
min-1
Motor +
Gears
600
800
0.053
(0.751)
Gears
0.035
(0.496)
0.114
(1.61)
0.084
(1.19)
0.079
(1.12)
0.036
(0.510)
0.013
(0.184)
0.008
(0.113)
0.006
(0.0850)
0.036
(0.510)
0.033
(0.467)
0.018
(0.255)
0.013
(0.184)
0.078
(1.10)
0.048
(0.680)
0.043
(0.609)
0.069
(0.977)
0.033
(0.467)
3-9
Servomotor
Servomotor
Model
SGMAH-
Output
W
Rated
Speed
min-1
Gear Output
Rated
Torque
Nm
(oz in)
Gear
Ratio
02
AH1
1/5
02
AHB
1/11
0.637
(90.2)
200
1/21
02
AHC
02
AH7
1/33
04A AH1
1/5
04A AHB
400
04A AHC
3000
1.27
(179.8)
1/11
1/21
Rated
Torque/Efficiency2
Nm/%
(ozin/%)
2.55/80
(361/80)
5.96/85
(844/85)
11.4/85
(1610/85)
17.9/85
(2540/85)
5.4/85
(765/85)
11.9/85
(1690/85)
22.7/85
(3220/85)
Instantaneous
Peak
Torque
Nm
(ozin)
8.4
(1190)
19.3
(2730)
37.3
(5280)
58.63
(8300)
17.6
(2490)
39.1
(5540)
72.2
(10200)
1153
(16300)
33.3
(4720)
04A AH7
1/33
33.5/80
(4740/80)
08A AH1
1/5
10.2/85
(1440/85)
08A AHB
1/11
22.3/85
(3160/85)
08A AHC
1/21
42.7/85
(6050/85)
713
(10100)
140
(19800)
08A AH7
1/33
67/85
(9490/85)
2063
(29200)
750
(Contd)
Moment of Inertia J
10-4 kgm2
(x 10-3 ozins2)
2.39 (338)
Rated
Speed
min-1
Max.
Speed 1
min-1
600
800
273
363
143
190
91
121
600
800
273
363
143
190
91
Motor +
Gears
Gears
0.441
(6.25)
0.191
(2.70)
0.216
(3.06)
0.335
(4.74)
0.085
(1.20)
0.110
(1.56)
0.171
(2.42)
0.065
(0.920)
0.508
(7.19)
0.368
(5.21)
0.368
(5.21)
0.335
(4.74)
0.195
(2.76)
0.195
(2.76)
121
0.346
(4.90)
0.173
(2.45)
600
800
1.25
(17.7)
0.583
(8.26)
273
363
1.20
(17.0)
0.528
(7.48)
143
190
1.26
(17.8)
0.593
(8.40)
91
121
0.935
(13.2)
0.263
(3.72)
3-10
Thermal Class: B
Withstand Voltage:
100 V, 200 V Servomotors: 1500 VAC for one minute
Enclosure: Totally enclosed, self-cooled, IP55 (except
for shaft opening)
Ambient Humidity: 20% to 80% (no condensation)
Drive Method: Direct drive
100 V
200 V
01B
02A
04A
08A
0.2
0.1
0.2
0.4
0.75
1.5
0.637
0.318
0.637
1.27
2.39
15A
0.318
Nm
01A
0.1
kW
02B
4.77
45.0
90.2
45.1
90.2
180
338
675
0.955
1.91
0.955
1.91
3.82
7.16
14.3
ozin 3
135
270
135
270
541
1010
2030
Rated Current 1
Arms
2.2
2.7
0.89
2.0
2.6
4.1
7.5
Arms
7.1
8.4
2.8
6.0
8.0
13.9
23.0
Rated Speed 1
min-1
3000
min-1
5000
Max. Speed
ozin
Nm
Nm/Arms
0.160
0.258
0.392
0.349
0.535
0.641
0.687
22.7
36.5
55.5
49.4
75.8
90.8
97.3
x10-4 kgm2
0.0491
0.193
0.0491
0.193
0.331
2.10
4.02
x10-3 ozins2 3
0.695
2.73
0.695
2.73
4.69
29.7
56.9
kW/s
20.6
21.0
20.6
21.0
49.0
27.1
56.7
rad/s2
64800
33000
64800
33000
38500
11400
11900
Torque Constant
Rotor Moment of Inertia J
ozin /Arms
* 1. These items and torque-motor speed characteristics quoted in combination with an SGDM/SGDH
SERVOPACK are at an armature winding temperature of 100C (212F). Other values quoted at
20C (66.2F). All values are typical.
* 2. Rated torques are continuous allowable torque values at 40C (104F) with an alminum plate (heat
sink) attached.
Heat sink dimensions:
SGMPH-01, 02, and 04: 250 250 6 (mm), [10 10 0.24 (in)]
SGMPH-08, and 15: 300 300 12 (mm), [12 12 0.5 (in)]
* 3. These values are reference values.
3-11
01A
01B
02A
02B
04A
08A
15A
10-4 kg m2
0.029
0.109
0.875
10-3 oz in s2
0.411
1.54
12.4
01A
01B
02A
02B
04A
08A
90
15A
95
SGMPH-02B
5000
5000
4000
4000
Motor 3000
speed
A
2000
(min-1)
1000
0
Motor 3000
A
speed
2000
-1)
(min
1000
50 100 150
Torque (oz in)
5000
4000
SGMPH-02A
5000
50 100 150
Torque (oz in)
Motor 3000
A
speed
2000
(min-1)
1000
0
4000
Motor 3000
A
speed
2000
(min-1)
1000
0 0.5 1 1.5 2
Torque (N m)
100 200 300
Torque (oz in)
1 2 3 4
Torque (N m)
Motor 3000
A
speed
2000
-1)
(min
1000
SGMPH-15A
5000
4000
Motor 3000
A
speed
2000
(min-1)
1000
0
0
0
3-12
4 8 12 16
Torque (N m)
800 1600 2400
Torque (oz in)
SGMPH-08A
5000
4000
4000
Motor 3000
speed
A
2000
-1)
(min
1000
SGMPH-04A
5000
2 4 6 8
Torque (N m)
Capacity
W
100
8.1
SGMPH-02
200
7.6
SGMPH-04
400
7.2
SGMPH-08
750
7.5
SGMPH-15
1500
10
SGMPH-01
100
8.1
SGMPH-02
200
7.6
SGMPH-04
400
7.6
SGMPH-08
750
7.5
SGMPH-15
24 VDC
Servomotor
Capacity
W
SGMPH-01
90 VDC
Servomotor
Model
1500
10
Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor.
Thermal Class: B
Withstand Voltage:
100V, 200V Servomotors: 1500 VAC for one minute
Enclosure: Totally enclosed, self-cooled, IP55 (except
for shaft opening)
Ambient Humidity: 20% to 80% (no condensation)
Drive Method: Direct drive
Backlash: 15 min max.
Gear Rotation Direction: Same direction as servomotor
3-13
Moment of Inertia J
Servomotor
Servomotor
Model
SGMPH-
01
Rated
Speed
min-1
Rated
Torque
Nm
(oz in)
Gear
Ratio
1/5
JC
01
Output
W
J3
01
(x 10-3 ozins2)
J1
01
10-4 kgm2
Gear Output
Rated
Torque/
Efficiency2
Nm/%
(ozin/%)
1.27/80
(180/80)
Instantaneous
Peak
Torque
Nm
(ozin)
Rated
Speed
min-1
Max.
Speed 1
min-1
Motor +
Gears
4.32
(612)
600
800
0.112
(1.59)
3/31
2.63/80
(372/80)
8.88
(1257)
290
387
0.067
(0.949)
1/21
5.34/80
(756/80)
18.1
(2560)
143
190
0.084
(1.19)
J7
1/33
8.40/80
(1190/80)
28.4
(4020)
91
121
0.070
(0.991)
02
J1
1/5
2.55/80
(361/80)
8.6
(1220)
600
800
0.386
(5.47)
02
J3
3/31
5.27/80
(746/80)
17.8
(2520)
290
387
0.283
(4.01)
02
JC
1/21
10.7/80
(1520/80)
36.1
(5110)
143
190
0.298
(4.22)
02
J7
1/33
16.8/80
(2380/80)
56.7
(8030)
91
121
0.268
(3.79)
04
J1
1/5
5.08/80
(719/80)
17.2
(2440)
600
800
0.524
(7.42)
04
J3
3/31
10.5/80
(1490/80)
35.5
(5030)
290
387
0.511
(7.24)
04
JC
1/21
21.3/80
(3020/80)
72.2
(10200)
143
190
0.561
(7.94)
04
J7
1/33
33.5/80
(4740/80)
113
(16000)
91
121
0.496
(7.02)
08
J1
1/5
9.56/80
(1350/80)
32
(4530)
600
800
2.55
(36.1)
08
J3
3/31
19.8/80
(2800/80)
66.6
(9430)
290
387
2.53
(35.8)
08
JC
1/21
40.2/80
(5690/80)
134
(19000)
143
190
2.58
(36.5)
08
J7
1/33
63.1/80
(8940/80)
213
(30200)
91
121
2.40
(34.0)
15
J1
1/5
19.1/80
(2710/80)
64.4
(9120)
600
800
4.97
(70.4)
15
J3
1/11
42.5/80
(6020/80)
144
(20100)
269
359
5.27
(74.6)
15
JC
1/21
80.1/80
(11300/80)
270
(38200)
143
190
5.33
(75.5)
15
J7
1/33
126/80
(17800/80)
425
(60200)
91
121
4.82
(68.3)
0.318
(45.0)
100
0.637
(90.2)
200
400
750
1500
3000
1.27
(179.8)
2.39 (338)
4.77 (675)
3-14
Gears
0.063
(0.892)
0.018
(0.255)
0.035
(0.496)
0.021
(0.297)
0.193
(2.73)
0.090
(1.27)
0.105
(1.49)
0.075
(1.06)
0.193
(2.73)
0.180
(2.55)
0.230
(3.26)
0.165
(2.34)
0.450
(6.37)
0.425
(6.02)
0.475
(6.73)
0.300
(4.25)
0.950
(13.5)
1.250
(17.7)
1.300
(18.4)
0.800
(11.3)
Note: The no-load torque for a servomotor with gears is high immediately after the servomotor starts, and
it then decreases and becomes stable a few minutes later. This is a common phenomenon caused by
grease being circulated in the gear and not by a faulty gear.
Thermal Class: B
Withstand Voltage:
100V, 200V Servomotors: 1500 VAC for one minute
Enclosure: Totally enclosed, self-cooled, IP55 (except
for shaft opening)
Ambient Humidity: 20% to 80% (no condensation)
Drive Method: Direct drive
Backlash: 3 min max.
Gear Rotation Direction: Same direction as servomotor
3
Servomotor
Servomotor
Model
SGMPH-
Output
W
Rated
Speed
min-1
Rated
Torque
Nm
(oz in)
Gear
Ratio
Rated
Torque/Effi2
ciency
Nm/%
(ozin/%)
01
H1
1/5
1.27/80
(180/80)
01
HB
1/11
2.80/80
(396/80)
1/21
5.34/80
(756/80)
0.318
(45.0)
100
01
HC
01
H7
1/33
8.40/80
(1190/80)
02
H1
1/5
2.55/80
(361/80)
02
HB
1/11
200
3000
Moment of Inertia J
10-4 kgm2
(10-3 ozins2)
Gear Output
0.637
(90.2)
1/21
5.96/85
(844)
11.4/85
(1610/85)
Instantaneous
Peak
Torque
Nm
(ozin)
4.34
(612)
9.55
(1350)
18.2
(2580)
28.73
(4060)
8.4
(1190)
19.3
(2730)
37.3
(5280)
Rated
Speed
min-1
Max.
Speed 1
min-1
600
800
273
363
143
190
0.092
(1.30)
0.093
(1.32)
0.048
(0.68)
0.043
(0.61)
91
121
0.082
(1.16)
0.033
(0.47)
600
800
273
363
143
190
0.553
(7.83)
0.281
(3.98)
0.303
(4.29)
0.360
(5.10)
0.088
(1.25)
0.110
(1.56)
91
121
0.258
(3.65)
0.065
(0.920)
600
800
0.691
(9.79)
0.360
(5.10)
Motor +
Gears
0.142
(2.01)
0.097
(1.37)
Gears
02
HC
02
H7
1/33
17.9/85
(2540/85)
04
H1
1/5
5.4/85
(765/85)
58.63
(8300)
17.6
(2490)
04
HB
1/11
11.9/85
(1690/85)
39.13
(5540)
273
363
0.526
(7.45)
0.195
(2.76)
04
HC
1/21
22.7/85
(3220/85)
72.2
(10200)
143
190
0.526
(7.45)
0.195
(2.76)
04
H7
1/33
33.5/80
(4744/80)
1153
(16300)
91
121
0.504
(7.13)
0.172
(2.44)
400
1.27
(179.8)
3-15
Servomotor
Servomotor
Model
SGMPH-
Output
W
Rated
Speed
min-1
Gear Output
Rated
Torque
Nm
(oz in)
Gear
Ratio
Rated
Torque/Efficiency2
Nm/%
(ozin/%)
08
H1
1/5
10.2/85
(1440/85)
08
HB
1/11
22.3/85
(3160/85)
08
HC
1/21
42.7/85
(6050/85)
08
H7
1/33
67/85
(9490/85)
2.39
(338)
750
3000
15
1/5
H1
15
HB
1/11
1500
(Contd)
Moment of Inertia J
10-4 kgm2
(10-3 ozins2)
4.77 (675)
Instantaneous
Peak
Torque
Nm
(ozin)
33.3
(4720)
713
(10100)
140
(19800)
Rated
Speed
min-1
Max.
Speed 1
min-1
Motor +
Gears
Gears
600
800
2.87
(40.6)
0.765
(10.8)
273
363
2.62
(37.1)
0.523
(7.41)
143
190
2.76
(39.1)
0.663
(9.39)
2.56
(36.3)
0.455
(6.44)
5.56
(78.7)
6.11
(86.5)
1.54
(21.8)
2.09
(29.6)
1.98
(28.0)
1.12
(15.8)
91
121
20.3/85
(2880/85)
44.6/85
(6320/85)
2063
(29200)
33.3
(4720)
71
(10100)
600
800
273
363
15
GC
1/21
80.1/80
(11300/80)
270
(38200)
143
190
6.00
(85.0)
15
G7
1/33
126/80
(17800/80)
353 3
(50000)
91
121
5.14
(72.8)
3-16
Thermal Class: F
Withstand Voltage:
200 V Servomotors: 1500 VAC for one minute
Enclosure: 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- 05A A 09A A 13A A 20A A 30A A 44A A 55A A 75A A 1AA A 1EA A
Rated Output
Rated Torque 1
0.45
lbin
1.3
1.8
2.9
4.4
5.5
7.5
11
15
5.39
8.34
11.5
18.6
28.4
35.0
48.0
70.0
95.4
25
48
74
102
165
252
310
425
620
844
8.92
Nm
0.85
2.84
kW
13.8
23.3
28.7
45.1
71.1
87.6
119
175
224
79
122
207
254
404
630
775
1050
1550
1980
Instantaneous
Peak Torque 1
Nm
Rated Current
Arms
3.8
7.1
10.7
16.7
23.8
32.8
42.1
54.7
58.6
78.0
Instantaneous
Max. Current 1
Arms
11
17
28
42
56
84
110
130
140
170
Rated Speed 1
min-1
Max. Speed 1
min-1
lbin
1500
3000
2000
Nm/Arms
0.82
0.83
0.84
0.73
0.83
0.91
0.88
0.93
1.25
1.32
lbin/Arms
Torque
Constant
7.26
7.35
7.43
6.46
7.35
8.05
7.79
8.23
11.1
11.7
Rotor Moment
of Inertia J2
Rated Power
Rate 1
Rated Angular
Acceleration 1
7.24
13.9
20.5
31.7
46.0
67.5
89.0
125
281
315
(9.34)
(16.0)
(22.6)
(40.2)
(54.5)
(76.0)
(97.5)
(134)
(300)
(353)
6.41
12.3
18.2
28.1
40.7
59.8
78.8
111
249
279
(8.28)
(14.2)
(20.1)
(35.6)
(48.2)
(67.3)
(86.3)
(119)
(266)
(312)
kW/s
11.2
20.9
33.8
41.5
75.3
120
137
184
174
289
rad/s2
3930
3880
4060
3620
4050
4210
3930
3850
2490
3030
10-4
kgm2
x10-3
lbins2
* 1. These items and torque-motor speed characteristics quoted in combination with an SGDM/SGDH
SERVOPACK are at an armature winding temperature of 20C (68F).
* 2. The values in the parentheses are those for motors with holding brakes.
* 3. These values are reference values.
Note: These characteristics are values with the following iron plate (heat sink) attached for cooling.
SGMGH-05, 09, and 13: 400 400 20 (mm) [15.75 15.75 0.79 (in)]
SGMGH-20, 30, 44, 55, and 75: 550 550 30 (mm) [21.65 21.65 1.18 (in)]
SGMGH-1A and 1E: 650 650 35 (mm) [25.59 25.59 1.38 (in)]
3-17
10-4 kg m2
Holding Brake
Moment of Inertia J 10-3 lb in s2
2.10
1.86
Servomotor Model
SGMGH-
8.50
7.53
1AA A 1EA A
10-4 kg m2
Holding Brake
Moment of Inertia J 10-3 lb in s2
18.8
37.5
16.7
33.2
3000
Motor 2000
speed
Motor 2000
speed
(min-1) 1000
0
2 4 6 8 10
Torque (N m)
5
10 15 20
Torque (N m)
SGMGH-30A A
Motor 2000
speed
A
10 20 30 40 50
Torque (N m)
SGMGH-1AA A
3000
Motor 2000
speed
(min-1) 1000
20 40 60 80
Torque (N m)
200 400 600
Torque (lb in)
SGMGH-55A A
10 20 30 40
Torque (N m)
3000
Motor 2000
speed
(min-1) 1000
20 40 60 80 100
Torque (N m)
50
100
150
Torque (N m)
500
1000
Torque (lb in)
(min-1) 1000
SGMGH-1EA A
Motor 2000
speed
A
10
20
30
Torque (N m)
(min-1)1000
3000
Motor 2000
speed
Motor 2000
speed
A
(min-1) 1000
3000
(min-1) 1000
SGMGH-44A A
Motor 2000
speed
50 100 150
Torque (lb in)
3000
(min-1) 1000
3-18
Motor 2000
speed
SGMGH-20A A
3000
(min-1)1000
20 40 60 80
Torque (lb in)
3000
SGMGH-13A A
3000
(min-1) 1000
SGMGH-09A A
3000
Servomotor
Model
Servomotor
Capacity
W
Capacity
W
SGMGH-05
450
10.1
SGMGH-09
850
10.1
SGMGH-13
1300
10.1
SGMGH-20
1800
18.5
SGMGH-30
2900
18.5
SGMGH-44
4400
18.5
SGMGH-55
5500
23.5
SGMGH-75
7500
23.5
SGMGH-1A
11000
32.0
SGMGH-1E
15000
35.0
SGMGH-05
450
9.85
SGMGH-09
850
9.85
SGMGH-13
1300
9.85
SGMGH-20
1800
18.5
SGMGH-30
2900
18.5
SGMGH-44
4400
18.5
SGMGH-55
5500
23.5
SGMGH-75
7500
23.5
SGMGH-1A
11000
32.0
SGMGH-1E
15000
35.0
90 VDC
24 VDC
Holding
Torque
Nm (lbin)
4.41
(39.0)
12.7
(112)
12.7
(112)
43.1
(381)
43.1
(381)
43.1
(381)
72.6
(643)
72.6
(643)
84.3
(746)
115
(1010)
4.41
(39.0)
12.7
(112)
12.7
(112)
43.1
(381)
43.1
(381)
43.1
(381)
72.6
(643)
72.6
(643)
84.3
(746)
115
(1010)
Coil
Resistance
(at 20 C
(68 F))
Rated
Current
A (at 20 C
(68 F))
804
0.11
804
0.11
804
0.11
438
0.21
438
0.21
438
0.21
327
0.28
327
0.28
253
0.36
231
0.39
58.7
0.41
58.7
0.41
58.7
0.41
31.1
0.77
31.1
0.77
31.1
0.77
22.8
1.05
22.8
1.05
18.0
1.33
16.4
1.46
Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor.
3-19
Thermal Class: F
Withstand Voltage:
200 V Servomotors: 1500 VAC for one minute
Enclosure: Totally enclosed, IP44 self-cooled (or the equivalent)
Ambient Humidity: 20% to 80% (no condensation)
Drive Method: Direct drive
Backlash: Roughly 0.6 to 2 at the gear output shaft
Gear Rotation Direction: Reverse direction of servomotor
Gear Lubricating Method:
Type 4095 to 4115: Grease
Type 4130 to 4190: Oil
* For oil lubrication, the motor should be mounted horizontal to the shaft. Contact your Yaskawa
representative about lubrication for angle mounting.
Moment of Inertia J
Servomotor
10-4 kgm2
Gear Output
(10-3lbins2)
Servomotor
Model
SGMGH-
Output
W
Rated
Speed
min-1
Rated
Torque
Nm
(lb in)
Gear
Ratio
1/6
05A A A6
05A A B6
2.84
(25)
0.45
05A A C6
1/11
1/21
05A A 76
1/29
09A A A6
1/6
09A A B6
0.85
09A A C6
1500
5.39
(48)
1/11
1/21
09A A 76
1/29
13A A A6
1/6
13A A B6
1.3
13A A C6
13A A 76
3-20
8.34
(74)
1/11
1/21
1/29
Rated
Torque/
Efficiency
Nm/%
(lbin/%)
13.6/80
(120/80)
25.0/80
(221/80)
44.8/70
(398/70)
66.0/80
(584/80)
25.9/80
(229/80)
47.4/80
(420/80)
79.3/70
(702/70)
125/75
(1110/75)
40.0/80
(354/80)
68.7/80
(608/80)
140/75
(1240/75)
193/80
(1710/80)
Instantaneous
Peak
Torque/
Effective
Nm/%
(lbin/%)
42.8/80
(379/80)
78.5/80
(695/80)
140/75
(1240/75)
207/80
(1830/80)
66.3/80
(587/80)
122/80
(1080/80)
203/70
(1800/70)
321/80
(2840/80)
112/80
(991/80)
192/75
(1700/75)
392/80
(3470/80)
541/80
(4790/80)
Rated
Speed
min-1
Max.
Speed
min-1
250
500
136
272
71
142
51
103
250
500
136
272
71
142
51
103
250
500
136
272
71
142
51
103
Motor +
Gears
Gears
9.20
(8.14)
8.84
(7.82)
8.39
(7.43)
8.41
(7.44)
15.7
(13.9)
15.3
(13.5)
15.9
(14.1)
16.1
(14.3)
22.3
(19.7)
23.4
(20.7)
22.5
(19.9)
21.4
(18.9)
1.96
(1.73)
1.6
(1.42)
1.15
(1.02)
1.17
(1.04)
1.8
(1.59)
1.4
(1.24)
2.0
(1.77)
2.2
(1.95)
1.8
(1.59)
2.9
(2.57)
2.0
(1.77)
0.9
(0.797)
(Contd)
Moment of Inertia J
Servomotor
10-4 kgm2
Gear Output
(10-3lbins2)
Servomotor
Model
SGMGH-
Output
W
Rated
Speed
min-1
Rated
Torque
Nm
(lb in)
Gear
Ratio
1/6
20A A A6
20A A B6
11.5
(102)
1.8
20A A C6
1/11
1/21
20A A 76
1/29
30A A A6
1/6
30A A B6
18.6
(165)
2.9
30A A C6
1/11
1/21
30A A 76
1/29
44A A A6
1/6
1500
44A A B6
4.4
44A A C6
28.4
(252)
1/11
1/21
44A A 76
1/29
55A A A6
1/6
55A A B6
5.5
55A A C6
35.0
(310)
1/11
1/21
55A A 76
1/29
75A A B6
1/11
75A A C6
75A A 76
7.5
48.0
(425)
1/21
1/29
Rated
Torque/
Efficiency
Nm/%
(lbin/%)
55.1/80
(488/80)
101/80
(894/80)
193/75
(1710/75)
266/80
(2350/80)
89.4/80
(791/80)
164/80
(1450/80)
313/80
(2770/80)
432/75
(3820/75)
136/80
(1020/80)
250/80
(2210/80)
477/80
(4220/80)
660/80
(5840/80)
168/80
(1490/80)
308/80
(2730/80)
588/80
(5200/80)
811/80
(7180/80)
422/80
(3740/80)
807/80
(7140/80)
1120/80
(9890/80)
Instantaneous
Peak
Torque/
Effective
Nm/%
(lbin/%)
138/80
(1220/80)
253/80
(2240/80)
482/80
(4270/80)
666/80
(5900/80)
217/80
(1920/80)
397/80
(3510/80)
758/80
(6710/80)
1050/80
(9290/80)
341/80
(3020/80)
625/80
(5530/80)
1200/80
(10600/80)
1650/80
(14600/80)
420/80
(3720/80)
771/80
(6820/80)
1470/80
(13000/80)
2030/80
(18000/80)
1040/80
(9200/80)
1990/80
(17600/80)
2750/80
(24400/80)
Rated
Speed
min-1
Max.
Speed
min-1
250
500
136
272
71
142
51
103
250
500
136
272
71
142
51
103
250
500
136
272
71
142
51
103
250
500
136
272
71
142
51
103
136
272
71
142
51
103
Motor +
Gears
Gears
38.0
(33.6)
36.5
(32.3)
37.6
(33.3)
37.3
(33.0)
52.3
(46.3)
50.8
(45.0)
51.9
(45.9)
91.9
(81.3)
79.5
(70.4)
75.2
(66.6)
115
(102)
131
(116)
103
(91.2)
98.8
(87.4)
168
(149)
166
(147)
190
(168)
204
(181)
216
(191)
6.3
(5.58)
4.8
(4.25)
5.9
(5.22)
5.6
(4.96)
6.3
(5.58)
4.8
(4.25)
5.9
(5.22)
45.9
(40.6)
12.0
(10.6)
7.7
(6.82)
47.5
(42.0)
63.5
(56.2)
14.0
(12.4)
9.8
(8.67)
79.0
(69.9)
77.0
(68.2)
65.0
(57.5)
79.0
(69.9)
91.0
(80.5)
3-21
(Contd)
Moment of Inertia J
Servomotor
10-4 kgm2
Gear Output
(10-3lbins2)
Servomotor
Model
SGMGH-
Output
W
Rated
Speed
min-1
Rated
Torque
Nm
(lb in)
Gear
Ratio
1/11
1AA A B6
1AA A C6
11
1500
70
1/21
1/29
1AA A 76
Rated
Torque/
Efficiency
Nm/%
(lbin/%)
615/80
(5440/80)
1180/80
(10400/80)
1630/80
(14400/80)
Instantaneous
Peak
Torque/
Effective
Nm/%
(lbin/%)
1550/80
(13700/80)
2950/80
(26100/80)
4070/80
(36000/80)
Rated
Speed
min-1
Max.
Speed
min-1
136
182
71
95
51
69
Motor +
Gears
Gears
370
(327)
376
(333)
519
(459)
90.0
(79.7)
95.0
(84.1)
238.0
(211)
Note: 1. For the shaft center allowable radial load, refer to the servomotor dimensional drawing.
2. Output torque and motor speed produce the following trends in efficiency. Values in the table are
at the rated motor speed.
3. 15-kW servomotors do not equipped with gears.
Efficiency
Output torque
Efficiency
Output torque
4. The no-load torque for a servomotor with gears is high immediately after the servomotor starts,
and it then decreases and becomes stable a few minutes later. This is a common phenomenon
caused by grease being circulated in the gear and not by a faulty gear.
3-22
Thermal Class: F
Withstand Voltage:
200 V Servomotors: 1500 VAC for one minute
Enclosure: Totally enclosed, IP44 self-cooled
(or the equivalent)
Ambient Humidity: 20% to 80% (no condensation)
Drive Method: Direct drive
Backlash: 0.05 (3 min) at the gear output shaft
Gear Rotation Direction: Same direction as servomotor
Moment of Inertia J
Servomotor
10-4 kgm2
Gear Output
(10-3 lbins2)
Servomotor
Model
SGMGH-
Output
W
Rated
Speed
min-1
Rated
Torque
Nm
(lb in)
Gear
Ratio
05A AL14
1/5
05A AL24
1/9
05A AL54
2.84
(25)
0.45
1/20
05A AL74
1/29
05A AL84
1/45
09A AL14
1/5
09A AL24
1/9
09A AL54
0.85
1500
5.39
(48)
1/20
09A AL74
1/29
09A AL84
1/45
13A AL14
1/5
13A AL24
1/9
13A AL54
1.3
8.34
(74)
1/20
13A AL74
1/29
13A AL84
1/45
Rated
Torque/
Efficiency 2
Nm/%
(lbin/%)
11.4/80
(101/80)
20.4/80
(181/80)
45.4/80
(402/80)
65.9/80
(583/80)
102/80
(903/80)
21.6/80
(191/80)
38.8/80
(343/80)
86.2/80
(763/80)
125/80
(1110/80)
194/80
(1720/80)
33.4/80
(296/80)
60.0/80
(531/80)
133/80
(1180/80)
193/80
(1710/80)
300/80
(2660/80)
Instantaneous
Peak
Torque/
Effective
Nm/%
(lbin/%)
35.7/80
(316/80)
64.2/80
(568/80)
143/80
(1270/80)
207/80
(1830/80)
321/80
(2840/80)
55.2/80
(489/80)
74.5/60
(659/60)
221/80
(1960/80)
320/80
(2830/80)
497/80
(4400/80)
93.2/80
(825/80)
168/80
(1490/80)
373/80
(3300/80)
541/80
(4790/80)
839/80
(7430/80)
Rated
Speed
min-1
Max.
Speed 1
min-1
300
600
167
334
75
150
51
102
33
66
300
600
167
334
75
150
51
102
33
66
300
600
167
334
75
150
51
102
33
66
Motor +
Gears
Gears
8.50
(7.52)
8.18
(7.24)
11.9
(10.5)
10.0
(8.85)
9.05
(8.01)
15.2
(13.5)
14.8
(13.1)
18.6
(16.5)
1.26
(1.12)
0.94
(0.832)
4.66
(4.12)
2.76
(2.44)
1.81
(1.60)
1.30
(1.15)
0.90
(0.797)
4.70
(4.16)
16.7
(14.8)
2.80
(2.48)
18.4
(16.3)
27.7
(24.5)
25.3
(22.4)
27.4
(24.3)
30.9
(27.3)
27.2
(24.1)
4.50
(3.98)
7.20
(6.37)
4.80
(4.25)
6.90
(6.11)
10.4
(9.21)
6.70
(5.93)
3-23
(Contd)
Moment of Inertia J
Servomotor
10-4 kgm2
Gear Output
(10-3 lbins2)
Servomotor
Model
SGMGH-
Output
W
Rated
Speed
min-1
Rated
Torque
Nm
(lb in)
Gear
Ratio
1/5
20A AL14
20A AL24
1/9
11.5
(102)
1.8
20A AL54
1/20
1/29
20A AL74
1500
30A AL14
30A AL24
2.9
1/5
18.6
(165)
1/9
1/20
30A AL54
44A AL14
4.4
44A AL24
1/5
28.4
(251)
1/9
Rated
Torque/
Efficiency 2
Nm/%
(lbin/%)
46.0/80
(407/80)
82.8/80
(733/80)
184/80
(1630/80)
267/80
(2360/80)
74.4/80
(659/80)
134/80
(1190/80)
298/80
(2640/80)
114/80
(1010/80)
204/80
(1810/80)
Instantaneous
Peak
Torque/
Effective
Nm/%
(lbin/%)
115/80
(1020/80)
207/80
(1830/80)
459/80
(4060/80)
666/80
(5900/80)
182/80
(1610/80)
328/80
(2900/80)
730/80
(6460/80)
284/80
(2510/80)
512/80
(4530/80)
Rated
Speed
min-1
Max.
Speed 1
min-1
300
600
167
334
75
150
51
102
300
600
167
334
75
150
300
600
167
334
Motor +
Gears
Gears
41.9
(37.1)
39.5
(35.0)
51.9
(45.9)
45.1
(39.9)
66.4
(58.8)
58.5
(51.8)
66.2
(58.6)
87.9
(77.8)
80.0
(70.8)
10.2
(9.03)
7.80
(6.90)
20.2
(17.9)
13.4
(11.9)
20.4
(18.1)
12.5
(11.1)
20.2
(17.9)
20.4
(18.1)
12.5
(11.1)
Output torque
Efficiency
Output torque
Note: 1. For the shaft center allowable radial load, refer to the servomotor dimensional drawing.
2. The no-load torque for a servomotor with gears is high immediately after the servomotor starts,
and it then decreases and becomes stable a few minutes later. This is a common phenomenon
caused by grease being circulated in the gear and not by a faulty gear.
3-24
Voltage
Servomotor Model
SGMGHRated Output 1
Rated Torque 1
Instantaneous
Peak Torque 1
1
Nm
3
06A B
09A B
12A B
20A B
30A B
40A B
55A B
0.6
0.9
1.2
2.0
3.0
4.0
5.5
5.68
8.62
11.5
19.1
28.4
38.2
52.6
25
50
76
102
169
252
338
466
7.17
03A B
2.84
Nm
lbin
200 V
0.3
kW
lbin
Thermal Class: F
Withstand Voltage: 1500 VAC for one minute
Enclosure: Totally enclosed, IP67 self-cooled
(except for shaft opening)
Ambient Humidity: 20% to 80% (no condensation)
Drive Method: Direct drive
14.1
19.3
28.0
44.0
63.7
107
136.9
63
125
171
248
390
564
947
1210
Rated Current
Instantaneous
Max. Current 1
Arms
3.0
5.7
7.6
11.6
18.5
24.8
30
43.2
Arms
7.3
13.9
16.6
28
42
56
84
110
Rated Speed 1
min-1
1000
Max. Speed 1
min-1
Nm/Arms
2000
1.03
1.06
1.21
1.03
1.07
1.19
1.34
1.26
lbin/Arms 3
9.12
9.38
10.7
9.12
9.47
10.5
11.9
11.2
7.24
(9.34)
6.41
(8.28)
13.9
(16.0)
12.3
(14.2)
20.5
(22.6)
18.2
(20.1)
31.7
(40.2)
28.1
(35.6)
46.0
(54.5)
40.7
(48.2)
67.5
(76.0)
59.8
(67.3)
89.0
(97.5)
78.8
(86.3)
125
(134)
111
(119)
Torque Constant
Rotor Moment
of Inertia J2
x10-4 kgm2
x10-3 lbins2 3
Rated Power
Rate 1
kW/s2
11.2
23.2
36.3
41.5
79.4
120
164
221
Rated Anglar
Acceleration 1
rad/s2
3930
4080
4210
3620
4150
4210
4290
4200
* 1. These items and torque-motor speed characteristics quoted in combination with an SGDM/SGDH
SERVOPACK are at an armature winding temperature of 20C (68F).
* 2. The values in the parentheses are those for motors with holding brakes.
* 3. These values are reference values.
Note: These characteristics are values with the following iron plate (heat sinks) attached for cooling.
SGMGH-03, 06, and 09: 400 400 20 (mm) [15.75 15.75 0.79 (in)]
SGMGH-12, 20, 30, 40 and 55: 550 550 30 (mm) [21.65 21.65 1.18 (in)]
3-25
10-4 kg m2
2.10
8.50
10-3 lb in s2
1.86
7.52
2000
Motor
speed
1500
Motor
speed
1000
(min-1)
(min-1)
500
0
2
4
6
Torque (N m)
SGMGH-20A B
Motor
speed 1000
500
0
500
0
20
40
60
Torque (N m)
200
400
Torque (lb in)
1000
(min-1)
50 100 150
Torque (lb in)
(min-1)
0
0
20 40 60 80
Torque (N m)
200 400
600
500
0
10
20
30
Torque (N m)
100
200
Torque (lb in)
SGMGH-55A B
2000
1500
Motor 1000
speed
SGMGH-40A B
2000
500
0
5
10 15 20
Torque (N m)
50
100
Torque (lb in)
1500
1500
Motor
speed 1000
500
0
5
10
15
Torque (N m)
SGMGH-30A B
2000
SGMGH-12A B
2000
Motor
speed
1000
(min-1)
(min-1) 500
3-26
1500
1500
1500
(min-1)
Motor
speed
1000
SGMGH-09A B
2000
1500
20 40 60
Torque (lb in)
2000
SGMGH-06A B
2000
Motor 1000
speed
(min-1)
50
100 150
Torque (N m)
500 1000
Torque (lb in)
500
0
50
100 150
Torque (N m)
500 1000
Torque (lb in)
Capacity
W
SGMGH-03
300
10.1
SGMGH-06
600
10.1
SGMGH-09
900
10.1
SGMGH-12
1200
18.5
SGMGH-20
2000
18.5
SGMGH-30
3000
18.5
SGMGH-40
4000
23.5
SGMGH-55
5500
23.5
SGMGH-03
300
9.85
SGMGH-06
600
9.85
SGMGH-09
900
9.85
SGMGH-12
1200
18.5
SGMGH-20
2000
18.5
SGMGH-30
3000
18.5
SGMGH-40
4000
23.5
SGMGH-55
Holding Brake
Rated Voltage
Servomotor
Capacity
W
5500
23.5
90 VDC
24 VDC
Holding
Torque
Nm (lbin)
4.41
(39.0)
12.7
(112)
12.7
(112)
43.1
(381)
43.1
(381)
43.1
(381)
72.6
(643)
72.6
(643)
4.41
(39.0)
12.7
(112)
12.7
(112)
43.1
(381)
43.1
(381)
43.1
(381)
72.6
(643)
72.6
(643)
Coil
Resistance
(at 20 C
(68 F))
Rated
Current
A (at 20 C
(68 F))
804
0.11
804
0.11
804
0.11
438
0.21
438
0.21
438
0.21
327
0.28
327
0.28
58.7
0.41
58.7
0.41
58.7
0.41
31.1
0.77
31.1
0.77
31.1
0.77
22.8
1.05
22.8
1.05
Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor.
3-27
* For oil lubrication, the motor should be mounted horizontal to the shaft. Contact your Yaskawa
representative about lubrication for angle mounting.
Moment of Inertia J
Servomotor
10-4 kgm2
Gear Output
(10-3 lbins2)
Servomotor
Model
SGMGH-
Output
W
Rated
Speed
min-1
Rated
Torque
Nm
(lb in)
Gear
Ratio
1/6
03A B A6
03A B B6
2.84
(25)
0.3
03A B C6
1/11
1/21
03A B 76
1/29
06A B A6
1/6
06A B B6
0.6
06A B C6
1000
5.68
(50)
1/11
1/21
06A B 76
1/29
09A B A6
1/6
09A B B6
0.9
09A B C6
09A B 76
3-28
8.62
(76)
1/11
1/21
1/29
Rated
Torque/
Efficiency
Nm/%
( lbin/%)
13.6/80
(120/80)
25.0/80
(221/80)
41.8/70
(370/70)
65.9/80
(583/80)
27.2/80
(241/80)
50.0/80
(443/80)
83.5/70
(739/70)
123/75
(1090/75)
41.4/80
(366/80)
75.9/80
(672/80)
136/75
(1200/75)
200/80
(1770/80)
Instantaneous
Peak
Torque/
Effective
Nm/%
(lbin/%)
34.4/80
(304/80)
63.1/80
(558/80)
106/70
(938/70)
167/80
(1480/80)
67.7/80
(599/80)
125/80
(1110/80)
208/70
(1840/70)
307/75
(2720/75)
92.7/80
(820/80)
170/80
(1510/80)
304/75
(2690/75)
448/80
(3970/80)
Rated
Speed
min-1
Max.
Speed
min-1
166
333
90
181
47
95
34
68
166
333
90
181
47
95
34
68
166
333
90
181
47
95
34
68
Motor +
Gears
Gears
9.20
(8.14)
8.84
(7.82)
8.39
(7.43)
8.41
(7.44)
15.7
(13.9)
15.3
(13.5)
15.9
(14.1)
16.1
(14.3)
22.3
(19.7)
21.9
(19.4)
22.5
(19.9)
22.8
(20.2)
1.96
(1.73)
1.6
(1.42)
1.15
(1.02)
1.17
(1.59)
1.8
(1.59)
1.4
(1.24)
2.0
(1.77)
2.2
(1.95)
1.8
(1.59)
1.4
(1.24)
2.0
(1.77)
2.3
(2.04)
(Contd)
Moment of Inertia J
Servomotor
10-4 kgm2
Gear Output
(10-3 lbins2)
Servomotor
Model
SGMGH-
Output
W
Rated
Speed
min-1
Rated
Torque
Nm
(lb in)
Gear
Ratio
1/6
12A B A6
12A B B6
11.5
(102)
1.2
12A B C6
1/11
1/21
12A B 76
1/29
20A B A6
1/6
20A B B6
19.1
(169)
2.0
20A B C6
1/11
1/21
20A B 76
1/29
30A B A6
1/6
1000
30A B B6
3.0
30A B C6
28.4
(251)
1/11
1/21
30A B 76
1/29
40A B A6
1/6
40A B B6
4.0
40A B C6
38.2
(338)
1/11
1/21
40A B 76
1/29
55A B B6
1/11
55A B C6
55A B 76
5.5
52.6
(466)
1/21
1/29
Rated
Torque/
Efficiency
Nm/%
( lbin/%)
55.0/80
(487/80)
101/80
(894/80)
180/75
(1590/75)
266/80
(2350/80)
91.7/80
(812/80)
169/80
(1500/80)
321/80
(2840/80)
416/75
(3680/75)
136/80
(1200/80)
250/80
(2210/80)
477/80
(4220/80)
660/80
(5840/80)
183/80
(1620/80)
336/80
(2970/80)
641/80
(5670/80)
886/80
(7840/80)
462/80
(4090/80)
883/80
(7820/80)
1220/80
(10800/80)
Instantaneous
Peak
Torque/
Effective
Nm/%
(lbin/%)
126/80
(1120/80)
247/80
(2190/80)
441/75
(3900/75)
651/80
(5760/80)
212/80
(1880/80)
387/80
(3430/80)
739/80
(6540/80)
958/75
(8480/75)
306/80
(2710/80)
561/80
(4970/80)
1070/80
(9450/80)
1480/80
(13000/80)
453/70
(4010/70)
830/70
(7350/70)
1590/70
(14000/70)
2190/70
(19300/70)
1210/80
(10700/80)
2300/80
(20400/80)
3180/80
(28100/80)
Rated
Speed
min-1
Max.
Speed
min-1
166
333
90
181
47
95
34
68
166
333
90
181
47
95
34
68
166
333
90
181
47
95
34
68
166
333
90
181
47
95
34
68
90
181
47
95
34
68
Motor +
Gears
Gears
38.0
(33.6)
36.5
(32.3)
37.6
(33.3)
37.3
(33.0)
52.3
(46.3)
50.8
(45.0)
51.9
(45.9)
91.9
(81.3)
79.5
(70.4)
75.2
(66.6)
115
(102)
131
(116)
103
(91.2)
98.8
(87.4)
168
(149)
166
(147)
190
(168)
204
(181)
216
(191)
6.3
(5.58)
4.8
(4.25)
5.9
(5.22)
5.6
(4.96)
6.3
(5.58)
4.8
(4.25)
5.9
(5.22)
45.9
(40.6)
12.0
(10.6)
7.7
(6.82)
47.5
(42.0)
63.5
(56.2)
14.0
(12.4)
9.8
(8.67)
79.0
(69.9)
77.0
(68.2)
65.0
(57.5)
79.0
(69.9)
91.0
(80.5)
Note: 1. Output torque and motor speed produce the following trends in efficiency. Values in the table are
at the rated motor speed.
3-29
Efficiency
Efficiency
Output torque
Output torque
2. The no-load torque for a servomotor with gears is high immediately after the servomotor starts,
and it then decreases and becomes stable a few minutes later. This is a common phenomenon
caused by grease being circulated in the gear and not by a faulty gear.
Thermal Class: F
Withstand Voltage: 1500 VAC for one minute
Enclosure: Totally enclosed, IP44 self-cooled (or the equivalent)
Ambient Humidity: 20% to 80% (no condensation)
Drive Method: Direct drive
Gear Lubricating Method: Grease
Backlash: 0.05 (3 min) at the gear output shaft
Gear Rotation Direction: Same direction as servomotor
Moment of Inertia J
Servomotor
10-4 kgm2
Gear Output
(10-3 lbins2)
Servomotor
Model
SGMGH-
Output
W
Rated
Speed
min-1
Rated
Torque
Nm
(lb in)
Gear
Ratio
03A BL14
1/5
03A BL24
1/9
03A BL54
2.84
(25)
0.3
1/20
1/29
03A BL74
1/45
03A BL84
1000
06A BL14
1/5
06A BL24
1/9
06A BL54
0.6
5.68
(50)
1/20
06A BL74
1/29
06A BL84
1/45
3-30
Rated
Torque/
Efficiency
Nm/%
(lbin/%)
11.4/80
(101/80)
20.4/80
(181/80)
45.4/80
(402/80)
65.9/80
(583/80)
102/80
(903/80)
22.7/80
(201/80)
40.9/80
(362/80)
90.9/80
(805/80)
132/80
(1170/80)
204/80
(1810/80)
Instantaneous
Peak
Torque/
Effective
Nm/%
(lbin/%)
28.7/80
(254/80)
51.6/80
(457/80)
115/80
(1020/80)
166/80
(1470/80)
258/80
(2280/80)
56.4/80
(499/80)
82.5/80
(730/80)
226/80
(2000/80)
327/80
(2890/80)
508/80
(4500/80)
Rated
Speed
min-1
Max.
Speed
min-1
200
400
111
222
50
100
34
68
22
44
200
400
111
222
50
100
34
68
22
44
Motor +
Gears
Gears
8.50
(7.52)
8.18
(7.24)
8.64
(7.65)
10.0
(8.85)
9.05
(8.01)
15.2
(13.5)
14.8
(13.1)
18.6
(16.5)
16.7
(14.8)
18.4
(16.3)
1.26
(1.12)
0.96
(0.85)
1.40
(1.24)
2.76
(2.44)
1.81
(1.60)
1.30
(1.15)
0.90
(0.797)
4.70
(4.16)
2.80
(2.48)
4.50
(3.98)
(Contd)
Moment of Inertia J
Servomotor
10-4 kgm2
Gear Output
(10-3 lbins2)
Servomotor
Model
SGMGH-
Output
W
Rated
Speed
min-1
Rated
Torque
Nm
(lb in)
Gear
Ratio
09A BL14
34.5/80
(305/80)
62.1/80
(550/80)
138/80
(1220/80)
200/80
(1770/80)
310/80
(2740/80)
46/80
(407/80)
82.8/80
(733/80)
184/80
(1630/80)
267/80
(2360/80)
414/80
(3660/80)
76.4/80
(676/80)
138/80
(1220/80)
306/80
(2710/80)
114/80
(1010/80)
204/80
(1810/80)
1/5
09A BL24
1/9
09A BL54
8.62
(76)
0.9
1/20
09A BL74
1/29
09A BL84
1/45
12A BL14
1/5
12A BL24
1/9
12A BL54
1.2
1000
11.5
(102)
1/20
12A BL74
1/29
12A BL84
1/45
20A BL14
1/5
20A BL24
19.1
(169)
2.0
1/9
1/20
20A BL54
30A BL14
28.4
(251)
3.0
30A BL24
Rated
Torque/
Efficiency
Nm/%
(lbin/%)
1/5
1/9
Instantaneous
Peak
Torque/
Effective
Nm/%
(lbin/%)
77.2/80
(683/80)
139/80
(1230/80)
309/80
(2740/80)
448/80
(3970/80)
695/80
(6150/80)
112/80
(991/80)
202/80
(1790/80)
448/80
(3970/80)
650/80
(5750/80)
1010/80
(8920/80)
176/80
(1560/80)
317/80
(2810/80)
704/80
(6230/80)
255/80
(2260/80)
459/80
(4060/80)
Rated
Speed
min-1
Max.
Speed
min-1
200
400
111
222
50
100
34
68
22
44
200
400
111
222
50
100
34
68
22
44
200
400
111
222
50
100
200
400
111
222
Motor +
Gears
Gears
23.9
(21.2)
25.3
(22.4)
27.4
(24.3)
30.9
(27.3)
27.2
(24.1)
41.9
(37.1)
39.5
(35.0)
51.9
(45.9)
45.1
(39.9)
41.4
(36.6)
56.2
(49.7)
53.8
(47.6)
66.2
(58.6)
87.9
(77.8)
80.0
(70.8)
3.40
(3.01)
4.80
(4.25)
6.90
(6.11)
10.4
(9.21)
6.70
(5.93)
10.2
(9.03)
7.80
(6.90)
20.2
(17.9)
13.4
(11.9)
9.70
(8.59)
10.2
(9.03)
7.80
(6.90)
20.2
(17.9)
20.4
(18.1)
12.5
(11.1)
Note: 1. Output torque and motor speed produce the following trends in efficiency. Values in the table are
at the rated motor speed.
Efficiency
Output torque
Efficiency
Output torque
2. The no-load torque for a servomotor with gears is high immediately after the servomotor starts,
and it then decreases and becomes stable a few minutes later. This is a common phenomenon
caused by grease being circulated in the gear and not by a faulty gear.
3-31
Voltage
Servomotor Model
SGMSH-
Thermal Class: F
Withstand Voltage:
200 V Servomotors: 1500 VAC for one minute
Enclosure: Totally enclosed, IP67 self-cooled
(except for shaft opening)
Ambient Humidity: 20% to 80% (no condensation)
Drive Method: Direct drive
200 V
10A A
15A A
20A A
30A A
40A A
50A A
1.0
1.5
2.0
3.0
4.0
5.0
3.18
4.9
6.36
9.8
12.6
15.8
28.2
43
56.4
87
112
140
Nm
9.54
14.7
19.1
29.4
37.8
47.6
lbin 3
84.4
130
169
260
336
422
Rated Current 1
Arms
5.7
9.7
12.7
18.8
25.4
28.6
Arms
17
28
42
56
77
84
Rated Speed 1
min-1
3000
Max. Speed 1
min-1
Nm/Arms
5000
Rated Output 1
Rated Torque 1
Instantaneous Peak Torque 1
Torque Constant
kW
Nm
lbin
lbin/Arms
0.636
3
x10-4 kgm2
Rotor Moment of Inertia J 2
x10-3
lbins2 3
0.561
0.544
0.573
0.53
0.60
5.63
4.97
4.81
5.07
4.69
5.31
1.74
(2.07)
1.54
2.47
(2.80)
2.19
3.19
(3.52)
2.82
7.00
(9.10)
6.20
9.60
(11.7)
8.50
12.3
(14.4)
10.9
(1.83)
(2.48)
(3.11)
(8.06)
(10.4)
(12.8)
kW/s
57.9
97.2
127
137
166
202
rad/s2
18250
19840
19970
14000
13160
12780
* 1. These items and torque-motor speed characteristics quoted in combination with an SGDM/SGDH
SERVOPACK are at an armature winding temperature of 20C (68F).
* 2. The values in the parentheses are those for motors with holding brakes.
* 3. These values are reference values.
Note: These characteristics are values with the following aluminum plates (heat sinks) attached for cooling.
SGMSH-10, 15, and 20: 300 300 12 (mm) [11.81 11.81 0.47 (in)]
SGMSH-30, 40, and 50: 400 400 20 (mm) [15.75 15.75 0.79 (in)]
3-32
10A A
15A A
kgm2 10-4
Brake Moment of
Inertia
20A A
30A A
40A A
0.325
lbins x10
2.10
0.288
-3
50A A
1.86
5000
4000
A
2 4 6 8
Torque (N m)
20
40
60
SGMSH-40A
5000
10
100
50
5000
15
SGMSH-30A
5000
4000
Motor 3000
speed
2000
(min-1)
1000
5
10
Torque (N m)
80
SGMSH-20A
5000
4000
Motor 3000
speed
2000
(min-1)
1000
0
0
Motor 3000
speed
2000
(min-1) 1000
5 10 15 20
Torque (N m)
50
100
150
0
0
10
20
30
Torque (N m)
100
200
4000
4000
Motor 3000
speed 2000
3000
Motor
speed 2000
(min-1) 1000
0
4000
Motor 3000
speed
2000
(min-1)
1000
0
SGMSH-15A
5000
B
A : Continuous Duty Zone
(min-1) 1000
0
10 20 30
Torque (N m)
40
10 20 30 40 50
Torque (N m)
3-33
Servomotor
Model
Servomotor
Capacity
W
Capacity
W
Holding
Torque
Nm (lbin)
Coil
Resistance
(at 20 C
(68 F))
7.84
1150
(69.4)
7.84
SGMSH-15
1500
7.0
1150
(69.4)
7.84
SGMSH-20
2000
7.0
1150
(69.4)
90 VDC
20.0
SGMSH-30
3000
10.1
804
(177)
20.0
SGMSH-40
4000
10.1
804
(177)
20.0
SGMSH-50
5000
10.1
804
(177)
7.84
SGMSH-10
1000
7.0
82
(69.4)
7.84
SGMSH-15
1500
7.0
82
(69.4)
7.84
SGMSH-20
2000
7.0
82
(69.4)
24 VDC
20.0
SGMSH-30
3000
9.85
58.7
(177)
20.0
SGMSH-40
4000
9.85
58.7
(177)
20.0
SGMSH-50
5000
9.85
58.7
(177)
Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor.
SGMSH-10
3-34
1000
7.0
Rated
Current
A (at 20 C
(68 F))
0.08
0.08
0.08
0.11
0.11
0.11
0.29
0.29
0.29
0.41
0.41
0.41
Thermal Class: F
Withstand Voltage: 1500 VAC for one minute
Enclosure: Totally enclosed, IP44 self-cooled (or the equivalent)
Ambient Humidity: 20% to 80% (no condensation)
Drive Method: Direct drive
Backlash: 0.05 (3 min) at the gear output shaft
Gear Rotation Direction: Same direction as servomotor
Max. Input Motor Speed for Gears: 4000 min-1
Moment of Inertia J
Servomotor
10-4 kgm2
Gear Output
(10-3lbins2)
Servomotor
Model
SGMSH-
Output
W
Rated
Speed
min-1
Rated
Torque
Nm
(lb in)
Gear
Ratio
10A AL14
1/5
10A AL24
1/9
10A AL54
3.18
(28.2)
1.0
1/20
10A AL74
1/29
10A AL84
1/45
15A AL14
1/5
15A AL24
1/9
15A AL54
1.5
3000
4.9
(43)
1/20
15A AL74
1/29
15A AL84
1/45
20A AL14
1/5
20A AL24
1/9
20A AL54
2.0
6.36
(56.4)
1/20
20A AL74
1/29
20A AL84
1/45
Rated
Torque/Efficiency 2
Nm/%
(lbin/%)
12.7/80
(112/80)
22.9/80
(203/80)
50.9/80
(451/80)
73.8/80
(653/80)
115/80
(1020/80)
19.6/80
(173/80)
35.3/80
(312/80)
78.4/80
(694/80)
114/80
(1010/80)
176/80
(1560/80)
25.6/80
(227/80)
46/80
(407/80)
102/80
(903/80)
148/80
(1310/80)
230/80
(2036/80)
Instantaneous
Peak
Torque/
Effective
Nm/%
(lbin/%)
38.2/80
(338/80)
68.7/80
(608/80)
153/80
(1350/80)
221/80
(1960/80)
343/80
(3040/80)
58.8/80
(520/80)
106/80
(938/80)
235/80
(2080/80)
341/80
(3020/80)
529/80
(4680/80)
76.4/80
(676/80)
138/80
(1220/80)
306/80
(2710/80)
443/80
(3920/80)
688/80
(6090/80)
Rated
Speed
min-1
Max.
Speed 1
min-1
600
800
333
444
150
200
103
138
66
89
600
800
333
444
150
200
103
138
66
89
600
800
333
444
150
200
103
138
66
89
3
Motor +
Gears
Gears
5.18
(4.58)
4.85
(4.29)
8.53
(7.55)
6.62
(5.86)
5.66
(5.01)
5.91
(5.23)
7.24
(6.41)
9.26
(8.20)
7.35
(6.51)
9.05
(8.01)
6.63
(5.87)
7.96
(7.05)
9.98
(8.83)
13.5
(11.9)
9.77
(8.65)
3.44
(3.04)
3.11
(2.75)
6.79
(6.01)
4.88
(4.32)
3.92
(3.47)
3.44
(3.04)
4.77
(4.22)
6.79
(6.01)
4.88
(4.32)
6.58
(5.82)
3.44
(3.04)
4.77
(4.22)
6.79
(6.01)
10.3
(9.12)
6.58
(5.82)
3-35
(Contd)
Moment of Inertia J
Servomotor
10-4 kgm2
Gear Output
(10-3lbins2)
Servomotor
Model
SGMSH-
Output
W
Rated
Speed
min-1
Rated
Torque
Nm
(lb in)
Gear
Ratio
30A AL14
39.2/80
(347/80)
70.5/80
(624/80)
157/80
(1390/80)
227/80
(2010/80)
353/80
(3120/80)
50.4/80
(446/80)
90.7/80
(803/80)
202/80
(1790/80)
292/80
(2580/80)
63.2/80
(559/80)
114/80
(1010/80)
253/80
(2240/80)
1/5
30A AL24
1/9
30A AL54
3.0
9.8 (87)
1/20
30A AL74
1/29
30A AL84
1/45
1/5
40A AL14
3000
40A AL24
12.6
(112)
4.0
40A AL54
1/9
1/20
40A AL74
1/29
50A AL14
1/5
50A AL24
15.8
(140)
5.0
1/9
1/20
50A AL54
Rated
Torque/Efficiency 2
Nm/%
(lbin/%)
Instantaneous
Peak
Torque/
Effective
Nm/%
(lbin/%)
118/80
(1040/80)
212/80
(1880/80)
470/80
(4160/80)
682/80
(6040/80)
1060/80
(9360/80)
151/80
(1340/80)
272/80
(2410/80)
605/80
(5360/80)
877/80
(7760/80)
190/80
(1680/80)
343/80
(3040/80)
762/80
(6740/80)
Rated
Speed
min-1
Max.
Speed 1
min-1
600
800
333
444
150
200
103
138
66
89
600
800
333
444
150
200
103
138
600
800
333
444
150
200
Motor +
Gears
Gears
17.2
(15.2)
14.8
(13.1)
27.2
(24.1)
20.4
(18.1)
16.7
(14.8)
19.8
(17.5)
22.1
(19.6)
29.8
(26.4)
23.0
(20.4)
32.7
(28.9)
24.8
(22.0)
32.5
(28.8)
10.2
(9.03)
7.80
(6.90)
20.2
(17.9)
13.4
(11.9)
9.70
(8.59)
10.2
(9.03)
12.5
(11.1)
20.2
(17.9)
13.4
(11.9)
20.4
(18.1)
12.5
(11.1)
20.2
(17.9)
Output torque
Efficiency
Output torque
Note: 1. For the shaft center allowable radial load, refer to the servomotor dimensional drawing.
2. The no-load torque for a servomotor with gears is high immediately after the servomotor starts,
and it then decreases and becomes stable a few minutes later. This is a common phenomenon
caused by grease being circulated in the gear and not by a faulty gear.
3-36
Nm
2
32A A B
40A A B
3.2
4.0
15.3
19.1
92.9
135
169
36.7
22A A B
10.5
Nm
lbin
200 V
2.2
kW
lbin
Thermal Class: F
Withstand Voltage: 1500 VAC for one minute
Enclosure: Totally enclosed, IP67 self-cooled
(except for the shaft opening)
Ambient Humidity: 20% to 80% (no condensation)
Drive Method: Direct drive
Holding Brake: 90 VDC, static friction torque 29.4 Nm
53.5
66.9
325
474
592
Rated Current
Instantaneous Max.
Current 1
Arms
15.7
20.9
23.2
Arms
54
73
77
Rated Speed 1
min-1
2000
Max. Speed 1
min-1
Nm/Arms
3000
0.72
0.78
0.92
lbin/Arms 2
6.4
6.9
8.1
Rotor Moment of
Inertia J (Including
Holding Brake
Moment of Inertia)
x10-4 kgm2
56.6
74.2
91.8
x10-3 lbins2 2
50.1
65.7
81.3
kW/s
19.5
31.5
39.7
rad/s2
1850
2060
2080
Torque Constant
* 1. These items and torque-motor speed characteristics quoted in combination with an SGDM/SGDH
SERVOPACK are at an armature winding temperature of 20C (68F).
* 2. These values reference values.
Note: These characteristics are values with the following iron plates (heat sinks) attached for cooling.
650 650 35 (mm) [25.59 25.59 1.38 (in)]
3-37
SGMDH-22A A B
Motor 2000
speed
Motor 2000
speed
10 20 30
Torque (N m)
40
3000
SGMDH-40A A B
Motor 2000
speed
A
(min-1) 1000
(min-1) 1000
(min-1) 1000
0
SGMDH-32A A B
3000
20
40
Torque (N m)
60
200
400
Torque (lb in)
20 40 60 80
Torque (N m)
2200
16.0
SGMDH-32
3200
16.0
SGMDH-40
4000
16.0
SGMDH-22
2200
16.0
SGMDH-32
3200
16.0
SGMDH-40
24VDC
Capacity
W
SGMDH-22
90VDC
Servomotor
Model
Servomotor
Capacity
W
4000
16.0
Holding
Torque
Nm (lbin)
29.4
(260)
29.4
(260)
29.4
(260)
29.4
(260)
29.4
(260)
29.4
(260)
Coil
Resistance
(at 20 C
(68 F))
Rated
Current
A (at 20 C
(68 F))
505
0.18
505
0.18
505
0.18
36.0
0.67
36.0
0.67
36.0
0.67
Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor.
3-38
Thermal Class: A
Withstand Voltage: 1500 VAC for one minute
Enclosure: Totally enclosed, IP42 self-cooled
(except for shaft opening)
Ambient Humidity: 20% to 80% (no condensation)
Drive Method: Direct drive
200 V
07B B 04C B
02B B
05B B
42
105
147
84
2.00
5.00
7.00
4.00
10.0
14.0
Nm
oz in
Nm
oz in
283
6.00
850
2.03
287
708
15.0
2120
5.03
712
991
21.0
2970
7.06
999
566
12.0
1700
4.09
579
1420
30.0
4250
10.1
1430
1980
42.0
5950
14.2
2010
Rated Current1
Arms
1.8
1.8
1.4
2.1
2.0
2.0
Arms
5.1
5.1
4.1
6.0
5.8
5.9
Rated Speed1
min-1
200
200
200
200
200
200
Max. Speed1
min-1
N m/Arms
500
500
500
500
400
300
1.28
3.12
5.51
2.16
5.56
7.60
oz in/Arms
181
442
780
306
787
1080
25.0
51.0
77.0
77.0
140
220
oz in s 10
35.4
72.2
109
109
198
311
KW/s
1.60
4.90
6.36
2.08
7.14
8.91
rad/s2
800
980
910
520
710
640
Rated Output
W
Nm
oz in
Rated Torque1, 2
Instantaneous Peak Torque 1
Stall torque 1
Torque Constant
Rotor Moment of Inertia
Rated Power Rate
Acceleration1
Rated Angular
Absolute Accuracy
Repeatability
Applicable SERVOPACK
kg
m210-4
2
second
second
SGDM-
-2
15
1.3
02
10C B
14C B
209
293
15
1.3
04
3-39
08D B
17D B
200 V
25D B
16E B
35E B
Rated Output
168
356
393
335
550
Rated Torque
1, 2
Nm
oz in
Nm
oz in
Nm
oz in
Arms
8.00
1130
24.0
3400
8.23
1160
17.0
2410
51.0
7220
17.4
2460
25.0
3540
75.0
10600
25.4
3590
16.0
2270
48.0
6800
16.5
2330
35.0
4960
105
14900
35.6
5040
2.0
2.3
2.7
3.3
3.5
Arms
5.9
6.6
7.9
9.4
10.0
min-1
200
200
150
200
150
min-1
500
350
250
500
250
N m/Arms
4.46
8.28
10.3
5.58
11.1
oz in/Arms
632
1170
1460
790
1570
kg m210-4
285
510
750
930
1430
479
879
1290
1530
2110
oz in s210-2
KW/s
2.25
5.67
8.33
2.75
8.57
rad/s2
second
second
SGDM-
280
330
330
170
240
Max. Speed
Torque Constant
15
1.3
04
15
1.3
08
3-40
350 350 12
450 450 12
550 550 12
650 650 12
SGMCS-02B
500
500
Motor speed
(min-1)
400
Motor speed
(min-1)
300
200
300
200
1.5
15
SGMCS-04C
500
500
400
Motor speed
(min-1)
300
200
400
300
200
100
100
0
9
12
6
Torque (N m)
800
1600
Torque (oz in)
400
800
Torque (oz in)
SGMCS-07B
Motor speed
(min-1)
100
100
0
400
10 15
20
Torque (N m)
25
0
0
2000
Torque (oz in)
9
12
6
Torque (N m)
15
1500
Torque (oz in)
SGMCS-10C
500
Motor speed
(min-1)
400
300
200
100
0
12
18
24
Torque (N m)
30
2000
4000
Torque (oz in)
3-41
SGMCS-08D
SGMCS-14C
500
Motor speed
(min-1)
500
400
300
200
200
100
100
0
10
20
30
40
Torque(N m)
50
3000
6000
Torque (oz in)
SGMCS-25D
500
500
400
400
Motor speed
-1)
(min
300
300
200
200
0
0
12
24
36
48
Torque(N m)
60
15
8000
4000
Torque (oz in)
100
100
30
45 60
Torque(N m)
75
4000
8000
Torque (oz in)
SGMCS-16E
SGMCS-35E
500
Motor speed
(min-1)
30
2000
4000
Torque (oz in)
SGMCS-17D
Motor speed
(min-1)
12 18
24
Torque(N m)
500
400
300
200
100
0
200
18
27
36
Torque(N m)
45
3000
6000
Torque (oz in)
100
0
0
20
40
80 100
60
Torque(N m)
6000
12000
Torque (oz in)
A: Continuous Duty Zone
B: Intermittent Duty Zone
3-42
Output1
80M A
1EN A
2ZN A
707
1260
1730
1260
2360
3140
45
6370
135
19100
80
11300
240
34000
110
15600
330
46700
80
11300
240
34000
150
21200
450
63700
200
28300
600
85000
Nm
45
80
110
80
150
200
Arms
5.80
9.74
13.4
9.35
17.4
18.9
Arms
17
28
42
28
56
56
min-1
150
150
150
150
150
150
min-1
300
300
300
300
250
250
N m/Arms
8.39
8.91
8.45
9.08
9.05
11.5
oz in/Arms
1190
1260
1200
1290
1280
1630
kg m210-4
388
627
865
1360
2470
3060
oz in s210-2
549
888
1220
1930
3500
4330
KW/s
52.2
102
140
47.1
91.1
131
1160
1280
1270
588
607
654
10
15
20
15
30
30
Nm
oz in
Nm
Instantaneous Peak Torque 1
oz in
Rated Torque1, 2
Stall torque 1
Rated
Current1
Rated Speed1
Max. Speed
Torque Constant
Rotor Moment of Inertia
Rated Power Rate1
200 V
1AM A 80N A
45M A
3-43
300
Motor speed
(min-1)
200
Motor speed
(min-1)
100
50
100
Torque(N m)
10000
Torque (oz in)
Motor speed
(min-1)
150
100
200
Torque(N m)
20000
Torque (oz in)
300
40000
SGMCS-80N
100
100
100
200
300
Torque(N m)
400
25000
Torque (oz in)
100
200
Torque(N m)
20000
Torque (oz in)
300
40000
SGMCS-2ZN
300
50000
SGMCS-1EN
300
100
300
200
20000
SGMCS-1AM
300
200
100
SGMCS-80M
300
0
0
100
200
300 400
Torque(N m)
100
25000
50000
Torque (oz in)
500
0
0
200
400
600
Torque(N m)
800
50000
100000
Torque (oz in)
A: Continuous Duty Zone
B: Intermittent Duty Zone
3-44
3.8 Mechanical Specifications of SGMAH, SGMPH, SGMGH, SGMSH, and SGMDH Servomotors
CAUTION
Do not connect the servomotor directly to a commercial power line. This
will damage the servomotor.
The servomotor cannot operate without the proper SERVOPACK.
Do not connect
3
Storage
Temperature
and Humidity
Installation Site
Store the servomotor within the following temperature range if it is stored with the power cable disconnected.
Ambient temperature during storage: -20 to 60C (-4 to 140F)
Ambient humidity during storage: 80%RH or less (with no condensation)
Servomotors are designed for indoor use. Install the servomotor in environments that satisfy the following conditions.
Free of corrosive or explosive gases.
Well-ventilated and free of dust and moisture.
Ambient temperature of 0 to 40C (32 to 104 F)
Relative humidity of 20 to 80% with no condensation.
Facilitates inspection and cleaning
Align the shaft of the servomotor with the shaft of the equipAlignment Accuracy
ment, and then couple the shafts. Install the servomotor so
Measure this distance at four
that alignment accuracy falls within the range described on
different positions on the
circumference. The difference
the left.
between the maximum and
minimum measurements must be
Vibration may occur and damage the bearings and encoders if
0.03 mm (0.0012 in) or less.
the shafts are not correctly aligned.
(Turn together with coupling.)
Alignment
Orientation
3-45
Flange
Through shaft section:
This refers to the gap where
the shaft protrudes from
the end of the motor.
Handling Oil
and Water
Cable Stress
Connectors
IMPORTANT
Shaft
1. Before starting installation, thoroughly remove the anticorrosive paint that coats the end of the motor
shaft.
Anticorrosive
paint is
coated here.
A
B
C
3-46
Reference Diagram
3.8 Mechanical Specifications of SGMAH, SGMPH, SGMGH, SGMSH, and SGMDH Servomotors
Positive direction
Vertical
Servomotor Model
SGMAH, SGMPH
SGMGH, SGMSH, SGMDH
Vertical
Vibration
Acceleration
at Flange
49 m/s2
24.5 m/s2
Side to side
Front to back
Horizontal shaft
TERMS
Vibration Class
A vibration class of 15 m or below indicates a total vibration amplitude of 15 m maximum on the servomotor during
rated rotation.
3-47
F
Where F is external force,
Thrust load: Fa = Load mass
Moment load: M = F (L + A)
See the table below for the dimension A of each
servomotor model.
L
A
Servomotor Model
SGMCSDimensions A Units: mm (in)
(N)
Allowable Thrust
Load Fa
(lb)
Allowable Moment
Load M
05B
07B
04C
0 (0)
1500
337
10C
14C
08D
0 (0)
3300
741
(N m)
40
50
64
70
(oz in)
5660
7080
9060
9910
45M
80M
1AM
80N
Servomotor Model
SGMCSDimensions A Units: mm (in)
(N)
Allowable Thrust
Load Fa
(lb)
Allowable Moment
Load M
02B
75
17D
0 (0)
4000
899
90
93
103
16E
35E
0 (0)
11000
2470
135
250
320
1EN
33 (1.30)
9000
2020
37.5 (1.48)
16000
3590
(N m)
180
350
(oz in)
25400
2ZN
49500
Note: For small-capacity series SGMCS Servomotors (02B to 35E), set dimensions A to 0 (zero).
3-48
25D
05B
07B
04C
10C
16E
35E
0.02
(0.00079)
0.04
(0.0016)
0.02 (0.00079)
0.02 (0.00079)
0.02 (0.00079)
0.04 (0.0016)
0.04 (0.0016)
0.04 (0.0016)
0.07 (0.0028)
0.07 (0.0028)
0.08 (0.0031)
0.08
(0.0031)
0.07 (0.0028)
0.07 (0.0028)
0.08 (0.0031)
0.08
(0.0031)
Fig.1
Fig.1
Fig.1
Fig.1
0.02 (0.00079)
0.02 (0.00079)
0.04 (0.0016)
0.04 (0.0016)
0.08 (0.0031)
0.08 (0.0031)
0.08 (0.0031)
0.08 (0.0031)
Fig.2
Fig.2
Reference figure
AB
Drive end
Drive end
AB
Opposite
drive end
Fig.1
Opposite
drive end
Fig.2
3-49
Vibration Acceleration at
Flange
Small-capacity Series
49 m/s2
Middle-capacity Series
24.5 m/s2
side to side
Horizontal shaft
Small-capacity Series
Middle-capacity Series
IP42 *
IP44
3-50
Item
Measurement Method/Definition
Typical Value
Standard
Low-backBacklash
lash Gears
Gears
3000
3000
4000
4000
20 max.
3 max.
27 max.
10 max.
15 max.
6 max.
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.
Angular difference in the screw with a 5% rated torque
load. (Maximum value at any four positions during output.)
Highest torsion angle value on one side with a rated torque
load
Difference in absolute accuracy for one rotation under load
and no-load conditions during output.
* See the following graph for lost motion and torsion rigidity.
Lost
motion
Torsion
rigidity
Torsion
rigidity
Torsion
rigidity
- Torque
+ Torque
5% Rated torque
Rated torque
Rated torque
100
Initial Noise
Level (dB) 50
1000
2000
3000
4000
-1
3-51
(3) Efficiency
The 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 motor speed
(3000 min-1).
Efficiency
Efficiency
Output torque
3-52
Motor speed
SGMAH
(3000 min-1)
SGMPH
(3000 min-1)
SGMGH
(1500 min-1)
Reference
3.12.1
3.12.2
3.12.3
3.12.4
3.12.5
3.13.1
3.13.2
3.13.3
3.13.4
3.13.5
3.15.1
3.15.2
3.15.3
3.15.4
3.15.5
3.16.1
3.16.2
3.16.3
3.16.4
3.16.5
3.17.1
3.17.2
3.17.3
3.18.1
3.18.1
3.19.1
3.19.2
3.19.3
3.19.4
3.19.5
3.19.6
Motor Capacity
SGMGH
(1000 min-1)
200 VAC:
0.3 / 0.6 / 0.9 / 1.2 / 2.0 / 3.0 / 4.0 /
5.5 kW
SGMSH
(3000 min-1)
200 VAC:
1.0 / 1.5 / 2.0 / 3.0 / 4.0 / 5.0 kW
SGMDH
(2000 min-1)
200 VAC:
2.2 / 3.2 / 4.0 kW
SGMCS
Note: Servomotors SGMDH (2000min-1) and SGMCS (direct-drive series) do not have any models provided with gears.
3-53
Encoder plug
Motor plug
(35) (1.38)
Shaft End
W
U
300 (11.81)
30 (1.18)
22
(0.87)
20 (0.79)
5
(0.20)
15.2
(0.60)
25 (0.98)
2.5
(0.10)
14
21.5 (0.85)
2-4.3 (0.17)
30h7
(0.55)
40 ( 1.57)
0.04 (0.0016) A
11(0.43)
L
LL
LM
Sh6
9.6 (0.38)
0.04 (0.0016) A
30
Serial encoder
0
0.021
1.181
0
0.00083
0.02 (0.0008)
4
(0.16)
6(
.81
)
Tap Depth
(See the following table.)
Units: mm (in)
Model
SGMAHA3
A21
A3
A41
A3
A61
A5
A21
A5
A41
A5
A61
01
A21
01
A41
01
A61
INFO
LL
LM
Tap
Depth
94.5
69.5
36.5
No tap
(3.72)
(2.74)
(1.44)
102.0
77.0
44.0
(4.02)
(3.03)
(1.73)
119.5
94.5
61.5
(4.70)
(3.72)
(2.42)
M2.5 5L
No tap
M2.5 5L
No tap
M3 6L
No key
1.2
2
2
(0.047) (0.079) (0.079)
No key
1.2
2
2
(0.047) (0.079) (0.079)
No key
1.8
(0.071)
3
(0.12)
3
(0.12)
Approx.
Mass
kg
(lb)
Allowable
Radial Load
N (lbf)
Allowable
Thrust Load
N (lbf)
0.3
(0.66)
68
(15)
54
(12)
0.4
(0.88)
68
(15)
54
(12)
0.5
(1.1)
78
(18)
54
(12)
1. The dimensions for L and LL of a servomotor incorporating an encoder with super-capacitor (model: SGMAH4) are as shown below.
SGMAH-A3, A5, and 01: L-dimension +12 mm (0.47 in), LL-dimension +12 mm (0.47 in)
2. The working point of the SGMAH servomotor radial load is at the position of minus 5 mm from the shaft end.
3-54
Dimensional Tolerances
Units: mm (in)
Shaft-end Dimensions
S
Model
SGMAHA3
A3
A3
A5
A5
A5
01
01
01
A21
A41
A61
A21
A41
A61
A21
A41
A61
0
0.236 0
0.008
0.0003
0
0.236 0
0.008
0.0003
0
0.315 0
0.009
0.0004
LR
LE
LG
QK
0.04 A
(0.0016)
LC
21.5 (0.85)
11
(0.51)
T
(0.0016)
0.04
A
Sh6
9.5
(0.37)
26.5 (1.04)
13 20 (0.79)
Shaft End
U
Motor plug
300 (11.81)
30 (21.18)
L
LL
LM
Encoder plug
LBh7
A
Serial encoder
4-LZ
0.02 (0.0008)
Tap Depth
(See the following table.)
Units: mm (in)
Model
SGMAH02
A21
02
02
04A
04A
04A
08A
08A
08A
A41
A61
A21
A41
A61
A21
A41
A61
LL
126.5
96.5
63
30
70
60
5.5
(4.98)
(3.80)
(2.48)
(1.18)
(0.12)
(0.24)
(2.76)
(2.36)
(0.22)
154.5 124.5
LM
LR
LE
LG
LA
LC
LZ
91
30
70
60
5.5
(4.90)
(3.58)
(1.18)
(0.12)
(0.24)
(2.76)
(2.36)
(0.22)
185
145
111.5
40
90
80
(7.28)
(5.71)
(4.39)
(1.57)
(0.12)
(0.31)
(3.54)
(3.15)
(6.08)
7 (0.28)
3-55
Model
SGMAH02
A21
02
A41
02
A61
04A A21
04A A41
04A A61
08A A21
08A A41
08A A61
INFO
Tap
Depth
No tap
M58L
No tap
M58L
No tap
M58L
QK
Approx.
Mass
kg (lb)
Allowable
Radial Load
N (lbf)
Units: mm (in)
Allowable
Thrust Load
N (lbf)
1.1
(2.4)
245
(55)
74
(17)
1.7
(3.7)
245
(55)
74
(17)
3.4
(7.50)
392
(88)
147
(33)
No key
20
(0.79)
(0.12)
(0.20)
(0.20)
No key
20
(0.79)
(0.12)
(0.20)
(0.20)
No key
30
(1.18)
(0.12)
(0.20)
(0.20)
1. The dimensions for L and LL of a servomotor incorporating an encoder with super-capacitor (model: SGMAH4) are as shown below.
SGMAH-02 and 04: L-dimension + 8.2 mm (0.32 in), LL-dimension +8.2 mm (0.32 in).
SGMAH-08: L-dimension + 0 mm, LL-dimension +0 mm.
2. The working point of the SGMAH servomotor radial load is at the position of minus 5 mm from the shaft end.
Dimensional Tolerances
Model
SGMAH02
02
02
04A
04A
04A
08A
08A
08A
3-56
A21
A41
A61
A21
A41
A61
A21
A41
A61
Shaft-end Dimensions
S
Units: mm (in)
Flange Face Dimensions
LB
14
0
0.5512 0
0.011
0.00043
50
0
1.9685 0
0.025
0.00098
14
0
0.5512 0
0.011
0.00043
50
0
1.9685 0
0.025
0.00098
16
0
0.6299 0
0.011
0.00043
70
0
2.756 0
0.030
0.00012
3.12.2 SGMAH Servomotors (3000 min-1) Without Gears and With Brakes
(1) 30 W, 50 W, 100 W
Encoder cable 6 (0.24)
UL20276
Shaft End
(35) (1.38)
Motor plug
(0.60)
14
(0.55)
2-4.3 (0.17)
30h7
Holding brake (de-energization operation)
Power supply: 90 VDC or 24 VDC
Serial encoder
0
-0.021
(1.19
11 (0.43)
22 (0.87)
40 ( 1.57)
21.5 (0.85)
0.04
A
(0.0016)
LM 2.5 (0.098)
20 (0.79) 5 (0.20)
15.2
Sh6
9.6 ( 0.37 )
Encoder plug
0
-0.0008
4
(0.16)
(
1.
77
)
Tap Depth
(See the following table.)
A
0.02
(0.0008)
Model
SGMAHA3
A3
A3
A5
A4
A6
A2
A5
A5
01
A4
A6
A2
01
01
INFO
A2
A4
A6
LL
LM
(3.98)
(1.44)
(4.27)
(1.73)
(5.31)
(2.42)
TapDepth
No tap
M2.55L
No tap
M2.55L
No tap
M36L
Approx.
Mass
kg (lb)
Allowable
Radial Load
N (lbf)
Units: mm (in)
Allowable
Thrust Load
N (lbf)
0.6
(1.32)
68
(15)
54
(12)
0.7
(1.54)
68
(15)
54
(12)
0.8
(1.76)
78
(18)
54
(12)
No key
1.2
(0.047)
(0.079)
(0.079)
No key
1.2
(0.047)
(0.079)
(0.079)
No key
1.8
(0.071)
(0.12)
(0.12)
1. The dimensions for L and LL of a servomotor incorporating an encoder with super-capacitor (model: SGMAH4) are as shown below.
SGMAH-A3, A5, and 01: L-dimension +12 mm (0.47 in), LL-dimension +12 mm (0.17 in).
2. The working point of the SGMAH servomotor radial load is at the position of minus 5 mm from the shaft end.
3-57
Dimensional Tolerances
Model
SGMAHA3
A3
A3
A5
A5
A5
01
01
01
Units: mm (in)
Shaft-end Dimensions mm (in)
S
A2
A4
A6
A2
A4
A6
A2
A4
A6
0
0.236 0
0.008
0.0003
0
0.235 0
0.008
0.0003
0
0.315 0
0.009
0.0004
Encoder plug
Shaft End
U
W
LC
QK
Y
11 (0.43)
0.04 A
(0.0016)
3
(0.12)
Sh6
LM
LG
27
20 (1.06)
(0.79)
21.5 (0.85)
A
LBh7
9.5 (0.37)
26.5 (1.04)
13 (0.51)
(0.0016)
0.04 A
Serial encoder
Tap Depth
(See the following table.)
4-LZ
0.02
(0.0008)
Units: mm (in)
Model
SGMAH02
A2
02
A4
02
A6
04A A2
04A A4
04A A6
08A A2
08A A4
08A A6
3-58
LL
LM
LR
LG
LC
LA
LZ
166
(6.54)
136
(5.35)
62.5
(2.46)
30
(1.18)
6
(0.24)
60
(2.36)
70
(2.76)
5.5
(0.22)
194
(7.64)
164
(6.46)
90.5
(3.56)
30
(1.18)
6
(0.24)
60
(2.36)
70
(2.76)
5.5
(0.22)
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)
Tap
Depth
Model
SGMAH02
A2
1.6
(3.53)
245
(55)
74
(17)
2.2
(4.85)
245
(55)
74
(17)
4.3
(9.48)
392
(88)
147
(33)
(0.79)
(0.12)
(0.20)
(0.20)
No key
No tap
20
(0.79)
M58L
(0.12)
(0.20)
(0.20)
No key
No tap
08A A4
08A A6
Units: mm (in)
Allowable
Thrust Load
N (lbf)
20
M58L
04A A4
04A A6
08A A2
Allowable
Radial Load
N (lbf)
No key
No tap
02
A4
02
A6
04A A2
INFO
QK
Approx.
Mass
kg (lb)
30
(1.18)
M58L
3
(0.12)
(0.20)
(0.20)
1. The dimensions for L and LL of a servomotor incorporating an encoder with super-capacitor (model: SGMAH4) are as shown below.
SGMAH-02 and 04: L-dimension +8.2 mm (0.32 in), LL-dimension +8.2 mm (0.32 in)
SGMAH-08: L-dimension + 0 mm, LL-dimension +0 mm
2. The working point of the SGMAH servomotor radial load is at the position of minus 5 mm from the shaft end.
Dimensional Tolerances
Model
SGMAH02
02
02
04A
04A
04A
08A
08A
08A
A2
A4
A6
A2
A4
A6
A2
A4
A6
Shaft-end Dimensions
S
Units: mm (in)
Flange Face Dimensions
LB
14
0
0.5512 0
0.011
0.00043
50
0
1.9685 0
0.025
0.00098
14
0
0.5512 0
0.011
0.00043
50
0
1.9685 0
0.025
0.00098
16
0
0.6299 0
0.001
0.00043
70
0
2.756 0
0.030
0.00012
3-59
Shaft End
(35) (1.38)
Motor plug
Encoder plug
(0.87)
0.06 A
(0.0024)
LR
0.04
L1
L2
A (0.0016)
L3
Q
QK
B
Sh7
0.05 A
(0.0020)
LC
LD
LBh7
22
L
LL
LM
LG
20 (0.79)
4
15.2 (0.60)
(0.16)
11
9.5 (0.37)
4-LZ
Rotating section
(Hatching section)
Serial encoder
Tap Depth
(See the following table.)
Units: mm (in)
Model
SGMAH-
Gear
Ratio
LL
LM
LR
LG
LD
LB
L1
L2
L3
QK
156.5
(6.16)
156.5
(6.16)
171.5
(6.75)
171.5
(6.75)
164
(6.46)
101.5
(4.00)
101.5
(4.00)
116.5
(4.59)
116.5
(4.59)
109
(4.29)
68.5
(2.70)
68.5
(2.70)
83.5
(3.29)
83.5
(3.29)
76.0
(2.99)
77.0
(3.03)
94.0
(3.70)
94.0
(3.70)
55
(2.17)
55
(2.17)
55
(2.17)
55
(2.17)
55
(2.17)
8
(0.31)
8
(0.31)
8
(0.31)
8
(0.31)
8
(0.31)
47
(1.85)
47
(1.85)
47
(1.85)
47
(1.85)
47
(1.85)
55.5
(2.19)
55.5
(2.19)
55.5
(2.19)
55.5
(2.19)
55.5
(2.19)
56
(2.20)
56
(2.20)
56
(2.20)
56
(2.20)
56
(2.20)
28
(1.10)
28
(1.10)
28
(1.10)
28
(1.10)
28
(1.10)
27
(1.06)
27
(1.06)
27
(1.06)
27
(1.06)
27
(1.06)
17
(0.67)
17
(0.67)
17
(0.67)
17
(0.67)
17
(0.67)
25
(0.98)
25
(0.98)
25
(0.98)
25
(0.98)
25
(0.98)
20
(0.79)
20
(0.79)
20
(0.79)
20
(0.79)
20
(0.79)
14
(0.55)
14
(0.55)
14
(0.55)
14
(0.55)
14
(0.55)
A3
AJ1 1
1/5
A3
AJ3 1
3/31
A3
AJC 1
1/21
A3
AJ7 1
1/33
A5
AJ1 1
1/5
A5
AJ3 1
3/31
174
(6.85)
114
(4.49)
A5
AJC 1
1/21
191
(7.52)
131
(5.16)
A5
AJ7 1
1/33
191
(7.52)
131
(5.16)
01
AJ1 1
1/5
191.5
(7.54)
131.5
(5.18)
01
AJ3 1
3/31
191.5
(7.54)
131.5
(5.18)
01
AJC 1
1/21
227
(8.94)
153
(6.02)
57
98.5
60
9
63
65
30
30
14.5
28
25
16
(3.88) (2.36) (0.35) (2.24) (2.48) (2.56) (1.18) (1.18) (0.57) (1.10) (0.98) (0.63)
57
98.5
60
9
63
65
30
30
14.5
28
25
16
(3.88) (2.36) (0.35) (2.24) (2.48) (2.56) (1.18) (1.18) (0.57) (1.10) (0.98) (0.63)
19.5
120
74
10
69
83
85
36
38
36
32
20
(4.72) (2.91) (0.39) (2.72) (3.27) (3.35) (1.42) (1.50) (0.77) (1.42) (1.26) (0.79)
01
AJ7 1
1/33
227
(8.94)
153
(6.02)
19.5
120
74
10
69
83
85
36
38
36
32
20
(4.72) (2.91) (0.39) (2.72) (3.27) (3.35) (1.42) (1.50) (0.77) (1.42) (1.26) (0.79)
3-60
60
9
57
63
65
30
30
14.5
28
25
16
(2.36) (0.35) (2.24) (2.48) (2.56) (1.18) (1.18) (0.57) (1.10) (0.98) (0.63)
60
9
57
63
65
30
30
14.5
28
25
16
(2.36) (0.35) (2.24) (2.48) (2.56) (1.18) (1.18) (0.57) (1.10) (0.98) (0.63)
60
9
57
63
65
30
30
14.5
28
25
16
(2.36) (0.35) (2.24) (2.48) (2.56) (1.18) (1.18) (0.57) (1.10) (0.98) (0.63)
Model
SGMAHA3
A3
AJ1 1
AJ3 1
Gear
Ratio
TapDepth
LC
1/5
M48L
60
70
5.5
(2.36)
(2.76)
(0.22)
(0.12)
(0.20)
(0.20)
60
70
5.5
(2.36)
(2.76)
(0.22)
(0.12)
(0.20)
(0.20)
5
(0.20)
3/31
M48L
LA
LZ
A3
AJC 1
1/21
M48L
60
70
5.5
(2.36)
(2.76)
(0.22)
(0.12)
(0.20)
A3
AJ7 1
1/33
M48L
60
70
5.5
(2.36)
(2.76)
(0.22)
(0.12)
(0.20)
(0.20)
A5
AJ1 1
1/5
M48L
60
70
5.5
(2.36)
(2.76)
(0.22)
(0.12)
(0.20)
(0.20)
5
(0.20)
A5
AJ3 1
3/31
M48L
70
80
6.6
(2.76)
(3.15)
(0.26)
(0.12)
(0.20)
A5
AJC 1
1/21
M48L
70
80
6.6
(2.76)
(3.15)
(0.26)
(0.12)
(0.20)
(0.20)
70
80
6.6
(3.15)
(0.26)
(0.12)
(0.20)
(0.20)
A5
AJ7 1
1/33
M48L
(2.76)
01
AJ1 1
1/5
M48L
70
80
6.6
(2.76)
(3.15)
(0.26)
(0.12)
(0.20)
(0.20)
70
80
6.6
(3.15)
(0.26)
(0.12)
(0.20)
(0.20)
01
AJ3 1
3/31
M48L
(2.76)
01
AJC 1
1/21
M510L
90
105
3.5
(3.54)
(4.13)
(0.35)
(0.14)
(0.24)
(0.24)
01
AJ7 1
1/33
M510L
90
105
3.5
(3.54)
(4.13)
(0.35)
(0.14)
(0.24)
(0.24)
INFO
Approx.
Mass
kg (lb)
0.9
(2.0)
0.9
(2.0)
1.0
(2.2)
1.0
(2.2)
1.0
(2.2)
1.2
(2.7)
1.3
(2.9)
1.3
(2.9)
1.3
(2.9)
1.3
(2.9)
2.4
(5.3)
2.4
(5.3)
Allowable
Radial Load
N (lbf)
Allowable
Thrust Load
N (lbf)
145
(33)
125
(28)
185
(42)
145
(33)
215
(49)
230
(52)
245
(56)
175
(40)
215
(49)
455
(103)
480
(109)
125
(28)
145
(33)
145
(33)
235
(53)
1. The dimensions for L and LL of a servomotor incorporating an encoder with super-capacitor (model: SGMAH4) are as shown below.
SGMAH-A3, A5, and 01: L-dimension +12 mm (0.47 in), LL-dimension +12 mm (0.47 in)
2. The working point of the SGMAH servomotor radial load is at the position of minus 5 mm from the shaft end.
3-61
Dimensional Tolerances
Model
SGMAH-
Units: mm (in)
Shaft-end Dimensions
S
A3
56
0
2.20 0
0.030
0.0012
14
0
0.55 0
0.018
0.0007
A3
AJ3 1
56
0
2.20 0
0.030
0.0012
14
0
0.55 0
0.018
0.0007
A3
AJC 1
56
0
2.20 0
0.030
0.0012
14
0
0.55 0
0.018
0.0007
A3
AJ7 1
56
0
2.20 0
0.030
0.0012
14
0
0.55 0
0.018
0.0007
A5
AJ1 1
56
0
2.20 0
0.030
0.0012
14
0
0.55 0
0.018
0.0007
A5
AJ3 1
65
0
2.56 0
0.030
0.0012
16
0
0.63 0
0.018
0.0007
A5
AJC 1
65
0
2.56 0
0.030
0.0012
16
0
0.63 0
0.018
0.0007
A5
AJ7 1
65
0
2.56 0
0.030
0.0012
16
0
0.63 0
0.018
0.0007
01
AJ1 1
65
0
2.56 0
0.030
0.0012
16
0
0.63 0
0.018
0.0007
01
AJ3 1
65
0
2.56 0
0.030
0.0012
16
0
0.63 0
0.018
0.0007
01
AJC 1
85
0
3.35 0
0.035
0.0014
20
0
0.79 0
0.021
0.0008
01
3-62
AJ1 1
AJ7 1
85
0
3.35 0
0.035
0.0014
20
0
0.79 0
0.021
0.0008
(35) (1.38)
13
(0.51) 20
(0.79)
W
Motor plug
A
L
LL
LM
LG
LE
0.06 A
(0.0024)
LR
L1
L2
L3
0.04
(0.0016)
0.05 A
(0.0020)
LC
B
LD
LBh7
Q
QK
Sh7
9.5 (0.37)
26.5 (1.04)
11 (0.43)
300 (11.81)
30 (1.18)
Shaft End
U
Motor cable
7 (0.28)
Encoder plug
4-LZ
Rotating section
Hatching section
Serial encoder
Tap Depth
(See the following table.)
Units: mm (in)
Model
SGMAH-
Gear
Ratio
LL
LM
LR
LE
LG
LD
LB
L1
L2
L3
QK
212
138
104.5
74
10
69
83
85
36
38
19.5
36
32
20
(8.35)
(5.43)
(4.11)
(2.91)
(0.16)
(0.39)
(2.72)
(3.27)
(3.35)
(1.42)
(1.50)
(0.77)
(1.42)
(1.26)
(0.79)
212
138
104.5
74
10
69
83
85
36
38
19.5
36
32
20
(8.35)
(5.43)
(4.11)
(2.91)
(0.16)
(0.39)
(2.72)
(3.27)
(3.35)
(1.42)
(1.50)
(0.77)
(1.42)
(1.26)
(0.79)
02
AJ1 1
1/5
02
AJ3 1
3/31
02
AJC 1
1/21
249.5 165.5
132
84
12
82
98
100
40
44
23
42
36
25
(9.82)
(5.20)
(3.31)
(0.16)
(0.47)
(3.23)
(3.86)
(3.94)
(1.57)
(1.73)
(0.91)
(1.65)
(1.42)
(0.98)
02
AJ7 1
1/33
249.5 165.5
132
84
12
82
98
100
40
44
23
42
36
25
(9.82)
(5.20)
(3.31)
(0.16)
(0.47)
(3.23)
(3.86)
(3.94)
(1.57)
(1.73)
(0.91)
(1.65)
(1.42)
(0.98)
04
AJ1 1
1/5
04
AJ3 1
3/31
04
AJC 1
1/21
04
AJ7 1
1/33
08
AJ1 1
1/5
08
AJ3 1
3/31
08
AJC 1
1/21
08
AJ7 1
1/33
(6.52)
(6.52)
240
166
133
74
10
69
83
85
36
38
19.5
36
32
20
(9.45)
(6.54)
(5.24)
(2.91)
(0.16)
(0.39)
(2.72)
(3.27)
(3.35)
(1.42)
(1.50)
(0.77)
(1.42)
(1.26)
(0.79)
256.5 172.5
139
84
12
82
98
100
40
44
23
42
36
25
(10.10)
(5.47)
(3.31)
(0.16)
(0.47)
(3.23)
(3.86)
(3.94)
(1.57)
(1.73)
(0.91)
(1.65)
(1.42)
(0.98)
(6.79)
305.5 200.5
167
105
13
93
112
115
45
60
26.5
58
50
32
(12.03)
(6.57)
(4.13)
(0.20)
(0.51)
(3.66)
(4.41)
(4.53)
(1.77)
(2.36)
(1.04)
(2.28)
(1.97)
(1.26)
(7.89)
305.5 200.5
167
105
13
93
112
115
45
60
26.5
58
50
32
(12.03)
(7.89)
(6.57)
(4.13)
(0.20)
(0.51)
(3.66)
(4.41)
(4.53)
(1.77)
(2.36)
(1.04)
(2.28)
(1.97)
(1.26)
277
193
159.5
84
12
82
98
100
40
44
23
42
36
25
(10.91)
(7.60)
(6.28)
(3.31)
(0.16)
(0.47)
(3.23)
(3.86)
(3.94)
(1.57)
(1.73)
(0.91)
(1.65)
(1.42)
(0.98)
301
196
162.5
105
13
93
112
115
45
60
26.5
58
50
32
(11.85)
(7.72)
(6.40)
(4.13)
(0.20)
(0.51)
(3.66)
(4.41)
(4.53)
(1.77)
(2.36)
(1.04)
(2.28)
(1.97)
(1.26)
330
223
189.5
107
10
15
107
134
140
44
63
42
60
45
40
(12.99)
(8.78)
(7.46)
(4.21)
(0.39)
(0.59)
(4.21)
(5.28)
(5.51)
(1.73)
(2.48)
(1.65)
(2.36)
(1.77)
(1.57)
330
223
189.5
107
10
15
107
134
140
44
63
42
60
45
40
(12.99)
(8.78)
(7.46)
(4.21)
(0.39)
(0.59)
(4.21)
(5.28)
(5.51)
(1.73)
(2.48)
(1.65)
(2.36)
(1.77)
(1.57)
3-63
Model
SGMAH-
Gear
Ratio
LC
LA
LZ
TapDepth
02
AJ1 1
1/5
90
105
9
(3.54) (4.13) (0.35)
M510L
3.5
6
(0.14) (0.24)
6
(0.24)
02
AJ3 1
3/31
90
105
9
(3.54) (4.13) (0.35)
M510L
3.5
6
(0.14) (0.24)
6
(0.24)
02
AJC 1
1/21
105
120
9
(4.13) (4.72) (0.35)
M612L
4
8
(0.16) (0.31)
7
(0.28)
02
AJ7 1
1/33
105
120
9
(4.13) (4.72) (0.35)
M612L
4
8
(0.16) (0.31)
7
(0.28)
04
AJ1 1
1/5
90
105
9
(3.54) (4.13) (0.35)
M510L
3.5
6
(0.14) (0.24)
6
(0.24)
04
AJ3 1
3/31
105
120
9
(4.13) (4.72) (0.35)
M612L
4
8
(0.16) (0.31)
7
(0.28)
04
AJC 1
1/21
120
135
11
(4.72) (5.31) (0.43)
M816L
5
10
(0.20) (0.39)
8
(0.31)
04
AJ7 1
1/33
120
135
11
(4.72) (5.31) (0.43)
M816L
5
10
(0.20) (0.39)
8
(0.31)
08
AJ1 1
1/5
105
120
9
(4.13) (4.72) (0.35)
M612L
4
8
(0.16) (0.31)
7
(0.28)
08
AJ3 1
3/31
120
135
11
(4.72) (5.31) (0.43)
M816L
5
10
(0.20) (0.39)
8
(0.31)
08
AJC 1
1/21
145
165
14
(5.71) (6.50) (0.55)
M1020L
5
12
(0.20) (0.47)
8
(0.31)
08
AJ7 1
1/33
145
165
14
(5.71) (6.50) (0.55)
M1020L
5
12
(0.20) (0.47)
8
(0.31)
INFO
Approx.
Mass
kg (lb)
2.8
(6.2)
2.8
(6.2)
4.2
(9.3)
4.2
(9.3)
3.4
(7.5)
4.3
(9.5)
6.4
(14.1)
6.4
(14.1)
6.0
(13.2)
7.5
(16.5)
12.4
(27.3)
12.4
(27.3)
Allowable
Allowable
Radial Load Thrust Load
N (lbf)
N (lbf)
275
(62)
235
(53)
360
(82)
585
(133)
290
(66)
635
(144)
275
235
(62)
(53)
460
290
(104)
(66)
655
(149)
310
(70)
755
(171)
355
290
(80)
(66)
525
310
(119)
(70)
1070
(243)
490
(111)
1210
(273)
1. The dimensions for L and LL of a servomotor incorporating an encoder with super-capacitor (model: SGMAH4) are as shown below.
SGMAH-02 and 04: L-dimension + 8.2 mm (0.32 in), LL-dimension +8.2 mm (0.32 in)
SGMAH-08: L-dimension + 0 mm, LL-dimension +0 mm
2. The working point of the SGMAH servomotor radial load is at the position of minus 5 mm from the shaft end.
3-64
Dimensional Tolerances
Model
SGMAH-
Units: mm (in)
Shaft-end Dimensions
S
02
AJ1 1
85
0
3.35 0
0.035
0.0014
20
0
0.79 0
0.021
0.0008
02
AJ3 1
85
0
3.35 0
0.035
0.0014
20
0
0.79 0
0.021
0.0008
02
AJC 1
100
0
3.94 0
0.035
0.0014
25
0
0.98 0
0.021
0.0008
02
AJ7 1
100
0
3.94 0
0.035
0.0014
25
0
0.98 0
0.021
0.0008
04
AJ1 1
85
20
0
0.79 0
0.021
0.0008
04
AJ3 1
100
25
0
0.98 0
0.021
0.0008
04
AJC 1
115
4.53 0
0.035
0.0014
32
1.26 0
0.025
0.0010
04
AJ7 1
115
0
4.53 0
0.035
0.0014
32
0
1.26 0
0.025
0.0010
08
AJ1 1
100
0
3.94 0
0.035
0.0014
25
0
0.98 0
0.021
0.0008
08
AJ3 1
115
0
4.53 0
0.035
0.0014
32
0
1.26 0
0.025
0.0010
08
AJC 1
140
0
5.51 0
0.040
0.0016
40
0
1.57 0
0.025
0.0010
08
AJ7 1
140
0
5.51 0
0.040
0.0016
40
0
1.57 0
0.025
0.0010
0
3.35 0
0.035
0.0014
0
3.94 0
0.035
0.0014
0
3-65
3.12.4 SGMAH Servomotors (3000 min-1) With Standard Backlash Gears and
Brakes
(1) 30 W, 50 W, 100 W
300 (11.81)30(1.18)
Encoder plug
Shaft End
300(11.81)
30(1.18)
L1
L3
L2
Q
(0.60)
Serial encoder
0.05 A
(0.0020)
LC
QK
B
LD
LBh7
20 (0.79)
15.2
0.04
A (0.0016)
LR
Sh7
9.5 (0.37)
11 (0.43)
22 (0.87)
L
LL
LM
LG
(0.0024)
0.06 A
Rotating section
(Hatching section)
4-LZ
Tap Depth
(See the following table.)
Units: mm (in)
Model
SGMAH-
Gear
Ratio
LL
LM
LR
LG
LD
LB
L1
L2
L3
QK
A3
1/5
188.5
(7.42)
133.5
(5.26)
68.5
(2.70)
55
(2.17)
8
(0.31)
47
(1.85)
55.5
(2.19)
56
(2.20)
28
17
27
25
20
14
(1.10) (1.06) (0.67) (0.98) (0.79) (0.55)
A3
AJ3
3/31
188.5
(7.42)
133.5
(5.26)
68.5
(2.70)
55
(2.17)
8
(0.31)
47
(1.85)
55.5
(2.19)
56
(2.20)
28
17
27
25
20
14
(1.10) (1.06) (0.67) (0.98) (0.79) (0.55)
A3
AJC
1/21
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
17
27
25
20
14
(1.10) (1.06) (0.67) (0.98) (0.79) (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
17
27
25
20
14
(1.10) (1.06) (0.67) (0.98) (0.79) (0.55)
A5
AJ1
1/5
196
(7.72)
141
(5.55)
76.0
(2.99)
55
(2.17)
8
(0.31)
47
(1.85)
55.5
(2.19)
56
(2.20)
28
17
27
25
20
14
(1.10) (1.06) (0.67) (0.98) (0.79) (0.55)
A5
AJ3
3/31
206
(8.11)
146
(5.75)
77.0
(3.03)
60
(2.36)
9
(0.35)
57
(2.24)
63
(2.48)
65
(2.56)
14.5
30
30
28
25
16
(1.18) (1.18) (0.57) (1.10) (0.98) (0.63)
A5
AJC
1/21
223
(8.78)
163
(6.42)
94.0
(3.70)
60
(2.36)
9
(0.35)
57
(2.24)
63
(2.48)
65
(2.56)
14.5
30
30
28
25
16
(1.18) (1.18) (0.57) (1.10) (0.98) (0.63)
A5
AJ7
1/33
223
(8.78)
163
(6.42)
94.0
(3.70)
60
(2.36)
9
(0.35)
57
(2.24)
63
(2.48)
65
(2.56)
14.5
30
30
28
25
16
(1.18) (1.18) (0.57) (1.10) (0.98) (0.63)
01
AJ1
1/5
232
(9.13)
172
(6.77)
98.5
(3.88)
60
(2.36)
9
(0.35)
25
(0.98)
63
(2.48)
65
(2.56)
14.5
30
30
28
25
16
(1.18) (1.18) (0.57) (1.10) (0.98) (0.63)
01
AJ3
3/31
232
(9.13)
172
(6.77)
98.5
(3.88)
60
(2.36)
9
(0.35)
25
(0.98)
63
(2.48)
65
(2.56)
14.5
30
30
28
25
16
(1.18) (1.18) (0.57) (1.10) (0.98) (0.63)
01
AJC
1/21
268
(10.6)
194
(7.64)
120
(4.72)
74
(2.91)
10
(0.39)
69
(2.72)
83
(3.27)
85
(3.35)
36
38
19.5
36
32
20
(1.42) (1.50) (0.77) (1.42) (1.26) (0.79)
01
3-66
AJ1
AJ7
1/33
268
(10.6)
194
(7.64)
120
(4.72)
74
(2.91)
10
(0.39)
69
(2.72)
83
(3.27)
85
(3.35)
36
38
19.5
36
32
20
(1.42) (1.50) (0.77) (1.42) (1.26) (0.79)
Model
SGMAH-
Gear
Ratio
LC
LA
LZ
TapDepth
A3
AJ1
1/5
60
(2.36)
70
5.5
(2.76) (0.22)
M48L
3
5
5
(0.12) (0.20) (0.20)
A3
AJ3
3/31
60
(2.36)
70
5.5
(2.76) (0.22)
M48L
3
5
5
(0.12) (0.20) (0.20)
1/21
60
(2.36)
70
5.5
(2.76) (0.22)
M48L
3
5
5
(0.12) (0.20) (0.20)
70
5.5
(2.76) (0.22)
M48L
3
5
5
(0.12) (0.20) (0.20)
M48L
3
5
5
(0.12) (0.20) (0.20)
A3
AJC
A3
AJ7
1/33
60
(2.36)
A5
AJ1
1/5
60
(2.36)
70
5.5
(2.76) (0.22)
80
6.6
(3.15) (0.26)
M48L
3
5
5
(0.12) (0.20) (0.20)
A5
AJ3
3/31
70
(2.76)
A5
AJC
1/21
70
(2.76)
80
6.6
(3.15) (0.26)
M48L
3
5
5
(0.12) (0.20) (0.20)
A5
AJ7
1/33
70
(2.76)
80
6.6
(3.15) (0.26)
M48L
3
5
5
(0.12) (0.20) (0.20)
01
AJ1
1/5
70
(2.76)
80
6.6
(3.15) (0.26)
M48L
3
5
5
(0.12) (0.20) (0.20)
01
AJ3
3/31
70
(2.76)
80
6.6
(3.15) (0.26)
M48L
3
5
5
(0.12) (0.20) (0.20)
01
AJC
1/21
90
(3.54)
105
9
(4.13) (0.35)
M510L
3.5
6
6
(0.14) (0.24) (0.24)
1/33
90
(3.54)
105
9
(4.13) (0.35)
M510L
3.5
6
6
(0.14) (0.24) (0.24)
01
INFO
AJ7
Approx.
Mass
kg (lb)
1.2
(2.7)
1.2
(2.7)
1.3
(2.9)
1.3
(2.9)
1.3
(2.9)
1.5
(3.3)
1.6
(3.5)
1.6
(3.5)
1.6
(3.5)
1.6
(3.5)
2.7
(6.0)
2.7
(6.0)
Allowable
Radial
Load
N (lbf)
Allowable
Thrust
Load
N (lbf)
145
(33)
125
(28)
185
(42)
145
(33)
215
(49)
230
(52)
245
(56)
175
(40)
215
(49)
455
(103)
480
(109)
125
(28)
3
145
(33)
145
(33)
235
(53)
1. The dimensionss for L and LL of a servomotor incorporating an encoder with super-capacitor (model: SGMAH4) are as shown below.
SGMAH-03, A5, and 01: L-dimension +12 mm (0.47 in), LL-dimension +12 mm (0.47 in)
2. The working point of the SGMAH servomotor radial load is at the position of minus 5 mm from the shaft end.
Dimensional Tolerances
Model
SGMAH-
Units: mm (in)
Shaft-end Dimensions
S
A3
AJ1
56
0
2.20 0
0.030
0.0012
14
0
0.55 0
0.018
0.0007
A3
AJ3
56
0
2.20 0
0.030
0.0012
14
0
0.55 0
0.018
0.0007
A3
AJC
56
0
2.20 0
0.030
0.0012
14
0
0.55 0
0.018
0.0007
A3
AJ7
56
0
2.20 0
0.030
0.0012
14
0
0.55 0
0.018
0.0007
A5
AJ1
56
0
2.20 0
0.030
0.0012
14
0
0.55 0
0.018
0.0007
A5
AJ3
65
0
2.56 0
0.030
0.0012
16
0
0.63 0
0.018
0.0007
3-67
Units: mm (in)
Shaft-end Dimensions
S
Model
SGMAHA5
AJC
65
0
2.56 0
0.030
0.0012
16
0
0.63 0
0.018
0.0007
A5
AJ7
65
0
2.56 0
0.030
0.0012
16
0
0.63 0
0.018
0.0007
01
AJ1
65
0
2.56 0
0.030
0.0012
16
0
0.63 0
0.018
0.0007
01
AJ3
65
0
2.56 0
0.030
0.0012
16
0
0.63 0
0.018
0.0007
01
AJC
85
0
3.35 0
0.035
0.0014
20
0
0.79 0
0.021
0.0008
01
AJ7
85
0
3.35 0
0.035
0.0014
20
0
0.79 0
0.021
0.0008
Motor plug
(0.0024)
0.06 A
13
(0.51)
L
LL
LM
LG
LE
27
(1.06)
20
(0.79)
LR
L1
L3
0.04
A(0.0016)
LC
0.05 A
(0.0020)
L2
Q
QK
Sh7
B
LD
LBh7
11
(0.43)
9.5(0.37)
300(11.81)30(1.18)
26.5
(1.04)
Shaft End
W
T
300(11.81) 30(1.18)
Serial encoder
Rotating section
(Hatching section)
Tap Depth
(See the following table.)
4-LZ
Units: mm (in)
Model
SGMAH-
Gear
Ratio
LL
LM
LR
LE
LG
LD
LB
L1
L2
L3
QK
02
1/5
251.5
(9.90
177.5
(6.99)
104.5
(4.11)
74
(2.91)
4
(0.16)
10
69
(0.39) (2.72)
83
85
36
38
19.5
36
32
(3.27) (3.35) (1.42) (1.50) (0.77) (1.42) (1.26)
20
(0.79)
02
AJ3
3/31
251.5
(9.90
177.5
(6.99)
104.5
(4.11)
74
(2.91)
4
(0.16)
10
69
(0.39) (2.72)
83
85
36
36
19.5
36
32
(3.27) (3.35) (1.42) (1.42) (0.77) (1.42) (1.26)
20
(0.79)
02
AJC
1/21
289
(11.38)
205
(8.07)
132
(5.20)
84
(3.31)
4
(0.16)
82
12
(0.47) (3.23)
98
100
40
44
19.5
42
36
(3.86) (3.94) (1.57) (1.73) (0.77) (1.65) (1.42)
25
(0.98)
02
AJ7
1/33
289
(11.38)
205
(8.07)
132
(5.20)
84
(3.31)
4
(0.16)
82
12
(0.47) (3.23)
98
100
40
44
19.5
42
36
(3.86) (3.94) (1.57) (1.73) (0.77) (1.65) (1.42)
25
(0.98)
04
AJ1
1/5
297.5
(11.71)
223.5
(8.80)
150.5
(5.93
74
(2.91)
4
(0.16)
10
69
(0.39) (2.72)
83
85
36
(3.27) (3.35) (1.42)
19.5
36
32
(0.77) (1.42) (1.26)
20
(0.79)
04
AJ3
3/31
296
(11.65)
212
(8.35)
139
(5.47)
84
(3.31)
4
(0.16)
82
12
(0.47) (3.23)
98
100
40
44
(3.86) (3.94) (1.57) (1.73)
23
(0.91
42
36
(1.65) (1.42)
25
(0.98)
04
AJC
1/21
345
(13.58)
240
(9.45)
167
(6.57)
105
(4.13)
5
(0.20)
93
13
(0.51) (3.66)
60
26.5
112
115
45
58
50
(4.41) (4.53) (1.77) (2.36) (1.04) (2.28) (1.97)
32
(1.26)
04
AJ7
1/33
345
(13.58)
240
(9.45)
167
(6.57)
105
(4.13)
5
(0.20)
93
13
(0.51) (3.66)
26.5
112
115
45
80
58
50
(4.41) (4.53) (1.77) (3.15) (1.04) (2.28) (1.97)
32
(1.26)
08
AJ1
1/5
321.5
(12.66)
237.5
(9.35)
158.5
(6.24)
84
(3.31)
4
(0.16)
82
12
(0.47) (3.23)
98
100
40
44
(3.86) (3.94) (1.57) (1.73)
42
36
(1.65) (1.42)
25
(0.98)
08
AJ3
3/31
345.5
(13.60)
240.5
(9.47)
162.5
(6.40)
105
(4.13)
5
(0.20)
93
13
(0.51) (3.66)
26.5
112
115
45
60
58
50
(4.41) (4.53) (1.77) (2.36) (1.04) (2.28) (1.97)
32
(1.26)
08
3-68
AJ1
AJC
1/21
374.5
(14.74)
267.5
(10.53)
189.5
(7.46)
107
(4.21)
10
(0.39)
134
15
(0.59) (5.28)
134
140
44
63
42
60
45
(5.28) (5.51) (1.73) (2.48) (1.65) (2.36) (1.77)
40
(1.57)
38
(1.50
23
(0.91
AJ7
Gear
Ratio
LL
LM
LR
LE
1/33
374.5
(14.74)
267.5
(10.53)
189.5
(7.46)
107
(4.21)
10
(0.39)
LG
134
15
(0.59) (5.28)
LD
LB
L1
L2
L3
QK
134
140
44
63
42
60
45
(5.28) (5.51) (1.73) (2.48) (1.65) (2.36) (1.77)
40
(1.57)
Units: mm (in)
Model
SGMAH02
AJ1
Gear
Ratio
LC
LA
LZ
1/5
90
105
9
(3.54) (4.13) (0.35)
TapDepth
Approx.
Mass
kg (lb)
M510L
3.5
6
6
(0.14) (0.24) (0.24)
M510L
3.5
6
6
(0.14) (0.24) (0.24)
3.3
(7.3)
3.3
(7.3)
M612L
4
8
7
(0.16) (0.31) (0.28)
4.7
(10.4)
4.7
(10.4)
02
AJ3
3/31
90
105
9
(3.54) (4.13) (0.35)
02
AJC
1/21
105
120
9
(4.13) (4.72) (0.35)
M612L
4
8
7
(0.16) (0.31) (0.28)
02
AJ7
1/33
105
120
9
(4.13) (4.72) (0.35)
04
AJ1
1/5
90
105
9
(3.54) (4.13) (0.35)
M510L
3.5
6
6
(0.14) (0.24) (0.24)
3.9
(8.6)
04
AJ3
3/31
105
120
9
(4.13) (4.72) (0.35)
M612L
4
8
7
(0.16) (0.31) (0.28)
4.8
(10.6)
04
AJC
1/21
120
135
11
(4.72) (5.31) (0.43)
M816L
5
10
8
(0.20) (0.39) (0.31)
6.9
(15.2)
04
AJ7
1/33
120
135
11
(4.72) (5.31) (0.43)
M816L
5
10
8
(0.20) (0.39) (0.31)
6.9
(15.2)
08
AJ1
1/5
105
120
9
(4.13) (4.72) (0.35)
M612L
4
8
7
(0.16) (0.31) (0.28)
6.9
(15.2)
08
AJ3
3/31
120
135
11
(4.72) (5.31) (0.43)
M816L
5
10
8
(0.20) (0.39) (0.31)
8.4
(18.5)
08
AJC
1/21
145
165
14
(5.71) (6.50) (0.55)
M1020L
5
12
8
(0.20) (0.47) (0.31)
13.3
(29.3)
1/33
145
165
14
(5.71) (6.50) (0.55)
M1020L
5
12
8
(0.20) (0.47) (0.31)
13.3
(29.3)
08
INFO
AJ7
Allowable
Radial
Load
N (lbf)
275
(62)
360
(82)
585
(132)
635
(133)
275
(62)
460
(104)
655
(149)
755
(171)
355
(80)
525
(119)
1070
(243)
1210
(273)
Allowable
Thrust
Load
N (lbf)
235
(53)
290
(66)
235
(53)
290
(66)
310
(70)
290
(66)
310
(70)
490
(111)
1. The dimensionss for L and LL of a servomotor incorporating an encoder with super-capacitor (model: SGMAH4) are as shown below.
SGMAH-02 and 04: L-dimension + 8.2 mm (0.32 in), LL-dimension +8.2 mm (0.32 in)
SGMAH-08: L-dimension + 0 mm, LL-dimension +0 mm
2. The working point of the SGMAH servomotor radial load is at the position of minus 5 mm from the shaft end.
3-69
Dimensional Tolerances
Model
SGMAH-
Units: mm (in)
Shaft-end Dimensions
S
02
85
0
3.35 0
0.035
0.0014
20
0
0.79 0
0.021
0.0008
02
AJ3
85
0
3.35 0
0.035
0.0014
20
0
0.79 0
0.021
0.0008
02
AJC
100
0
3.94 0
0.035
0.0014
25
0
0.98 0
0.021
0.0008
02
AJ7
100
0
3.94 0
0.035
0.0014
25
0
0.98 0
0.021
0.0008
04
AJ1
85
20
0
0.79 0
0.021
0.0008
04
AJ3
100
0
3.94 0
0.035
0.0014
25
0
0.98 0
0.021
0.0008
04
AJC
115
0
4.53 0
0.035
0.0014
32
0
1.26 0
0.025
0.0010
04
AJ7
115
0
4.53 0
0.035
0.0014
32
0
1.26 0
0.025
0.0010
08
AJ1
100
0
3.94 0
0.035
0.0014
25
0
0.98 0
0.021
0.0008
08
AJ3
115
0
4.53 0
0.035
0.0014
32
0
1.26 0
0.025
0.0010
08
AJC
140
0
5.51 0
0.040
0.0016
40
0
1.57 0
0.025
0.0010
08
3-70
AJ1
AJ7
140
0
5.51 0
0.040
0.0016
40
0
1.57 0
0.025
0.0010
0
3.35 0
0.035
0.0014
(35) (1.38)
Shaft End
Motor plug
W
U
Motor cable
7(0.28)
Encoder plug
300(11.81)30(1.18)
0.06 A
(0.0024)
20 (0.79)
15.2 (0.60)
LG
L2
Q
L3
LC
0.05 A
(0.0020)
QK
LE
Sh7
B
LD
11(0.43)
9.5(0.37)
22 (0.87)
0.04
A (0.0016)
LR
L1
LBh7
L
LL
LM
4-LZ
Serial encoder
Tap Depth
(See the following table.)
Rotating section
(Hatching section)
Units: mm (in)
Model
SGMAH-
Gear
Ratio
LL
LM
LR
LE
LG
LD
LB
L1
L2
L3
QK
A3
AH1 1
1/5
152.5
(6.00)
97.5
(3.84)
64.5
(2.54)
55
6
8
40
55.5
56
28
27
20
25
20
14
(2.17) (0.24) (0.31) (1.57) (2.19) (2.20) (1.10) (1.06) (0.79) (0.98) (0.79) (0.55)
A3
AH2 1
1/9
152.5
(6.00)
97.5
(3.84)
64.5
(2.54)
55
6
8
40
55.5
56
28
27
20
25
20
14
(2.17) (0.24) (0.31) (1.57) (2.19) (2.20) (1.10) (1.06) (0.79) (0.98) (0.79) (0.55)
A3
AHC 1
1/21
167.5
(6.59)
112.5
(4.43)
79.5
(3.13)
55
6
8
40
55.5
56
28
27
20
25
20
14
(2.17) (0.24) (0.31) (1.57) (2.19) (2.20) (1.10) (1.06) (0.79) (0.98) (0.79) (0.55)
A3
AH7 1
1/33
167.5
(6.59)
112.5
(4.43)
79.5
(3.13)
55
6
8
40
55.5
56
28
27
20
25
20
14
(2.17) (0.24) (0.31) (1.57) (2.19) (2.20) (1.10) (1.06) (0.79) (0.98) (0.79) (0.55)
A5
AH1 1
1/5
160
(6.30)
105
(4.13)
72.0
(2.83)
55
6
8
40
55.5
56
28
27
20
25
20
14
(2.17) (0.24) (0.31) (1.57) (2.19) (2.20) (1.10) (1.06) (0.79) (0.98) (0.79) (0.55)
A5
AH2 1
1/9
166
(6.54)
106
(4.17)
73.0
(2.87)
60
8
9
50
64.5
65
30
30
22
28
25
16
(2.36) (0.31) (0.35) (1.97) (2.54) (2.56) (1.18) (1.18) (0.87) (1.10) (0.98) (0.63)
A5
AHC 1
1/21
183
(7.20)
123
(4.84)
90.0
(3.54)
60
8
9
40
64.5
65
30
30
22
28
25
16
(2.36) (0.31) (0.35) (1.57) (2.54) (2.56) (1.18) (1.18) (0.87) (1.10) (0.98) (0.63)
A5
AH7 1
1/33
183
(7.20)
123
(4.84)
90.0
(3.54)
60
8
9
40
64.5
65
30
30
22
28
25
16
(2.36) (0.31) (0.35) (1.57) (2.54) (2.56) (1.18) (1.18) (0.87) (1.10) (0.98) (0.63)
01
AH1 1
1/5
183.5
(7.22)
123.5
(4.86)
90.5
(3.56)
60
8
9
40
64.5
65
30
30
21
28
25
16
(2.36) (0.31) (0.35) (1.57) (2.54) (2.56) (1.18) (1.18) (0.83) (1.10) (0.98) (0.63)
01
AHB 1
1/11
200.5
(7.89)
140.5
(5.53)
107.5
(4.23)
60
8
9
40
64.5
65
30
30
21
28
25
16
(2.36) (0.31) (0.35) (1.57) (2.54) (2.56) (1.18) (1.18) (0.83) (1.10) (0.98) (0.63)
01
AHC 1
1/21
223.5
(8.80)
149.5
(5.89)
116.5
(4.59)
74
7.5
10
59
84
85
36
38
26
36
32
20
(2.91) (0.30) (0.39) (2.32) (3.31) (3.35) (1.42) (1.50) (1.02) (1.42) (1.26) (0.79)
01
AH7 1
1/33
223.5
(8.80)
149.5
(5.89)
116.5
(4.59)
74
7.5
10
59
84
85
36
38
26
36
32
20
(2.91) (0.30) (0.39) (2.32) (3.31) (3.35) (1.42) (1.50) (1.02) (1.42) (1.26) (0.79)
3-71
Units: mm (in)
Model
SGMAH-
Gear
Ratio
LC
LA
LZ
TapDepth
A3
AH1 1
1/5
60
70
5.5
(2.36) (2.76) (0.22)
M48L
3
5
5
(0.12) (0.20) (0.20)
A3
AH2 1
1/9
60
70
5.5
(2.36) (2.76) (0.22)
M48L
3
5
5
(0.12) (0.20) (0.20)
M48L
3
5
5
(0.12) (0.20) (0.20)
A3
AHC 1
1/21
60
70
5.5
(2.36) (2.76) (0.22)
A3
AH7 1
1/33
60
70
5.5
(2.36) (2.76) (0.22)
M48L
3
5
5
(0.12) (0.20) (0.20)
A5
AH1 1
1/5
60
70
5.5
(2.36) (2.76) (0.22)
M48L
3
5
5
(0.12) (0.20) (0.20)
A5
AH2 1
1/9
70
80
6.6
(2.76) (3.15) (0.26)
M48L
3
5
5
(0.12) (0.20) (0.20)
A5
AHC 1
1/21
70
80
6.6
(2.76) (3.15) (0.26)
M48L
3
5
5
(0.12) (0.20) (0.20)
A5
AH7 1
1/33
70
80
6.6
(2.76) (3.15) (0.26)
M48L
3
5
5
(0.12) (0.20) (0.20)
01
AH1 1
1/5
70
80
6.6
(2.76) (3.15) (0.26)
M48L
3
5
5
(0.12) (0.20) (0.20)
M48L
3
5
5
(0.12) (0.20) (0.20)
01
1/11
01
AHC 1
1/21
90
105
9
(3.54) (4.13) (0.35)
M510L
3.5
6
6
(0.14) (0.24) (0.24)
01
INFO
AHB 1
70
80
6.6
(2.76) (3.15) (0.26)
AH7 1
1/33
90
105
9
(3.54) (4.13) (0.35)
M510L
3.5
6
6
(0.14) (0.24) (0.24)
Approx.
Mass
kg (lb)
1.0
(2.2)
1.0
(2.2)
1.0
(2.2)
1.0
(2.2)
1.1
(2.4)
1.4
(3.1)
1.3
(2.9)
1.3
(2.9)
1.2
(2.7)
1.4
(3.1)
2.7
(6.0)
2.7
(6.0)
Allowable
Radial
Load
N (lbf)
137
(31)
176
(40)
137
(31)
206
(47)
235
(53)
167
(38)
216
(49)
392
(89)
431
(98)
Allowable
Thrust
Load
N (lbf)
127
(29)
127
(29)
147
(33)
147
(33)
235
(53)
1. The dimensions for L and LL of a servomotor incorporating an encoder with super-capacitor (model: SGMAH4) are as shown below.
SGMAH-03, A5, and 01: L-dimension +12 mm (0.47 in), LL-dimension +12 mm (0.47 in)
2. The working point of the SGMAH servomotor radial load is at the position of minus 5 mm from the shaft end.
3-72
Dimensional Tolerances
Model
SGMAH-
Units: mm (in)
Shaft-end Dimensions
S
A3
AH1 1
56
0
2.20 0
0.030
0.0012
14
0
0.55 0
0.018
0.00071
A3
AH2 1
56
0
2.20 0
0.030
0.0012
14
0
0.55 0
0.018
0.00071
A3
AHC 1
56
0
2.20 0
0.030
0.0012
14
0
0.55 0
0.018
0.00071
A3
AH7 1
56
0
2.20 0
0.030
0.0012
14
0
0.55 0
0.018
0.00071
A5
AH1 1
56
0
2.20 0
0.030
0.0012
14
0
0.55 0
0.018
0.00071
A5
AH2 1
65
0
2.56 0
0.030
0.0012
16
0
0.63 0
0.018
0.00071
A5
AHC 1
65
0
2.56 0
0.030
0.0012
16
0
0.63 0
0.018
0.00071
A5
AH7 1
65
0
2.56 0
0.030
0.0012
16
0
0.63 0
0.018
0.00071
01
AH1 1
65
0
2.56 0
0.030
0.0012
16
0
0.63 0
0.018
0.00071
01
AHB 1
65
0
2.56 0
0.030
0.0012
16
0
0.63 0
0.018
0.00071
01
AHC 1
85
0
3.35 0
0.035
0.0014
20
0
0.79 0
0.021
0.00083
01
AH7 1
85
0
3.35 0
0.035
0.0014
20
0
0.79 0
0.021
0.00083
3-73
Encoder plug
Motor plug
(0.0024)
0.06 A
30030
L
LL
LM
L3
LG
LE
0.04
(0.0016)
0.05 A
(0.0020)
L2
LC
Q
QK
B
LD
LBh7
11(0.43)
9.5(0.37)
20
13
(0.51) (0.79)
L1
LR
26.5 (1.04)
Shaft End
U
Sh7
4-LZ
Tap Depth
(See the following table.)
Rotating section
(Hatching section)
Serial encoder
Units: mm (in)
Model
SGMAH-
Gear
Ratio
LL
LM
LR
LE
LG
LD
LB
L1
L2
L3
QK
02
1/5
208.5
(8.21)
134.5
(5.30)
101
(3.98)
74
7.5
10
(2.91) (0.30) (0.39)
59
84
85
36
38
26
36
32
(2.32) (3.31) (3.35) (1.42) (1.50) (1.02) (1.42) (1.26)
20
(0.79)
02
AHB 1
1/11
225.5
(8.88)
151.5
(5.97)
118
(4.65)
74
7.5
10
(2.91) (0.30) (0.39)
59
84
85
36
38
26
36
32
(2.32) (3.31) (3.35) (1.42) (1.50) (1.02) (1.42) (1.26)
20
(0.79)
02
AHC 1
1/21
243.5
(9.59)
159.5
(6.28)
126
(4.96)
84
12
12
(3.31) (0.47) (0.47)
59
96
100
40
44
29
42
36
(2.32) (3.78) (3.94) (1.57) (1.73) (1.14) (1.65) (1.42)
25
(0.98)
02
AH7 1
1/33
243.5
(9.59)
159.5
(6.28)
126
(4.96)
84
12
12
(3.31) (0.47) (0.47)
59
96
100
40
44
29
42
36
(2.32) (3.78) (3.94) (1.57) (1.73) (1.14) (1.65) (1.42)
25
(0.98)
04
AH1 1
1/5
236.5(9
.31)
162.5(
6.40)
129
(5.08)
74
7.5
10
(2.91) (0.30) (0.39)
59
84
85
36
38
26
36
32
(2.32) (3.31) (3.35) (1.42) (1.50) (1.02) (1.42) (1.26)
20
(0.79)
04
AHB 1
1/11
271.5(1
0.69)
187.5(
7.38)
154
(6.06)
84
12
12
(3.31) (0.47) (0.47)
59
96
100
40
44
29
42
36
(2.32) (3.78) (3.94) (1.57) (1.73) (1.14) (1.65) (1.42)
25
(0.98)
04
AHC 1
1/21
300.5
(11.83)
195.5
(7.70)
162
(6.38)
105
14
13
(4.13) (0.55) (0.51)
59
112
115
45
60
33
58
50
(2.32) (4.41) (4.53) (1.77) (2.36) (1.30) (2.28) (1.97)
32
(1.26)
04
AH7 1
1/33
300.5
(11.83)
195.5
(7.70)
162
(6.38)
105
12.5
13
(4.13) (0.49) (0.51)
84
114
115
45
60
33
58
50
(3.31) (4.49) (4.53) (1.77) (2.36) (1.30) (2.28) (1.97)
32
(1.26)
08
AH1 1
1/5
271
(10.67)
187
(7.36)
153.5
(6.04)
84
12
12
(3.31) (0.47) (0.47)
59
96
100
40
44
29
42
36
(2.32) (3.78) (3.94) (1.57) (1.73) (1.14) (1.65) (1.42)
25
(0.98)
08
AHB 1
1/11
321
(12.64)
216
(8.50)
182.5
(7.19)
105
14
13
(4.13) (0.55) (0.51)
59
112
115
45
60
33
58
50
(2.32) (4.41) (4.53) (1.77) (2.36) (1.30) (2.28) (1.97)
32
(1.26)
08
AHC 1
1/21
365
(14.37)
223
(8.78)
189.5
(7.46)
142
10
15
(5.59) (0.39) (0.59)
84
134
140
57
85
40
82
70
(3.31) (5.28) (5.51) (2.24) (3.35) (1.57) (3.23) (2.76)
40
(1.57)
08
3-74
AH1 1
AH7 1
1/33
365
(14.37)
223
(8.78)
189.5
(7.46)
142
10
15
(5.59) (0.39) (0.59)
84
134
140
57
85
40
82
70
(3.31) (5.28) (5.51) (2.24) (3.35) (1.57) (3.23) (2.76)
40
(1.57)
Units: mm (in)
Model
SGMAH-
Gear
Ratio
LC
LA
LZ
TapDepth
Approx.
Mass
kg (lb)
02
AHB 1
1/11
90
105
9
(3.54) (4.13) (0.35)
02
AHC 1
1/21
105
120
9
(4.13) (4.72) (0.35)
M612L
4
8
7
(0.16) (0.31) (0.28)
02
AH7 1
1/33
105
120
9
(4.13) (4.72) (0.35)
M612L
4
8
7
(0.16) (0.31) (0.28)
04
AH1 1
1/5
90
105
9
(3.54) (4.13) (0.35)
M510L
3.5
6
6
(0.14) (0.24) (0.24)
04
AHB 1
1/11
105
120
9
(4.13) (4.72) (0.35)
M612L
4
8
7
(0.16) (0.31) (0.28)
3.0
(6.6)
3.5
(7.7)
3.7
(8.2)
3.8
(8.4)
3.6
(7.9)
4.3
(9.5)
1/21
120
135
11
(4.72) (5.31) (0.43)
M816L
5
10
8
(0.20) (0.39) (0.31)
4.7
(10.4)
M816L
5
10
8
(0.20) (0.39) (0.31)
7.1
(15.7)
02
04
AH1 1
AHC 1
1/5
90
105
9
(3.54) (4.13) (0.35)
M510L
3.5
6
6
(0.14) (0.24) (0.24)
M510L
3.5
6
6
(0.14) (0.24) (0.24)
04
1/33
08
AH1 1
1/5
105
120
9
(4.13) (4.72) (0.35)
M612L
4
8
7
(0.16) (0.31) (0.28)
5.8
(12.8)
08
AHB 1
1/11
120
135
11
(4.72) (5.31) (0.43)
M816L
5
10
8
(0.20) (0.39) (0.31)
6.6
(14.6)
08
AHC 1
1/21
145
165
14
(5.71) (6.50) (0.55)
M1020L
5
12
8
(0.20) (0.47) (0.31)
9.9
(21.8)
08
INFO
AH7 1
120
135
11
(4.72) (5.31) (0.43)
AH7 1
1/33
145
165
14
(5.71) (6.50) (0.55)
M1020L
5
12
8
(0.20) (0.47) (0.31)
9.9
(21.8)
Allowable
Radial
Load
N (lbf)
245
(56)
323
(73)
549
(124)
608
(138)
245
(56)
441
(100)
568
(129)
657
(149)
343
(78)
451
(102)
813
(184)
921
(209)
Allowable
Thrust
Load
N (lbf)
235
(53)
294
(67)
235
(53)
294
(67)
314
(71)
294
(67)
314
(71)
490
(111)
1. The dimensions for L and LL of a servomotor incorporating an encoder with super-capacitor (model: SGMAH
are as shown below.
SGMAH-02 and 04: L-dimension + 8.2 mm (0.32 in), LL-dimension +8.2 mm (0.32 in)
SGMAH-08: L-dimension + 0 mm, LL-dimension +0 mm
4)
2. The working point of the SGMAH servomotor radial load is at the position of minus 5 mm from the shaft end.
3-75
Dimensional Tolerances
Model
SGMAH-
Units: mm (in)
Shaft-end Dimensions
S
02
85
0
3.35 0
0.035
0.0014
20
0
0.79 0
0.021
0.0008
02
AHB 1
85
0
3.35 0
0.035
0.0014
20
0
0.79 0
0.021
0.0008
02
AHC 1
100
0
3.94 0
0.035
0.0014
25
0
0.98 0
0.021
0.0008
02
AH7 1
100
0
3.94 0
0.035
0.0014
25
0
0.98 0
0.021
0.0008
04
AH1 1
85
20
0
0.79 0
0.021
0.0008
04
AHB 1
100
0
3.94 0
0.035
0.0014
25
0
0.98 0
0.021
0.0008
04
AHC 1
115
0
4.53 0
0.035
0.0014
32
0
1.26 0
0.025
0.0010
04
AH7 1
115
0
4.53 0
0.035
0.0014
32
0
1.26 0
0.025
0.0010
08
AH1 1
100
0
3.94 0
0.035
0.0014
25
0
0.98 0
0.021
0.0008
08
AHB 1
115
0
4.53 0
0.035
0.0014
32
0
1.26 0
0.025
0.0010
08
AHC 1
140
0
5.51 0
0.040
0.0016
40
0
1.57 0
0.025
0.0010
08
3-76
AH1 1
AH7 1
140
0
5.51 0
0.040
0.0016
40
0
1.57 0
0.025
0.0010
0
3.35 0
0.035
0.0014
Encoder plug
Shaft End
U
(35)
(1.38)
Motor plug
300(11.81)
30(1.18)
LH
LC
QK
Serial encoder
21(0.83)
0.04 A
(0.0016)
LG
LC
38(1.50)
LA
LBh7
13
(0.51)
Dimensions of SGMPH-01 to 04
LR
LE
Sh6
9.5(0.37)
LF
0.04 A
(0.0016)
18(0.71)
L
LL
LM
28(1.10)
LA
A
0.02
(0.0008)
4-L
Tap Depth
(See the following
table.)
4-L
Tap Depth
(See the following
table.)
Units: mm (in)
Model
SGMPH01
21
01
41
01
61
02
02
21
41
02
21
41
04
61
08
08
21
41
08
21
41
15
61
LL
LM
LR
LE
LG
LF
LB
LH
87
62
42.5
25
3
6
12.5
8
50 10.55
(3.43) (2.44) (1.67) (0.98) (0.12) (0.24) (0.49) (0.31) (1.97) (0.42)
97
67
48.1
30
3
8
11.9
14
70
8.25
(3.82) (2.64) (1.89) (1.18) (0.12) (0.31) (0.47) (0.55) (2.76) (0.32)
61
15
15
INFO
61
04
04
117
87
68.1
30
3
8
11.9
14
70
8.25
(4.61) (3.43) (2.68) (1.18) (0.12) (0.31) (0.47) (0.55) (2.76) (0.32)
126.5 86.5 66.7
40
3.5
10
12.8
16
110
10.5
(4.98) (3.41) (2.63) (1.57) (0.14) (0.39) (0.50) (0.63) (4.33) (0.41)
TapDepth
No tap
M36L
No tap
M58L
No tap
M58L
No tap
M58L
No tap
M610L
1. The dimensions for L and LL of a servomotor incorporating an encoder with super-capacitor (model: SGMPHare as shown below.
SGMPH-01, 02, and 04: L-dimension + 6.4 mm (0.25 in), LL-dimension +6.4 mm (0.25 in)
SGMPH-08 and 15: L-dimension + 6.0 mm (0.24 in), LL-dimension +6.0 mm (0.24 in)
4)
2. The working point of the SGMPH servomotor radial load is at the position of minus 5 mm from the shaft end.
3-77
Model
SGMPH01
01
01
02
02
02
04
21
41
61
21
41
61
21
04
04
08
08
08
15
41
61
21
41
61
21
15
15
41
61
LC
LA
LZ
60
70
5.5
(2.36) (2.76) (0.22)
80
90
7
(3.15) (3.54) (0.28)
80
90
7
(3.15) (3.54) (0.28)
120
145
10
(4.72) (5.71) (0.39)
120
145
10
(4.72) (5.71) (0.39)
QK
Approx.
Mass
kg (lb)
No key
0.7
(1.5)
78
(18)
49
(11)
1.4
(3.1)
245
(55)
68
(15)
2.1
(4.6)
245
(55)
68
(15)
4.2
(9.3)
392
(88)
147
(33)
6.6
(14.6)
490
(110)
147
(33)
14
1.8
3
3
(0.55) (0.071) (0.12) (0.12)
No key
16
(0.63)
3
(0.12)
5
5
(0.20) (0.20)
No key
16
(0.63)
3
(0.12)
5
5
(0.20) (0.20)
No key
22
(0.87)
3
(0.12)
5
5
(0.20) (0.20)
No key
22
(0.87)
3.5
(0.14)
Units: mm (in)
Allowable
Allowable
Radial Load Thrust Load
N (lbf)
N (lbf)
6
6
(0.24) (0.24)
Dimensional Tolerances
Model
SGMPH01
01
01
02
02
02
04
04
04
08
08
08
15
15
15
3-78
21
41
61
21
41
61
21
41
61
21
41
61
21
41
61
Shaft-end Dimensions
S
8
0
0.315 0.0001
0.009
0.0003
Units: mm (in)
Flange Face Dimensions
LB
50
0
1.97 0.0015
0.025
0.0025
14
0.551+ 0.0001
0.011
0.0002
70
0
2.756 0.0001
0.030
0.0013
14
0.551+ 0.0001
0.011
0.0002
70
0
2.756 0.0001
0.030
0.0013
16
0
0.63 0.0001
0.011
0.0005
110
4.33+ 0.0007
0.035
0.0007
19
0
0.75 0.0020
0.013
0.0024
110
4.33+ 0.0007
0.035
0.0007
300(11.81)30(1.18)
Shaft End
W
(35)
(1.38)
Motor plug
300(11.81)30(1.18)
Dimensions of SGMPH-01 to 04
LM
LG
LE
0.04 A
(0.0016)
LA
0.02
(0.0008)
2
4
01
02
02
2
4
02
2
4
04
08
08
2
4
08
15
15
2
4
15
INFO
04
04
LA
3
A
01
01
38(1.50)
QK
Serial encoder
Model
SGMPH-
LC
28(1.10)
LR
Sh6
13(0.51) LH
21(0.83)
LBh7
9.5(0.37)
LF
LC
0.04 A
(0.0016)
18(0.71)
L
LL
LL
LM
LR
LE
LG
4-L
Tap Depth
(See the following
table.)
4-L
LF
LB
LH
116
91
42.5
25
3
6
12.5
8
50 10.55
(4.57) (3.58) (1.67) (0.98) (0.12) (0.24) (0.49) (0.31) (1.97) (0.42)
128.5 98.5 48.1
30
3
8
11.9
14
70
8.25
(5.06) (3.88) (1.89) (1.18) (0.12) (0.31) (0.47) (0.55) (2.76) (0.32)
148.5 118.5 68.1
30
3
8
11.9
14
70
8.25
(5.85) (4.67) (2.68) (1.18) (0.12) (0.31) (0.47) (0.55) (2.76) (0.32)
160
120 66.7
40
3.5
10
12.8
16
110
10.5
(6.30) (4.72) (2.63) (1.57) (0.14) (0.39) (0.50) (0.63) (4.33) (0.41)
188
148 94.7
40
3.5
10
12.8
19
110
10.5
(7.40) (5.83) (3.73) (1.57) (0.14) (0.39) (0.50) (0.75) (4.33) (0.41)
Tap Depth
(See the following
table.)
Units: mm (in)
Tap
Depth
No tap
M36L
No tap
M58L
No tap
M58L
No tap
M58L
No tap
M610L
1. The dimensions for L and LL of a servomotor incorporating an encoder with super-capacitor (model: SGMPHare as shown below.
SGMPH-01, 02, and 04: L-dimension + 6.4 mm (0.25 in), LL-dimension +6.4 mm (0.25 in)
SGMPH-08 and 15: L-dimension + 6.0 mm (0.24 in), LL-dimension +6.0 mm (0.24 in)
4)
2. The working point of the SGMPH servomotor radial load is at the position of minus 5 mm from the shaft end.
3-79
Model
SGMPH01
01
01
02
4
6
2
02
02
04
4
6
2
04
04
08
08
08
15
15
15
4
6
2
4
6
2
4
6
LC
LA
LZ
60
70
5.5
(2.36) (2.76) (0.22)
80
90
7
(3.15) (3.54) (0.28)
80
90
7
(3.15) (3.54) (0.28)
120
145
10
(4.72) (5.71) (0.39)
120
145
10
(4.72) (5.71) (0.39)
QK
Allowable
Radial Load
N (lbf)
0.9
(2.0)
78
(18)
49
(11)
1.9
(4.2)
245
(55)
68
(15)
2.6
(5.7)
245
(55)
68
(15)
5.7
(12.6)
392
(88)
147
(33)
8.1
(17.8)
490
(110)
147
(33)
No key
14
1.8
3
3
(0.55) (0.071) (0.12) (0.12)
No key
16
(0.63)
3
(0.12)
5
5
(0.20) (0.20)
No key
16
(0.63)
3
(0.12)
5
5
(0.20) (0.20)
No key
22
(0.87)
3
(0.12)
5
5
(0.20) (0.20)
No key
22
(0.87)
3.5
(0.14)
Units: mm (in)
Allowable
Thrust Load
N (lbf)
Approx.
Mass
kg (lb)
6
6
(0.24) (0.24)
Dimensional Tolerances
Model
SGMPH01
01
01
02
02
02
04
04
04
08
08
08
15
15
15
3-80
2
4
6
2
4
6
2
4
6
2
4
6
2
4
6
Shaft-end Dimensions
S
8
0
0.315 0.0001
0.009
0.0003
Units: mm (in)
Flange Face Dimensions
LB
50
0
1.97 0.0015
0.025
0.0025
14
0.551+ 0.0001
0.011
0.0002
70
0
2.756 0.0001
0.030
0.0013
14
0.551+ 0.0001
0.011
0.0002
70
0
2.756 0.0001
0.030
0.0013
16
0
0.63 0.0001
0.011
0.0005
110
4.33+ 0.0007
0.035
0.0007
19
0
0.75 0.0020
0.013
0.0024
110
4.33+ 0.0007
0.035
0.0007
LH
300(11.81)
(0.0024)
30(1.18)
0.06 A
L
LL
LR
0.04
LM
L1
L2
A (0.0016)
L3
LG
LE
Q
QK
Sh6
Serial encoder
Motor plug
9.5(0.37)
LF
Shaft End
W
0.05 A
(0.0020)
LC
B
LD
LBh7
13 (0.51)
Encoder plug
300(11.81)30(1.18)
Encoder cable 6 (0.24)
UL20276
(35) (1.38)
Motor cable 7 (0.28)
Rotating section
(Hatching section)
4-LZ
Tap Depth
(See the following table.)
Units: mm (in)
Model
SGMPH-
Gear
Ratio
LL
LM
LR
LE
LG
LD
LB
L1
L2
L3
QK
01
AJ1 1
1/5
177
(6.97)
117
(4.61)
97.5
(3.84)
60
4
9
57
63
65
30
30
14.5
28
25
16
(2.36) (0.16) (0.35) (2.24) (2.48) (2.56) (1.18) (1.18) (0.57) (1.10) (0.98) (0.63)
01
AJ3 1
3/31
177
(6.97)
117
(4.61)
97.5
(3.84)
60
4
9
57
63
65
30
30
14.5
28
25
16
(2.36) (0.16) (0.35) (2.24) (2.48) (2.56) (1.18) (1.18) (0.57) (1.10) (0.98) (0.63)
01
AJC 1
1/21
196
(7.72)
122
(4.80)
102
(4.02)
38
19.5
74
4
10
69
83
85
36
36
32
20
(2.91) (0.16) (0.39) (2.72) (3.27) (3.35) (1.42) (1.50) (0.77) (1.42) (1.26) (0.79)
01
AJ7 1
1/33
196
(7.72)
122
(4.80)
102
(4.02)
38
19.5
74
4
10
69
83
85
36
36
32
20
(2.91) (0.16) (0.39) (2.72) (3.27) (3.35) (1.42) (1.50) (0.77) (1.42) (1.26) (0.79)
02
AJ1 1
1/5
200.5
(7.89)
126.5
(4.98)
107.6
(4.24)
38
19.5
74
4
10
69
83
85
36
36
32
20
(2.91) (0.16) (0.39) (2.72) (3.27) (3.35) (1.42) (1.50) (0.77) (1.42) (1.26) (0.79)
02
AJ3 1
3/31
200.5
(7.89)
126.5
(4.98)
107.6
(4.24)
38
19.5
74
4
10
69
83
85
36
36
32
20
(2.91) (0.16) (0.39) (2.72) (3.27) (3.35) (1.42) (1.50) (0.77) (1.42) (1.26) (0.79)
02
AJC 1
1/21
221
(8.70)
137
(5.39)
118.1
(4.65)
44
84
4
12
82
98
100
40
23
42
36
25
(3.31) (0.16) (0.47) (3.23) (3.86) (3.94) (1.57) (1.73) (0.91) (1.65) (1.42) (0.98)
02
AJ7 1
1/33
221
(8.70)
137
(5.39)
118.1
(4.65)
44
84
4
12
82
98
100
40
23
42
36
25
(3.31) (0.16) (0.47) (3.23) (3.86) (3.94) (1.57) (1.73) (0.91) (1.65) (1.42) (0.98)
04
AJ1 1
1/5
220.5
(8.68)
146.5
(5.77)
127.6
(5.02)
74
4
10
(2.91) (0.16) (0.39)
04
AJ3 1
3/31
241
(9.49)
157
(6.18)
138.1
(5.44)
44
84
4
12
82
98
100
40
23
42
36
25
(3.31) (0.16) (0.47) (3.23) (3.86) (3.94) (1.57) (1.73) (0.91) (1.65) (1.42) (0.98)
04
AJC 1
1/21
269
(10.59)
164
(6.46)
145.1
(5.71)
26.5
105
5
13
93
112
115
45
60
58
50
32
(4.13) (0.20) (0.51) (3.66) (4.41) (4.53) (1.77) (2.36) (1.04) (2.28) (1.97) (1.26)
04
AJ7 1
1/33
269
(10.59)
164
(6.46)
145.1
(5.71)
26.5
105
5
13
93
112
115
45
60
58
50
32
(4.13) (0.20) (0.51) (3.66) (4.41) (4.53) (1.77) (2.36) (1.04) (2.28) (1.97) (1.26)
08
AJ1 1
1/5
240.5
(9.47)
156.5
(6.16)
136.7
(5.38)
44
84
4
12
82
98
100
40
23
42
36
25
(3.31) (0.16) (0.47) (3.23) (3.86) (3.94) (1.57) (1.73) (0.91) (1.65) (1.42) (0.98)
08
AJ3 1
3/31
268.5
(10.57)
163.5
(6.44)
143.7
(5.66)
26.5
105
5
13
93
112
115
45
60
58
50
32
(4.13) (0.20) (0.51) (3.66) (4.41) (4.53) (1.77) (2.36) (1.04) (2.28) (1.97) (1.26)
08
AJC 1
1/21
281.5
(11.08)
174.5
(6.87)
154.7
(6.09)
107
10
15
107
134
140
44
63
42
60
45
40
(4.21) (0.39) (0.59) (4.21) (5.28) (5.51) (1.73) (2.48) (1.65) (2.36) (1.77) (1.57)
08
AJ7 1
1/33
281.5
(11.08)
174.5
(6.87)
154.7
(6.09)
107
10
15
107
134
140
44
63
42
60
45
40
(4.21) (0.39) (0.59) (4.21) (5.28) (5.51) (1.73) (2.48) (1.65) (2.36) (1.77) (1.57)
15
AJ1 1
1/5
296.5
(11.67)
191.5
(7.54)
171.7
(6.76)
26.5
105
5
13
93
112
115
45
60
58
50
32
(4.13) (0.20) (0.51) (3.66) (4.41) (4.53) (1.77) (2.36) (1.04) (2.28) (1.97) (1.26)
15
AJ3 1
1/11
309.5
(12.19)
202.5
(7.97)
182.7
(7.19)
107
10
15
107
134
140
44
63
42
60
45
40
(4.21) (0.39) (0.59) (4.21) (5.28) (5.51) (1.73) (2.48) (1.65) (2.36) (1.77) (1.57)
15
AJC 1
1/21
325.5
(12.81)
209
(8.23)
188.7
(7.43)
117
17
16
135
163
165
53
64
51
60
45
45
(4.61) (0.67) (0.63) (5.31) (6.42) (6.50) (2.09) (2.52) (2.01) (2.36) (1.77) (1.77)
15
AJ7 1
1/33
325.5
(12.81)
209
(8.23)
188.7
(7.43)
117
17
16
135
163
165
53
64
51
60
45
45
(4.61) (0.67) (0.63) (5.31) (6.42) (6.50) (2.09) (2.52) (2.01) (2.36) (1.77) (1.77)
69
(2.72
38
19.5
83
85
36
36
32
20
(3.27) (3.35) (1.42) (1.50) (0.77) (1.42) (1.26) (0.79)
3-81
1. The dimensions for L and LL of a servomotor incorporating an encoder with super-capacitor (model: SGMPHare as shown below.
SGMPH-01, 02, and 04: L-dimension + 6.4 mm (0.25 in), LL-dimension +6.4 mm (0.25 in)
SGMPH-08 and 15: L-dimension + 6.0 mm (0.24 in), LL-dimension +6.0 mm (0.24 in)
INFO
4)
2. The working point of the SGMPH servomotor radial load is at the position of minus 5 mm from the shaft end.
Units: mm (in)
Model
SGMPH-
Gear
Ratio
LC
LA
LF
LZ
LH
TapDepth
01
1/5
70
80
M4 8L
01
AJ3 1
3/31
70
80
M4 8L
01
AJC 1
1/21
90
105 12.5
10.55
M5 10L
3.5
01
AJ7 1
1/33
90
105 12.5
10.55
M5 10L
3.5
02
AJ1 1
1/5
90
105 11.9
8.25
M5 10L
3.5
02
AJ3 1
3/31
90
105 11.9
8.25
M5 10L
3.5
02
AJC 1
1/21
8.25
M6 12L
02
AJ7 1
1/33
8.25
M6 12L
04
AJ1 1
1/5
90
105 11.9
8.25
M5 10L
3.5
04
AJ3 1
3/31
8.25
M6 12L
04
AJC 1
1/21
11
8.25
M8 16L
10
04
AJ7 1
1/33
11
8.25
M8 16L
10
08
AJ1 1
1/5
10.5
M6 12L
08
AJ3 1
3/31
11
10.5
M8 16L
10
08
AJC 1
1/21
10.5
M10 20L
12
08
AJ7 1
1/33
10.5
M10 20L
12
15
AJ1 1
1/5
11
10.5
M8 16L
10
15
AJ3 1
1/11
10.5
M10 20L
12
15
AJC 1
1/21
10.5
M10 20L
5.5
14
15
3-82
AJ1 1
AJ7 1
1/33
10.5
M10 20L
5.5
14
Approx.
Mass
kg (lb)
1.6
(3.5)
1.6
(3.5)
2.6
(5.7)
2.6
(5.7)
3.1
(6.8)
3.1
(6.8)
4.7
(10.4)
4.7
(10.4)
4.1
(9.0)
5.1
(11.2)
6.9
(15.2)
6.9
(15.2)
7.5
(16.5)
9.0
(19.8)
14.2
(31.3)
14.2
(31.3)
11.4
(25.1)
16.6
(36.6)
21.6
(47.6)
21.6
(47.6)
Allowable
Radial
Load
N (lbf)
175
(39)
215
(48)
455
(102)
480
(108)
275
(62)
360
(81)
585
(132)
635
(143)
275
(62)
460
(104)
655
(147)
755
(170)
355
(80)
525
(118)
1070
(241)
1210
(271)
400
(90)
860
(194)
Allowable
Thrust
Load
N (lbf)
1690
(380)
880
(198)
145
(33)
235
(53)
235
(53)
290
(65)
235
(53)
290
(65)
310
(70)
290
(65)
310
(70)
490
(110)
310
(70)
490
(110)
Dimensional Tolerances
Model
SGMPH-
Units: mm (in)
Shaft-end Dimensions
S
01
AJ1 1
65
0
2.56 0
0.030
0.0012
16
0
0.63 0
0.011
0.0004
01
AJ3 1
65
0
2.56 0
0.030
0.0012
16
0
0.63 0
0.011
0.0004
01
AJC 1
85
0
3.35 0
0.035
0.0014
20
0
0.79 0
0.013
0.0005
01
AJ7 1
85
0
3.35 0
0.035
0.0014
20
0
0.79 0
0.013
0.0005
02
AJ1 1
85
0
3.35 0
0.035
0.0014
20
0
0.79 0
0.013
0.0005
02
AJ3 1
85
0
3.35 0
0.035
0.0014
20
0
0.79 0
0.013
0.0005
02
AJC 1
100
0
3.94 0
0.035
0.0014
25
0
0.98 0
0.013
0.0005
02
AJ7 1
100
0
3.94 0
0.035
0.0014
25
0
0.98 0
0.013
0.0005
04
AJ1 1
85
20
0
0.79 0
0.013
0.0005
04
AJ3 1
100
0
3.94 0
0.035
0.0014
25
0
0.98 0
0.013
0.0005
04
AJC 1
115
0
4.53 0
0.035
0.0014
32
0
1.26 0
0.016
0.0006
04
AJ7 1
115
0
4.53 0
0.035
0.0014
32
0
1.26 0
0.016
0.0006
08
AJ1 1
100
0
3.94 0
0.035
0.0014
25
0
0.98 0
0.013
0.0005
08
AJ3 1
115
0
4.53 0
0.035
0.0014
32
0
1.26 0
0.016
0.0006
08
AJC 1
140
0
5.51 0
0.040
0.0016
40
0
1.57 0
0.016
0.0006
08
AJ7 1
140
0
5.51 0
0.040
0.0016
40
0
1.57 0
0.016
0.0006
15
AJ1 1
115
0
4.53 0
0.035
0.0014
32
0
1.26 0
0.016
0.0006
15
AJ3 1
140
0
5.51 0
0.040
0.0016
40
0
1.57 0
0.016
0.0006
15
AJC 1
165
0
6.50 0
0.040
0.0016
45
0
1.77 0
0.016
0.0006
15
AJ7 1
165
0
6.50 0
0.040
0.0016
45
0
1.77 0
0.016
0.0006
0
3.35 0
0.035
0.0014
3-83
3.13.4 SGMPH Servomotors (3000 min-1) With Standard Backlash Gears and Brakes
Encoder plug
Shaft End
W
Motor plug
L
LL
LM
13 (0.51)
LG
LH
Z
LR
L1
L2
L3
LE
0.04
A (0.0016)
0.05 A
(0.0020)
LC
Q
QK
Sh6
9.5(0.37)
LF
0.06 A
(0.0024)
Serial encoder
B
LD
LBh7
300(11.81)30(1.18)
4-LZ
Rotating section
(Hatching section)
Tap Depth
(See the following table.)
Units: mm (in)
Model
SGMPH-
Gear
Ratio
LL
LM
LR
LE
LG
LD
LB
L1
L2
L3
QK
01
AJ1
1/5
206
(8.11)
146
(5.75)
92.5
60
4
9
57
63
65
30
30
14.5
28
25
16
(3.64) (2.36) (0.16) (0.35) (2.24) (2.48) (2.56) (1.18) (1.18) (0.57) (1.10) (0.98) (0.63)
01
AJ3
3/31
206
(8.11)
146
(5.75)
92.5
60
4
9
57
63
65
30
30
14.5
28
25
16
(3.64) (2.36) (0.16) (0.35) (2.24) (2.48) (2.56) (1.18) (1.18) (0.57) (1.10) (0.98) (0.63)
01
AJC
1/21
224.5
(8.84)
150.5
(5.93)
69
38
102
74
4
10
83
85
36
19.5
36
32
20
(4.02) (2.91) (0.16) (0.39) (2.72) (3.27) (3.35) (1.42) (1.50) (0.77) (1.42) (1.26) (0.79)
01
AJ7
1/33
224.5
(8.84)
150.5
(5.93)
69
38
102
74
4
10
83
85
36
19.5
36
32
20
(4.02) (2.91) (0.16) (0.39) (2.72) (3.27) (3.35) (1.42) (1.50) (0.77) (1.42) (1.26) (0.79)
02
AJ1
1/5
232
(9.13)
158
(6.22)
69
38
107.6
74
4
10
83
85
36
19.5
36
32
20
(4.24) (2.91) (0.16) (0.39) (2.72) (3.27) (3.35) (1.42) (1.50) (0.77) (1.42) (1.26) (0.79)
02
AJ3
3/31
232
(9.13)
158
(6.22)
69
38
107.6
74
4
10
83
85
36
19.5
36
32
20
(4.24) (2.91) (0.16) (0.39) (2.72) (3.27) (3.35) (1.42) (1.50) (0.77) (1.42) (1.26) (0.79)
02
AJC
1/21
252.5
(9.94)
168.5
(6.63)
18
(0.71)
82
23
118.1
84
4
12
98
100
40
44
42
36
25
(4.65) (3.31) (0.16) (0.47) (3.23) (3.86) (3.94) (1.57) (1.73) (0.91) (1.65) (1.42) (0.98)
02
AJ7
1/33
252.5
(9.94)
168.5
(6.63)
82
23
118.1
84
4
12
98
100
40
44
42
36
25
(4.65) (3.31) (0.16) (0.47) (3.23) (3.86) (3.94) (1.57) (1.73) (0.91) (1.65) (1.42) (0.98)
04
AJ1
1/5
252
(9.92)
178
(7.01)
69
38
127.6
74
4
10
83
85
36
19.5
36
32
20
(5.02) (2.91) (0.16) (0.39) (2.72) (3.27) (3.35) (1.42) (1.50) (0.77) (1.42) (1.26) (0.79)
04
AJ3
3/31
272.5
(10.73)
188.5
(7.42)
82
23
138.1
84
4
12
98
100
40
44
42
36
25
(5.44) (3.31) (0.16) (0.47) (3.23) (3.86) (3.94) (1.57) (1.73) (0.91) (1.65) (1.42) (0.98)
04
AJC
1/21
300.5
(11.83)
195.5
(7.70)
245.1
105
5
13
93
112
115
45
60
26.5
58
50
32
(9.65) (4.13) (0.20) (0.51) (3.66) (4.41) (4.53) (1.77) (2.36) (1.04) (2.28) (1.97) (1.26)
04
AJ7
1/33
300.5
(11.83)
195.5
(7.70)
245.1
105
5
13
93
112
115
45
60
26.5
58
50
32
(9.65) (4.13) (0.20) (0.51) (3.66) (4.41) (4.53) (1.77) (2.36) (1.04) (2.28) (1.97) (1.26)
3-84
Gear
Ratio
LL
LM
LR
LE
LG
LD
LB
L1
L2
L3
QK
08
AJ1
1/5
274
(10.79)
190
(7.48)
44
136.7
84
4
12
82
98
100
40
23
42
36
25
(5.38) (3.31) (0.16) (0.47) (3.23) (3.86) (3.94) (1.57) (1.73) (0.91) (1.65) (1.42) (0.98)
08
AJ3
3/31
302
(11.89)
197
(7.76)
143.7
105
5
13
93
112
115
45
60
26.5
58
50
32
(5.66) (4.13) (0.20) (0.51) (3.66) (4.41) (4.53) (1.77) (2.36) (1.04) (2.28) (1.97) (1.26)
08
AJC
1/21
315
(12.40)
208
(8.19)
154.7
107
10
15
107
134
140
44
63
42
60
45
40
(6.09) (4.21) (0.39) (0.59) (4.21) (5.28) (5.51) (1.73) (2.48) (1.65) (2.36) (1.77) (1.57)
08
AJ7
1/33
315
(12.40)
208
(8.19)
154.7
107
10
15
107
134
140
44
63
42
60
45
40
(6.09) (4.21) (0.39) (0.59) (4.21) (5.28) (5.51) (1.73) (2.48) (1.65) (2.36) (1.77) (1.57)
15
AJ1
1/5
330
(12.99)
225
(8.86)
28
(1.10)
93
171.7
105
5
13
112
115
45
60
26.5
58
50
32
(6.76) (4.13) (0.20) (0.51) (3.66) (4.41) (4.53) (1.77) (2.36) (1.04) (2.28) (1.97) (1.26)
15
AJ3
1/11
343
(13.50)
236
(9.29)
182.7
107
10
15
107
134
140
44
63
42
60
45
40
(7.19) (4.21) (0.39) (0.59) (4.21) (5.28) (5.51) (1.73) (2.48) (1.65) (2.36) (1.77) (1.57)
15
AJC
1/21
359
(14.13)
242
(9.53)
188.7
117
17
16
135
163
165
53
64
51
60
45
45
(7.43) (4.61) (0.67) (0.63) (5.31) (6.42) (6.50) (2.09) (2.52) (2.01) (2.36) (1.77) (1.77)
15
AJ7
1/33
359
(14.13)
242
(9.53)
188.7
117
17
16
135
163
165
53
64
51
60
45
45
(7.43) (4.61) (0.67) (0.63) (5.31) (6.42) (6.50) (2.09) (2.52) (2.01) (2.36) (1.77) (1.77)
INFO
1. The dimensions for L and LL of a servomotor incorporating an encoder with super-capacitor (model: SGMPHare as shown below.
SGMPH-01, 02, and 04: L-dimension + 6.4 mm (0.25 in), LL-dimension +6.4 mm (0.25 in)
SGMPH-08 and 15: L-dimension + 6.0 mm (0.24 in), LL-dimension +6.0 mm (0.24 in)
4)
2. The working point of the SGMPH servomotor radial load is at the position of minus 5 mm from the shaft end.
3-85
Units: mm (in)
Model
SGMPH-
Gear
Ratio
LC
1/5
70
(2.76)
LZ
LH
TapDepth
80
12.5
(3.15) (0.49)
6.6
(0.26)
10.55
(0.42)
M4 8L
3
(0.12)
5
(0.20)
5
(0.20)
80
12.5
(3.15) (0.49)
6.6
(0.26)
10.55
(0.42)
M4 8L
3
(0.12)
5
(0.20)
5
(0.20)
LA
LF
Approx.
Mass
kg (lb)
01
AJ3
3/31
70
(2.76)
01
AJC
1/21
90
(3.54)
105
12.5
(4.13) (0.49)
9
(0.35)
10.55
(0.42)
M5 10L
3.5
(0.14)
6
(0.24)
6
(0.24)
01
AJ7
1/33
90
(3.54)
105
12.5
(4.13) (0.49)
9
(0.35)
10.55
(0.42)
M5 10L
3.5
(0.14)
6
(0.24)
6
(0.24)
02
AJ1
1/5
90
(3.54)
105
11.9
(4.13) (0.47)
9
(0.35)
8.25
(0.32)
M5 10L
3.5
(0.14)
6
(0.24)
6
(0.24)
02
AJ3
3/31
90
(3.54)
105
11.9
(4.13) (0.47)
9
(0.35)
8.25
(0.32)
M5 10L
3.5
(0.14)
6
(0.24)
6
(0.24)
1.8
(4.0)
1.8
(4.0)
2.8
(6.2)
2.8
(6.2)
3.4
(7.5)
3.4
(7.5)
02
AJC
1/21
105
(4.13)
120
11.9
(4.72) (0.47)
9
(0.35)
8.25
(0.32)
M6 12L
4
(0.16)
8
(0.31)
7
(0.28)
5.2
(11.5)
01
AJ1
02
AJ7
1/33
105
(4.13)
120
11.9
(4.72) (0.47)
9
(0.35)
8.25
(0.32)
M6 12L
4
(0.16)
8
(0.31)
7
(0.28)
5.2
(11.5)
04
AJ1
1/5
90
(3.54)
105
11.9
(4.13) (0.47)
9
(0.35)
8.25
(0.32)
M5 10L
3.5
(0.14)
6
(0.24)
6
(0.24)
4.6
(10.1)
04
AJ3
3/31
105
(4.13)
120
11.9
(4.72) (0.47)
9
(0.35)
8.25
(0.32)
M6 12L
4
(0.16)
8
(0.31)
7
(0.28)
5.6
(12.3)
04
AJC
1/21
120
(4.72)
120
11.9
(4.72) (0.47)
11
(0.43)
8.25
(0.32)
M8 16L
5
(0.20)
10
(0.39)
8
(0.31)
7.4
(16.3)
04
AJ7
1/33
120
(4.72)
105
11.9
(4.13) (0.47)
11
(0.43)
8.25
(0.32)
M8 16L
5
(0.20)
10
(0.39)
8
(0.31)
7.4
(16.3)
08
AJ1
1/5
105
(4.13)
120
12.8
(4.72) (0.50)
9
(0.35)
10.5
(0.41)
M6 12L
4
(0.16)
8
(0.31)
7
(0.28)
9.0
(19.8)
08
AJ3
3/31
120
(4.72)
135
12.8
(5.31) (0.50)
11
(0.43)
10.5
(0.41)
M8 16L
5
(0.20)
10
(0.39)
8
(0.31)
10.5
(23.1)
08
AJC
1/21
145
(5.71)
135
12.8
(5.31) (0.50)
14
(0.55)
10.5
(0.41)
M10 20L
5
(0.20)
12
(0.47)
8
(0.31)
15.7
(34.6)
08
AJ7
1/33
145
(5.71)
120
12.8
(4.72) (0.50)
14
(0.55)
10.5
(0.41)
M10 20L
5
(0.20)
12
(0.47)
8
(0.31)
15.7
(34.6)
15
AJ1
1/5
120
(4.72)
135
12.8
(5.31) (0.50)
11
(0.43)
10.5
(0.41)
M8 16L
5
(0.20)
10
(0.39)
8
(0.31)
12.9
(28.4)
15
AJ3
1/11
145
(5.71)
165
12.8
(6.50) (0.50)
14
(0.55)
10.5
(0.41)
M10 20L
5
(0.20)
12
(0.47)
8
(0.31)
18.1
(39.9)
15
AJC
1/21
170
(6.69)
190
12.8
(7.48) (0.50)
14
(0.55)
10.5
(0.41)
M10 20L
5.5
(0.22)
14
(0.55)
9
(0.35)
15
AJ7
1/33
170
(6.69)
190
12.8
(7.48) (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)
23.1
(50.9)
3-86
Allowable
Radial
Load
N (lbf)
175
(40)
215
(49)
455
(103)
480
(109)
275
(62)
360
(82)
585
(133)
635
(144)
275
(62)
460
(104)
655
(149)
755
(171)
355
(80)
525
(119)
1070
(243)
1210
(273)
400
(91)
860
(195)
Allowable
Thrust
Load
N (lbf)
1690
(383)
880
(200)
145
(33)
235
(53)
235
(53)
290
(66)
235
(53)
290
(66)
310
(70)
290
(70)
310
(111)
490
(70)
310
(111)
490
(70)
Dimensional Tolerances
Model
SGMPH-
Units: mm (in)
Shaft-end Dimensions
S
01
AJ1
65
0
2.56 0
0.030
0.0012
16
0
0.63 0
0.018
0.0004
01
AJ3
65
0
2.56 0
0.030
0.0012
16
0
0.63 0
0.018
0.0004
01
AJC
85
0
3.35 0
0.035
0.0014
20
0
0.79 0
0.021
0.0005
01
AJ7
85
0
3.35 0
0.035
0.0014
20
0
0.79 0
0.021
0.0005
02
AJ1
85
0
3.35 0
0.035
0.0014
20
0
0.79 0
0.021
0.0005
02
AJ3
85
0
3.35 0
0.035
0.0014
20
0
0.79 0
0.021
0.0005
02
AJC
100
0
3.94 0
0.035
0.0014
25
0
0.98 0
0.021
0.0005
02
AJ7
100
0
3.94 0
0.035
0.0014
25
0
0.98 0
0.021
0.0005
04
AJ1
85
20
0
0.79 0
0.021
0.0005
04
AJ3
100
0
3.94 0
0.035
0.0014
25
0
0.98 0
0.021
0.0005
04
AJC
115
0
4.53 0
0.035
0.0014
32
0
1.26 0
0.025
0.0006
04
AJ7
115
0
4.53 0
0.035
0.0014
32
0
1.26 0
0.025
0.0006
08
AJ1
100
0
3.94 0
0.035
0.0014
25
0
0.98 0
0.021
0.0005
08
AJ3
115
0
4.53 0
0.035
0.0014
32
0
1.26 0
0.025
0.0006
08
AJC
140
0
5.51 0
0.040
0.0016
40
0
1.57 0
0.025
0.0006
08
AJ7
140
0
5.51 0
0.040
0.0016
40
0
1.57 0
0.025
0.0006
15
AJ1
115
0
4.53 0
0.035
0.0014
32
0
1.26 0
0.025
0.0006
15
AJ3
140
0
5.51 0
0.040
0.0016
40
0
1.57 0
0.025
0.0006
15
AJC
165
0
6.50 0
0.040
0.0016
45
0
1.77 0
0.025
0.0006
15
AJ7
165
0
6.50 0
0.040
0.0016
45
0
1.77 0
0.025
0.0006
0
3.35 0
0.035
0.0014
3-87
Encoder plug
Motor plug
Shaft End
W
LH
13(0.51)
0.06 A
(0.0024)
L
LL
LM
LG
Z
0.04
A (0.0016)
LR
L2
L1
L3
LE
0.05 A
(0.0020)
LC
Sh6
Q
QK
B
LD
LBh7
9.5
(0.37)
LF
300(11.81)30(1.18)
Rotating section
(Hatching section)
Serial encoder
4-LZ
Tap Depth
(See the following table.)
Units: mm (in)
Model
SGMPH-
Gear
Ratio
LL
LM
LR
LE
LG
LD
LB
L1
L2
L3
QK
01
AH1 1
1/5
168
(6.61)
108
(4.25)
88.5
(3.48)
60
8
9
40
64.5
65
30
(2.36) (0.31) (0.35) (1.57) (2.54) (2.56) (1.18)
30
(1.18)
21
(0.83)
28
25
16
(1.10) (0.98) (0.63)
01
AHB 1
1/11
168
(6.61)
108
(4.25)
88.5
(3.48)
60
8
9
40
64.5
65
30
(2.36) (0.31) (0.35) (1.57) (2.54) (2.56) (1.18)
30
(1.18)
21
(0.83)
28
25
16
(1.10) (0.98) (0.63)
01
AHC 1
1/21
191
(7.52)
117
(4.61)
97.5
(3.84)
74
7.5
10
59
84
85
36
(2.91) (0.30) (0.39) (2.32) (3.31) (3.35) (1.42)
38
(1.50)
26
(1.02)
36
32
20
(1.42) (1.26) (0.79)
01
AH7 1
1/33
191
(7.52)
117
(4.61)
97.5
(3.84)
74
7.5
10
59
84
85
36
(2.91) (0.30) (0.39) (2.32) (3.31) (3.35) (1.42)
38
(1.50)
26
(1.02)
36
32
20
(1.42) (1.26) (0.79)
02
AH1 1
1/5
197
(7.76)
123
(4.84)
104.1
(4.10)
74
7.5
10
59
84
85
36
(2.91) (0.30) (0.39) (2.32) (3.31) (3.35) (1.42)
38
(1.50)
26
(1.02)
36
32
20
(1.42) (1.26) (0.79)
02
AHB 1
1/11
197
(7.76)
123
(4.84)
104.1
(4.10)
74
7.5
10
59
84
85
36
(2.91) (0.30) (0.39) (2.32) (3.31) (3.35) (1.42)
38
(1.50)
26
(1.02)
36
32
20
(1.42) (1.26) (0.79)
02
AHC 1
1/21
215
(8.46)
131
(5.16)
112.1
(4.41)
84
12
12
59
96
100
40
(3.31) (0.47) (0.47) (2.32) (3.78) (3.94) (1.57)
44
(1.73)
29
(1.14)
42
36
25
(1.65) (1.42) (0.98)
02
AH7 1
1/33
215
(8.46)
131
(5.16)
112.1
(4.41)
84
12
12
59
96
100
40
(3.31) (0.47) (0.47) (2.32) (3.78) (3.94) (1.57)
44
(1.73)
29
(1.14)
42
36
25
(1.65) (1.42) (0.98)
04
AH1 1
1/5
217
(8.54)
143
(5.63)
124.1
(4.89)
74
7.5
10
59
84
85
36
(2.91) (0.30) (0.39) (2.32) (3.31) (3.35) (1.42)
38
(1.50)
26
(1.02)
36
32
20
(1.42) (1.26) (0.79)
04
AHB 1
1/11
235
(9.25)
151
(5.94)
132.1
(5.20)
84
12
12
59
96
100
40
(3.31) (0.47) (0.47) (2.32) (3.78) (3.94) (1.57)
44
(1.73)
29
(1.14)
42
36
25
(1.65) (1.42) (0.98)
04
AHC 1
1/21
263
(10.35)
158
(6.22)
139.1
(5.48)
105
14
13
59
112
115
45
(4.13) (0.55) (0.51) (2.32) (4.41) (4.53) (1.77)
60
(2.36)
33
(1.30)
58
50
32
(2.28) (1.97) (1.26)
04
AH7 1
1/33
264
(10.39)
159
(6.26)
140.1
(5.52)
105
12.5
13
84
114
115
45
(4.13) (0.49) (0.51) (3.31) (4.49) (4.53) (1.77)
60
(2.36)
33
(1.30)
58
50
32
(2.28) (1.97) (1.26)
3-88
18
(0.71)
18
(0.71)
Gear
Ratio
LL
LM
LR
LE
LG
LD
LB
L1
L2
L3
QK
08
AH1 1
1/5
234.5
(9.23)
150.5
(5.93)
130.7
(5.15)
84
12
12
59
96
100
40
(3.31) (0.47) (0.47) (2.32) (3.78) (3.94) (1.57)
44
(1.73)
29
(1.14)
42
36
25
(1.65) (1.42) (0.98)
08
AHB 1
1/11
263.5
(10.37)
158.5
(6.24)
138.7
(5.46)
105
14
13
59
112
115
45
(4.13) (0.55) (0.51) (2.32) (4.41) (4.53) (1.77)
60
(2.36)
33
(1.30)
58
50
32
(2.28) (1.97) (1.26)
08
AHC 1
1/21
316.5
(12.46)
174.5
(6.87)
154.7
(6.09)
142
10
15
84
134
140
57
(5.59) (0.39) (0.59) (3.31) (5.28) (5.51) (2.24)
85
(3.35)
40
(1.57)
82
70
40
(3.23) (2.76) (1.57)
08
AH7 1
1/33
316.5
(12.46)
174.5
(6.87)
154.7
(6.09)
142
10
15
84
134
140
57
(5.59) (0.39) (0.59) (3.31) (5.28) (5.51) (2.24)
85
(3.35)
40
(1.57)
82
70
40
(3.23) (2.76) (1.57)
186.5
(7.34)
166.7
(6.56)
142
12.5
13
84
114
115
45
(5.59) (0.49) (0.51) (3.31) (4.49) (4.53) (1.77)
60
(2.36)
33
(1.30)
58
50
32
(2.28) (1.97) (1.26)
15
AH1 1
1/5
328.5
(12.93)
15
AHB 1
1/11
344.5
(13.56)
202.5
(7.97)
182.7
(7.19)
142
10
15
84
134
140
57
(5.59) (0.39) (0.59) (3.31) (5.28) (5.51) (2.24)
85
(3.35)
40
(1.57)
82
70
40
(3.23) (2.76) (1.57)
15
AGC 1
1/21
364.5
(14.35)
208.5
(8.21)
188.7
(7.43)
156
16
16
135
163
165
70
(6.14) (0.63) (0.63) (5.31) (6.42) (6.50) (2.76)
86
(3.39)
51
(2.01)
82
70
45
(3.23) (2.76) (1.77)
15
AG7 1
1/33
364.5
(14.35)
208.5
(8.21)
188.7
(7.43)
156
16
16
135
163
165
70
(6.14) (0.63) (0.63) (5.31) (6.42) (6.50) (2.76)
86
(3.39)
51
(2.01)
28
(1.10)
82
70
45
(3.23) (2.76) (1.77)
INFO
1. The dimensions for L and LL of a servomotor incorporating an encoder with super-capacitor (model: SGMPHare as shown below.
SGMPH-01, 02, and 04: L-dimension + 6.4 mm (0.25 in), LL-dimension +6.4 mm (0.25 in)
SGMPH-08 and 15: L-dimension + 6.0 mm (0.24 in), LL-dimension +6.0 mm (0.24 in)
4)
2. The working point of the SGMPH servomotor radial load is at the position of minus 5 mm from the shaft end.
3-89
Units: mm (in)
Model
SGMPH01
AH1 1
Gear
Ratio
LC
LA
LZ
LF
LH
TapDepth
1/5
70
(2.76)
80
(3.15)
6.6
(0.26)
12.5
(0.49)
10.5
(0.41)
M4 8L
3
(0.12)
5
5
(0.20) (0.20)
80
(3.15)
6.6
(0.26)
12.5
(0.49)
10.5
(0.41)
M4 8L
3
(0.12)
5
5
(0.20) (0.20)
01
AHB 1
1/11
70
(2.76)
01
AHC 1
1/21
90
(3.54)
105
(4.13)
9
(0.35)
12.5
(0.49)
10.5
(0.41)
M5 10L
3.5
(0.14)
6
6
(0.24) (0.24)
01
AH7 1
1/33
90
(3.54)
105
(4.13)
9
(0.35)
12.5
(0.49)
10.5
(0.41)
M5 10L
3.5
(0.14)
6
6
(0.24) (0.24)
02
AH1 1
1/5
90
(3.54)
105
(4.13)
9
(0.35)
11.9
(0.47)
8.5
(0.33)
M5 10L
3.5
(0.14)
6
6
(0.24) (0.24)
02
AHB 1
1/11
90
(3.54)
105
(4.13)
9
(0.35)
11.9
(0.47)
8.5
(0.33)
M5 10L
3.5
(0.14)
6
6
(0.24) (0.24)
02
AHC 1
1/21
105
(4.13)
120
(4.72)
9
(0.35)
11.9
(0.47)
8.5
(0.33)
M6 12L
4
(0.16)
8
7
(0.31) (0.28)
02
AH7 1
1/33
105
(4.13)
120
(4.72)
9
(0.35)
11.9
(0.47)
8.5
(0.33)
M6 12L
4
(0.16)
8
7
(0.31) (0.28)
04
AH1 1
1/5
90
(3.54)
105
(4.13)
9
(0.35)
11.9
(0.47)
8.5
(0.33)
M5 10L
3.5
(0.14)
6
6
(0.24) (0.24)
04
AHB 1
1/11
105
(4.13)
120
(4.72)
9
(0.35)
11.9
(0.47)
8.5
(0.33)
M6 12L
4
(0.16)
8
7
(0.31) (0.28)
04
AHC 1
1/21
120
(4.72)
135
(5.31)
11
(0.43)
11.9
(0.47)
8.5
(0.33)
M8 16L
5
(0.20)
10
8
(0.39) (0.31)
04
AH7 1
1/33
120
(4.72)
135
(5.31)
11
(0.43)
11.9
(0.47)
8.5
(0.33)
M8 16L
5
(0.20)
10
8
(0.39) (0.31)
08
AH1 1
1/5
105
(4.13)
120
(4.72)
9
(0.35)
12.8
(0.50)
10.5
(0.41)
M6 12L
4
(0.16)
8
7
(0.31) (0.28)
08
AHB 1
1/11
120
(4.72)
135
(5.31)
11
(0.43)
12.8
(0.50)
10.5
(0.41)
M8 16L
5
(0.20)
10
8
(0.39) (0.31)
08
AHC 1
1/21
145
(5.71)
165
(6.50)
14
(0.55)
12.8
(0.50)
10.5
(0.41)
M10 20L
5
(0.20)
12
8
(0.47) (0.31)
08
AH7 1
1/33
145
(5.71)
165
(6.50)
14
(0.55)
12.8
(0.50)
10.5
(0.41)
M10 20L
5
(0.20)
12
8
(0.47) (0.31)
15
AH1 1
1/5
120
(4.72)
135
(5.31)
11
(0.43)
12.8
(0.50)
10.5
(0.41)
M8 16L
5
(0.20)
10
8
(0.39) (0.31)
15
AHB 1
1/11
145
(5.71)
165
(6.50)
14
(0.55)
12.8
(0.50)
10.5
(0.41)
M10 20L
5
(0.20)
12
8
(0.47) (0.31)
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
9
(0.55) (0.35)
15
AG7 1
1/33
170
(6.69)
190
(7.48)
14
(0.55)
12.8
(0.50)
10.5
(0.41)
M10 20L
5.5
(0.22)
14
9
(0.55) (0.35)
3-90
Allowable
Approx.
Radia
Mass
Load
kg (lb)
N (lbf)
1.5
167
(3.3)
(38)
1.5
216
(3.3)
(49)
3.0
392
(6.6)
(89)
3.0
431
(6.6)
(98)
3.5
245
(7.7)
(56)
3.8
323
(8.4)
(73)
4.1
549
(9.0)
(124)
4.1
608
(9.0)
(138)
4.2
245
(9.3)
(56)
441
4.8
(10.6)
(100)
568
5.2
(11.5)
(129)
657
7.7
(16.6)
(149)
343
6.9
(15.2)
(78)
451
8.0
(17.6)
(102)
813
11.0
(24.3)
(184)
921
11.0
(24.3)
(209)
353
9.2
(20.3)
(80)
647
11.3
(24.9)
(147)
23.6
(52.0)
1250
(283)
23.6
(52.0)
Allowable
Thrust
Load
N (lbf)
147
(33)
235
(53)
235
(53)
294
(67)
235
(53)
294
(67)
314
(71)
294
(67)
314
(71)
490
(111)
314
(71)
490
(111)
882
(200)
Dimensional Tolerances
Model
SGMPH-
Units: mm (in)
Shaft-end Dimensions
S
01
AH1 1
65
0
2.56 0
0.030
0.0012
16
0
0.63 0
0.018
0.0004
01
AHB 1
65
0
2.56 0
0.030
0.0012
16
0
0.63 0
0.018
0.0004
01
AHC 1
85
0
3.35 0
0.035
0.0014
20
0
0.79 0
0.021
0.0005
01
AH7 1
85
0
3.35 0
0.035
0.0014
20
0
0.79 0
0.021
0.0005
02
AH1 1
85
0
3.35 0
0.035
0.0014
20
0
0.79 0
0.021
0.0005
02
AHB 1
85
0
3.35 0
0.035
0.0014
20
0
0.79 0
0.021
0.0005
02
AHC 1
100
0
3.94 0
0.035
0.0014
25
0
0.98 0
0.021
0.0005
02
AH7 1
100
0
3.94 0
0.035
0.0014
25
0
0.98 0
0.021
0.0005
04
AH1 1
85
20
0
0.79 0
0.021
0.0005
04
AHB 1
100
0
3.94 0
0.035
0.0014
25
0
0.98 0
0.021
0.0005
04
AHC 1
115
0
4.53 0
0.035
0.0014
32
0
1.26 0
0.025
0.0006
04
AH7 1
115
0
4.53 0
0.035
0.0014
32
0
1.26 0
0.025
0.0006
08
AH1 1
100
0
3.94 0
0.035
0.0014
25
0
0.98 0
0.021
0.0005
08
AHB 1
115
0
4.53 0
0.035
0.0014
32
0
1.26 0
0.025
0.0006
08
AHC 1
140
0
5.51 0
0.040
0.0016
40
0
1.57 0
0.025
0.0006
08
AH7 1
140
0
5.51 0
0.040
0.0016
40
0
1.57 0
0.025
0.0006
15
AH1 1
115
0
4.53 0
0.035
0.0014
32
0
1.26 0
0.025
0.0006
15
AHB 1
140
0
5.51 0
0.040
0.0016
40
0
1.57 0
0.025
0.0006
15
AGC 1
165
0
6.50 0
0.040
0.0016
45
0
1.77 0
0.025
0.0006
15
AG7 1
165
0
6.50 0
0.040
0.0016
45
0
1.77 0
0.025
0.0006
0
3.35 0
0.035
0.0014
3-91
LO
DO
QK
SGMAH-A3, A5, 01
30 W, 50 W, 100 W
7.5 (0.30)
28 (1.10)
14 (0.55)
LB
SGMAH-02, 04
200, 400 W
10 (0.39)
48 (1.89)
14 (0.55)
SGMAH-08
750 W
11 (0.43)
66 (2.60)
25 (0.98)
0
50 -0.025 (1.9685-0.00098 )
70 -0.030 (2.756-0.00012)
LO
DO
LB
QK
Dimensional
Drawing
Oil Seal
LO
DO
QK
LB
SGMPH-01
100 W
7 (0.28)
39 (1.54)
14 (0.55)
SGMPH-02, 04
200 W, 400 W
10 (0.39)
49 (1.93)
16 (0.63)
SGMPH-08
750 W
10.5 (0.41)
77 (3.03)
22 (0.87)
-0.0015
0
0
0
0
50 -0.025 (1.97 -0.0025 ) 70 -0.030 (2.756 -0.0001 ) 110 -0.035 (4.33 +0.0007) 110 -0.035 (4.33 +0.0007)
-0.0013
-0.0007
-0.0007
LO
Oil Seal
3-92
LB
DO
QK
Dimensional
Drawing
SGMPH-15
1500 W
10.5 (0.41)
77 (3.03)
22 (0.87)
L
LL
LM
LR
LG
LE
* For 1A
0.06 A *
A to 1E
A only
Shaft End
LC
SGMGH-05
LA
A to 13
SGMGH-20
LR
S1
LF1
R
1
A to 1E
* For 55
0.04 *
(0.0016)
KB2
S
LJ1
IE
LF2
S1
LB
LF1
(0.0008)
0.02
LE
LE
KB1
A to 1E
LR
S
LJ2
LJ1
0.04 A
(0.0016) L
100( 3.94)
KL1
88 (3.46)
LT
A only
Units: mm (in)
Shaft-end Dimensions
Model
SGMGH-
LL
LM
LR
LT
KB1 KB2
IE
KL1
05A A21
196
138
(7.72) (5.43)
92
(3.62)
58
46
65
(2.28) (1.81) (2.56)
117
(4.61)
109
(4.29)
09A A21
219
161
(8.62) (6.34)
115
(4.53)
58
46
88
(2.28) (1.81) (3.46)
140
(5.51)
109
(4.29)
13A A21
243
185
(9.57) (7.28)
139
(5.47)
58
46
112
(2.28) (1.81) (4.41)
164
(6.46)
109
(4.29)
20A A21
245
166
(9.65) (6.54)
119
(4.69)
79
47
89
(3.11) (1.85) (3.50)
144
(5.67)
140
(5.51)
0.013
0.75 0
0.0005
0
19
0.013
0.75 0
0.0005
0
22
0.013
0.87 0
0.0005
+ 0.01
35
+ 0.0004
1.38
+ 0.01
30A A21
271
192
(10.7) (7.56)
145
(5.71)
79
47
115
(3.11) (1.85) (4.53)
170
(6.69)
44A A21
305
226
(12.0) (8.90)
179
(7.05)
79
47
149
(3.11) (1.85) (5.87)
204
(8.03)
140
(5.51)
140
(5.51)
35
1.38+ 0.0004
+ 0.01
55A A21
373
260
(14.7) (10.2)
213
(8.39)
113
47
174
(4.45) (1.85) (6.85)
238
123
150
(9.37) (4.84) (5.91)
35
+ 0.0004
1.38
Allowable
Radial
Load N
(lbf)
Allowable
Thrust
Load N
(lbf)
S1
19
Approx.
Mass
kg (lb)
0
42
0.016
1.65 0
0.0006
30
(1.18)
40
(1.57)
5.5
(12.1)
490
(110)
98
(22)
30
(1.18)
40
(1.57)
7.6
(16.8)
490
(110)
98
(22)
30
(1.18)
40
(1.57)
9.6
(21.2)
686
(154)
343
(77)
45
(1.77)
76
(2.99)
14
(30.9)
1180
(265)
490
(110)
45
(1.77)
76
(2.99)
18
(39.7)
1470
(331)
490
(110)
45
(1.77)
76
(2.99)
23
(50.7)
1470
(331)
490
(110)
45
(1.77)
110
(4.33)
30
(66.1)
1760
(397)
588
(132)
3-93
LL
LM
LR
LT
KB1 KB2
IE
KL1
Allowable
Radial
Load N
(lbf)
Allowable
Thrust
Load N
(lbf)
S1
42
Approx.
Mass
kg (lb)
45
(1.77)
110
(4.33)
40
(88.2)
1760
(397)
588
(132)
45
(1.77)
75A A21
447
334
(17.6) (13.1)
287
(11.3)
113
47
248
(4.45) (1.85) (9.76)
312
123
150
(12.3) (4.84) (5.91)
1AA A21
454
338
(17.9) (13.3)
291
(11.5)
116
47
251
(4.57) (1.85) (9.88)
316
142
168
(12.4) (5.59) (6.61)
0
0.016
1.65 0
0.0006
110
(4.33)
57.5
(126)
1760
(397)
588
(132)
1EA A21
573
457
(22.6) (18.0)
409
(16.1)
116
48
343
(4.57) (1.89) (13.5)
435
150
168
(17.1) (5.91) (6.61)
+ 0.030
+ 0.011
65
110
2.17+ 0.001 (2.56) (4.33)
+ 0.0004
86
(189)
5000
(1130)
2160
(485)
0.016
1.65 0
0.0006
42
55
Units: mm (in)
Model
SGMGH-
LA
LB
110
05A A21
09A A21
145
(5.71)
13A A21
145
(5.71)
0.035
4.33 0
0.0014
200
(7.87)
114.3
20A A21
0.025
4.50 0
0.0010
200
(7.87)
114.3
30A A21
0.025
4.50 0
0.0010
200
(7.87)
114.3
44A A21
0.025
4.50 0
0.0010
200
(7.87)
114.3
55A A21
0.025
4.50 0
0.0010
200
(7.87)
114.3
75A A21
1AA A21
3-94
145
(5.71)
235
(9.25)
0.035
4.33 0
0.0014
110
0.035
4.33 0
0.0014
110
0.025
4.50 0
0.0010
200
0.046
7.87 0
0.0018
LC
LH
LJ1
LJ2
LZ
130
6
6
(5.12) (0.24) (0.24)
12
165
45
(0.47) (6.50) (1.77)
9
(0.35)
130
6
6
(5.12) (0.24) (0.24)
12
165
45
(0.47) (6.50) (1.77)
9
(0.35)
130
6
6
(5.12) (0.24) (0.24)
12
165
45
(0.47) (6.50) (1.77)
9
(0.35)
180
3.2
3
0.5
18
230
76
62
13.5
(7.09) (0.13) (0.12) (0.02) (0.71) (9.06) (2.99) (2.44) (0.53)
180
3.2
3
0.5
18
230
76
62
13.5
(7.09) (0.13) (0.12) (0.02) (0.71) (9.06) (2.99) (2.44) (0.53)
180
3.2
3
0.5
18
230
76
62
13.5
(7.09) (0.13) (0.12) (0.02) (0.71) (9.06) (2.99) (2.44) (0.53)
180
3.2
3
0.5
18
230
76
62
13.5
(7.09) (0.13) (0.12) (0.02) (0.71) (9.06) (2.99) (2.44) (0.53)
180
3.2
3
0.5
18
230
76
62
13.5
(7.09) (0.13) (0.12) (0.02) (0.71) (9.06) (2.99) (2.44) (0.53)
220
4
4
(8.66) (0.16) (0.16)
18
270
62
(0.71) (10.6) (2.44)
13.5
(0.53)
LA
LB
235
(9.25)
1EA A21
200
LC
220
4
4
(8.66) (0.16) (0.16)
0.046
7.87 0
0.0018
K
J
M A
B
DATA+
C
D
DATA
E
F
0V
G
H
+5VDC
J
FG (Frame ground)
LZ
13.5
(0.53)
A
B
C
Phase U
Phase V
Phase W
FG
(Frame ground)
B
L
DATA+
C
M
N
D
DATA
P
E
R
F
0V
S
G
T
H
+5VDC
J
FG (Frame ground)
BATTBATT+
L
M
N
P
R
S
T
LJ2
Receptacle: MS3102A20-29P
Applicable plug (purchased by the customer)
Plug: MS3108B20-29S
Cable clamp: MS3057-12A
C
T NP
D
S R
E
H G F
LJ1
20
270
85
(0.79) (10.6) (3.35)
LH
3.15.2 SGMGH Servomotors (1500 min-1) 200-V Specifications Without Gears and
With Brakes
(1) 500 W to 4.4 kW
Models with oil seals are of the same configuration.
SGMGH-20
LE
LF2
LF1
LF1
H
A to 44
LR
LE
LA
KB2
0.04
(0.0016)
* For 55
A to 1E
(0.0008)
0.02
KB1
A to -13
LR
LJ1
SGMGH-05
LC
LB
100( 3.94)
KL1
88(3.46)
Shaft End
A *
0.04 A
(0.0016)
LG
A only
LE
A to 1E
LJ2
LJ1
0.06
LM
* For 1A
S1
LT
LR
S1
(0.0016)
0.04 A
L
LL
A
G
E
D
B
C
A
B
C
D
Phase U
Phase V
Phase W
FG (Frame ground)
E Brake terminal
F Brake terminal
3-95
Units: mm (in)
Shaft-end Dimensions
Model
SGMGH-
LL
LM
LR
LT
KB
1
KB
KL1
2
05A A2
234
176
130
58
46
56
154
120
(9.21) (6.93) (5.12) (2.28) (1.81) (2.20) (6.06) (4.72)
09A A2
257
199
153
58
46
79
177
120
(10.1) (7.83) (6.02) (2.28) (1.81) (3.11) (6.97) (4.72)
13A A2
281
223
177
58
46
103
201
120
(11.1) (8.78) (6.97) (2.28) (1.81) (4.06) (7.91) (4.72)
20A A2
296
217
169
79
48
79
195
146
(11.7) (8.54) (6.65) (3.11) (1.89) (3.11) (7.68) (5.75)
0.013
0.75 0
0.0005
30
(1.18)
40
(1.57)
7.5
(16.5)
490
(110)
98
(22)
30
(1.18)
40
(1.57)
9.6
(21.2)
490
(110)
98
(22)
30
(1.18)
40
(1.57)
12
(26.5)
686
(154)
343
(77)
45
(1.77)
76
(2.99)
19
(41.9)
1180
(265)
490
(110)
45
(1.77)
76
(2.99)
23.5
(51.8)
1470
(331)
490
(110)
45
(1.77)
76
(2.99)
28.5
(62.8)
1470
(331)
490
(110)
19
0.013
0.75 0
0.0005
0
22
0.013
0.87 0
0.0005
+ 0.01
35
+ 0.0004
1.38
+ 0.01
30A A2
322
243
195
79
48
105
221
146
(12.7) (9.57) (7.68) (3.11) (1.89) (4.13) (8.70) (5.75)
44A A2
356
277
229
79
48
139
255
146
(14.0) (10.9) (9.02) (3.11) (1.89) (5.47) (10.0) (5.75)
35
1.38+ 0.0004
+ 0.01
35
Allowable Allowable
Radial
Thrust
Load N
Load N
(lbf)
(lbf)
S1
19
Approx.
Mass
kg (lb)
1.38+ 0.0004
Units: mm (in)
Model
SGMGH-
LA
LB
110
05A A2
09A A2
145
(5.71)
13A A2
145
(5.71)
20A A2
200
(7.87)
0.025
4.50 0
0.0010
200
(7.87)
114.3
30A A2
0.025
4.50 0
0.0010
200
(7.87)
114.3
44A A2
3-96
145
(5.71)
0.035
4.33 0
0.0014
110
0.035
4.33 0
0.0014
0
0.035
4.33 0
0.0014
110
114.3
0.025
4.50 0
0.0010
LC
LH
LJ1
LJ2
LZ
130
(5.12)
6
(0.24)
6
(0.24)
12
(0.47)
165
(6.50)
45
(1.77)
9
(0.35)
130
(5.12)
6
(0.24)
6
(0.24)
12
(0.47)
165
(6.50)
45
(1.77)
9
(0.35)
130
(5.12)
6
(0.24)
6
(0.24)
12
(0.47)
165
(6.50)
45
(1.77)
9
(0.35)
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)
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)
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)
A to 1E
A only
L
(0.0016)
0.04 A
LM
0.06
LE
A *
LB
100( 3.94)
KL1
KL3
88
0.04 A
(0.0016)
LF2
LA
LF1
0.04
(0.0016)
A
B
C
D
A
KB1
KB3
KB2
LE
LG
LR
LC
S1
LT
Shaft End
S
LJ2
LJ1
LR
IE
LL
110
Phase U
Phase V
Phase W
FG (Frame ground)
A Brake terminal
B Brake terminal
C
B
Units: mm (in)
Model
SGMGH-
LL
LM
LR
LT
KB1
KB2
KB3
IE
KL1
KL3
55A A2
424
311
263
113
48
174
289
231
123
150
123
(16.7) (12.2) (10.4) (4.45) (1.89) (6.85) (11.4) (9.09) (4.84) (5.91) (4.84)
75A A2
498
385
337
113
48
248
363
305
123
150
123
(19.6) (15.2) (13.3) (4.45) (1.89) (9.76) (14.3) (12.0) (4.84) (5.91) (4.84)
1AA A2
499
383
340
116
43
258
362
315
142
168
142
(19.6) (15.1) (13.4) (4.57) (1.69) (10.2) (14.3) (12.4) (5.59) (6.61) (5.59)
1EA A2
635
519
471
116
48
343
497
415
150
168
142
(25.0) (20.4) (18.5) (4.57) (1.89) (13.5) (19.6) (16.3) (5.91) (6.61) (5.59)
Shaft-end Dimensions
S
S1
42
0.016
1.65 0
0.0006
42
0.016
1.65 0
0.0006
42
0.016
1.65 0
0.0006
+0.030
+ 0.011
+ 0.0012
55
2.17
+ 0.0004
Approx.
Mass
kg (lb)
45
(1.77)
35
(77.2)
45
(1.77)
45.5
(100)
45
(1.77)
65
(143)
65
(2.56)
100
(220)
3-97
Units: mm (in)
Model
SGMGH-
LB
114.3
55A A2
200
(7.87)
114.3
75A A2
1AA A2
235
(9.25)
1EA A2
3-98
0.025
4.50 0
0.0010
235
(9.25)
0.025
4.50 0
0.0010
0
0.046
7.87 0
0.0018
200
Allowable
Thrust Load
N (lbf)
180
3.2
3
0.5
18
230
76
62
(7.09) (0.13) (0.12) (0.02) (0.71) (9.06) (2.99) (2.44)
1760
(397)
588
(132)
180
3.2
3
0.5
18
230
76
62
(7.09) (0.13) (0.12) (0.02) (0.71) (9.06) (2.99) (2.44
1760
(397)
588
(132)
220
4
4
(8.66) (0.16) (0.16)
18
270
62
(0.71) (10.6) (2.44)
1760
(397)
588
(132)
220
4
4
(8.66) (0.16) (0.16)
20
270
85
(0.79) (10.6) (3.35)
5000
(1130)
2160
(485)
LC
200
(7.87)
200
Allowable
Radial Load
N (lbf)
0.046
7.87 0
0.0018
LE
LF1
LF2
LG
LH
LJ1
LJ2
3.15.3 SGMGH Servomotors (1500min-1) With Standard Backlash Gears and Without Brakes (Foot-mounted Type)
(1) Grease Lubricating Type
KB2
KB1
LT
LL
LM
R
B
Shaft End
T
Tap Depth
(See the
following
table.)
QK
Sh6
KL1
88(3.46)
F
N
XC
XR
4-Z Mounting
holes
Units: mm (in)
Model
SGMGH-
Gear
Model
Gear
Ratio
05A ASA6
CNHX4095
1/6
05A ASB6
CNHX4095
1/11
05A ASC6
CNHX4105
1/21
05A AS76
CNHX4105
1/29
09A ASA6
CNHX4105
1/6
417
161
115
46
73
21
109
256
209
152
100
(16.4) (6.34) (4.53) (1.81) (2.87) (0.83) (4.29) (10.1) (8.23) (5.98) (3.94)
09A ASB6
CNHX4105
1/11
417
161
115
46
73
21
109
256
209
152
100
(16.4) (6.34) (4.53) (1.81) (2.87) (0.83) (4.29) (10.1) (8.23) (5.98) (3.94)
09A ASC6
CNHX4115
1/21
449
161
115
46
73
21
109
288
257
204
120
(17.7) (6.34) (4.53) (1.81) (2.87) (0.83) (4.29) (11.3) (10.1) (8.03) (4.72)
09A AS76
CNHX4115
1/29
449
161
115
46
73
21
109
288
257
204
120
(17.7) (6.34) (4.53) (1.81) (2.87) (0.83) (4.29) (11.3) (10.1) (8.03) (4.72)
13A ASA6
CNHX4105
1/6
441
185
139
46
73
21
109
256
209
152
100
(17.4) (7.28) (5.47) (1.81) (2.87) (0.83) (4.29) (10.1) (8.23) (5.98) (3.94)
13A ASB6
CNHX4115
1/11
473
185
139
46
73
21
109
288
257
204
120
(18.6) (7.28) (5.47) (1.81) (2.87) (0.83) (4.29) (11.3) (10.1) (8.03) (4.72)
13A ASC6
CNHX4115
1/21
473
185
139
46
73
21
109
288
257
204
120
(18.6) (7.28) (5.47) (1.81) (2.87) (0.83) (4.29) (11.3) (10.1) (8.03) (4.72)
20A ASA6
CNHX4115
1/6
477
166
119
47
77
22
140
311
260
204
120
(18.8) (6.54) (4.69) (1.85) (3.03) (0.87) (5.51) (12.2) (10.2) (8.03) (4.72)
20A ASB6
CNHX4115
1/11
477
166
119
47
77
22
140
311
260
204
120
(18.8) (6.54) (4.69) (1.85) (3.03) (0.87) (5.51) (12.2) (10.2) (8.03) (4.72)
30A ASA6
CNHX4115
1/6
503
192
145
47
77
22
140
311
260
204
120
(19.8) (7.56) (5.71) (1.85) (3.03) (0.87) (5.51) (12.2) (10.2) (8.03) (4.72)
30A ASB6
CNHX4115
1/11
503
192
145
47
77
22
140
311
260
204
120
(19.8) (7.56) (5.71) (1.85) (3.03) (0.87) (5.51) (12.2) (10.2) (8.03) (4.72)
LL
LM
LT
KB1
KB2
KL1
380
138
92
46
73
21
109
242
209
152
100
(15.0) (5.43) (3.62) (1.81) (2.87) (0.83) (4.29) (9.53) (8.23) (5.98) (3.94)
380
138
92
46
73
21
109
242
209
152
100
(15.0) (5.43) (3.62) (1.81) (2.87) (0.83) (4.29) (9.53) (8.23) (5.98) (3.94)
256
394
138
92
46
73
21
109
209
152
100
(10.0
(15.5) (5.43) (3.62) (1.81) (2.87) (0.83) (4.29)
(8.23) (5.98) (3.94)
8)
394
138
92
46
73
21
109
256
209
152
100
(15.5) (5.43) (3.62) (1.81) (2.87) (0.83) (4.29) (10.1) (8.23) (5.98) (3.94)
0
-0.5
Shaft Center
Allowable
Radial Load
N (lbf)
2050
(461)
2520
(567)
4940
(1110)
5360
(1210)
3240
(729)
3840
(864)
6190
(1390)
6870
(1550)
3240
(729)
4970
(1120)
6190
(1390)
4050
(911)
4970
(1120)
4050
(911)
4970
(1120)
3-99
Foot-mounted Dimensions
mm (in)
Shaft-end Dimensions
mm (in)
Model
SGMGH-
Gear
Ratio
05A ASA6
1/6
75
90
12
40
180
130
45
60
11
35
32
28
7
4
8
(2.95) (3.54) (0.47) (1.57) (7.09) (5.12) (1.77) (2.36) (0.43) (1.38) (1.26) (1.10) (0.28) (0.16) (0.31)
M8 19
05A ASB6
1/11
75
90
12
40
180
130
45
60
11
35
32
28
7
4
8
(2.95) (3.54) (0.47) (1.57) (7.09) (5.12) (1.77) (2.36) (0.43) (1.38) (1.26) (110) (0.28) (0.16) (0.31)
M8 19
05A ASC6
1/21
75
90
12
40
180
135
45
60
11
35
32
28
7
4
8
(2.95) (3.54) (0.47) (1.57) (7.09) (5.31) (1.77) (2.36) (0.43) (1.38) (1.26) (1.10) (0.28) (0.16) (0.31)
M8 19
05A AS76
1/29
75
90
12
40
180
135
45
60
11
35
32
28
7
4
8
(2.95) (3.54) (0.47) (1.57) (7.09) (5.31) (1.77) (2.36) (0.43) (1.38) (1.26) (1.10) (0.28) (0.16) (0.31)
M8 19
09A ASA6
1/6
75
90
12
40
180
135
45
60
11
35
32
28
7
4
8
(2.95) (3.54) (0.47) (1.57) (7.09) (5.31) (1.77) (2.36) (0.43) (1.38) (1.26) (1.10) (0.28) (0.16) (0.31)
M8 19
09A ASB6
1/11
75
90
12
40
180
135
45
60
11
35
32
28
7
4
8
(2.95) (3.54) (0.47) (1.57) (7.09) (5.31) (1.77) (2.36) (0.43) (1.38) (1.26) (1.10) (0.28) (0.16) (0.31)
M8 19
09A ASC6
1/21
95
115
15
55
230
155
62
82
14
55
50
38
8
5
10
(3.74) (4.53) (0.59) (2.17) (9.06) (6.10) (2.44) (3.23) (0.55) (2.17) (1.97) (1.50) (0.31) (0.20) (0.39)
M10 22
09A AS76
1/29
95
115
15
55
230
155
62
82
14
55
50
38
8
5
10
(3.74) (4.53) (0.59) (2.17) (9.06) (6.10) (2.44) (3.23) (0.55) (2.17) (1.97) (1.50) (0.31) (0.20) (0.39)
M10 22
13A ASA6
1/6
75
90
12
40
180
135
45
60
11
35
32
28
7
4
8
(2.95) (3.54) (0.47) (1.57) (7.09) (5.31) (1.77) (2.36) (0.43) (1.38) (1.26) (1.10) (0.28) (0.16) (0.31)
M8 19
13A ASB6
1/11
95
115
15
55
230
155
62
82
14
55
50
38
8
5
10
(3.74) (4.53) (0.59) (2.17) (9.06) (6.10) (2.44) (3.23) (0.55) (2.17) (1.97) (1.50) (0.31) (0.20) (0.39)
M10 22
13A ASC6
1/21
95
115
15
55
230
155
62
82
14
55
50
38
8
5
10
(3.74) (4.53) (0.59) (2.17) (9.06) (6.10) (2.44) (3.23) (0.55) (2.17) (1.97) (1.50) (0.31) (0.20) (0.39)
M10 22
20A ASA6
1/6
95
115
15
55
230
155
62
82
14
55
50
38
8
5
10
(3.74) (4.53) (0.59) (2.17) (9.06) (6.10) (2.44) (3.23) (0.55) (2.17) (1.97) (1.50) (0.31) (0.20) (0.39)
M10 22
20A ASB6
1/11
95
115
15
55
230
155
62
82
14
55
50
38
8
5
10
(3.74) (4.53) (0.59) (2.17) (9.06) (6.10) (2.44) (3.23) (0.55) (2.17) (1.97) (1.50) (0.31) (0.20) (0.39)
M10 22
30A ASA6
1/6
95
115
15
55
230
155
62
82
14
55
50
38
8
5
10
(3.74) (4.53) (0.59) (2.17) (9.06) (6.10) (2.44) (3.23) (0.55) (2.17) (1.97) (1.50) (0.31) (0.20) (0.39)
M10 22
30A ASB6
1/11
95
115
15
55
230
155
62
82
14
55
50
38
8
5
10
(3.74) (4.53) (0.59) (2.17) (9.06) (6.10) (2.44) (3.23) (0.55) (2.17) (1.97) (1.50) (0.31) (0.20) (0.39)
M10 22
3-100
XR
XC
QK
Tap
Depth
Approx.
Mass
kg (lb)
20.5
(45.2)
20.5
(45.2)
22.5
(49.6)
22.5
(49.6)
24.6
(54.2)
24.6
(54.2)
34.6
(76.3)
34.6
(76.3)
26.6
(58.6)
36.6
(80.7)
36.6
(80.7)
43
(94.8)
43
(94.8)
47
(104)
47
(104)
Dimensional Tolerances
Model
SGMGH-
Units: mm (in)
Shaft-end Dimensions
S
05A ASA6
0
1.10 0
0.013
0.0005
05A ASB6
28
0
1.10 0
0.013
0.0005
05A ASC6
28
05A AS76
28
0
1.10 0
0.013
0.0005
09A ASA6
28
0
1.10 0
0.013
0.0005
09A ASB6
28
0
1.10 0
0.013
0.0005
09A ASC6
38
0
1.50 0
0.016
0.0006
09A AS76
38
0
1.50 0
0.016
0.0006
13A ASA6
28
0
1.10 0
0.013
0.0005
13A ASB6
38
0
1.50 0
0.016
0.0006
13A ASC6
38
0
1.50 0
0.016
0.0006
20A ASA6
38
0
1.50 0
0.016
0.0006
20A ASB6
38
0
1.50 0
0.016
0.0006
30A ASA6
38
0
1.50 0
0.016
0.0006
30A ASB6
INFO
28
38
0
1.50 0
0.016
0.0006
0
1.10 0
0.013
0.0005
Lubrication
Grease lubricating type (frame numbers: 4095 to 4115)
Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.
3-101
Hydraulic plug
Shaft End
Sh6
G
F
N
Tap Depth
(See the
following
table.)
Oil supply
plug
Q
QK
KL1
88(3.46)
LT
KB2
KB1
LL
LM
XC
XR
4Z Mounting holes
Units: mm (in)
Model
SGMGH-
Gear
Model
Gear
Ratio
13A AS76
CHHX4135
1/29
532
185
139
46
73
21
109
347
300
246
150
(20.9) (7.28) (5.47) (1.81) (2.87) (0.83) (4.29) (13.7) (11.8) (9.69) (5.91)
20A ASC6
CHHX4130
1/21
536
166
119
47
77
22
140
370
300
246
150
(21.1) (6.54) (4.69) (1.85) (3.03) (0.87) (5.51) (14.6) (11.8) (9.69) (5.91)
20A AS76
CHHX4135
1/29
536
166
119
47
77
22
140
370
300
246
150
(21.1) (6.54) (4.69) (1.85) (3.03) (0.87) (5.51) (14.6) (11.8) (9.69) (5.91)
30A ASC6
CHHX4145
1/21
582
192
145
47
77
22
140
390
300
246
150
(22.9) (7.56) (5.71) (1.85) (3.03) (0.87) (5.51) (15.4) (11.8) (9.69) (5.91)
30A AS76
CHHJ4160
1/29
687
192
145
47
77
22
140
495
319
318
160
(27.0) (7.56) (5.71) (1.85) (3.03) (0.87) (5.51) (19.5) (12.6) (12.5) (6.30)
44A ASA6
CHHX4130
1/6
596
226
179
47
77
22
140
370
300
246
150
(23.5) (8.90) (7.05) (1.85) (3.03) (0.87) (5.51) (14.6) (11.8) (9.69) (5.91)
44A ASB6
CHHX4135
1/11
596
226
179
47
77
22
140
370
300
246
150
(23.5) (8.90) (7.05) (1.85) (3.03) (0.87) (5.51) (14.6) (11.8) (9.69) (5.91)
44A ASC6
CHHJ4160
1/21
721
226
179
47
77
22
140
495
319
318
160
(28.4) (8.90) (7.05) (1.85) (3.03) (0.87) (5.51) (19.5) (12.6) (12.5) (6.30)
44A AS76
CHHJ4170
1/29
785
226
179
47
77
22
140
559
382
363
200
(30.9) (8.90) (7.05) (1.85) (3.03) (0.87) (5.51) (22.0) (15.0) (14.3) (7.87)
55A ASA6
CHHX4135
1/6
664
260
213
47
86
22
150
404
300
246
150
(26.1) (10.2) (8.39) (1.85) (3.39) (0.87) (5.91) (15.9) (11.8) (9.69) (5.91)
55A ASB6
CHHX4145
1/11
684
260
213
47
86
22
150
424
300
246
150
(26.9) (10.2) (8.39) (1.85) (3.39) (0.87) (5.91) (16.7) (11.8) (9.69) (5.91)
55A ASC6
CHHJ4170
1/21
853
260
213
47
86
22
150
593
382
363
200
(33.6) (10.2) (8.39) (1.85) (3.39) (0.87) (5.91) (23.3) (15.0) (14.3) (7.87)
55A AS76
CHHJ4175
1/29
853
260
213
47
86
22
150
593
382
363
200
(33.6) (10.2) (8.39) (1.85) (3.39) (0.87) (5.91) (23.3) (15.0) (14.3) (7.87)
75A ASB6
CHHJ4160
1/11
863
334
287
47
86
22
150
529
319
318
160
(34.0) (13.1) (11.3) (1.85) (3.39) (0.87) (5.91) (20.8) (12.6) (12.6) (6.30)
75A ASC6
CHHJ4175
1/21
927
334
287
47
86
22
150
593
382
363
200
(36.5) (13.1) (11.3) (1.85) (3.39) (0.87) (5.91) (23.3) (15.0) (14.3) (7.87)
75A AS76
CHHJ4180
1/29
977
334
287
47
86
22
150
643
417
392
220
(38.5) (13.1) (11.3) (1.85) (3.39) (0.87) (5.91) (25.3) (16.4) (15.4) (8.66)
3-102
LL
LM
LT
KB1
KB2
KL1
Shaft Center
Allowable
Radial Load
N (lbf)
9900
(2230)
8940
(2010)
9900
(2230)
11590
(2610)
16290
(3670)
5870
(1320)
7190
(1620)
14640
(3290)
19020
(4280)
5870
(1320)
9500
(2140)
17180
(3870)
19020
(4280)
11740
(2640)
17180
(3870)
25600
(5760)
Gear
Model
Gear
Ratio
1AA ASB6
CHHJ4170
1/11
934
338
291
47
87
21
168
596
382
363
200
(36.8) (13.3) (11.5) (1.85) (3.43) (0.83) (6.61) (23.5) (15.0) (14.3) (7.87)
1AA ASC6
CHHJ4185
1/21
984
338
291
47
87
21
168
646
417
393
220
(38.7) (13.3) (11.5) (1.85) (3.43) (0.83) (6.61) (25.4) (16.4) (15.5) (8.66)
1AA AS76
CHHJ4190
1/29
1077 338
291
47
87
21
168
739
477
454
250
(42.4) (13.3) (11.5) (1.85) (3.43) (0.83) (6.61) (29.1) (18.8) (17.9) (9.84)
LL
LM
0
-0.5
LT
KB1
KB2
KL1
Shaft Center
Allowable
Radial Load
N (lbf)
13800
(3110)
23010
(5180)
35810
(8060)
.
Units: mm (in)
Foot-mounted Dimensions
mm (in)
Shaft-end Dimensions
mm (in)
Model
SGMGH-
Gear
Ratio
13A AS76
1/29
145
145
22
65
330
195
75
100
18
70
56
50
9
5.5
14
(5.71) (5.71) (0.87) (2.56) (13.0) (7.68) (2.95) (3.94) (0.71) (2.76) (2.20) (1.97) (0.35) (0.22) (0.55)
M10 18
20A ASC6
1/21
145
145
22
65
330
195
75
100
18
70
56
50
9
5.5
14
(5.71) (5.71) (0.87) (2.56) (13.0) (7.68) (2.95) (3.94) (0.71) (2.76) (2.20) (1.97) (0.35) (0.22) (0.55)
M10 18
20A AS76
1/29
145
145
22
65
330
195
75
100
18
70
56
50
9
5.5
14
(5.71) (5.71) (0.87) (2.56) (13.0) (7.68) (2.95) (3.94) (0.71) (2.76) (2.20) (1.97) (0.35) (0.22) (0.55)
M10 18
30A ASC6
1/21
145
145
22
65
330
195
95
120
18
90
80
50
9
5.5
14
(5.71) (5.71) (0.87) (2.56) (13.0) (7.68) (3.74) (4.72) (0.71) (3.54) (3.15) (1.97) (0.35) (0.22) (0.55)
M10 18
30A AS76
1/29
185
150
25
75
410
238
95
139
18
90
80
60
11
7
18
(7.28) (5.91) (0.98) (2.95) (16.1) (9.37) (3.74) (5.47) (0.71) (3.54) (3.15) (2.36) (0.43) (0.28) (0.71)
M10 18
44A ASA6
1/6
145
145
22
65
330
195
75
100
18
70
56
50
9
5.5
14
(5.71) (5.71) (0.87) (2.56) (13.0) (7.68) (2.95) (3.94) (0.71) (2.76) (2.20) (1.97) (0.35) (0.22) (0.55)
M10 18
44A ASB6
1/11
145
145
22
65
330
195
75
100
18
70
56
50
9
5.5
14
(5.71) (5.71) (0.87) (2.56) (13.0) (7.68) (2.95) (3.94) (0.71) (2.76) (2.20) (1.97) (0.35) (0.22) (0.55)
M10 18
44A ASC6
1/21
185
150
25
75
410
238
95
139
18
90
80
60
11
7
18
(7.28) (5.91) (0.98) (2.95) (16.1) (9.37) (3.74) (5.47) (0.71) (3.54) (3.15) (2.36) (0.43) (0.28) (0.71)
M10 18
44A AS76
1/29
190
275
30
80
430
335
95
125
22
90
80
70
12
7.5
20
(7.48) (10.8) (1.18) (3.15) (16.9) (13.2) (3.74) (4.92) (0.87) (3.54) (3.15) (2.76) (0.47) (0.30) (0.79)
M12 24
55A ASA6
1/6
145
145
22
65
330
195
75
100
18
70
56
50
9
5.5
14
(5.71) (5.71) (0.87) (2.56) (13.0) (7.68) (2.95) (3.94) (0.71) (2.76) (2.20) (1.97) (0.35) (0.22) (0.55)
M10 18
55A ASB6
1/11
145
145
22
65
330
195
95
120
18
90
80
50
9
5.5
14
(5.71) (5.71) (0.87) (2.56) (13.0) (7.68) (3.74) (4.72) (0.71) (3.54) (3.15) (1.97) (0.35) (0.22) (0.55)
M10 18
55A ASC6
1/21
190
275
30
80
430
335
95
125
22
90
80
70
12
7.5
20
(7.48) (10.8) (1.18) (3.15) (16.9) (13.2) (3.74) (4.92) (0.87) (3.54) (3.15) (2.76) (0.47) (0.30) (0.79)
M12 24
55A AS76
1/29
190
275
30
80
430
335
95
125
22
90
80
70
12
7.5
20
(7.48) (10.8) (1.18) (3.15) (16.9) (13.2) (3.74) (4.92) (0.87) (3.54) (3.15) (2.76) (0.47) (0.30) (0.79)
M12 24
75A ASB6
1/11
185
150
25
75
410
238
95
139
18
90
80
60
11
7
18
(7.28) (5.91) (0.98) (2.95) (16.1) (9.37) (3.74) (5.47) (0.71) (3.54) (3.15) (2.36) (0.43) (0.28) (0.71)
M10 18
75A ASC6
1/21
190
275
30
80
430
335
95
125
22
90
80
70
12
7.5
20
(7.48) (10.8) (1.18) (3.15) (16.9) (13.2) (3.74) (4.92) (0.87) (3.54) (3.15) (2.76) (0.47) (0.30) (0.79)
M12 24
75A AS76
1/29
210
320
30
85
470
380
115
145
22
110
100
80
14
9
22
(8.27) (12.6) (1.18) (3.35) (18.5) (15.0) (4.53) (5.71) (0.87) (4.33) (3.94) (3.15) (0.55) (0.35) (0.87)
M12 24
1AA ASB6
1/11
190
275
30
80
430
335
95
125
22
90
80
70
12
7.5
20
(7.48) (10.8) (1.18) (3.15) (16.9) (13.2) (3.74) (4.92) (0.87) (3.54) (3.15) (2.76) (0.47) (0.30) (0.79)
M12 24
XR
XC
QK
Tap
Depth
Approx.
Mass
kg (lb)
57.6
(127)
67
(148)
67
(148)
72
(159)
126
(278)
76
(168)
76
(168)
131
(289)
176
(388)
88
(194)
89
(196)
191
(421)
191
(421)
155
(342)
201
(443)
245
(540)
230.5
(508)
3-103
Shaft-end Dimensions
mm (in)
Model
SGMGH-
Gear
Ratio
1AA ASC6
1/21
210
320
30
85
470
380
115
145
22
110
100
80
14
9
22
(8.27) (12.6) (1.18) (3.35) (18.5) (15.0) (4.53) (5.71) (0.87) (4.33) (3.94) (3.15) (0.55) (0.35) (0.87)
M12 24
1AA AS76
1/29
240
380
35
90
530
440
140
170
26
135
125
95
14
9
25
(9.45) (15.0) (1.38) (3.54) (20.9) (17.3) (5.51) (6.69) (1.02) (5.31) (4.92) (3.74) (0.55) (0.35) (0.98)
M20 34
XR
XC
Dimensional Tolerances
Model
SGMGH-
Units: mm (in)
Shaft-end Dimensions
S
13A AS76
0
1.97 0
0.016
0.0006
20A ASC6
50
0
1.97 0
0.016
0.0006
20A AS76
50
0
1.97 0
0.016
0.0006
30A ASC6
50
0
1.97 0
0.016
0.0006
30A AS76
60
0
2.36 0
0.019
0.0007
44A ASA6
50
0
1.97 0
0.016
0.0006
44A ASB6
50
0
1.97 0
0.016
0.0006
44A ASC6
60
0
2.36 0
0.019
0.0007
44A AS76
70
0
2.76 0
0.019
0.0007
55A ASA6
50
0
1.97 0
0.016
0.0006
55A ASB6
50
0
1.97 0
0.016
0.0006
55A ASC6
70
0
2.76 0
0.019
0.0007
55A AS76
70
0
2.76 0
0.019
0.0007
75A ASB6
60
0
2.36 0
0.019
0.0007
75A ASC6
70
0
2.76 0
0.019
0.0007
75A AS76
80
0
3.15 0
0.019
0.0007
1AA ASB6
70
0
2.76 0
0.019
0.0007
1AA ASC6
80
0
3.15 0
0.019
0.0007
1AA AS76
3-104
50
95
0
3.74 0
0.022
0.009
QK
Tap
Depth
Approx.
Mass
kg (lb)
276.5
(610)
357.5
(788)
INFO
Lubrication
Oil lubricating type (frame numbers: 4130 to 4190)
Servomotors of this type have been shipped with oil removed. Be sure to supply oil until the red line at the upper side
of the oil guage.
Lubrication oil recommended is industrial-use extreme-pressure gear oil of SP-system, JIS K 2219 industrial-use gear
oil or equivalent. Refer to the following table.
Ambient
Temperature COSMO Oil Co., Ltd.
0 to 35 C
(32 to 95 F)
COSMO Gear
SE
100, 150
Manufacturer
Tonen General
Sekiyu K. K.
GENERAL SP
Gear Roll
100, 150
4130
4135
4145
4155
4160
4165
4170
4175
4180
4185
Horizontal
type
0.7
0.7
0.7
1.4
1.9
2.5
4190
4.0
3-105
3.15.4 SGMGH Servomotors (1500min-1) With Standard Backlash Gears and Without Brakes (Flange-mounted Type)
(1) Grease Lubricating Type
L
R
QK
KL1
88(3.46)
Shaft End
KB1
4 Mounting holes
LA
N-11 Mounting
holes
KB2
LA
LR
LE
Q
Sh6
LG
LBf8
LT
LL
LM
Tap Depth
(See the
following
table.)
6 Mounting holes
Units: mm (in)
Model
SGMGH-
Gear
Ratio
05A ATA6
CNVX-4095
1/6
380
138
92
46
73
21
109
242
(15.0) (5.43) (3.62) (1.81) (2.87) (0.83) (4.29) (9.53)
05A ATB6
CNVX-4095
1/11
380
138
92
46
73
21
109
242
(15.0) (5.43) (3.62) (1.81) (2.87) (0.83) (4.29) (9.53)
05A ATC6
CNVX-4105
1/21
394
138
92
46
73
21
109
256
(15.5) (5.43) (3.62) (1.81) (2.87) (0.83) (4.29) (10.1)
05A AT76
CNVX-4105
1/29
394
138
92
46
73
21
109
256
(15.5) (5.43) (3.62) (1.81) (2.87) (0.83) (4.29) (10.1)
09A ATA6
CNVX-4105
1/6
417
161
115
46
73
21
109
256
(16.4) (6.34) (4.53) (1.81) (2.87) (0.83) (4.29) (10.1)
09A ATB6
CNVX-4105
1/11
417
161
115
46
73
21
109
256
(16.4) (6.34) (4.53) (1.81) (2.87) (0.83) (4.29) (10.1)
09A ATC6
CNVX-4115
1/21
449
161
115
46
73
21
109
288
(17.7) (6.34) (4.53) (1.81) (2.87) (0.83) (4.29) (11.3)
09A AT76
CNVX-4115
1/29
449
161
115
46
73
21
109
288
(17.7) (6.34) (4.53) (1.81) (2.87) (0.83) (4.29) (11.3)
13A ATA6
CNVX-4105
1/6
441
185
139
46
73
21
109
256
(17.4) (7.28) (5.47) (1.81) (2.87) (0.83) (4.29) (10.1)
13A ATB6
CNVX-4115
1/11
473
185
139
46
73
21
109
288
(18.6) (7.28) (5.47) (1.81) (2.87) (0.83) (4.29) (11.3)
13A ATC6
CNVX-4115
1/21
473
185
139
46
73
21
109
288
(18.6) (7.28) (5.47) (1.81) (2.87) (0.83) (4.29) (11.3)
20A ATA6
CNVX-4115
1/6
477
166
119
47
77
22
140
311
(18.8) (6.54) (4.69) (1.85) (3.03) (0.87) (5.51) (12.2)
20A ATB6
CNVX-4115
1/11
477
166
119
47
77
22
140
311
(18.8) (6.54) (4.69) (1.85) (3.03) (0.87) (5.51) (12.2)
30A ATA6
CNVX-4115
1/6
503
192
145
47
77
22
140
311
(19.8) (7.56) (5.71) (1.85) (3.03) (0.87) (5.51) (12.2)
30A ATB6
3-106
Gear Model
CNVX-4115
1/11
503
192
145
47
77
22
140
311
(19.8) (7.56) (5.71) (1.85) (3.03) (0.87) (5.51) (12.2)
LL
LM
LT
KB1
KB2
KL1
Shaft Center
Allowable
Radial Load
N (lbf)
2050
(461)
2520
(567)
4940
(1110)
5360
(1210)
3240
(729)
3840
(864)
6190
(1400)
6870
(1550)
3240
(729)
4970
(1120)
6190
(1390)
4050
(911)
4970
(1120)
4050
(911)
4970
(1120)
Model
SGMGH-
Gear
Ratio
05A ATA6
Shaft-end Dimensions
mm (in)
LA
LB
LC
LE
LG
LR
QK
Tap
Depth
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
(1.10)
7
(0.28)
4
(0.16)
8
(0.31)
M8 19
05A ATB6
1/11
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
(1.10)
7
(0.28)
4
(0.16)
8
(0.31)
M8 19
05A ATC6
1/21
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
(1.10)
7
(0.28)
4
(0.16)
8
(0.31)
M8 19
05A AT76
1/29
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
(1.10)
7
(0.28)
4
(0.16)
8
(0.31)
M8 19
09A 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
(1.10)
7
(0.28)
4
(0.16)
8
(0.31)
M8 19
09A ATB6
1/11
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
(1.10)
7
(0.28)
4
(0.16)
8
(0.31)
M8 19
09A ATC6
1/21
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
09A AT76
1/29
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
13A 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
(1.10)
7
(0.28)
4
(0.16)
8
(0.31)
M8 19
13A ATB6
1/11
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
13A ATC6
1/21
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
20A ATA6
1/6
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
20A ATB6
1/11
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
30A ATA6
1/6
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
30A ATB6
1/11
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
Approx.
Mass
kg (lb)
18.5
(40.8)
18.5
(40.8)
20.5
(45.2)
20.5
(45.2)
22.6
(49.8)
22.6
(49.8)
33.6
(74.1)
33.6
(74.1)
24.6
(54.2)
35.6
(78.5)
35.6
(78.5)
42
(92.6)
42
(92.6)
46
(101)
46
(101)
3-107
Dimensional Tolerances
Model
SGMGH-
Units: mm (in)
Shaft-end Dimensions
S
05A ATA6
0
1.10 0
0.013
0.0005
28
0
1.10 0
0.013
0.0005
05A ATC6
28
0
1.10 0
0.013
0.0005
05A AT76
28
0
1.10 0
0.013
0.0005
09A ATA6
28
0
1.10 0
0.013
0.0005
09A ATB6
28
0
1.10 0
0.013
0.0005
09A ATC6
38
0
1.50 0
0.016
0.0006
09A AT76
38
0
1.50 0
0.016
0.0006
13A ATA6
28
0
1.10 0
0.013
0.0005
13A ATB6
38
0
1.50 0
0.016
0.0006
13A ATC6
38
0
1.50 0
0.016
0.0006
20A ATA6
38
0
1.50 0
0.016
0.0006
20A ATB6
38
0
1.50 0
0.016
0.0006
30A ATA6
38
0
1.50 0
0.016
0.0006
30A ATB6
3-108
28
05A ATB6
INFO
38
0
1.50 0
0.016
0.0006
0.090
0.090
0.090
0.090
0.090
0.090
0.106
0.106
0.090
0.106
0.106
0.106
0.106
0.106
0.106
0.0035
0.0035
0.0035
0.0035
0.0035
0.0035
0.0042
0.0042
0.0035
0.0042
0.0042
0.0042
0.0042
0.0042
0.0042
Lubrication
Grease lubricating type (frame numbers: 4095 to 4115)
Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.
)
06
9.
Hydrant
Oil scavenging
plug
Shaft End
KB2
5.5(0.22)
6-11 Mounting
holes
KB1
14(0.55)
4
.2
10
( 60
2
KL1
88(3.46)
LB (200f8)
QK
209 (8.23)
4
Q
30
LR
15
LM
LT
S (50h6)
LL
Units: mm (in)
Model
SGMGH-
Gear Model
Gear
Ratio
13A AT76
CHVX-4135
1/29
532
185
139
46
73
21
109
347
(20.9) (7.28) (5.47) (1.81) (2.87) (0.83) (4.29) (13.7)
20A ATC6
CHVX-4130
1/21
536
166
119
47
77
22
140
370
(21.1) (6.54) (4.69) (1.85) (3.03) (0.87) (5.51) (14.6)
20A AT76
CHVX-4135
1/29
536
166
119
47
77
22
140
370
(21.1) (6.54) (4.69) (1.85) (3.03) (0.87) (5.51) (14.6)
30A ATC6
CHVX-4145
1/21
582
192
145
47
77
22
140
390
(22.9) (7.56) (5.71) (1.85) (3.03) (0.87) (5.51) (15.4)
44A ATA6
CHVX-4130
1/6
596
226
179
47
77
22
140
370
(23.5) (8.90) (7.05) (1.85) (3.03) (0.87) (5.51) (14.6)
44A ATB6
CHVX-4135
1/11
596
226
179
47
77
22
140
370
(23.5) (8.90) (7.05) (1.85) (3.03) (0.87) (5.51) (14.6)
55A ATA6
CHVX-4135
1/6
664
260
213
47
86
22
150
404
(26.1) (10.2) (8.39) (1.85) (3.39) (0.87) (5.91) (15.9)
55A ATB6
CHVX-4145
1/11
684
260
213
47
86
22
150
424
(26.9) (10.2) (8.39) (1.85) (3.39) (0.87) (5.91) (16.7)
Model
SGMGH-
Gear
Ratio
LL
Flange Face
Dimensions
mm (in)
LM
LT
KB1
Shaft-end Dimensions
mm (in)
LR
QK
TapDepth
13A AT76
1/29
76 (2.99)
70 (2.76)
56 (2.20)
M10 18
20A ATC6
1/21
76 (2.99)
70 (2.76)
56 (2.20)
M10 18
20A AT76
1/29
76 (2.99)
70 (2.76)
56 (2.20)
M10 18
30A ATC6
1/21
96 (3.78)
90 (3.54)
80 (3.15)
M10 18
44A ATA6
1/6
76 (2.99)
70 (2.76)
56 (2.20)
M10 18
44A ATB6
1/11
76 (2.99)
70 (2.76)
56 (2.20)
M10 18
KB2
KL1
Shaft Center
Allowable
Radial Load
N (lbf)
9900
(2230)
8940
(2010)
9900
(2230)
11590
(2610)
5870
(1320)
7190
(1620)
5870
(1320)
9500
(2140)
Approx.
Mass
kg (lb)
56.6
(125)
66
(146)
66
(146)
71
(157)
75
(165)
75
(165)
3-109
Model
SGMGH-
Gear
Ratio
Flange Face
Dimensions
mm (in)
Shaft-end Dimensions
mm (in)
LR
QK
TapDepth
55A ATA6
1/6
76 (2.99)
70 (2.76)
56 (2.2)
M10 18
55A ATB6
1/11
96 (3.78)
90 (3.54)
80 (3.15)
M10 18
Approx.
Mass
kg (lb)
87
(192)
88
(194)
Dimensional Tolerances
Model
SGMGH-
Units: mm (in)
Shaft-end Dimensions
S
13A AT76
50
0
1.97 0
0.016
0.0006
20A ATC6
50
0
1.97 0
0.016
0.0006
20A AT76
50
0
1.97 0
0.016
0.0006
30A ATC6
50
0
1.97 0
0.016
0.0006
44A ATA6
50
0
1.97 0
0.016
0.0006
44A ATB6
50
0
1.97 0
0.016
0.0006
55A ATA6
50
0
1.97 0
0.016
0.0006
55A ATB6
INFO
50
0
1.97 0
0.016
0.0006
0.122
0.122
0.122
0.122
0.137
0.122
0.122
0.122
0.0048
0.0048
0.0048
0.0048
0.0054
0.0048
0.0048
0.0048
Lubrication
Oil lubricating type (frame numbers: 4130 to 4190)
Servomotors of this type have been shipped with oil removed. Be sure to supply oil until the red line at the upper side
of the oil guage.
Lubrication oil recommended is industrial-use extreme-pressure gear oil of SP-system, JIS K 2219 industrial-use gear
oil or equivalent. Refer to the following table.
Ambient
Temperature COSMO Oil Co., Ltd.
0 to 35 C
(32 to 95 F)
COSMO Gear
SE
100, 150
Manufacturer
Nippon Oil Co., Ltd.
BON-NOCK
M
100, 150
Tonen General
Sekiyu K. K.
GENERAL SP
Gear Roll
100, 150
4145
Horizontal
type
3-110
4130
4135
0.7
0.7
4155
4160
4165
4170
4175
4180
4185
4190
0.7
1.4
1.9
2.5
4.0
L
R
LR
LE
Hydrant
Oil scavenging
plug
Shaft End
L
C
KB1
KB2
Tap Depth
(See the
following
table.)
KL1
88(3.46)
QK
Q
Sh6
LG
LBf8
47
LL
LM
Units: mm (in)
Model
SGMGH-
Gear Model
Gear
Ratio
30A AT76
CHVJ-4160
1/29
687
192
145
77
22
140
495
228
(27.1) (7.56) (5.71) (3.03) (0.87) (5.51) (19.5) (8.98)
1/21
721
226
179
77
22
140
495
228
(28.4) (8.90) (7.05) (3.03) (0.87) (5.51) (19.5) (8.98)
44A AT76
CHVJ-4170
1/29
785
226
179
77
22
140
559
243
(30.9) (8.90) (7.05) (3.03) (0.87) (5.51) (22.0) (9.57)
1/21
853
260
213
86
22
150
593
243
(33.6) (10.2) (8.39) (3.39) (0.87) (5.91) (23.3) (9.57)
55A AT76
CHVJ-4175
1/29
853
260
213
86
22
150
593
243
(33.6) (10.2) (8.39) (3.39) (0.87) (5.91) (23.3) (9.57)
75A ATB6
CHVJ-4160
1/11
863
334
287
86
22
150
529
228
(34.0) (13.1) (11.3) (3.39) (0.87) (5.91) (20.8) (8.98)
1/21
927
334
287
86
22
150
593
243
(36.5) (13.1) (11.3) (3.39) (0.87) (5.91) (23.3) (9.57)
75A AT76
CHVJ-4180
1/29
977
334
287
86
22
150
643
258
(38.5) (13.1) (11.3) (3.39) (0.87) (5.91) (25.3) (10.2)
1/11
934
338
291
87
21
168
596
243
(36.8) (13.3) (11.5) (3.43) (0.83) (6.61) (23.5) (9.57)
1/21
984
338
291
87
21
168
646
258
(38.7) (13.3) (11.5) (3.43) (0.83) (6.61) (25.4) (10.2)
1AA AT76
1/29
1077
338
291
87
21
168
739
285
(42.4) (13.3) (11.5) (3.43) (0.83) (6.61) (29.1) (11.2)
CHVJ-4190
LL
LM
KB1
KB2
KL1
Shaft Center
Allowable
Radial Load
N (lbf)
16300
(3670)
14600
(3290)
19000
(4280)
17200
(3870)
19000
(4280)
11700
(2640)
17200
(3870)
25600
(5760)
13800
(3110)
23000
(5180)
35800
(8060)
3-111
Shaft-end Dimensions
mm (in)
Model
SGMGH-
Gear
Ratio
30A AT76
1/29
310
270
340
4
20
89
6
11
90
80
60
11
7
18
(12.2) (10.6) (13.4) (0.16) (0.79) (3.50) (0.24) (0.43) (3.54) (3.15) (2.36) (0.43) (0.28) (0.71)
M10 18
44A ATC6
1/21
310
270
340
4
20
89
6
11
90
80
60
11
7
18
(12.2) (10.6) (13.4) (0.16) (0.79) (3.50) (0.24) (0.43) (3.54) (3.15) (2.36) (0.43) (0.28) (0.71)
M10 18
44A AT76
1/29
360
316
400
5
22
94
8
14
90
80
70
12
7.5
20
(14.2) (12.4) (15.7) (0.20) (0.87) (3.70) (0.31) (0.55) (3.54) (3.15) (2.76) (0.47) (0.30) (0.79)
M12 24
55A ATC6
1/21
360
316
400
5
22
94
8
14
90
80
70
12
7.5
20
(14.2) (12.4) (15.7) (0.20) (0.87) (3.70) (0.31) (0.55) (3.54) (3.15) (2.76) (0.47) (0.30) (0.79)
M12 24
55A AT76
1/29
360
316
400
5
22
94
8
14
90
80
70
12
7.5
20
(14.2) (12.4) (15.7) (0.20) (0.87) (3.70) (0.31) (0.55) (3.54) (3.15) (2.76) (0.47) (0.30) (0.79)
M12 24
75A ATB6
1/11
310
270
340
4
20
89
6
11
90
80
60
11
7
18
(12.2) (10.6) (13.4) (0.16) (0.79) (3.50) (0.24) (0.43) (3.54) (3.15) (2.36) (0.43) (0.28) (0.71)
M10 18
75A ATC6
1/21
360
316
400
5
22
94
8
14
90
80
70
12
(14.2) (12.4) (15.7) (0.20) (0.87) (3.70) (0.31) (0.55) (3.54) (3.15) (2.76) (0.47)
20
(0.79)
M12 24
75A AT76
1/29
390
345
430
5
22
110
8
18
110
100
80
14
9
22
(15.4) (13.6) (16.9) (0.20) (0.87) (4.33) (0.31) (0.71) (4.33) (3.94) (3.15) (0.55) (0.35) (0.87)
M12 24
1AA ATB6
1/11
360
316
400
5
22
94
8
14
90
80
70
12
7.5
20
(14.2) (12.4) (15.7) (0.20) (0.87) (3.70) (0.31) (0.55) (3.54) (3.15) (2.76) (0.47) (0.30) (0.79)
M12 24
1AA ATC6
1/21
390
345
430
5
22
110
8
18
110
100
80
14
9
22
(15.4) (13.6) (16.9) (0.20) (0.87) (4.33) (0.31) (0.71) (4.33) (3.94) (3.15) (0.55) (0.35) (0.87)
M12 24
1AA AT76
1/29
450
400
490
6
30
145
12
18
135
125
95
14
9
25
(17.7) (15.7) (19.3) (0.24) (1.18) (5.71) (0.47) (0.71) (5.31) (4.92) (3.74) (0.55) (0.35) (0.98)
M20 34
LA
LB
LC
LE
LG
LR
LZ
QK
7.5
(0.3)
Dimensional Tolerances
Model
SGMGH-
Units: mm (in)
Shaft-end Dimensions
S
30A AT76
60
0
2.36 0
0.019
0.0007
44A ATC6
60
0
2.36 0
0.019
0.0007
44A AT76
70
0
2.76 0
0.019
0.0007
55A ATC6
70
0
2.76 0
0.019
0.0007
55A AT76
70
0
2.76 0
0.019
0.0007
75A ATB6
60
0
2.36 0
0.019
0.0007
75A ATC6
70
0
2.76 0
0.019
0.0007
75A AT76
80
0
3.15 0
0.019
0.0007
1AA ATB6
70
0
2.76 0
0.019
0.0007
1AA ATC6
80
0
3.15 0
0.019
0.0007
1AA AT76
3-112
95
0
3.74 0
0.022
0.0009
0.137
0.137
0.151
0.151
0.151
0.137
0.151
0.151
0.151
0.151
0.151
0.0054
0.0054
0.0059
0.0059
0.0059
0.0054
0.0059
0.0059
0.0059
0.0059
0.0059
Tap
Depth
Approx.
Mass
kg (lb)
121
(267)
126
(278)
176
(388)
191
(421)
191
(421)
150
(331)
201
(443)
232
(511)
230.5
(508)
263.5
(580.9)
342.5
(755)
INFO
Lubrication
Oil lubricating type (frame numbers: 4130 to 4190)
Servomotors of this type have been shipped with oil removed. Be sure to supply oil until the red line at the upper side
of the oil guage.
Lubrication oil recommended is industrial-use extreme-pressure gear oil of SP-system, JIS K 2219 industrial-use gear
oil or equivalent. Refer to the following table.
Ambient
Temperature COSMO Oil Co., Ltd.
0 to 35 C
(32 to 95 F)
COSMO Gear
SE
100, 150
Manufacturer
Nippon Oil Co., Ltd.
BON-NOCK
M
100, 150
Tonen General
Sekiyu K. K.
GENERAL SP
Gear Roll
100, 150
4130
4135
4145
4155
4160
4165
4170
4175
4180
4185
Horizontal
type
0.7
0.7
0.7
1.4
1.9
2.5
4190
4.0
3-113
R
140( 5.51)
109(4.29)
88(3.46)
130h7
Q
47(1.85)
0)
6.3
0(
6
1 185
)
.28
( 7
8(0.31)
Frame No.
5(0.20)
1 (0.04)
Dia.S
Gear Ratio
1/5
6 (0.24)
1/9
23 (0.91)
15 (0.59)
5 (0.20)
2(0.08)
20(0.79)
20(0.79)
Units: mm (in)
Flange LB Shaft End S
130 (5.12)
35 (1.38)
Gear Ratio
1/5
16 (0.63)
1/9
48 (1.89)
3-114
Sh6
90(3.54)
182(7.17)
186(7.32)
LBh7
240(9.45)
234(9.21)
240(9.45)
310(12.2)
R3
A
58 (2.28)
11 (0.43)
38 (1.50)
1/45
ANFJ-L40
27(1.06)
18(0.71)
5(0.20)
1/5
47 (1.85)
60
(2.36)
Gear Ratio
1/9
18 (0.71)
(Motor)
90(3.54)
2(0.08)
25(0.98)
38(1.50)
Units: mm (in)
Flange LB Shaft End S
240 (9.45)
60 (2.36)
Sh6
70(2.76)
130(5.12)
135(5.31)
LBh7
184(7.24)
190(7.48)
245(9.65)
52
(2.05) A
55(2.17)
17(0.67)
12(0.47)
3(0.12)
1/45
(Motor)
R3
R3
44
(1.73) A
ANFJ-L30
190(7.48)
Sh6
45(1.77)
91(3.58)
94(3.70)
LBh7
140( 5.51)
126(4.96)
132(5.20)
(Motor)
132(5.20)
ANFJ-L20
52 (2.05)
Length Q d L mm
73(2.87)
21(0.83)
d-tapL
Q
Shaft End
S
12(0.47)
10(0.39)
100(3.94)
3(0.12)
Sh6
LL
46(1.81) LM
75 (2.95)
2 (0.08)
25 (0.98)
33 (1.30)
Units: mm (in)
Flange LB Shaft End S
190 (7.48)
52 (1.97)
Dimensional Tolerances
Units: mm (in)
Shaft-end Dimensions
S
IMT Gear
ANFJ-L20
130
0
5.12 0
0.040
0.0016
35
0
1.38 0
0.016
0.0006
ANFJ-L30
190
0
7.48 0
0.046
0.0018
50
0
1.97 0
0.016
0.0006
ANFJ-L40
240
0
9.45 0
0.046
0.0018
60
0
2.36 0
0.019
0.0007
Units: mm (in)
Model
SGMGH-
Gear
Model
Gear
Ratio
LL
LM
1/5
394
138
92
256
(15.5) (5.43) (3.62) (10.1)
1/9
406
138
92
268
(16.0) (5.43) (3.62) (10.6)
09A AL14
1/5
417
161
115
256
(16.4) (6.34) (4.53) (10.1)
09A AL24
1/9
429
161
115
268
(16.9) (6.34) (4.53) (10.6)
05A AL14
05A AL24
ANFJ-L20
INFO
Shaft Center
Allowable
Radial Load
N (lbf)
833
(187)
980
(221)
833
(187)
980
(221)
Approx.
Mass
kg (lb)
14
(30.9)
14
(30.9)
16
(35.3)
16
(35.3)
Lubrication
Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.
R
LG
LR
5
Q
Sh6
Shaft End
LBh7
KL1
88(3.46)
QK
KB1
KB2
6-LZ
3-115
Units: mm (in)
Model
SGMGH-
Gear Model
Gear
Ratio
LB
LL
LM
LR
LT
KB1
KB2
KL1
05A AL54
1/20
491
190
138
92
140
46
73
21
109
353
(19.3) (7.48) (5.43) (3.62) (5.51) (1.81) (2.87) (0.83) (4.29) (13.9)
05A AL74
1/29
491
190
138
92
140
46
73
21
109
353
(19.3) (7.48) (5.43) (3.62) (5.51) (1.81) (2.87) (0.83) (4.29) (13.9)
1/45
363
501
190
138
92
140
46
73
21
109
(19.7) (7.48) (5.43) (3.62) (5.51) (1.81) (2.87) (0.83) (4.29) (14.3)
09A AL54
1/20
514
190
161
115
140
46
73
21
109
353
(20.2) (7.48) (6.34) (4.53) (5.51) (1.81) (2.87) (0.83) (4.29) (13.9)
09A AL74
1/29
514
190
161
115
140
46
73
21
109
353
(20.2) (7.48) (6.34) (4.53) (5.51) (1.81) (2.87) (0.83) (4.29) (13.9)
1/45
565
240
161
115
160
46
73
21
109
404
(22.2) (9.45) (6.34) (4.53) (6.30) (1.81) (2.87) (0.83) (4.29) (15.9)
1/5
507
190
185
139
140
46
73
21
109
322
(20.0) (7.48) (7.28) (5.47) (5.51) (1.81) (2.87) (0.83) (4.29) (12.7)
1/9
534
190
185
139
140
46
73
21
109
349
(21.0) (7.48) (7.28) (5.47) (5.51) (1.81) (2.87) (0.83) (4.29) (13.7)
13A AL54
1/20
538
190
185
139
140
46
73
21
109
353
(21.2) (7.48) (7.28) (5.47) (5.51) (1.81) (2.87) (0.83) (4.29) (13.9)
13A AL74
1/29
579
240
185
139
160
46
73
21
109
394
(22.8) (9.45) (7.28) (5.47) (6.30) (1.81) (2.87) (0.83) (4.29) (15.5)
13A AL84
1/45
589
240
185
139
160
46
73
21
109
404
(23.2) (9.45) (7.28) (5.47) (6.30) (1.81) (2.87) (0.83) (4.29) (15.9)
20A AL14
1/5
509
190
166
119
140
47
77
22
140
343
(20.0) (7.48) (6.54) (4.69) (5.51) (1.85) (3.03) (0.87) (5.51) (13.5)
20A AL24
1/9
536
190
166
119
140
47
77
22
140
370
(21.1) (7.48) (6.54) (4.69) (5.51) (1.85) (3.03) (0.87) (5.51) (14.6)
20A AL54
1/20
581
240
166
119
160
47
77
22
140
415
(22.9) (9.45) (6.54) (4.69) (6.30) (1.85) (3.03) (0.87) (5.51) (16.3)
20A AL74
1/29
581
240
166
119
160
47
77
22
140
415
(22.9) (9.45) (6.54) (4.69) (6.30) (1.85) (3.03) (0.87) (5.51) (16.3)
30A AL14
1/5
575
240
192
145
160
47
77
22
140
383
(22.6) (9.45) (7.56) (5.71) (6.30) (1.85) (3.03) (0.87) (5.51) (15.1)
1/9
607
240
192
145
160
47
77
22
140
415
(23.9) (9.45) (7.56) (5.71) (6.30) (1.85) (3.03) (0.87) (5.51) (16.3)
30A AL54
1/20
607
240
192
145
160
47
77
22
140
415
(23.9) (9.45) (7.56) (5.71) (6.30) (1.85) (3.03) (0.87) (5.51) (16.3)
44A AL14
1/5
609
240
226
179
160
47
77
22
140
383
(24.0) (9.45) (8.90) (7.05) (6.30) (1.85) (3.03) (0.87) (5.51) (15.1)
44A AL24
1/9
641
240
226
179
160
47
77
22
140
415
(25.2) (9.45) (8.90) (7.05) (6.30) (1.85) (3.03) (0.87) (5.51) (16.3)
05A AL84
09A AL84
ANFJ-L30
ANFJ-L40
13A AL14
13A AL24
ANFJ-L30
ANFJ-L40
ANFJ-L30
30A AL24
3-116
ANFJ-L40
Shaft Center
Allowable
Radial Load
N (lbf)
2650
(596)
2940
(662)
3430
(772)
2650
(596)
2940
(662)
8040
(1810)
1670
(376)
1960
(441)
2650
(596)
6860
(1540)
8040
(1810)
1670
(376)
1960
(441)
6080
(1370)
6860
(1540)
3820
(860)
4700
(1060)
6080
(1370)
3820
(860)
4700
(1060)
Model
SGMGH-
Gear
Ratio
05A AL54
05A AL74
1/29
220
190
245
15
12
75
65
50
9
5.5
14
(8.66) (7.48) (9.65) (0.59) (0.47) (2.95) (2.56) (1.97) (0.35) (0.22) (0.55)
05A AL84
1/45
220
190
245
15
12
75
65
50
9
5.5
14
(8.66) (7.48) (9.65) (0.59) (0.47) (2.95) (2.56) (1.97) (0.35) (0.22) (0.55)
09A AL54
1/20
220
190
245
15
12
75
65
50
9
5.5
14
(8.66) (7.48) (9.65) (0.59) (0.47) (2.95) (2.56) (1.97) (0.35) (0.22) (0.55)
09A AL74
1/29
220
190
245
15
12
75
65
50
9
5.5
14
(8.66) (7.48) (9.65) (0.59) (0.47) (2.95) (2.56) (1.97) (0.35) (0.22) (0.55)
09A AL84
1/45
280
240
310
18
14
90
78
60
11
7
18
(11.0) (9.45) (12.2) (0.71) (0.55) (3.54) (3.07) (2.36) (0.43) (0.28) (0.71)
13A AL14
1/5
220
190
245
15
12
75
65
50
9
5.5
14
(8.66) (7.48) (9.65) (0.59) (0.47) (2.95) (2.56) (1.97) (0.35) (0.22) (0.55)
13A AL24
1/9
220
190
245
15
12
75
65
50
9
5.5
14
(8.66) (7.48) (9.65) (0.59) (0.47) (2.95) (2.56) (1.97) (0.35) (0.22) (0.55)
13A AL54
1/20
220
190
245
15
12
75
65
50
9
5.5
14
(8.66) (7.48) (9.65) (0.59) (0.47) (2.95) (2.56) (1.97) (0.35) (0.22) (0.55)
13A AL74
1/29
280
240
310
18
14
90
78
60
11
7
18
(11.0) (9.45) (12.2) (0.71) (0.55) (3.54) (3.07) (2.36) (0.43) (0.28) (0.71)
13A AL84
1/45
280
240
310
18
14
90
78
60
11
7
18
(11.0) (9.45) (12.2) (0.71) (0.55) (3.54) (3.07) (2.36) (0.43) (0.28) (0.71)
20A AL14
1/5
220
190
245
15
12
75
65
50
9
5.5
14
(8.66) (7.48) (9.65) (0.59) (0.47) (2.95) (2.56) (1.97) (0.35) (0.22) (0.55)
20A AL24
1/9
220
190
245
15
12
75
65
50
9
5.5
14
(8.66) (7.48) (9.65) (0.59) (0.47) (2.95) (2.56) (1.97) (0.35) (0.22) (0.55)
20A AL54
1/20
280
240
310
18
14
90
78
60
11
7
18
(11.0) (9.45) (12.2) (0.71) (0.55) (3.54) (3.07) (2.36) (0.43) (0.28) (0.71)
20A AL74
1/29
280
240
310
18
14
90
78
60
11
7
18
(11.0) (9.45) (12.2) (0.71) (0.55) (3.54) (3.07) (2.36) (0.43) (0.28) (0.71)
30A AL14
1/5
280
240
310
18
14
90
78
60
11
7
18
(11.0) (9.45) (12.2) (0.71) (0.55) (3.54) (3.07) (2.36) (0.43) (0.28) (0.71)
30A AL24
1/9
280
240
310
18
14
90
78
60
11
7
18
(11.0) (9.45) (12.2) (0.71) (0.55) (3.54) (3.07) (2.36) (0.43) (0.28) (0.71)
30A AL54
1/20
280
240
310
18
14
90
78
60
11
7
18
(11.0) (9.45) (12.2) (0.71) (0.55) (3.54) (3.07) (2.36) (0.43) (0.28) (0.71)
44A AL14
1/5
280
240
310
18
14
90
78
60
11
7
18
(11.0) (9.45) (12.2) (0.71) (0.55) (3.54) (3.07) (2.36) (0.43) (0.28) (0.71)
44A AL24
INFO
1/20
1/9
18
14
280
240
310
90
78
60
11
7
18
(11.0) (9.45) (12.2) (0.71) (0.55) (3.54) (3.07) (2.36) (0.43) (0.28) (0.71)
Approx.
Mass
kg (lb)
31
(68.3)
31
(68.3)
31
(68.3)
33
(72.8)
33
(72.8)
53
(117)
28
(61.7)
35
(77.2)
35
(77.2)
55
(121)
55
(121)
32
(70.5)
39
(86.0)
39
(86.0)
39
(86.0)
53
(117)
63
(139)
63
(139)
58
(128)
68
(150)
Lubrication
Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.
3-117
LF1
L
LF1
(0.0008)
0.02
0.04
(0.0016)
For 40A B
(For 55A B only)
LF2
S1
LA
LB
100( 3.94)
KL1
88(3.46)
LR
LE
LE
KB1
KB2
SGMGH-12A B to 55A B
LR
S
LJ2
LJ1
0.04 A
(0.0016)
LG
LC
LE
SGMGH-03A B to 09A B
LJ1
LM
Shaft End
(0.0016)
0.04 A
IE
LT
LR
S1
L
LL
Units: mm (in)
Model
SGMGH-
Shaft-end Dimensions
IE
KL1
196
138
92
58
46
65
117
03A B21
(7.72) (5.43) (3.62) (2.28) (1.81) (2.56) (4.61)
109
(4.29)
219
161
115
58
46
88
140
(8.62) (6.34) (4.53) (2.28) (1.81) (3.46) (5.51)
109
(4.29)
109
(4.29)
140
(5.51)
06A B21
LL
LM
LR
LT
KB1
KB2
243
185
139
58
46
112
164
09A B21
(9.57) (7.28) (5.47) (2.28) (1.81) (4.41) (6.46)
245
166
119
79
47
89
145
12A B21
(9.65) (6.54) (4.69) (3.11) (1.85) (3.50) (5.71)
20A B21
271
192
145
79
47
115
170
(10.7) (7.56) (5.71) (3.11) (1.85) (4.53) (6.69)
305
226
179
79
47
149
204
30A B21
(12.0) (8.90) (7.05) (3.11) (1.85) (5.87) (8.03)
140
(5.51)
140
(5.51)
373
260
213
113
47
174
238
123
150
40A B21
(14.7) (10.2) (8.39) (4.45) (1.85) (6.85) (9.37) (4.84) (5.91)
447
334
287
113
47
248
312
123
150
55A B21
(17.6) (13.1) (11.3) (4.45) (1.85) (9.76) (12.3) (4.84) (5.91)
3-118
S1
19
0.013
0.75 0
0.0005
0
19
0.013
0.75 0
0.0005
0
0.013
0.87 0
0.0005
22
+ 0.01
35
30
40
(1.18) (1.57)
5.5
(12.1)
30
40
(1.18) (1.57)
7.6
(16.8)
30
40
(1.18) (1.57)
9.6
(21.2)
45
76
1.38
+ 0.01
35
1.38+ 0.0004
+ 0.01
35
45
76
(1.77) (2.99)
45
76
1.38
42
0.016
1.65 0
0.0006
42
0.016
1.65 0
0.0006
Approx.
Mass
kg (lb)
14
(30.9)
18
(39.7)
23
(50.7)
45
110
(1.77) (4.33)
30
(66.1)
45
110
(1.77) (4.33)
40
(88.2)
Model
SGMGH-
LA
LB
03A B21
145
(5.71)
06A B21
145
(5.71)
110
LC
0.035
4.33 0
0.0014
110
0.035
4.33 0
0.0014
110
145
09A B21
(5.71)
0.035
4.33 0
0.0014
200
12A B21
(7.87)
114.3
20A B21
200
(7.87)
200
30A B21
(7.87)
0.025
4.50 0
0.0010
114.3
0.025
4.50 0
0.0010
114.3
0.025
4.50 0
0.0010
114.3
200
40A B21
(7.87)
0.025
4.50 0
0.0010
200
55A B21
(7.87)
114.3
0.025
4.50 0
0.0010
LH
K
J
M A
B
C
T NP
D
S R
E
H G F
LZ
45
12
165
(0.47) (6.50) (1.77)
9
(0.35)
490
(110)
98
(22)
130
6
6
(5.12) (0.24) (0.24)
12
165
45
(0.47) (6.50) (1.77)
9
(0.35)
490
(110)
98
(22)
130
6
6
(5.12) (0.24) (0.24)
12
165
45
(0.47) (6.50) (1.77)
9
(0.35)
686
(154)
343
(77)
62
13.5
180
3.2
3
0.5
18
230
76
(7.09) (0.13) (0.12) (0.02) (0.71) (9.06) (2.99) (2.44) (0.53)
1180
(265)
490
(110)
180
3.2
3
0.5
18
230
76
62
13.5
(7.09) (0.13) (0.12) (0.02) (0.71) (9.06) (2.99) (2.44) (0.53)
1470
(331)
490
(110)
180
3.2
3
0.5
18
230
76
62
13.5
(7.09) (0.13) (0.12) (0.02) (0.71) (9.06) (2.99) (2.44) (0.53)
1470
(331)
490
(110)
180
3.2
3
0.5
18
230
76
62
13.5
(7.09) (0.13) (0.12) (0.02) (0.71) (9.06) (2.99) (2.44) (0.53)
1760
(397)
588
(132)
180
3.2
3
0.5
18
230
76
62
13.5
(7.09) (0.13) (0.12) (0.02) (0.71) (9.06) (2.99) (2.44) (0.53)
1760
(397)
588
(132)
Receptacle: MS3102A20-29P
Applicable plug (Purchased by the customer)
Plug: MS3108B20-29S
Cable clamp: MS3057-12A
LJ2
Allowable
Thrust Load
N (lbf)
130
6
6
(5.12) (0.24) (0.24)
LJ1
Allowable
Radial Load
N (lbf)
DATA+
DATA
0V
+5VDC
FG (Frame ground)
A
B
C
Phase U
Phase V
Phase W
FG
(Frame ground)
BATTBATT+
A
B
C
D
E
F
G
H
J
DATA+
DATA
0V
+5VDC
FG (Frame ground)
K
L
M
N
P
R
S
T
3-119
3.16.2 SGMGH Servomotors (1000 min-1) Without Gears and With Brakes
(1) 300W to 3.0kW
Models with oil seals are of the same configuration.
LR
Shaft End
SGMGH-03A B to 09A B
SGMGH-12A B to 30A B
(0.0016)
0.04 A
LM
LE
0.04 A
(0.0016)
LG
LC
LE
LA
LE
LF1
LF2
S1
S
LJ1
LB
100( 3.94)
KL1
88(3.46)
LR
LR
KB2
0.02
(0.0008)
KB1
4-LZ Mounting
holes
LF1
S
LJ2
LJ1
48(1.89)
S1
L
LL
Units: mm (in)
Model
SGMGH-
Shaft-end Dimensions
LL
LM
LR
KB1
KB2
KL1
03A B2
234
(9.21)
176
(6.93)
130
(5.12)
58
(2.28)
56
(2.20)
154
(6.06)
120
(4.72)
06A B2
257
(10.1)
199
(7.83)
153
(6.02)
58
(2.28)
79
(3.11)
177
(6.97)
120
(4.72)
09A B2
281
(11.1)
223
(8.78)
177
(6.97)
58
(2.28)
103
(4.06)
201
(7.91)
120
(4.72)
12A B2
296
(11.7)
217
(8.54)
169
(6.65)
79
(3.11)
79
(3.11)
195
(7.68)
146
(5.75)
20A B2
322
(12.7)
243
(9.57)
195
(7.68)
79
(3.11)
105
(4.13)
221
(8.70)
146
(5.75)
30A B2
3-120
356
(14.0)
277
(10.9)
229
(9.02)
79
(3.11)
139
(5.47)
255
(10.0)
146
(5.75)
S1
S
0
19
0.013
0.75 0
0.0005
0
19
0.013
0.75 0
0.0005
0
22
0.013
0.87 0
0.0005
+ 0.01
35
1.38+ 0.0004
+ 0.01
35
1.38+ 0.0004
+ 0.01
35
+ 0.0004
1.38
Approx.
Mass
kg (lb)
30
(1.18)
40
(1.57)
7.5
(16.5)
30
(1.18)
40
(1.57)
9.6
(21.2)
30
(1.18)
40
(1.57)
12
(26.5)
45
(1.77)
76
(2.99)
19
(41.9)
45
(1.77)
76
(2.99)
23.5
(51.8)
45
(1.77)
76
(2.99)
28.5
(62.8)
Model
SGMGH-
LA
LB
110
LC
03A B2
145
(5.71)
06A B2
145
(5.71)
09A B2
145
(5.71)
0.035
4.33 0
0.0014
114.3
12A B2
200
(7.87)
0.025
4.50 0
0.0010
114.3
20A B2
200
(7.87)
0.025
4.50 0
0.0010
200
(7.87)
114.3
30A B2
0.035
4.33 0
0.0014
110
0.035
4.33 0
0.0014
110
0.025
4.50 0
0.0010
K
J
M A
B
C
T NP
D
S R
E
H G F
K
L
M
N
P
R
S
T
LJ2
LZ
12
165
45
(0.47) (6.50) (1.77)
9
(0.35)
490
(110)
98
(22)
130
6
6
(5.12) (0.24) (0.24)
12
165
45
(0.47) (6.50) (1.77)
9
(0.35)
490
(110)
98
(22)
130
6
6
(5.12) (0.24) (0.24)
12
165
45
(0.47) (6.50) (1.77)
9
(0.35)
686
(154)
343
(77)
180
3.2
3
0.5
18
230
76
62
13.5
(7.09) (0.13) (0.12) (0.02) (0.71) (9.06) (2.99) (2.44) (0.53)
1180
(265)
490
(110)
180
3.2
3
0.5
18
230
76
62
13.5
(7.09) (0.13) (0.12) (0.02) (0.71) (9.06) (2.99) (2.44) (0.53)
1470
(331)
490
(110)
180
3.2
3
0.5
18
230
76
62
13.5
(7.09) (0.13) (0.12) (0.02) (0.71) (9.06) (2.99) (2.44) (0.53)
1470
(331)
490
(110)
Receptacle: MS3102A20-29P
Applicable plug (Purchased by the customer)
Plug: MS3108B20-29S
Cable clamp: MS3057-12A
B
DATA+
C
D
DATA
E
F
0V
G
H
+5VDC
J
FG (Frame ground)
LJ1
Allowable
Thrust Load
N (lbf)
130
6
6
(5.12) (0.24) (0.24)
LH
Allowable
Radial Load
N (lbf)
BATTBATT+
F
E
D
B
C
A
B
C
D
Phase U
Phase V
Phase W
FG
(Frame ground)
A
K
B
L
DATA+
M
C
N
D
DATA
E
P
F
R
0V
G
S
H
T
+5VDC
J
FG (Frame ground)
E Brake terminal
F Brake terminal
3-121
180( 7.09)
0
20 .87)
(7
0.5
(0.02)
114.3
123 (4.84)
110(4.33)
0.04
(0.0016)
LL
LM
KB1
KB2
Approx.
Mass
kg (lb)
35
(77.2)
45.5
(100)
KB3
40A B2
424
311
263
174
289
231
(16.7) (12.2) (10.4) (6.85) (11.4) (9.09)
55A B2
3(0.12)
KB3
4-13.5 Mounting
holes
113(4.45)
3.2(0.13)
)
0
-0.025
KB1
KB2
Model
SGMGH-
Shaft End
0.04 A 23
0
(0.0016)(9.0
6)
(4.50
0
-0.0010
100( 3.94)
150(5.91)
123(4.84)
88(3.46)
(0.0016)
0.04 A
3.2(0.13)
0
42 -0.016 (1.65 -0.0006 )
62(2.44)
76(2.99)
113(4.45)
48(1.89) LM
18(0.71)
45(1.77)
L
LL
0
0
42 -0.016 (1.65 -0.0006 )
498
385
337
248
363
305
(19.6) (15.2) (13.3) (9.76) (14.3) (12.0)
Allowable
Radial Load
N (lbf)
Units: mm (in)
Allowable
Thrust Load
N (lbf)
1760
(397)
588
(132)
M A
B
C
N
T
P
D
S R
E
H G F
Receptacle: MS3102A20-29P
Applicable plug (Purchased by the customer)
Plug: MS3108B20-29S
Cable clamp: MS3057-12A
B
DATA+
C
D
DATA
E
F
0V
G
H
+5VDC
J
FG (Frame ground)
K
L
M
N
P
R
S
T
BATTBATT+
A
B
C
D
3-122
Phase U
Phase V
Phase W
FG
(Frame ground)
A
K
B
L
DATA+
C
M
D
N
DATA
E
P
F
R
0V
G
S
T
H
+5VDC
J
FG (Frame ground)
A Brake terminal
B Brake terminal
3.16.3 SGMGH Servomotors (1000 min-1) With Standard Backlash Gears and Without Brakes (Foot-mounted Type)
(1) Grease Lubricating Type
L
LL
R
B
LM
Shaft End
A
Tap Depth
T
F
N
XC
XR
4-Z Mounting
holes
QK
Sh6
LT
KL1
88(3.46)
KB2
KB1
Units: mm (in)
Model
SGMGH-
Gear
Model
Gear
Ratio
03A BSA6
CNHX4095
1/6
380
138
92
46
73
21
109
242
209
152
100
(15.0) (5.43) (3.62) (1.81) (2.87) (0.83) (4.29) (9.53) (8.23) (5.98) (3.94)
03A BSB6
CNHX4095
1/11
380
138
92
46
73
21
109
242
209
152
100
(15.0) (5.43) (3.62) (1.81) (2.87) (0.83) (4.29) (9.53) (8.23) (5.98) (3.94)
03A BSC6
CNHX4105
1/21
394
138
92
46
73
21
109
256
209
152
100
(15.5) (5.43) (3.62) (1.81) (2.87) (0.83) (4.29) (10.1) (8.23) (5.98) (3.94)
03A BS76
CNHX4105
1/29
394
138
92
46
73
21
109
256
209
152
100
(15.5) (5.43) (3.62) (1.81) (2.87) (0.83) (4.29) (10.1) (8.23) (5.98) (3.94)
06A BSA6
CNHX4105
1/6
417
161
115
46
73
21
109
256
209
152
100
(16.4) (6.34) (4.53) (1.81) (2.87) (0.83) (4.29) (10.1) (8.23) (5.98) (3.94)
06A BSB6
CNHX4105
1/11
417
161
115
46
73
21
109
256
209
152
100
(16.4) (6.34) (4.53) (1.81) (2.87) (0.83) (4.29) (10.1) (8.23) (5.98) (3.94)
06A BSC6
CNHX4115
1/21
449
161
115
46
73
21
109
288
257
204
120
(17.7) (6.34) (4.53) (1.81) (2.87) (0.83) (4.29) (11.3) (10.1) (8.03) (4.72)
06A BS76
CNHX4115
1/29
449
161
115
46
73
21
109
288
257
204
120
(17.7) (6.34) (4.53) (1.81) (2.87) (0.83) (4.29) (11.3) (10.1) (8.03) (4.72)
09A BSA6
CNHX4105
1/6
441
185
139
46
73
21
109
256
209
152
100
(17.4) (7.28) (5.47) (1.81) (2.87) (0.83) (4.29) (10.1) (8.23) (5.98) (3.94)
09A BSB6
CNHX4105
1/11
441
185
139
46
73
21
109
256
209
152
100
(17.4) (7.28) (5.47) (1.81) (2.87) (0.83) (4.29) (10.1) (8.23) (5.98) (3.94)
09A BSC6
CNHX4115
1/21
473
185
139
46
73
21
109
288
257
204
120
(18.6) (7.28) (5.47) (1.81) (2.87) (0.83) (4.29) (11.3) (10.1) (8.03) (4.72)
09A BS76
CNHX4115
1/29
473
185
139
46
73
21
109
288
257
204
120
(18.6) (7.28) (5.47) (1.81) (2.87) (0.83) (4.29) (11.3) (10.1) (8.03) (4.72)
12A BSA6
CNHX4115
1/6
477
166
119
47
77
22
140
311
260
204
120
(18.8) (6.54) (4.69) (1.85) (3.03) (0.87) (5.51) (12.2) (10.2) (8.03) (4.72)
12A BSB6
CNHX4115
1/11
477
166
119
47
77
22
140
311
260
204
120
(18.8) (6.54) (4.69) (1.85) (3.03) (0.87) (5.51) (12.2) (10.2) (8.03) (4.72)
20A BSA6
CNHX4115
1/6
503
192
145
47
77
22
140
311
260
204
120
(19.8) (7.56) (5.71) (1.85) (3.03) (0.87) (5.51) (12.2) (10.2) (8.03) (4.72)
LL
LM
LT
KB1
KB2
KL1
Shaft Center
Allowable
Radial Load
N (lbf)
2360
(531)
2890
(650)
5390
(1210)
5390
(1210)
3720
(837)
4550
(1020)
7070
(1590)
7860
(1770)
3720
(837)
4550
(1020)
7070
(1590)
7860
(1770)
4660
(1050)
5700
(1280)
4660
(1050)
3-123
Gear
Model
Gear
Ratio
20A BSB6
CNHX4115
1/11
LL
LM
LT
KB1
KB2
KL1
503
192
145
47
77
22
140
311
260
204
120
(19.8) (7.56) (5.71) (1.85) (3.03) (0.87) (5.51) (12.2) (10.2) (8.03) (4.72)
0
-0.5
Shaft Center
Allowable
Radial Load
N (lbf)
5700
(1280)
Foot-mounted Dimensions
mm (in)
Shaft-end Dimensions
mm (in)
Model
SGMGH-
Gear
Ratio
03A BSA6
1/6
75
90
12
40
180
130
45
60
11
35
32
28
7
4
8
(2.95) (3.54) (0.47) (1.57) (7.09) (5.12) (1.77) (2.36) (0.43) (1.38) (1.26) (1.10) (0.28) (0.16) (0.31)
M819
03A BSB6
1/11
75
90
12
40
180
130
45
60
11
35
32
28
7
4
8
(2.95) (3.54) (0.47) (1.57) (7.09) (5.12) (1.77) (2.36) (0.43) (1.38) (1.26) (1.10) (0.28) (0.16) (0.31)
M819
03A BSC6
1/21
75
90
12
40
180
135
45
60
11
35
32
28
7
4
8
(2.95) (3.54) (0.47) (1.57) (7.09) (5.31) (1.77) (2.36) (0.43) (1.38) (1.26) (1.10) (0.28) (0.16) (0.31)
M819
03A BS76
1/29
75
90
12
40
180
135
45
60
11
35
32
28
7
4
8
(2.95) (3.54) (0.47) (1.57) (7.09) (5.31) (1.77) (2.36) (0.43) (1.38) (1.26) (1.10) (0.28) (0.16) (0.31)
M819
06A BSA6
1/6
75
90
12
40
180
135
45
60
11
35
32
28
7
4
8
(2.95) (3.54) (0.47) (1.57) (7.09) (5.31) (1.77) (2.36) (0.43) (1.38) (1.26) (1.10) (0.28) (0.16) (0.31)
M819
06A BSB6
1/11
75
90
12
40
180
135
45
60
11
35
32
28
7
4
8
(2.95) (3.54) (0.47) (1.57) (7.09) (5.31) (1.77) (2.36) (0.43) (1.38) (1.26) (1.10) (0.28) (0.16) (0.31)
M819
06A BSC6
1/21
95
115
15
55
230
155
62
82
14
55
50
38
8
5
10
(3.74) (4.53) (0.59) (2.17) (9.06) (6.10) (2.44) (3.23) (0.55) (2.17) (1.97) (1.50) (0.31) (0.20) (0.39)
M1022
06A BS76
1/29
95
115
15
55
230
155
62
82
14
55
50
38
8
5
10
(3.74) (4.53) (0.59) (2.17) (9.06) (6.10) (2.44) (3.23) (0.55) (2.17) (1.97) (1.50) (0.31) (0.20) (0.39)
M1022
09A BSA6
1/6
75
90
12
40
180
135
45
60
11
35
32
28
7
4
8
(2.95) (3.54) (0.47) (1.57) (7.09) (5.31) (1.77) (2.36) (0.43) (1.38) (1.26) (1.10) (0.28) (0.16) (0.31)
M819
09A BSB6
1/11
75
90
12
40
180
135
45
60
11
35
32
28
7
4
8
(2.95) (3.54) (0.47) (1.57) (7.09) (5.31) (1.77) (2.36) (0.43) (1.38) (1.26) (1.10) (0.28) (0.16) (0.31)
M819
09A BSC6
1/21
95
115
15
55
230
155
62
82
14
55
50
38
8
5
10
(3.74) (4.53) (0.59) (2.17) (9.06) (6.10) (2.44) (3.23) (0.55) (2.17) (1.97) (1.50) (0.31) (0.20) (0.39)
M1022
09A BS76
1/29
95
115
15
55
230
155
62
82
14
55
50
38
8
5
10
(3.74) (4.53) (0.59) (2.17) (9.06) (6.10) (2.44) (3.23) (0.55) (2.17) (1.97) (1.50) (0.31) (0.20) (0.39)
M1022
12A BSA6
1/6
95
115
15
55
230
155
62
82
14
55
50
38
8
5
10
(3.74) (4.53) (0.59) (2.17) (9.06) (6.10) (2.44) (3.23) (0.55) (2.17) (1.97) (1.50) (0.31) (0.20) (0.39)
M1022
12A BSB6
1/11
95
115
15
55
230
155
62
82
14
55
50
38
8
5
10
(3.74) (4.53) (0.59) (2.17) (9.06) (6.10) (2.44) (3.23) (0.55) (2.17) (1.97) (1.50) (0.31) (0.20) (0.39)
M1022
20A BSA6
1/6
95
115
15
55
230
155
62
82
14
55
50
38
8
5
10
(3.74) (4.53) (0.59) (2.17) (9.06) (6.10) (2.44) (3.23) (0.55) (2.17) (1.97) (1.50) (0.31) (0.20) (0.39)
M1022
20A BSB6
1/11
95
115
15
55
230
155
62
82
14
55
50
38
8
5
10
(3.74) (4.53) (0.59) (2.17) (9.06) (6.10) (2.44) (3.23) (0.55) (2.17) (1.97) (1.50) (0.31) (0.20) (0.39)
M1022
3-124
XR
XC
QK
Tap
Depth
Approx.
Mass
kg (lb)
20.5
(45.2)
20.5
(45.2)
22.5
(49.6)
22.5
(49.6)
24.6
(54.2)
24.6
(54.2)
34.6
(76.3)
34.6
(76.3)
26.6
(58.6)
26.6
(58.6)
36.6
(80.7)
36.6
(80.7)
43
(94.8)
43
(94.8)
47
(104)
47
(104)
Dimensional Tolerances
Model
SGMGH-
Units: mm (in)
Shaft-end Dimensions
S
03A BSA6
0
1.10 0
0.013
0.0005
03A BSB6
28
0
1.10 0
0.013
0.0005
03A BSC6
28
0
1.10 0
0.013
0.0005
03A BS76
28
0
1.10 0
0.013
0.0005
06A BSA6
28
0
1.10 0
0.013
0.0005
06A BSB6
28
0
1.10 0
0.013
0.0005
06A BSC6
38
0
1.50 0
0.016
0.0006
06A BS76
38
0
1.50 0
0.016
0.0006
09A BSA6
28
0
1.10 0
0.013
0.0005
09A BSB6
28
0
1.10 0
0.013
0.0005
09A BSC6
38
0
1.50 0
0.016
0.0006
09A BS76
38
0
1.50 0
0.016
0.0006
12A BSA6
38
0
1.50 0
0.016
0.0006
12A BSB6
38
0
1.50 0
0.016
0.0006
20A BSA6
38
0
1.50 0
0.016
0.0006
20A BSB6
INFO
28
38
0
1.50 0
0.016
0.0006
Lubrication
Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.
3-125
Oil supply
plug
Hydrant
Shaft End
Sh6
Q
QK
Oil supply
plug
Tap Depth
T
F
N
XC
XR
KL1
88(3.46)
LL
47(1.85) LM
22(0.87)
KB1
4-Z Mounting
holes
Units: mm (in)
Model
SGMGH-
Gear Model
Gear
Ratio
LL
LM
KB1
KL1
536
166
119
77
140
370
300
246
150
(21.1) (6.54) (4.69) (3.03) (5.51) (14.6) (11.8) (9.69) (5.91)
12A BS76
CHHX-4135
1/29
536
166
119
77
140
370
300
246
150
(21.1) (6.54) (4.69) (3.03) (5.51) (14.6) (11.8) (9.69) (5.91)
1/21
582
192
145
77
140
390
300
246
150
(22.9) (7.56) (5.71) (3.03) (5.51) (15.4) (11.8) (9.69) (5.91)
20A BS76
CHHJ-4160
1/29
687
192
145
77
140
495
319
318
160
(27.0) (7.56) (5.71) (3.03) (5.51) (19.5) (12.6) (12.5) (6.30)
1/6
596
226
179
77
140
370
300
246
150
(23.5) (8.90) (7.05) (3.03) (5.51) (14.6) (11.8) (9.69) (5.91)
1/11
596
226
179
77
140
370
300
246
150
(23.5) (8.90) (7.05) (3.03) (5.51) (14.6) (11.8) (9.69) (5.91)
1/21
721
226
179
77
140
495
319
318
160
(28.4) (8.90) (7.05) (3.03) (5.51) (19.5) (12.6) (12.5) (6.30)
30A BS76
CHHJ-4170
1/29
785
226
179
77
140
559
382
363
200
(30.9) (8.90) (7.05) (3.03) (5.51) (22.0) (15.0) (14.3) (7.87)
1/6
664
260
213
86
150
404
300
246
150
(26.1) (10.2) (8.39) (3.39) (5.91) (15.9) (11.8) (9.69) (5.91)
1/11
684
260
213
86
150
424
300
246
150
(26.9) (10.2) (8.39) (3.39) (5.91) (16.7) (11.8) (9.69) (5.91)
1/21
853
260
213
86
150
593
382
363
200
(33.6) (10.2) (8.39) (3.39) (5.91) (23.3) (15.0) (14.3) (7.87)
40A BS76
CHHJ-4175
1/29
853
260
213
86
150
593
382
363
200
(33.6) (10.2) (8.39) (3.39) (5.91) (23.3) (15.0) (14.3) (7.87)
55A BSB6
CHHJ-4160
1/11
863
334
287
86
150
529
319
318
160
(34.0) (13.1) (11.3) (3.39) (5.91) (20.8) (12.6) (12.5) (6.30)
1/21
927
334
287
86
150
593
382
363
200
(36.5) (13.1) (11.3) (3.39) (5.91) (23.3) (15.0) (14.3) (7.87)
55A BS76
3-126
1/21
1/29
977
334
287
86
150
643
417
393
220
(38.5) (13.1) (11.3) (3.39) (5.91) (25.3) (16.4) (15.5) (8.66)
CHHJ-4185
Shaft Center
Allowable
Radial Load
N (lbf)
10200
(2290)
11300
(2550)
13000
(2930)
18500
(4170)
6740
(1520)
8240
(1850)
16700
(3770)
21800
(4900)
6740
(1520)
10700
(2420)
19600
(4400)
21800
(4900)
13500
(3030)
19600
(4400)
29200
(6570)
Shaft-end Dimensions
mm (in)
Model
SGMGH-
Gear
Ratio
12A BSC6
1/21
145
145
22
65
330
195
75
100
18
70
56
50
9
5.5
14
(5.71) (5.71) (0.87) (2.56) (13.0) (7.68) (2.95) (3.94) (0.71) (2.76) (2.20) (1.97) (0.35) (0.22) (0.55)
M10 18
12A BS76
1/29
145
145
22
65
330
195
75
100
18
70
56
50
9
5.5
14
(5.71) (5.71) (0.87) (2.56) (13.0) (7.68) (2.95) (3.94) (0.71) (2.76) (2.20) (1.97) (0.35) (0.22) (0.55)
M10 18
20A BSC6
1/21
145
145
22
65
330
195
95
120
18
90
80
50
9
5.5
14
(5.71) (5.71) (0.87) (2.56) (13.0) (7.68) (3.74) (4.72) (0.71) (3.54) (3.15) (1.97) (0.35) (0.22) (0.55)
M10 18
20A BS76
1/29
185
150
25
75
410
238
95
139
18
90
80
60
11
7
18
(7.28) (5.91) (0.98) (2.95) (16.1) (9.37) (3.74) (5.47) (0.71) (3.54) (3.15) (2.36) (0.43) (0.28) (0.71)
M10 18
30A BSA6
1/6
145
145
22
65
330
195
75
100
18
70
56
50
9
5.5
14
(5.71) (5.71) (0.87) (2.56) (13.0) (7.68) (2.95) (3.94) (0.71) (2.76) (2.20) (1.97) (0.35) (0.22) (0.55)
M10 18
30A BSB6
1/11
145
145
22
65
330
195
75
100
18
70
56
50
9
5.5
14
(5.71) (5.71) (0.87) (2.56) (13.0) (7.68) (2.95) (3.94) (0.71) (2.76) (2.20) (1.97) (0.35) (0.22) (0.55)
M10 18
30A BSC6
1/21
185
150
25
75
410
238
95
139
18
90
80
60
11
7
18
(7.28) (5.91) (0.98) (2.95) (16.1) (9.37) (3.74) (5.47) (0.71) (3.54) (3.15) (2.36) (0.43) (0.28) (0.71)
M10 18
30A BS76
1/29
190
275
30
80
430
335
95
125
22
90
80
70
12
7.5
20
(7.48) (10.8) (1.18) (3.15) (16.9) (13.2) (3.74) (4.92) (0.87) (3.54) (3.15) (2.76) (0.47) (0.30) (0.79)
M12 24
40A BSA6
1/6
145
145
22
65
330
195
75
100
18
70
56
50
9
5.5
14
(5.71) (5.71) (0.87) (2.56) (13.0) (7.68) (2.95) (3.94) (0.71) (2.76) (2.20) (1.97) (0.35) (0.22) (0.55)
M10 18
40A BSB6
1/11
145
145
22
65
330
195
95
120
18
90
80
50
9
5.5
14
(5.71) (5.71) (0.87) (2.56) (13.0) (7.68) (3.74) (4.72) (0.71) (3.54) (3.15) (1.97) (0.35) (0.22) (0.55)
M10 18
40A BSC6
1/21
190
275
30
80
430
335
95
125
22
90
80
70
12
7.5
20
(7.48) (10.8) (1.18) (3.15) (16.9) (13.2) (3.74) (4.92) (0.87) (3.54) (3.15) (2.76) (0.47) (0.30) (0.79)
M12 24
40A BS76
1/29
190
275
30
80
430
335
95
125
22
90
80
70
12
7.5
20
(7.48) (10.8) (1.18) (3.15) (16.9) (13.2) (3.74) (4.92) (0.87) (3.54) (3.15) (2.76) (0.47) (0.30) (0.79)
M12 24
55A BSB6
1/11
185
150
25
75
410
238
95
139
18
90
80
60
11
7
18
(7.28) (5.91) (0.98) (2.95) (16.1) (9.37) (3.74) (5.47) (0.71) (3.54) (3.15) (2.36) (0.43) (0.28) (0.71)
M10 18
55A BSC6
1/21
190
275
30
80
430
335
95
125
22
90
80
70
12
7.5
20
(7.48) (10.8) (1.18) (3.15) (16.9) (13.2) (3.74) (4.92) (0.87) (3.54) (3.15) (2.76) (0.47) (0.30) (0.79)
M12 24
55A BS76
1/29
210
320
30
85
470
380
115
145
22
110
100
80
14
9
22
(8.27) (12.6) (1.18) (3.35) (18.5) (15.0) (4.53) (5.71) (0.87) (4.33) (3.94) (3.15) (0.55) (0.35) (0.87)
M12 24
XR
XC
QK
Tap
Depth
Approx
. Mass
kg (lb)
67
(148)
67
(148)
72
(159)
126
(278)
76
(168)
76
(168)
131
(289)
176
(388)
88
(194)
89
(196)
191
(421)
191
(421)
155
(342)
201
(443)
245
(540)
3-127
Dimensional Tolerances
Units: mm (in)
Shaft-end Dimensions
S
Model
SGMGH12A BSC6
0
1.97 0
0.016
0.0006
12A BS76
50
0
1.97 0
0.016
0.0006
20A BSC6
50
0
1.97 0
0.016
0.0006
20A BS76
60
0
2.36 0
0.019
0.0007
30A BSA6
50
0
1.97 0
0.016
0.0006
30A BSB6
50
0
1.97 0
0.016
0.0006
30A BSC6
60
0
2.36 0
0.019
0.0007
30A BS76
70
0
2.76 0
0.019
0.0007
40A BSA6
50
0
1.97 0
0.016
0.0006
40A BSB6
50
0
1.97 0
0.016
0.0006
40A BSC6
70
0
2.76 0
0.019
0.0007
40A BS76
70
0
2.76 0
0.019
0.0007
55A BSB6
60
0
2.36 0
0.019
0.0007
55A BSC6
70
0
2.76 0
0.019
0.0007
55A BS76
INFO
50
80
0
3.15 0
0.019
0.0007
Lubrication
Oil lubricating type (frame numbers: 4130 to 4190)
Servomotors of this type have been shipped with oil removed. Be sure to supply oil until the red line at the upper side
of the oil guage.
Lubrication oil recommended is industrial-use extreme-pressure gear oil of SP-system, JIS K 2219 industrial-use gear
oil or equivalent. Refer to the following table.
Ambient
Temperature COSMO Oil Co., Ltd.
0 to 35 C
(32 to 95 F)
COSMO Gear
SE
100, 150
Manufacturer
Nippon Oil Co., Ltd.
BON-NOCK
M
100, 150
Tonen General
Sekiyu K. K.
GENERAL SP
Gear Roll
100, 150
4145
4155
4160
4165
4170
4175
4180
4185
4190
Horizontal
type
3-128
4130
4135
0.7
0.7
0.7
1.4
1.9
2.5
4.0
3.16.4 SGMGH Servomotors (1000 min-1) With Standard Backlash Gears and Without Brakes (Flange-mounted Type)
(1) Grease Lubricating Type
L
4 Mounting holes
LR
LG
LA
KB1
LA
Tap Depth
(See the
following table.)
LBf8
L
C
L
C
Sh6
KL1
88(3.46)
QK
N-11 Mounting
holes
N-11 Mounting
holes
KB2
6 Mounting holes
Shaft End
LE
Q
LT
LL
LM
Units: mm (in)
Model
SGMGH-
Gear Model
Gear
Ratio
03A BTA6
CNVX-4095
1/6
380
138
92
46
73
21
109
242
(15.0) (5.43) (3.62) (1.81) (2.87) (0.83) (4.29) (9.53)
03A BTB6
CNVX-4095
1/11
380
138
92
46
73
21
109
242
(15.0) (5.43) (3.62) (1.81) (2.87) (0.83) (4.29) (9.53)
03A BTC6
CNVX-4105
1/21
394
138
92
46
73
21
109
256
(15.5) (5.43) (3.62) (1.81) (2.87) (0.83) (4.29) (10.1)
03A BT76
CNVX-4105
1/29
394
138
92
46
73
21
109
256
(15.5) (5.43) (3.62) (1.81) (2.87) (0.83) (4.29) (10.1)
06A BTA6
CNVX-4105
1/6
417
161
115
46
73
21
109
256
(16.4) (6.34) (4.53) (1.81) (2.87) (0.83) (4.29) (10.1)
06A BTB6
CNVX-4105
1/11
417
161
115
46
73
21
109
256
(16.4) (6.34) (4.53) (1.81) (2.87) (0.83) (4.29) (10.1)
06A BTC6
CNVX-4115
1/21
449
161
115
46
73
21
109
288
(17.7) (6.34) (4.53) (1.81) (2.87) (0.83) (4.29) (11.3)
06A BT76
CNVX-4115
1/29
449
161
115
46
73
21
109
288
(17.7) (6.34) (4.53) (1.81) (2.87) (0.83) (4.29) (11.3)
09A BTA6
CNVX-4105
1/6
441
185
139
46
73
21
109
256
(17.4) (7.28) (5.47) (1.81) (2.87) (0.83) (4.29) (10.1)
09A BTB6
CNVX-4105
1/11
441
185
139
46
73
21
109
256
(17.4) (7.28) (5.47) (1.81) (2.87) (0.83) (4.29) (10.1)
09A BTC6
CNVX-4115
1/21
473
185
139
46
73
21
109
288
(18.6) (7.28) (5.47) (1.81) (2.87) (0.83) (4.29) (11.3)
09A BT76
CNVX-4115
1/29
473
185
139
46
73
21
109
288
(18.6) (7.28) (5.47) (1.81) (2.87) (0.83) (4.29) (11.3)
12A BTA6
CNVX-4115
1/6
477
166
119
47
77
22
140
311
(18.8) (6.54) (4.69) (1.85) (3.03) (0.87) (5.51) (12.2)
12A BTB6
CNVX-4115
1/11
477
166
119
47
77
22
140
311
(18.8) (6.54) (4.69) (1.85) (3.03) (0.87) (5.51) (12.2)
20A BTA6
CNVX-4115
1/6
503
192
145
47
77
22
140
311
(19.8) (7.56) (5.71) (1.85) (3.03) (0.87) (5.51) (12.2)
20A BTB6
CNVX-4115
1/11
503
192
145
47
77
22
140
311
(19.8) (7.56) (5.71) (1.85) (3.03) (0.87) (5.51) (12.2)
LL
LM
LT
KB1
KB2
KL1
Shaft Center
Allowable
Radial Load
N (lbf)
2360
(531)
2890
(650)
5390
(1210)
5390
(1210)
3720
(837)
4550
(1020)
7070
(1590)
7860
(1770)
3720
(837)
4550
(1020)
7070
(1590)
7860
(1770)
4660
(1050)
5700
(1280)
4660
(1050)
5700
(1280)
3-129
Model
SGMGH-
134
(5.28)
134
03A BTB6
(5.28)
134
03A BTC6
(5.28)
134
03A BT76
(5.28)
134
06A BTA6
(5.28)
134
06A BTB6
(5.28)
180
06A BTC6
(7.09)
180
06A BT76
(7.09)
134
09A BTA6
(5.28)
134
09A BTB6
(5.28)
180
09A BTC6
(7.09)
180
09A BT76
(7.09)
180
12A BTA6
(7.09)
180
12A BTB6
(7.09)
180
20A BTA6
(7.09)
180
20A BTB6
(7.09)
03A BTA6
3-130
Shaft-end Dimensions
mm (in)
LB
LC
LE
LG
LR
QK
110
(4.33)
110
(4.33)
110
(4.33)
110
(4.33)
110
(4.33)
110
(4.33)
140
(5.51)
140
(5.51)
110
(4.33)
110
(4.33)
140
(5.51)
140
(5.51)
140
(5.51)
140
(5.51)
140
(5.51)
140
(5.51)
160
(6.30)
160
(6.30)
160
(6.30)
160
(6.30)
160
(6.30)
160
(6.30)
210
(8.27)
210
(8.27)
160
(6.30)
160
(6.30)
210
(8.27)
210
(8.27)
210
(8.27)
210
(8.27)
210
(8.27)
210
(8.27)
3
(0.12)
3
(0.12)
3
(0.12)
3
(0.12)
3
(0.12)
3
(0.12)
4
(0.16)
4
(0.16)
3
(0.12)
3
(0.12)
4
(0.16)
4
(0.16)
4
(0.16)
4
(0.16)
4
(0.16)
4
(0.16)
9
(0.35)
9
(0.35)
9
(0.35)
9
(0.35)
9
(0.35)
9
(0.35)
13
(0.51)
13
(0.51)
9
(0.35)
9
(0.35)
13
(0.51)
13
(0.51)
13
(0.51)
13
(0.51)
13
(0.51)
13
(0.51)
48
(1.89)
48
(1.89)
48
(1.89)
48
(1.89)
48
(1.89)
48
(1.89)
69
(2.72)
69
(2.72)
48
(1.89)
48
(1.89)
69
(2.72)
69
(2.72)
69
(2.72)
69
(2.72)
69
(2.72)
69
(2.72)
4
(0.16)
4
(0.16)
4
(0.16)
4
(0.16)
4
(0.16)
4
(0.16)
6
(0.24)
6
(0.24)
4
(0.16)
4
(0.16)
6
(0.24)
6
(0.24)
6
(0.24)
6
(0.24)
6
(0.24)
6
(0.24)
35
(1.38)
35
(1.38)
35
(1.38)
35
(1.38)
35
(1.38)
35
(1.38)
55
(2.17)
55
(2.17)
35
(1.38)
35
(1.38)
55
(2.17)
55
(2.17)
55
(2.17)
55
(2.17)
55
(2.17)
55
(2.17)
32
(1.26)
32
(1.26)
32
(1.26)
32
(1.26)
32
(1.26)
32
(1.26)
50
(1.97)
50
(1.97)
32
(1.26)
32
(1.26)
50
(1.97)
50
(1.97)
50
(1.97)
50
(1.97)
50
(1.97)
50
(1.97)
28
(1.10)
28
(1.10)
28
(1.10)
28
(1.10)
28
(1.10)
28
(1.10)
38
(1.50)
38
(1.50)
28
(1.10)
28
(1.10)
38
(1.50)
38
(1.50)
38
(1.50)
38
(1.50)
38
(1.50)
38
(1.50)
7
(0.28)
7
(0.28)
7
(0.28)
7
(0.28)
7
(0.28)
7
(0.28)
8
(0.31)
8
(0.31)
7
(0.28)
7
(0.28)
8
(0.31)
8
(0.31)
8
(0.31)
8
(0.31)
8
(0.31)
8
(0.31)
4
(0.16)
4
(0.16)
4
(0.16)
4
(0.16)
4
(0.16)
4
(0.16)
5
(0.20)
5
(0.20)
4
(0.16)
4
(0.16)
5
(0.20)
5
(0.20)
5
(0.20)
5
(0.20)
5
(0.20)
5
(0.20)
8
(0.31)
8
(0.31)
8
(0.31)
8
(0.31)
8
(0.31)
8
(0.31)
10
(0.39)
10
(0.39)
8
(0.31)
8
(0.31)
10
(0.39)
10
(0.39)
10
(0.39)
10
(0.39)
10
(0.39)
10
(0.39)
Tap
Depth
M8 19
M8 19
M8 19
M8 19
M8 19
M8 19
M10 22
M10 22
M8 19
M8 19
M10 22
M10 22
M10 22
M10 22
M10 22
M10 22
Approx.
Mass
kg (lb)
18.5
(40.8)
18.5
(40.8)
20.5
(45.2)
20.5
(45.2)
22.6
(49.8)
22.6
(49.8)
33.6
(74.1)
33.6
(74.1)
24.6
(54.2)
24.6
(54.2)
35.6
(78.5)
35.6
(78.5)
42
(92.6)
42
(92.6)
46
(101)
46
(101)
Dimensional Tolerances
Model
SGMGH-
Units: mm (in)
Shaft-end Dimensions
S
03A BTA6
28
0
1.10 0
0.013
0.0005
03A BTB6
28
0
1.10 0
0.013
0.0005
03A BTC6
28
0
1.10 0
0.013
0.0005
03A BT76
28
0
1.10 0
0.013
0.0005
06A BTA6
28
0
1.10 0
0.013
0.0005
06A BTB6
28
0
1.10 0
0.013
0.0005
06A BTC6
38
0
1.50 0
0.016
0.0006
06A BT76
38
0
1.50 0
0.016
0.0006
09A BTA6
28
0
1.10 0
0.013
0.0005
09A BTB6
28
0
1.10 0
0.013
0.0005
09A BTC6
38
0
1.50 0
0.016
0.0006
09A BT76
38
0
1.50 0
0.016
0.0006
12A BTA6
38
0
1.50 0
0.016
0.0006
12A BTB6
38
0
1.50 0
0.016
0.0006
20A BTA6
38
0
1.50 0
0.016
0.0006
20A BTB6
INFO
38
0
1.50 0
0.016
0.0006
0.090
0.090
0.090
0.090
0.090
0.090
0.106
0.106
0.090
0.090
0.106
0.106
0.106
0.106
0.106
0.106
0.0035
0.0035
0.0035
0.0035
0.0035
0.0035
0.0042
0.0042
0.0035
0.0035
0.0042
0.0042
0.0042
0.0042
0.0042
0.0042
Lubrication
Grease lubricating type (frame numbers: 4095 to 4115)
Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.
3-131
KB1
22(0.87)
)
06
9
.
0(
Hydrant
Shaft End
Oil scavenging
plug
4 (0.16)
6-11 Mounting holes
)
60 24
2 10.
(
KL1
88(3.46)
QK
14(0.55)
209(8.23)
2
3
15 (0.59)
S (50h6)
LR
LM
LB (200f8)
47(1.85)
Tap Depth
9(0.35) (See the
following
table.)
5.5(0.22)
Units: mm (in)
Model
SGMGH-
Gear Gear
Model Ratio
LL
LM
KB1 KL1
12A BTC6
CHVX1/21
4130
536
(21.1)
166
(6.54)
119
(4.69)
77
(3.03)
140
(5.51)
370
(14.6)
12A BT76
CHVX1/29
4135
536
(21.1)
166
(6.54)
119
(4.69)
77
(3.03)
140
(5.51)
370
(14.6)
20A BTC6
CNVX1/21
4145
582
(22.9)
192
(7.56)
145
(5.71)
77
(3.03)
140
(5.51)
390
(15.4)
30A BTA6
CHVX4130
1/6
596
(23.5)
226
(8.90)
179
(7.05)
77
(3.03)
140
(5.51)
370
(14.6)
30A BTB6
CHVX1/11
4135
596
(23.5)
226
(8.90)
179
(7.05)
77
(3.03)
140
(5.51)
370
(14.6)
40A BTA6
CHVX4135
1/6
664
(26.1)
260
(10.2)
213
(8.39)
86
(3.39)
150
(5.91)
404
(15.9)
40A BTB6
CHVX1/11
4145
684
(26.9)
260
(10.2)
213
(8.39)
86
(3.39)
150
(5.91)
424
(16.7)
3-132
Flange
Face
Dimensions
LR
76
(2.99)
76
(2.99)
96
(3.78)
76
(2.99)
76
(2.99)
76
(2.99)
96
(3.78)
66
(146)
90
80
M1018
(3.54) (3.15)
71
(157)
70
56
M1018
(2.76) (2.20)
75
(165)
70
56
M1018
(2.76) (2.20)
75
(165)
70
56
M1018
(2.76) (2.20)
87
(192)
90
80
M1018
(3.54) (3.15)
88
(194)
Dimensional Tolerances
Model
SGMGH-
Units: mm (in)
Shaft-end Dimensions
S
12A BTC6
50
0
1.97 0
0.016
0.0006
12A BT76
50
0
1.97 0
0.016
0.0006
20A BTC6
50
0
1.97 0
0.016
0.0006
30A BTA6
50
0
1.97 0
0.016
0.0006
30A BTB6
50
0
1.97 0
0.016
0.0006
40A BTA6
50
0
1.97 0
0.016
0.0006
40A BTB6
INFO
50
0
1.97 0
0.016
0.0006
0.122
0.122
0.122
0.122
0.122
0.122
0.122
0.0048
0.0048
0.0048
0.0048
0.0048
0.0048
0.0048
Lubrication
Oil lubricating type (frame numbers: 4130 to 4190)
Servomotors of this type have been shipped with oil removed. Be sure to supply oil until the red line at the upper side
of the oil guage.
Lubrication oil recommended is industrial-use extreme-pressure gear oil of SP-system, JIS K 2219 industrial-use gear
oil or equivalent. Refer to the following table.
Ambient
Temperature COSMO Oil Co., Ltd.
0 to 35 C
(32 to 95 F)
COSMO Gear
SE
100, 150
Manufacturer
Nippon Oil Co., Ltd.
BON-NOCK
M
100, 150
Tonen General
Sekiyu K. K.
GENERAL SP
Gear Roll
100, 150
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
3-133
47(1.85)
LM
LG
LR
Hydrant
Sh6
KL1
88(3.46)
LBf8
Tap Depth*
T
L
C
KB1
22(0.87)
Shaft End
QK
Q
22.5
L
A
LL
LE
6 Mounting holes
Units: mm (in)
Model
SGMGH-
Gear Model
Gear
Ratio
20A BT76
CHVJ-4160
1/29
687
192
145
77
140
495
228
(27.0) (7.56) (5.71) (3.03) (5.51) (19.5) (8.98)
30A BTC6
CHVJ-4160
1/21
721
226
179
77
140
495
228
(28.4) (8.90) (7.05) (3.03) (5.51) (19.5) (8.98)
30A BT76
CHVJ-4170
1/29
785
226
179
77
140
559
243
(30.9) (8.90) (7.05) (3.03) (5.51) (22.0) (9.57)
40A BTC6
CHVJ-4170
1/21
853
260
213
86
150
593
243
(33.6) (10.2) (8.39) (3.39) (5.91) (23.3) (9.57)
40A BT76
CHVJ-4175
1/29
853
260
213
86
150
593
243
(33.6) (10.2) (8.39) (3.39) (5.91) (23.3) (9.57)
55A BTB6
CHVJ-4160
1/11
863
334
287
86
150
529
228
(34.0) (13.1) (11.3) (3.39) (5.91) (20.8) (8.98)
55A BTC6
CHVJ-4175
1/21
927
334
287
86
150
593
243
(36.5) (13.1) (11.3) (3.39) (5.91) (23.3) (9.57)
55A BT76
CHVJ-4185
1/29
977
334
287
86
150
643
258
(38.5) (13.1) (11.3) (3.39) (5.91) (25.3) (10.2)
Model
SGMGH-
Gear
Ratio
20A BT76
LL
LM
KB1
KL1
Shaft Center
Allowable
Radial Load
N (lbf)
18500
(4170)
16700
(3770)
21800
(4900)
19600
(4400)
21800
(4890)
13500
(3030)
19600
(4400)
29200
(6570)
Shaft-end Dimensions
mm (in)
LA
LB
LC
LE
LG
LR
LZ
QK
Tap
Depth
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
(0.71)
M1018
30A BTC6
1/21
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
(0.71)
M1018
30A BT76
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)
M1224
40A BTC6
1/21
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)
M1224
40A BT76
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)
M1224
55A BTB6
1/11
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
(0.71)
M1018
3-134
Approx.
Mass
kg (lb)
121
(267)
126
(278)
176
(388)
191
(421)
191
(421)
150
(331)
Model
SGMGH-
Gear
Ratio
55A BTC6
55A BT76
Shaft-end Dimensions
mm (in)
LA
LB
LC
LE
LG
LR
LZ
QK
Tap
Depth
1/21
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)
M1224
1/29
390
(15.4)
345
(13.6)
430
(16.9)
5
(0.20)
22
(0.87)
110
(4.33)
8
(0.31)
18
(0.71)
110
(4.33)
100
(3.94)
80
(3.15)
14
(0.55)
9
(0.35)
22
(0.87)
M1224
Approx.
Mass
kg (lb)
201
(443)
232
(511)
Dimensional Tolerances
Model
SGMGH-
Units: mm (in)
Shaft-end Dimensions
S
20A BT76
60
0
2.36 0
0.019
0.0007
30A BTC6
60
0
2.36 0
0.019
0.0007
30A BT76
70
0
2.76 0
0.019
0.0007
40A BTC6
70
0
2.76 0
0.019
0.0007
40A BT76
70
0
2.76 0
0.019
0.0007
55A BTB6
60
0
2.36 0
0.019
0.0007
55A BTC6
70
0
2.76 0
0.019
0.0007
55A BT76
INFO
80
0
3.15 0
0.019
0.0007
0.137
0.137
0.151
0.151
0.151
0.137
0.151
0.151
0.0054
0.0054
0.0059
0.0059
0.0059
0.0054
0.0059
0.0059
Lubrication
Oil lubricating type (frame numbers: 4130 to 4190)
Servomotors of this type have been shipped with oil removed. Be sure to supply oil until the red line at the upper side
of the oil guage.
Lubrication oil recommended is industrial-use extreme-pressure gear oil of SP-system, JIS K 2219 industrial-use gear
oil or equivalent. Refer to the following table.
Ambient
Temperature COSMO Oil Co., Ltd.
0 to 35 C
(32 to 95 F)
COSMO Gear
SE
100, 150
Manufacturer
Nippon Oil Co., Ltd.
BON-NOCK
M
100, 150
Tonen General
Sekiyu K. K.
GENERAL SP
Gear Roll
100, 150
4130
4135
4145
Horizontal
type
0.7
0.7
4155
4160
4165
4170
4175
4180
4185
4190
0.7
1.4
1.9
2.5
4.0
3-135
3.16.5 SGMGH Servomotors (1000 min-1) With Low-backlash Gears and Without
Brakes (Flange-mounted Type)
(1) Small Grease Lubricating Type
L
47(1.85)
109(4.29)
88(3.46)
140( 5.51)
35h6
55
(2.17)
0)
6.3
0(
6
1 185
)
.28
( 7
R1
8(0.31)
3(0.12)
21(0.83)
73(2.87)
d-tapL
Q
Shaft End
S
R
LM
130h7
46(1.81)
10(0.39)
LL
Length Q d L mm
2(0.08)
20(0.79)
20(0.79)
Gear Ratio
1/5
6 (0.24)
1/9
Units: mm (in)
Flange LB Shaft End S
130 (5.12)
35 (1.38)
90(3.54)
2(0.08)
25(0.98)
38(1.50)
Gear Ratio
1/5
16 (0.63)
1/9
48 (1.89)
3-136
90(3.54)
182(7.17)
186(7.32)
LBh7
Sh6
234(9.21)
240(9.45)
310(12.2)
240(9.45)
ANFJ-L40
27(1.06)
18(0.71)
5(0.20)
58 (2.28)
Units: mm (in)
Flange LB Shaft End S
240 (9.45)
60 (2.36)
70(2.76)
130(5.12)
135(5.31)
LBh7
Sh6
2(0.078)
25(0.98)
33(1.30)
Gear Ratio
1/5
11 (0.43)
38 (1.50)
42 (1.65)
1/45
47 (1.85)
R3
60
(2.36) A
75(2.95)
1/20, 1/29
(Motor)
23(0.91)
15 (0.59)
5(0.20)
1/9
18 (0.71)
1/45
184(7.24)
190(7.48)
245(9.65)
52
(2.05) A
55(2.17)
17(0.67)
12(0.47)
3(0.12)
(Motor)
R3
R3
44
(1.73) A
ANFJ-L30
190(7.48)
Sh6
126(4.96)
132(5.20)
(Motor)
132(5.20)
ANFJ-L20
45(1.77)
91(3.58)
94(3.70)
LBh7
140( 5.51)
52 (2.05)
Units: mm (in)
Dimensional Tolerances
Units: mm (in)
Shaft-end Dimensions
S
IMT Gear
ANFJ-L20
130
0
5.12 0
0.040
0.0016
35
0
1.38 0
0.016
0.0006
ANFJ-L30
190
0
7.48 0
0.046
0.0018
50
0
1.97 0
0.016
0.0006
ANFJ-L40
240
0
9.45 0
0.046
0.0018
60
0
2.36 0
0.019
0.0007
Units: mm (in)
Model
SGMGH-
Gear
Ratio
Gear Type
LL
LM
Approx.
Mass
kg (lb)
1/5
394
138
92
256
(15.5) (5.43) (3.62) (10.1)
14
(30.9)
03A BL24
1/9
406
138
92
268
(16.0) (5.43) (3.62) (10.6)
14
(30.9)
03A BL54
1/20
425
138
92
287
(16.7) (5.43) (3.62) (11.3)
16
(35.3)
06A BL14
1/5
417
161
115
256
(16.4) (6.34) (4.53) (10.1)
16
(35.3)
06A BL24
1/9
429
161
115
268
(16.9) (6.34) (4.53) (10.6)
16
(35.3)
09A BL14
1/5
441
185
139
256
(17.4) (7.28) (5.47) (10.1)
18
(39.7)
03A BL14
ANFJ-L20
INFO
Shaft Center
Allowable
Radial Load
N (lbf)
833
(187)
980
(221)
1270
(286)
833
(187)
980
(221)
833
(187)
Lubrication
Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.
LM
LG
LR
Sh6
LL
Shaft End
R1
KB1
KB2
5 (0.20)
KL1
88(3.46)
LBh7
QK
6-LZ Mounting
holes
Frame No.
Dia.S Length Q d L mm
ANFJ-L20
35
55
M8 16
ANFJ-L30
50
60
75
90
M10 20
M12 24
ANFJ-L40
3-137
Units: mm (in)
Model
SGMGH-
Gear Model
Gear
Ratio
LL
LM
LR
LT
KB1
KB2
KL1
03A BL74
1/29
491
138
92
140
46
73
21
109
353
(19.3) (5.43) (3.62) (5.51) (1.81) (2.87) (0.83) (4.29) (13.9)
03A BL84
1/45
501
138
92
140
46
73
21
109
363
(19.7) (5.43) (3.62) (5.51) (1.81) (2.87) (0.83) (4.29) (14.3)
06A BL54
1/20
514
161
115
140
46
73
21
109
353
(20.2) (6.34) (4.53) (5.51) (1.81) (2.87) (0.83) (4.29) (13.9)
06A BL74
1/29
514
161
115
140
46
73
21
109
353
(20.2) (6.34) (4.53) (5.51) (1.81) (2.87) (0.83) (4.29) (13.9)
1/45
565
161
115
160
46
73
21
109
404
(22.2) (6.34) (4.53) (6.30) (1.81) (2.87) (0.83) (4.29) (15.9)
1/9
534
185
139
140
46
73
21
109
349
(21.0) (7.28) (5.47) (5.51) (1.81) (2.87) (0.83) (4.29) (13.7)
09A BL54
1/20
538
185
139
140
46
73
21
109
353
(21.2) (7.28) (5.47) (5.51) (1.81) (2.87) (0.83) (4.29) (13.9)
09A BL74
1/29
579
185
139
160
46
73
21
109
394
(22.8) (7.28) (5.47) (6.30) (1.81) (2.87) (0.83) (4.29) (15.5)
09A BL84
1/45
589
185
139
160
46
73
21
109
404
(23.2) (7.28) (5.47) (6.30) (1.81) (2.87) (0.83) (4.29) (15.9)
12A BL14
1/5
509
166
119
140
47
77
22
140
343
(20.0) (6.54) (4.69) (5.51) (1.85) (3.03) (0.87) (5.51) (13.5)
12A BL24
1/9
536
166
119
140
47
77
22
140
370
(21.1) (6.54) (4.69) (5.51) (1.85) (3.03) (0.87) (5.51) (14.6)
12A BL54
1/20
581
166
119
160
47
77
22
140
415
(22.9) (6.54) (4.69) (6.30) (1.85) (3.03) (0.87) (5.51) (16.3)
1/29
581
166
119
160
47
77
22
140
415
(22.9) (6.54) (4.69) (6.30) (1.85) (3.03) (0.87) (5.51) (16.3)
12A BL84
1/45
591
166
119
160
47
77
22
140
425
(23.3) (6.54) (4.69) (6.30) (1.85) (3.03) (0.87) (5.51) (16.7)
20A BL14
1/5
535
192
145
140
47
77
22
140
343
(21.1) (7.56) (5.71) (5.51) (1.85) (3.03) (0.87) (5.51) (13.5)
20A BL24
1/9
562
192
145
140
47
77
22
140
370
(22.1) (7.56) (5.71) (5.51) (1.85) (3.03) (0.87) (5.51) (14.6)
20A BL54
1/20
607
192
145
160
47
77
22
140
415
(23.9) (7.56) (5.71) (6.30) (1.85) (3.03) (0.87) (5.51) (16.3)
1/5
609
226
179
160
47
77
22
140
383
(24.0) (8.90) (7.05) (6.30) (1.85) (3.03) (0.87) (5.51) (15.1)
1/9
641
226
179
160
47
77
22
140
415
(25.2) (8.90) (7.05) (6.30) (1.85) (3.03) (0.87) (5.51) (16.3)
ANFJ-L30
06A BL84
ANFJ-L40
09A BL24
ANFJ-L30
ANFJ-L40
ANFJ-L30
12A BL74
ANFJ-L40
ANFJ-L30
30A BL14
ANFJ-L40
30A BL24
Model
SGMGH03A BL74
1/29
03A BL84
3-138
Gear
Ratio
1/45
Shaft Center
Allowable
Radial Load
N (lbf)
2940
(662)
3430
(772)
2650
(596)
2940
(662)
8040
(1810)
1960
(441)
2650
(596)
6860
(1540)
8040
(1810)
1670
(376)
1960
(441)
6080
(1370)
6860
(1540)
8040
(1810)
1670
(376)
1960
(441)
6080
(1370)
3820
(860)
4700
(1060)
Approx.
Mass
kg (lb)
31
(68.3)
31
(68.3)
(Contd)
Model
SGMGH06A BL54
1/20
06A BL74
1/29
06A BL84
1/45
09A BL24
1/9
09A BL54
1/20
09A BL74
1/29
09A BL84
1/45
12A BL14
1/5
12A BL24
1/9
12A BL54
1/20
12A BL74
1/29
12A BL84
1/45
20A BL14
1/5
20A BL24
1/9
20A BL54
1/20
30A BL14
1/5
30A BL24
INFO
Gear
Ratio
1/9
Shaft-end Dimensions
mm (in)
QK
S
T
U
220
190
245
15
12
75
65
50
9
5.5
14
(8.66) (7.48) (9.65) (0.59) (0.47) (2.95) (2.56) (1.97) (0.35) (0.22) (0.55)
220
(8.66)
280
(11.0)
220
(8.66)
220
(8.66)
280
(11.0)
280
(11.0)
220
(8.66)
220
(8.66)
280
(11.0)
280
(11.0)
280
(11.0)
220
(8.66)
220
(8.66)
280
(11.0)
280
(11.0)
280
(11.0)
190
(7.48)
240
(9.45)
190
(7.48)
190
(7.48)
240
(9.45)
240
(9.45)
190
(7.48)
190
(7.48)
240
(9.45)
240
(9.45)
240
(9.45)
190
(7.48)
190
(7.48)
240
(9.45)
240
(9.45)
240
(9.45)
245
(9.65)
310
(12.2)
245
(9.65)
245
(9.65)
310
(12.2)
310
(12.2)
245
(9.65)
245
(9.65)
310
(12.2)
310
(12.2)
310
(12.2)
245
(9.65)
245
(9.65)
310
(12.2)
310
(12.2)
310
(12.2)
15
(0.59)
18
(0.71)
15
(0.59)
15
(0.59)
18
(0.71)
18
(0.71)
15
(0.59)
15
(0.59)
18
(0.71)
18
(0.71)
18
(0.71)
15
(0.59)
15
(0.59)
18
(0.71)
18
(0.71)
18
(0.71)
12
(0.47)
14
(0.55)
12
(0.47)
12
(0.47)
14
(0.55)
14
(0.55)
12
(0.47)
12
(0.47)
14
(0.55)
14
(0.55)
14
(0.55)
12
(0.47)
12
(0.47)
14
(0.55)
14
(0.55)
14
(0.55)
75
(2.95)
90
(3.54)
75
(2.95)
75
(2.95)
90
(3.54)
90
(3.54)
75
(2.95)
75
(2.95)
90
(3.54)
90
(3.54)
90
(3.54)
75
(2.95)
75
(2.95)
90
(3.54)
90
(3.54)
90
(3.54)
65
(2.56)
78
(3.07)
65
(2.56)
65
(2.56)
78
(3.07)
78
(3.07)
65
(2.56)
65
(2.56)
78
(3.07)
78
(3.07)
78
(3.07)
65
(2.56)
65
(2.56)
78
(3.07)
78
(3.07)
78
(3.07)
50
(1.97)
60
(2.36)
50
(1.97)
50
(1.97)
60
(2.36)
60
(2.36)
50
(1.97)
50
(1.97)
60
(2.36)
60
(2.36)
60
(2.36)
50
(1.97)
50
(1.97)
60
(2.36)
60
(2.36)
60
(2.36)
9
(0.35)
11
(0.43)
9
(0.35)
9
(0.35)
11
(0.43)
11
(0.43)
9
(0.35)
9
(0.35)
11
(0.43)
11
(0.43)
11
(0.43)
9
(0.35)
9
(0.35)
11
(0.43)
11
(0.43)
11
(0.43)
5.5
(0.22)
7
(0.28)
5.5
(0.22)
5.5
(0.22)
7
(0.28)
7
(0.28)
5.5
(0.22)
5.5
(0.22)
7
(0.28)
7
(0.28)
7
(0.28)
5.5
(0.22)
5.5
(0.22)
7
(0.28)
7
(0.28)
7
(0.28)
14
(0.55)
18
(0.71)
14
(0.55)
14
(0.55)
18
(0.71)
18
(0.71)
14
(0.55)
14
(0.55)
18
(0.71)
18
(0.71)
18
(0.71)
14
(0.55)
14
(0.55)
18
(0.71)
18
(0.71)
18
(0.71)
Approx.
Mass
kg (lb)
33
(72.8)
33
(72.8)
53
(117)
35
(77.2)
35
(77.2)
55
(121)
55
(121)
32
(70.5)
39
(86.0)
59
(130)
59
(130)
59
(130)
36
(79.4)
43
(94.8)
63
(139)
58
(128)
68
(150)
Lubrication
Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.
3-139
LC
LR
0.04 A
(0.0016)
LE
LA
LB
100( 3.94)
KL1
88(3.46)
LG
Shaft End
(0.0016)
0.04 A
30(1.18)
LF
LH
KB1
KB2
0.02
(0.0008)
4-LZ Mounting
holes
45 (1.77)
46(1.81)
L
LL
LM
Units: mm (in)
Models
SGMSH-
LL
LM
LR
KB1
KB2
KL1
10A A21
194
(7.64)
149
(5.87)
103
(4.06)
45
(1.77)
76
(2.99)
128
(5.04)
96
(3.78)
15A A21
220
(8.66)
175
(6.89)
129
(5.08)
45
(1.77)
102
(4.02)
154
(6.06)
96
(3.78)
20A A21
243
(9.57)
198
(7.80)
152
(5.98)
45
(1.77)
125
(4.92)
177
(6.97)
96
(3.78)
30A A21
262
(10.3)
199
(7.83)
153
(6.02)
63
(2.48)
124
(4.88)
178
(7.01)
114
(4.49)
40A A21
299
(11.8)
236
(9.29)
190
(7.48)
63
(2.48)
161
(6.34)
215
(8.46)
114
(4.49)
50A A21
3-140
339
(13.3)
276
(10.9)
230
(9.06)
63
(2.48)
201
(7.91)
255
(10.0)
114
(4.49)
Shaft-end Dimensions
S
Q
24
0.013
0.94 0
0.0005
24
0.013
0.94 0
0.0005
24
0.013
0.94 0
0.0005
28
0.013
1.10 0
0.0005
28
0.013
1.10 0
0.0005
28
0.013
1.10 0
0.0005
Approx. Mass
kg (lb)
40
(1.57)
4.6
(10.1)
40
(1.57)
5.8
(12.8)
40
(1.57)
7.0
(15.4)
55
(2.17)
11
(24.3)
55
(2.17)
14
(30.9)
55
(2.17)
17
(37.5)
Model
SGMSH-
LA
10A A21
115
(4.53)
15A A21
115
(4.53)
20A A21
115
(4.53)
30A A21
145
(5.71)
40A A21
145
(5.71)
50A A21
145
(5.71)
LB
95
0.035
3.74 0
0.0014
95
0.035
3.74 0
0.0014
95
0.035
3.74 0
0.0014
110
0.035
4.33 0
0.0014
110
0.035
4.33 0
0.0014
110
0.035
4.33 0
0.0014
Allowable
Radial Load
N (lbf)
Allowable
Thrust Load
N (lbf)
100
3
3
10
130
7
(3.94) (0.12) (0.12) (0.39) (5.12) (0.28)
686
(154)
196
(44)
100
3
3
10
130
7
(3.94) (0.12) (0.12) (0.39) (5.12) (0.28)
686
(154)
196
(44)
100
3
3
10
130
7
(3.94) (0.12) (0.12) (0.39) (5.12) (0.28)
686
(154)
196
(44)
130
6
6
12
165
9
(5.12) (0.24) (0.24) (0.47) (6.50) (0.35)
980
(221)
392
(88)
130
6
6
12
165
9
(5.12) (0.24) (0.24) (0.47) (6.50) (0.35)
1180
(265)
392
(88)
130
6
6
12
165
9
(5.12) (0.24) (0.24) (0.47) (6.50) (0.28)
1180
(265)
392
(88)
K
J
M A
C
T NP
D
S R
E
H G F
Receptacle: MS3102A20-29P
Applicable plug (Purchased by the customer)
Plug: MS3108B20-29S
Cale clamp: MS3057-12A
B
DATA+
C
D
DATA
E
F
0V
G
H
+5VDC
J
FG(Frame ground)
K
L
M
N
P
R
S
T
BATTBATT+
LZ
LH
A
K
B
L
DATA+
C
M
D
N
DATA
E
P
F
R
0V
G
S
H
T
+5VDC
J
FG(Frame ground)
A
B
C
D
Phase U
Phase V
Phase W
FG
(Frame ground)
3-141
3.17.2 SGMSH Servomotors (3000 min-1) 200-V Specifications Without Gears and
With Brakes
Models with oil seals are of the same configuration.
LR
LE
Shaft End
LC
LR
LE
LA
100( 3.94)
KL1
88(3.46)
LG
(0.0016)
0.04 A
0.04 A
(0.0016)
LB
LF
30
LH
(0.0008)
0.02
A
4-LZ Mounting
holes
KB2
KB1
46(1.81)
45 (1.77)
L
LL
LM
Model
SGMSH-
LL
LM
LR
KB1
KB2
KL1
238
193
147
45
67
171
102
10A A2B
(9.37) (7.60) (5.79) (1.77) (2.64) (6.73) (4.02)
264
219
173
45
93
197
102
15A A2B
(10.4) (8.62) (6.81) (1.77) (3.66) (7.76) (4.02)
20A A2B
287
242
(11.3) (9.53)
196
(7.72)
45
116
220
102
(1.77) (4.57) (8.66) (4.02)
300
237
191
63
114
216
119
30A A2B
(11.8) (9.33) (7.52) (2.48) (4.49) (8.50) (4.69)
337
274
228
63
151
253
119
40A A2B
(13.3) (10.8) (8.98) (2.48) (5.94) (9.96) (4.69)
377
314
268
63
191
293
119
50A A2B
(14.8) (12.4) (10.6) (2.48) (7.52) (11.5) (4.69)
3-142
Units: mm (in)
Shaft-end Dimensions
Approx.
Mass
S
Q
kg (lb)
24
0.013
0.94 0
0.0005
24
0.013
0.94 0
0.0005
24
0.013
0.94 0
0.0005
28
0.013
1.10 0
0.0005
28
40
(1.57)
40
(1.57)
55
(2.17)
0.013
1.10 0
0.0005
28
40
(1.57)
0.013
1.10 0
0.0005
55
(2.17)
55
(2.17)
6.0
(13.2)
7.5
(16.5)
8.5
(18.7)
14
(30.9)
17
(37.5)
20
(44.1)
Units: mm (in)
Model
SGMSH-
10A A2B
15A A2B
20A A2B
30A A2B
40A A2B
50A A2B
LA
115
(4.53)
115
(4.53)
115
(4.53)
145
(5.71)
145
(5.71)
145
(5.71)
95
10
130
(5.12)
K
J
M A
B
C
T NP
D
S R
E
H G F
100
10
130
(0.12)
(0.12)
(0.39)
(5.12)
196
(44)
686
(154)
196
(44)
980
(221)
392
(88)
1180
(265)
392
(88)
1180
(265)
392
(88)
(0.28)
100
10
130
(3.94)
(0.12)
(0.12)
(0.39)
(5.12)
(0.28)
130
12
165
(5.12)
(0.24)
(0.24)
(0.47)
(6.50)
(0.35)
130
12
165
(5.12)
(0.24)
(0.24)
(0.47)
(6.50)
(0.35)
0.035
4.33 0
0.0014
K
L
M
N
P
R
S
T
686
(154)
(3.94)
130
12
165
(5.12)
(0.24)
(0.24)
(0.47)
(6.50)
(0.35)
Receptacle: MS3102A20-29P
Applicable plug (Purchased by the customer)
Plug: MS3108B20-29S
Cale clamp: MS3057-12A
B
DATA+
C
D
DATA
E
F
0V
G
H
+5VDC
J
FG (Frame ground)
196
(44)
(0.28)
686
(154)
(0.39)
0.035
4.33 0
0.0014
110
3
(0.12)
0.035
4.33 0
0.0014
110
3
(0.12)
0.035
3.74 0
0.0014
110
100
(3.94)
0.035
3.74 0
0.0014
95
LZ
Allowable
Thrust Load
N (lbf)
0.035
3.74 0
0.0014
95
LH
Allowable
Radial Load
N (lbf)
BATTBATT+
F
E
D
B
C
A
B
C
D
Phase U
Phase V
Phase W
FG
(Frame ground)
A
K
L
B
DATA+
C
M
D
N
DATA
E
P
F
R
0V
G
S
H
T
+5VDC
J
FG(Frame ground)
E Brake terminal
F Brake terminal
3-143
3.17.3 SGMSH Servomotors (3000 min-1) With Low-backlash Gears and Without
Brakes (Flange-mounted Type)
(1) Small Grease Lubricating Type
L
R
12(0.47)
(1.81)
100(3.94)
3(0.12)
0)
6.3
0(
6
1 185
28)
(7.
140( 5.51)
R1
73(2.87)
21(0.83)
Length Q d L mm
10
96(3.78)
88(3.46)
130h7
47(1.85)
d-tapL
Q
Shaft End
S
46
Sh6
LL
LM
1/5
6 (0.24)
1/9
2(0.08)
20(0.79)
20(0.79)
Units: mm (in)
Flange LB Shaft End S
35 (1.38)
Sh6
90(3.54)
182(7.17)
186(7.32)
LBh7
234(9.21)
240(9.45)
310(12.2)
240(9.45)
60
(2.36)
R3
A
90(3.54)
27(1.06)
18(0.71)
Gear Ratio
2(0.08)
25(0.98)
38(1.50)
5(0.20)
Units: mm (in)
Flange LB Shaft End S
A
1/5
16 (0.63)
1/9
48 (1.89)
3-144
58 (2.28)
Gear Ratio
1/5
11 (0.43)
38 (1.50)
1/45
ANFJ-L40
(Motor)
5(0.20)
47 (1.85)
240 (9.45)
60 (2.36)
70(2.76)
130(5.12)
135(5.31)
LBh7
Sh6
75(2.95)
23(0.91)
15(0.59)
1/9
130 (5.12)
18 (0.71)
1/45
184(7.24)
190(7.48)
245(9.65)
52
(2.05) A
55
(2.17)
17(0.67)
12(0.47)
3(0.12)
Gear Ratio
(Motor)
R3
R3
44
(1.73) A
ANFJ-L30
190(7.48)
Sh6
(Motor)
126(4.96)
132(5.20)
132(5.20)
ANFJ-L20
45(1.77)
91(3.58)
94(3.70)
LBh7
140( 5.51)
52 (2.05)
2(0.08)
25(0.98)
33(1.30)
Units: mm (in)
Flange LB Shaft End S
190 (7.48)
50 (1.97)
Dimensional Tolerances
IMT Gear
Units: mm (in)
Shaft-end Dimensions
S
ANFJ-L20
130
0
5.12 0
0.040
0.0016
35
0
1.38 0
0.016
0.0006
ANFJ-L30
190
0
7.48 0
0.046
0.0018
50
0
1.97 0
0.016
0.0006
ANFJ-L40
240
0
9.45 0
0.046
0.0018
60
0
2.36 0
0.019
0.0007
Units: mm (in)
Model
SGMSH-
Gear Model
Gear
Ratio
LL
LM
1/5
403
149
103
254
(15.9) (5.87) (4.06) (10.0)
1/9
415
149
103
266
(16.3) (5.87) (4.06) (10.5)
15A AL14
1/5
429
175
129
254
(16.9) (6.89) (5.08) (10.0)
20A AL14
1/5
452
198
152
254
(17.8) (7.80) (5.98) (10.0)
10A AL14
10A AL24
ANFJ-L20
INFO
Shaft Center
Allowable
Radial Load
N (lbf)
833
(187)
980
(221)
833
(187)
833
(187)
Approx.
Mass
kg (lb)
13
(28.7)
13
(28.7)
14
(30.9)
15
(33.1)
Lubrication
Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.
3-145
46(1.81) LM
LG
LR
Q
Sh6
LL
Shaft End
T
LBh7
88(3.46)
KL1
QK
L
KB1
KB2
1(0.04)
5(0.20)
6-LZ Mounting
holes
Units: mm (in)
Model
SGMSH-
Gear Model
Gear
Ratio
LL
LM
LR
KB1
KB2
KL1
10A AL54
1/20
496
149
103
140
73
21
96
347
(19.5) (5.87) (4.06) (5.51) (2.87) (0.83) (3.78) (13.7)
10A AL74
1/29
496
149
103
140
73
21
96
347
(19.5) (5.87) (4.06) (5.51) (2.87) (0.83) (3.78) (13.7)
10A AL84
1/45
506
149
103
140
73
21
96
357
(19.9) (5.87) (4.06) (5.51) (2.87) (0.83) (3.78) (14.1)
15A AL24
1/9
518
175
129
140
73
21
96
343
(20.4) (6.89) (5.08) (5.51) (2.87) (0.83) (3.78) (13.5)
15A AL54
1/20
522
175
129
140
73
21
96
347
(20.6) (6.89) (5.08) (5.51) (2.87) (0.83) (3.78) (13.7)
15A AL74
1/29
522
175
129
140
73
21
96
347
(20.6) (6.89) (5.08) (5.51) (2.87) (0.83) (3.78) (13.7)
1/45
573
175
129
160
73
21
96
398
(22.6) (6.89) (5.08) (6.30) (2.87) (0.83) (3.78) (15.7)
1/9
541
198
152
140
73
21
96
343
(21.3) (7.80) (5.98) (5.51) (2.87) (0.83) (3.78) (13.5)
20A AL54
1/20
545
198
152
140
73
21
96
347
(21.5) (7.80) (5.98) (5.51) (2.87) (0.83) (3.78) (13.7)
20A AL74
1/29
586
198
152
160
73
21
96
388
(23.1) (7.80) (5.98) (6.30) (2.87) (0.83) (3.78) (15.3)
20A AL84
1/45
596
198
152
160
73
21
96
398
(23.5) (7.80) (5.98) (6.30) (2.87) (0.83) (3.78) (15.7)
30A AL14
1/5
540
199
153
140
77
22
114
341
(21.3) (7.83) (6.02) (5.51) (3.03) (0.87) (4.49) (13.4)
30A AL24
1/9
567
199
153
140
77
22
114
368
(22.3) (7.83) (6.02) (5.51) (3.03) (0.87) (4.49) (14.5)
30A AL54
1/20
612
199
153
160
77
22
114
413
(24.1) (7.83) (6.02) (6.30) (3.03) (0.87) (4.49) (16.3)
1/29
612
199
153
160
77
22
114
413
(24.1) (7.83) (6.02) (6.30) (3.03) (0.87) (4.49) (16.3)
1/45
622
199
153
160
77
22
114
423
(24.5) (7.83) (6.02) (6.30) (3.03) (0.87) (4.49) (16.7)
ANFJ-L30
15A AL84
ANFJ-L40
20A AL24
ANFJ-L30
ANFJ-L40
ANFJ-L30
30A AL74
30A AL84
3-146
ANFJ-L40
Shaft Center
Allowable
Radial Load
N (lbf)
2650
(596)
2940
(662)
3430
(772)
1960
(441)
2650
(596)
2940
(662)
8040
(1810)
1960
(441)
2650
(596)
6860
(1540)
8040
(1810)
1670
(376)
1960
(441)
6080
(1370)
6860
(1540)
8040
(1810)
Gear Model
Gear
Ratio
ANFJ-L30
1/5
577
236
190
140
77
22
114
341
(22.7) (9.29) (7.48) (5.51) (3.03) (0.87) (4.49) (13.4)
40A AL24
1/9
649
236
190
160
77
22
114
413
(25.6) (9.29) (7.48) (6.30) (3.03) (0.87) (4.49) (16.3)
40A AL54
1/20
649
236
190
160
77
22
114
413
(25.6) (9.29) (7.48) (6.30) (3.03) (0.87) (4.49) (16.3)
40A AL74
1/29
649
236
190
160
77
22
114
413
(25.6) (9.29) (7.48) (6.30) (3.03) (0.87) (4.49) (16.3)
50A AL14
1/5
657
276
230
160
77
22
114
381
(25.9) (10.9) (9.06) (6.30) (3.03) (0.87) (4.49) (15.0)
50A AL24
1/9
689
276
230
160
77
22
114
413
(27.1) (10.9) (9.06) (6.30) (3.03) (0.87) (4.49) (16.3)
50A AL54
1/20
689
276
230
160
77
22
114
413
(27.1) (10.9) (9.06) (6.30) (3.03) (0.87) (4.49) (16.3)
40A AL14
ANFJ-L40
Model
SGMSH-
Gear
Ratio
10A AL54
1/20
10A AL74
1/29
10A AL84
1/45
15A AL24
1/9
15A AL54
1/20
15A AL74
1/29
15A AL84
1/45
20A AL24
1/9
20A AL54
1/20
20A AL74
1/29
20A AL84
1/45
30A AL14
1/5
30A AL24
1/9
30A AL54
1/20
30A AL74
1/29
LL
LM
LR
KB1
KB2
KL1
Shaft Center
Allowable
Radial Load
N (lbf)
1670
(376)
4700
(1060)
6080
(1370)
6860
(1540)
3820
(860)
4700
(1060)
6080
(1370)
Shaft-end Dimensions
mm (in)
LA
LB
LC
LG
LZ
Q
QK
S
T
U
W
220
190
245
15
12
75
65
50
9
5.5
14
(8.66) (7.48) (9.65) (0.59) (0.47) (2.95) (2.56) (1.97) (0.35) (0.22) (0.55)
220
190
245
15
12
75
65
50
9
5.5
14
(8.66) (7.48) (9.65) (0.59) (0.47) (2.95) (2.56) (1.97) (0.35) (0.22) (0.55)
220
190
245
15
12
75
65
50
9
5.5
14
(8.66) (7.48) (9.65) (0.59) (0.47) (2.95) (2.56) (1.97) (0.35) (0.22) (0.55)
Flange Face Dimensions mm (in)
220
190
245
15
12
75
65
50
9
5.5
14
(8.66) (7.48) (9.65) (0.59) (0.47) (2.95) (2.56) (1.97) (0.35) (0.22) (0.55)
220
(8.66)
220
(8.66)
280
(11.0)
220
(8.66)
220
(8.66)
280
(11.0)
280
(11.0)
220
(8.66)
220
(8.66)
280
(11.0)
280
(11.0)
190
(7.48)
190
(7.48)
240
(9.45)
190
(7.48)
190
(7.48)
240
(9.45)
240
(9.45)
190
(7.48)
190
(7.48)
240
(9.45)
240
(9.45)
245
(9.65)
245
(9.65)
310
(12.2)
245
(9.65)
245
(9.65)
310
(12.2)
310
(12.2)
245
(9.65)
245
(9.65)
310
(12.2)
310
(12.2)
15
(0.59)
15
(0.59)
18
(0.71)
15
(0.59)
15
(0.59)
18
(0.71)
18
(0.71)
15
(0.59)
15
(0.59)
18
(0.71)
18
(0.71)
12
(0.47)
12
(0.47)
14
(0.55)
12
(0.47)
12
(0.47)
14
(0.55)
14
(0.55)
12
(0.47)
12
(0.47)
14
(0.55)
14
(0.55)
75
(2.95)
75
(2.95)
90
(3.54)
75
(2.95)
75
(2.95)
90
(3.54)
90
(3.54)
75
(2.95)
75
(2.95)
90
(3.54)
90
(3.54)
65
(2.56)
65
(2.56)
78
(3.07)
65
(2.56)
65
(2.56)
78
(3.07)
78
(3.07)
65
(2.56)
65
(2.56)
78
(3.07)
78
(3.07)
50
(1.97)
50
(1.97)
60
(2.36)
50
(1.97)
50
(1.97)
60
(2.36)
60
(2.36)
50
(1.97)
50
(1.97)
60
(2.36)
60
(2.36)
9
(0.35)
9
(0.35)
11
(0.43)
9
(0.35)
9
(0.35)
11
(0.43)
11
(0.43)
9
(0.35)
9
(0.35)
11
(0.43)
11
(0.43)
5.5
(0.22)
5.5
(0.22)
7
(0.28)
5.5
(0.22)
5.5
(0.22)
7
(0.28)
7
(0.28)
5.5
(0.22)
5.5
(0.22)
7
(0.28)
7
(0.28)
14
(0.55)
14
(0.55)
18
(0.71)
14
(0.55)
14
(0.55)
18
(0.71)
18
(0.71)
14
(0.55)
14
(0.55)
18
(0.71)
18
(0.71)
Approx.
Mass
kg (lb)
30
(66.1)
30
(66.1)
30
(66.1)
31
(68.3)
31
(68.3)
31
(68.3)
51
(112)
32
(70.5)
32
(70.5)
52
(115)
52
(115)
29
(63.9)
36
(79.4)
56
(123)
56
(123)
3-147
(Contd)
Model
SGMSH-
Gear
Ratio
30A AL84
40A AL14
1/9
40A AL54
1/20
40A AL74
1/29
50A AL14
1/5
50A AL24
1/9
50A AL54
3-148
1/5
40A AL24
INFO
1/45
1/20
LB
240
(9.45)
190
(7.48)
240
(9.45)
240
(9.45)
240
(9.45)
240
(9.45)
240
(9.45)
240
(9.45)
LC
310
(12.2)
245
(9.65)
310
(12.2)
310
(12.2)
310
(12.2)
310
(12.2)
310
(12.2)
310
(12.2)
LG
18
(0.71)
15
(0.59)
18
(0.71)
18
(0.71)
18
(0.71)
18
(0.71)
18
(0.71)
18
(0.71)
LZ
14
(0.55)
12
(0.47)
14
(0.55)
14
(0.55)
14
(0.55)
14
(0.55)
14
(0.55)
14
(0.55)
Q
90
(3.54)
75
(2.95)
90
(3.54)
90
(3.54)
90
(3.54)
90
(3.54)
90
(3.54)
90
(3.54)
Shaft-end Dimensions
mm (in)
QK
S
T
U
78
60
11
7
(3.07) (2.36) (0.43) (0.28)
65
50
9
5.5
(2.56) (1.97) (0.35) (0.22)
78
60
11
7
(3.07) (2.36) (0.43) (0.28)
78
60
11
7
(3.07) (2.36) (0.43) (0.28)
78
60
11
7
(3.07) (2.36) (0.43) (0.28)
78
60
11
7
(3.07) (2.36) (0.43) (0.28)
78
60
11
7
(3.07) (2.36) (0.43) (0.28)
78
60
11
7
(3.07) (2.36) (0.43) (0.28)
W
18
(0.71)
14
(0.55)
18
(0.71)
18
(0.71)
18
(0.71)
18
(0.71)
18
(0.71)
18
(0.71)
Lubrication
Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.
Approx.
Mass
kg (lb)
56
(123)
32
(70.5)
59
(130)
59
(130)
59
(130)
52
(115)
62
(137)
62
(137)
Shaft End
(0.016)
0.04 A
LR
4 (0.16)
(7.87-0.0018 )
27
(10 0
.63)
0.02
(0.0008)
KB2
35
2 25)
.
(9
4
(0.16)
KB1
220( 8.66)
100( 4.29)
161(6.34)
88 (3.46)
0.04 A
(0.016)
LM
4(0.16)
18(0.71)
62 (2.44)
LR
200-0.046
43
(1.69)
45
(1.77)
LL
4-13.5 Mounting
holes
Note: For the specifications of the other shaft ends, refer to
3.20 Shaft End Specifications for SGMGH, SGMSH
and SGMDH Servomotors.
Units: mm (in)
Model
SGMDH-
LL
LM
LR
KB1
Shaft-end
Dimensions
KB2
Approx. Mass
kg (lb)
Allowable
Allowable
Radial Load Thrust Load
N (lbf)
N (lbf)
Without
Brakes
With
Brakes
0
-0.013
0
1.10
-0.0005
50
(1.97)
15.5
(34.2)
20.5
(45.2)
1180
(265)
490
(110)
0
-0.013
0
1.10
-0.0005
50
(1.97)
18.5
(40.8)
23.5
(51.8)
1180
(265)
490
(110)
0
-0.016
0
1.26
-0.0006
60
(2.36)
21
(46.3)
26
(57.3)
1180
(265)
490
(110)
22A A21
242
187
144
55
70
165
(9.53) (7.36) (5.67) (2.17) (2.76) (6.50)
28
32A A21
254
199
156
55
82
177
(10.0) (7.83) (6.14) (2.17) (3.23) (6.97)
28
40A A21
274
209
166
65
92
187
(10.8) (8.23) (6.54) (2.56) (3.62) (7.36)
32
3-149
M A
B
C
N
T
P
D
S R
E
H G F
Receptacle: MS3102A20-29P
Applicable plug (Purchased by the customer)
Plug: MS3108B20-29S
Cale clamp: MS3057-12A
B
DATA+
C
D
DATA
E
F
0V
G
H
+5VDC
J
FG (Frame ground)
K
L
M
N
P
R
S
T
BATTBATT+
F
E
D
3-150
A
G
B
C
A
B
C
D
E
F
G
A
K
B
L
DATA+
C
M
D
N
DATA
E
P
F
R
0V
G
S
H
T
+5VDC
J
FG (Frame ground)
Phase U
Phase V
Phase W
FG(Frame ground)
With brakes
F
E
D
A
G
B
C
A
B
C
D
E
F
G
Phase U
Phase V
Phase W
FG (Frame ground)
Brake terminal
Brake terminal
R26
30 )
1 5.12
(
100h7
135 (5.31)
90
(3.54
B
4
0.02 (0.001)
(0.16)
Rotating section
(shown with hatching)
Nonrotating
section
120h7
0.07 (0.002) A
L
LL
4
(0.16)
20 (0.79)
70(2.76)
0.07 (0.002) B
6 M4 screw,
depth 8 (0.31)
1
(0.039)
.4
25
23
.4
9
(0.35)
90
Servomotor-end
connector
Nameplate
2.7
(0.11)
Nameplate
Encoder-end
connector
0.04 (0.001)
Reference length
0
0
100h7: 100 -0.035 (3.937 -0.0014 )
Units: mm (in)
0
120h7: 120 -0.035 (4.724 +0.0004 )
-0.0010
Model
SGMCS02B B11
05B B11
07B B11
LL
59 (2.32)
88 (3.46)
128 (5.04)
51 (2.01)
80 (3.15)
120 (4.72)
Approx. Mass
kg (lb)
5.0 (11.02)
6.2 (13.67)
8.6 (18.96)
6.5
R3
23
.4
60
Nameplate
Servomotor-end
Encoder-end
connector
Nameplate connector
0
130h7: 130 -0.040 (5.118 +0.0001 )
-0.0015
LL
69 (2.72)
90 (3.54)
130 (5.12)
59 (2.32)
80 (3.15)
120 (4.72)
68 )
1 6.61
(
3.7
A
(0.15)
0.04 (0.001)
0
160h7: 160 -0.040 (6.299 +0.0002 )
-0.0014
Model
SGMCS04C B11
10C B11
14C B11
1
(4. 20
72
)
1
(0.039)
9
(0.35)
.4
25
B
0.02 (0.001)
5
(0.20)
Rotating section
(shown with hatching)
130h7
130
(5.12)
Nonrotating
section
160h7
175 (6.89)
0.07 (0.002) A
LL
35 (1.38)
5
(0.20)
100(3.94)
0.07 (0.002) B
6 M5 screw,
depth 8 (0.31)
Reference length
Units: mm (in)
Approx. Mass
kg (lb)
7.2 (15.87)
10.2 (22.49)
14.2 (13.31)
3-151
230 (9.06)
23
.4
1
6
(6 0
2 .3 0 )
(8 20
.6
6)
9
(0.35)
60
Encoder-end
Servomotor-end
connector
connector
Nameplate
Rotating section
(shown with hatching)
.4
25
0.02 (0.001)
5
(0.20)
Nonrotating
section
200h7
R5
LL
5
(0.20)
0.08 (0.003) A
160
(6.30
)
60 (2.36)
140 (5.51)
170h7
0.08 (0.003)
6 M6 screw,
depth 10 (0.39)
(0.039)
A
3
0.04 (0.001)
(0.12)
Nameplate
0
0
170h7: 170 -0.040 (6.693 -0.0017 ) Reference length
0
0
200h7: 200 -0.046 (7.874 -0.0018 )
Model
SGMCS08D B11
17D B11
25D B11
LL
74 (2.91)
110 (4.33)
160 (6.30)
64 (2.52)
100 (3.94)
150 (5.91)
Units: mm (in)
Approx. Mass
kg (lb)
14.0 (30.86)
22.0 (48.50)
29.7 (65.48)
290 (11.41)
260h7
200
(7.87
)
5
R6
.4
23
25
.4
L
LL
Nonrotating
section
0.02 (0.001)
Rotating section
(shown with hatching)
(0.039)
Nameplate
Encoder-end
connector
9
(0.35)
60
Servomotor-end
connector
Nameplate
6
(0.24)
A
4
0.04 (0.001)
(0.16)
0
220h7: 220 -0.046 (8.661 +0.0004 )
-0.0014
0
260h7: 260 -0.052 (10.236 +0.0002 )
-0.0018
Model
SGMCS16E B11
35E B11
3-152
LL
88 (3.46)
112 (4.41)
76 (2.99)
100 (3.94)
2
(7. 00
87
)
(1 280
1.
0)
0.08 (0.003) B
6
0.08 (0.003) A
(0.24)
75 (2.95)
180(7.09)
220h7
6 M8 screw,
depth 14 (0.55)
Approx. Mass
kg (lb)
26.0 (57.32)
34.0 (74.96)
Reference length
Units: mm (in)
KB2
0.08 (0.003) A B
30
KB1
280h7
15 (0.59)
(within 75H6)
(1 64
0.
39
)
0.04
(0.001)
75H6
Rotating Section
(shown with
hatching)
140 (5.51)
2800.5
75.2 (2.96)
147 (5.79)
250 (9.84)
Rotating
Section
5
(0.20)
0.08
A B
(0.003)
8
8 .46)
(3
115 (4.53)
1.5
(0.059)
(Rotating
Section)
110h7
(11.020.019)
15 (0.59)
(within 280h7)
182 (7.17)
LL
6 (0.24)
3
B
0.04 (0.001)
Rotating Section
(shown with hatching)
0
280h7: 280 -0.052 (11.023 -0.0014 )
Reference length
Units: mm (in)
+0.0007
Model
SGMCS45M A11
80M A11
1AM A11
LL
KB1
KB2
141 (5.55)
191 (7.52)
241 (9.48)
87.5 (3.44)
137.5 (5.41)
187.5 (7.38)
122 (4.80)
172 (6.77)
222 (8.74)
Approx. Mass
kg (lb)
38 (83.77)
45 (99.20)
51 (112.4)
3-153
15 (0.59)
KB2
41 (1.61)
0.08 (0.003) A B
30
KB1
360h7
15 (0.59)
(within 118H6)
0.04 (0.001)
Rotating Section
(shown with hatching)
+0.0002
+0.0002
Model
SGMCS80N A11
1EN A11
2ZN A11
3-154
222 (8.74)
0.04 (0.001)
(1 344
3.
54
)
190 (7.48)
Rotating Section
(shown with
hatching)
118H6
Rotating
Section
118.2 (4.65)
(Rotating
Section)
5
(0.20)
160h7
(14.170.019)
3600.5
1.5
(0.059)
0.08
(0.003) A B
5
1331)
(5.
325 (12.7)
166 (6.54)
186 (7.32)
LL
KB1
KB2
151 (5.94)
201 (7.91)
251 (9.88)
98 (3.86)
148 (5.82)
198 (7.79)
132 (5.19)
182 (7.16)
232 (9.13)
Approx. Mass
kg (lb)
50 (110.2)
68 (149.9)
86 (189.5)
Reference length
Units: mm (in)
4
1
2
3
4
Model: JN1AS04MK2
Manufacturer: Japan Aviation Electronics Industry, Ltd.
Applicable plug: JN1DS04FK1
(Provided by the customer.)
Phase U
Phase V
Phase W
FG
(Frame ground)
7
8
1
2
3
4
5
6
10
Model: JN1AS10ML1
Manufacturer: Japan Aviation Electronics Industry, Ltd.
Applicable plug: JN1DS10SL1
(Provided by the customer.)
PS
PS
PG5V
FG
(Frame ground)
8
9
10
PG0V
3-155
Model: CE05-2A18-10PD
Manufacturer: DDK Ltd.
Applicable plug and cable
Plug: CE05-6A18-10SD-B-BSS
Cable clamp: CE3057-10A-(D265)
(Provided by the customer.)
A
B
C
D
Phase U
Phase V
Phase W
FG
(Frame ground)
7
8
1
2
3
4
5
6
10
Model: JN1AS10ML1
Manufacturer: Japan Aviation Electronics Industry, Ltd.
Applicable plug: JN1DS10SL1
(Provided by the customer.)
PS
PS
PG5V
7
8
9
10
3-156
FG
(Frame ground)
PG0V
3.20 Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors
SGM H Symbol
Specifications
Remarks
Standard
Semistandard
Semistandard
Semistandard
Symbol
Specifications
Shaft End
LR
R1
S
LR
Q
LW
QA
X
QK
W
T
Taper 1/10
With parallel key
LR
Q
Q/2
X
W
Taper 1/10,
With woodruff key
V
S
QA
LW
Section Y-Y
Taper 1/10
Y
Taper 1/10
Section Y-Y
3-157
Symbol
Specifications
Shaft End
LR
Q
QK
Straight,
With key and tap
Symbol
Units: mm (in)
Model
SGMGH-
SGMSH-
Specifications
03B 06B
10 15 20 30 40 50
05A 09A
09B
13A
SGMDH-
45 (1.77)
63 (2.48)
58 (2.28)
79 (3.11)
40 (1.57)
55 (2.17)
40 (1.57)
113
(4.45)
76 (2.99)
0
24
0.013
28
0.945 0.0001
0.0006
0
0.013
1.102+ 0.0004
0.0001
QA
70 (2.76)
80 (3.15)
20 (0.79)
36 (1.42)
42 (1.65)
14 (0.55)
18 (0.71)
QK
32 (1.26)
LR
LW
Q
19
0
0.013
0.748 0
0.0005
22
0
0.013
0.866+ 0.0001
0.0004
58 (2.28)
18 (0.71)
28 (1.10)
12 (0.47)
1E
LR
2 Straight
+ 0.01
35
1.378+ 0.0003
102 (4.02)
58 (2.28)
22 (0.87)
116 (4.57)
+ 0.030
0
0.016
55
1.653 + 0.0005
0.0001
32
40
0.011
2.166+ 0.0005
0.0011
55 (2.17)
65 (2.56)
50 (1.97)
110 (4.33)
42
22
60 (2.36)
28
0
0.013
32
0
0.016
0.0001
+ 0.0002
132 (5.20)
22 (0.87)
82 (3.23)
28 (1.10)
70 (2.76)
19.2 (0.76)
32 (1.26)
37 (1.46)
M20, P1.5
7 (0.28)
23 (0.91)
42 (1.65)
44 (1.73)
M24, P2.0
10 (0.39)
26 (1.02)
55 (2.17)
60 (2.36)
M36, P3.0
14 (0.55)
Taper
1/10,
parallel
key
25 (0.98)1
10.3 (0.41)
16 (0.63)
19 (0.75)
21 (0.83)
M10, P1.25
5 (0.20)
7 (0.28)
5 (0.20)2
7 (0.28)
8 (0.31)
9 (0.35)
X
S
V
P
7.1 (0.28)
36 (1.42)
LR
LW
Q
QA
QK
Taper
1/10,
woodruff key
X
S
V
P
W
T
U
3-158
58 (2.28)
18 (0.71)
28 (1.10)
12 (0.47)
16 (0.63)
10.3 (0.41)
16 (0.63)
21 (0.83)
M10, P1.25
5 (0.20)
2 (0.08)
4.5 (0.18)
50 (1.97)
5.8 (0.23)
10.55 (0.42)
13.95 (0.55)
19.95
(0.79)
3.20 Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors
Symbol
SGMSH-
Specifications
10 15 20 30 40 50
03B 06B
05A 09A
09B
13A
45 (1.77)
63 (2.48)
58 (2.28)
79 (3.11)
40 (1.57)
32 (1.26)
55 (2.17)
50 (1.97)
40 (1.57)
25 (0.98)
24
113
(4.45)
76 (2.99)
60 (2.36)
QK
0
0.013
28
0.945 0.0001
0.0006
0
0.013
1.102+ 0.0004
0.0001
8 (0.31)
7 (0.28)
4 (0.16)
M8 screw, depth: 16
W
T
19
0
0.013
22
0
0.013
0.748 0
0.0005
0.866+ 0.0001
0.0004
5 (0.20)
5 (0.20)
3 (0.12)
6 (0.24)
6 (0.24)
3.5 (0.14)
M5 screw, depth: 12
1E
LR
Straight,
with key
and tap
SGMDH-
+ 0.01
35
1.378+ 0.0003
116 (4.57)
0
0.016
1.653 + 0.0005
0.0001
10 (0.39)
12 (0.47)
8 (0.31)
5 (0.20)
M12 screw,
depth: 25
M16 screw,
depth: 32
32
40
+ 0.030
55
0.011
2.166+ 0.0005
0.0011
16 (0.63)
10 (0.39)
6 (0.24)
M20
screw,
depth: 40
55 (2.17)
65 (2.56)
50 (1.97)
45 (1.77)
110 (4.33)
90 (3.54)
42
22
60 (2.36)
50 (1.97)
28
0
0.013
32
0
0.016
0.0001
+ 0.0002
8 (0.31)
7 (0.28)
4 (0.16)
M8 screw,
depth: 16
10 (0.39)
8 (0.31)
5 (0.20)
M12
screw,
depth: 25
* 1. If the SGMGH-05A and 09A are not specified as the mounting interchangeable type, the value of the
QK will be 16 (0.629).
* 2. If the SGMGH-05A and 09A are not specified as the mounting interchangeable type, the value of the
T will be 2 (0.078).
* 3. If the SGMGH-05A and 09A are not specified as the mounting interchangeable type, the value of the
U will be 4.5 (0.177).
3-159
4
SERVOPACK Specifications and
Dimensional Drawings
4-1
4-2
CAUTION
Take appropriate measures to ensure that the input power supply is supplied within the specified voltage
range.
An incorrect input power supply may result in damage to the SERVOPACK. If the voltage exceeds these values, use
a step-down transformer so that the voltage will be within the specified range.
A3B
A5B
01B
02B
0.03
0.05
0.1
0.2
0.66
0.95
2.4
3.0
2.0
2.9
7.2
9.0
Input Power
Supply
Main Circuit
Control Circuit
Configuration
Regenerative Processing
A3A A5A 01A 02A 04A 05A 08A 10A 15A 20A 30A 50A 60A 75A 1AA 1EA
0.03 0.05
0.1
0.2
0.4
0.45 0.75
1.0
1.5
2.0
2.1
2.8
3.8
5.7
7.6
11.6
1.3
6.5
8.5
11.0
13.9
17
28
2.0
2.8
42
3.0
56
5.0
84
6.0
110
7.5
130
11
140
15
170
Main
Single-phase/Three-phase 200 to 230 VAC +10 to -15%, 50/60 Hz
Circuit
Control
Single-phase 200 to 230 VAC +10 to -15%, 50/60 Hz
Circuit
Configuration
Regenerative
Processing
External regenerative
resistor
Built-in
4-3
Control Method
Basic
Specifications
Feedback
Conditions
Ambient/Storage Temperature 1
Ambient/Storage Humidity
Vibration/Shock Resistance
Performance
Speed
Regulation 2
Load Regulation
Voltage Regulation
Temperature Regulation
Frequency Characteristics
Torque Control Tolerance
(Repeatability)
Soft Start Time Setting
Speed
and
Torque
Control
Modes
Speed
Reference
Input
Input
Torque
Signals Reference
Input
Contact
Speed
Reference
Position
Control
Modes
Input
Signals
4-4
Rotation Direction
Selection
Speed Selection
With forward/reverse current limit signal (speed 1 to 3 selection), servomotor stops or another control method is used when both are OFF.
1:5000 (The lowest speed of the speed control range is the speed at which
the servomotor will not stop with a rated torque load.)
0 to 100% load: 0.01% or less (at rated speed)
Rated voltage 10%: 0% (at rated speed)
Bias Setting
Performance
Type
Form
Frequency
Control Signal
Built-in Open Collector Power
Supply 4
Form
Position Output
I/O
Signals
Sequence Input
Frequency Dividing
Ratio
Any
Sequence Output
Dynamic Brake
Overtravel Stop
Electronic Gear
Protection
LED Display
Internal
Functions
Connected Devices
Communications
1:N Communications
Axis Address Setting
Functions
Others
* 1. Use the SERVOPACK within the ambient temperature range. When enclosed in a control panel, internal temperatures must not exceed the ambient temperature range.
* 2. Speed regulation is defined as follows:
Speed reguration =
The motor speed may change due to voltage variations or amplifier drift and changes in processing resistance
due to temperature variation. The ratio of speed changes to the rated speed represent speed regulation due to
voltage and temperature variations.
* 3. Forward is clockwise viewed from the non-load side of the servomotor. (Counterclockwise viewed from the
load and shaft end)
* 4. The built-in open collector power supply is not electrically insulated from the control circuit in the
SERVOPACK.
* 5. The DC reactor connection terminals for power supplies designed for minimum harmonics are not included in
SERVOPACKs with capacities of 6 kW or more.
4-5
WARNING
After voltage resistance test, wait at least five minutes before servicing the product. (Refer to Voltage Resistance Test on the following page.)
Failure to observe this warning may result in electric shock.
Connect the main circuit wires, control wires, and main circuit cables of the motor correctly.
Incorrect wiring will result in failure of the SERVOPACK.
Store the SERVOPACK within the following temperature range if it is stored with the power cable disconnected.
Temperature: -20 to 85 C (-4 to 185 F)
Humidity: 90%RH or less (with no condensation)
Storage
Installation Site
Pollution degree : 2
Protection class : 1X
Altitude : Maximum 1000 m
Installation in a Control Panel
Design the control panel size, unit layout, and cooling method so the temperature around the SERVOPACK
does not exceed 55 C (131 F).
Installation Near a Heating Unit
Minimize the heat radiating from the heating unit as well as any temperature rise caused by natural convection so the temperature around the SERVOPACK does not exceed 55 C (131 F).
Installation Near a Source of Vibration
Install a vibration isolator on the SERVOPACK to avoid subjecting it to vibration.
Installation at a Site Exposed to Corrosive Gas
Corrosive gas does not have an immediate effect on the SERVOPACK but will eventually cause the electronic components and contactor-related devices to malfunction. Take appropriate action to avoid corrosive
gas.
Other Situations
Do not install the SERVOPACK in hot, humid locations or locations subject to excessive dust or iron powder
in the air.
4-6
Install the SERVOPACK perpendicular to the wall as shown in the figure. The SERVOPACK must be oriented
this way because it is designed to be cooled by natural convection or a cooling fan.
Secure the SERVOPACK using two to four mounting holes. The number of holes depends on the capacity.
Orientation
Wall
Ventilation
Follow the procedure below to install multiple SERVOPACKs side by side in a control panel.
Cooling fan
Cooling fan
50 mm (1.97 in) min.
4
30 mm
(1.18 in) min.
Installation
Voltage
Resistance Test
10 mm
(0.39 in) min.
SERVOPACK Orientation
Install the SERVOPACK perpendicular to the wall so the front panel containing connectors faces outward.
Cooling
As shown in the figure above, allow sufficient space around each SERVOPACK for cooling by cooling fans
or natural convection.
Side-by-side Installation
When installing SERVOPACKs side by side as shown in the figure above, allow at least 10 mm (0.39 in)
between and at least 50 mm (1.97 in) 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 Control Panel
Ambient Temperature:0 to 55C (32 to 131 F)
Humidity: 90% RH or less
Vibration: 4.9 m/s2
Condensation and Freezing: None
Ambient Temperature for Long-term Reliability: 45 C (113 F) or less
Conduct voltage resistance tests under the following conditions.
Voltage: 1500 Vrms AC for one minute
Braking current: 30 mA or more
Frequency: 50 or 60 Hz
Voltage applied points
For SGDMAD, ADA SERVOPACKs : Between the ground terminals and the point where the terminals L1, L2, (L3), L1C, L2C, U, V, W are connected.
For SGDMBD, BDA SERVOPACKs : Between the ground terminals and the point where the terminals L1, L2, (L3), L1C, L2C, U, V, W are connected.
4-7
B1
RY1
THS1
B2
PM1-1
Noise
filter
P2
FU1
1KM
L1
C1
XX1
Gate
drive
Voltage
sensor
1KM
1KM
+
-
+
-
DC / DC
converter
Current
sensor
5 V
+15 V
CN8
ASIC
(PWM control, etc.)
CN1
Panel operator
POWER
Analog voltage
converter
Analog monitor
output for
supervision
PG output
Reference pulse input
0V
1RY
CN5
CPU
(Position/speed
calculation, etc.)
CN3
Digital operator or
personal computer
The supply voltage for 100V, 30 to 200W is 100 to 115V +10% (50/60 Hz).
-15%
4-8
PG
+5 V
Open during
servo alarm (1RY)
Surge
suppressor
Interface
+5 V
12 V
Power Power
OFF ON
CN2
Voltage
sensor
R8
N2
Relay
drive
L2C
TR1
N1
L1C
Servomotor
U
L2
R7
D1
CHARGE
D2 D3 D4
PM1-2
A/D
Speed/torque
reference input
I/O
Sequence I/O
B1 B2 B3
FAN1
R2
RY1
2
12V
FU1
D2 D3 D4
Noise
filter
1KM
Servomotor
P
CHARGE
L1
XX2
C1
XX3
S
L3
XX1
L2
U
V
T
N
N
Relay
drive
Voltage
sensor
CN2
Interface
~
~
L2C
THS1
Gate
drive
Voltage
sensor
L1C
PG
Current
sensor
5 V
CN8
+15 V
DC / DC
converter
ASIC
(PWM control, etc.)
+5 V
12 V
CN1
PG output
+5 V
1KM
POWER
Panel operator
Surge
suppressor
Analog voltage
converter
Speed/torque
reference input
I/O
Sequence I/O
CN3
CN5
Analog monitor
output for
supervision
A/D
CPU
(Position/speed
calculation, etc.)
0V
1KM
1KM
Digital operator or
personal computer
FAN1
FU1
Noise
filter
XX1
L2
L3
12 V
CHARGE
L1
XX3
C1
S
XX2
Relay
drive
Voltage
sensor
Gate
drive
~~~
-
+
CN2
Interface
~
~
+
-
+
-
DC / DC
converter
Gate
drive
PG
Current
sensor
5 V
+15 V
ASIC
(PWM control, etc.)
+5 V
1KM
1KM
0V
1RY
Surge
suppressor
Panel operator
POWER
Analog voltage
converter
CN5
Analog monitor
output for
supervision
PG output
+5 V
CN8
CN1
12 V
1KM
DB
Gate drive overcurrent protector
Voltage
sensor
L2C
RY1
U
V
L1C
Servomotor
P
1KM
CPU
(Position/speed
calculation, etc.)
A/D
Speed/torque
reference input
I/O
Sequence I/O
CN3
Digital operator or
personal computer
4-9
+10%
B1
RY1
DB1
P
Noise
filter
FU1
THS1
B2
PM1/PM2/PM3
R3
D1
1KM
L1
BA1 BA3
C1
C10
CHARGE
C7 C6 C5
U
V
L3
CT2
V
W
TR1
N
L2C
Relay
drive
L1C
DC / DC
converter
12 V
ASIC
(PWM control, etc.)
CN8
CN1
Panel operator
Analog monitor
output for
supervision
0V
1RY
Analog voltage
converter
CN5
4-10
PG
+5 V
Open during
servo alarm (1RY)
1KM
1KM
CN2
Current
sensor
5 V
R2
Gate drive
isolator
PG5 V
1KM
SCR1
C9
Power Power
OFF
ON
Servomotor
12 V *
CT1
L2
BA2
FAN1
POWER
CN3
Digital operator or
personal computer
CPU
(Position/speed
calculation, etc.)
A/D
Speed/torque
reference input
I/O
Sequence I/O
Three-phase 200 V
11.6
92
14 2
2.0
3.0
20AD, 20ADA
30AD, 30ADA
18.5
24.8
120
155
28 2
50ADA
32.9
240
56 2
311
6.0
7.5
11
15
Single-phase 200 V
15AD, 15ADA
5.0
Single-phase 100 V
A3BD, A3BDA
A5BD, A5BDA
01BD, 01BDA
02BD, 02BDA
A3AD, A3ADA
A5AD, A5ADA
01AD, 01ADA
02AD, 02ADA
04AD, 04ADA
05AD, 05ADA
08AD, 08ADA
10AD, 10ADA
Output
Current
(Effective
Value)
A
0.66
0.95
2.4
3.0
0.44
0.64
0.91
2.1
2.8
3.8
5.7
7.6
1.5
Maximum
Applicable
Servomotor
Capacity
kW
0.03
0.05
0.10
0.20
0.03
0.05
0.10
0.20
0.40
0.45
0.75
1.0
60ADA
75ADA
1AADA
1EADA
46.9
54.7
58.6
78.0
290
330
360
490
317
357
390
520
SERVOPACK
Model
SGDM-
Main Circuit
Power Loss
W
3.5
5.2
12
16.4
3.1
4.6
6.7
13.3
20
27
41
55
Regenerative
Resistor
Power Loss
W
Control
Circuit
Power
Loss
W
13
13
12 2
15
16.5
18.2
25
29.4
16.1
17.6
19.7
26.3
33
54
68
82
121
163
198
27
Total
Power
Loss
W
30
* 1. SERVOPACKs with a capacity of 30 to 400W do not have built-in regenerative resistors. If the regenerative
energy exceeds the specified value, connect an external regenerative resistor. Refer to 12.1.3 Calculating the
Required Capacity of Regenerative Resistors.
* 2. Regenerative resistor power losses are allowable losses. Take the following action if this value is exceeded.
Remove the lead from the internal regenerative resistor in the SERVOPACK.
Install an external regenerative resistor (optional).
* 3. An external regenerative resistor must be connected to SERVOPACKs with a capacity of 6.0 kW or higher. The
following regenerative resistor units are provided for this purpose.
For the SGDM-60ADA: JUSP-RA04 (allowable loss: 180W)
For the SGDM-75ADA to 1EADA: JUSP-RA05 (allowable loss: 350W)
Note: Refer to 6.5 Connecting Regenerative Resistors, 5.8.6 External Regenerative Resistor and 5.8.7 Regenerative
Resistor Unit for details.
4-11
1000
B
Operating time (s)
100
A
10
5
1
Rated torque
Approx.
Maximum torque
Motor torque
Note: The overload protection characteristics of A and B in the figure are applicable when the SERVOPACK is
combined with one of the following servomotors.
A: SGMAH or SGMPH servomotor with a capacity of maximum 400 W.
B: SGMAH or SGMPH servomotors with a capacity more than 400 W and SGMGH, SGMSH, and
SGMDH servomotors.
TERMS
Hot Start
A hot start indicates that both the SERVOPACK and the servomotor have run long enough at the rated load to be thermally
saturated.
4-12
2 NM (JM + JL)
[s]
60 (TPM TL)
Stopping time: tf =
2 NM (JM + JL)
[s]
60 (TPM TL)
Starting time:
NM :
JM:
JL:
TPM:
TL:
Load torque (N m)
Calculate the torque from the motor current using servomotor torque constant motor current (effective value).
tf
TPM
Time
TPM
tr
NM
Motor torque
(current amplitude)
TL
The following figure shows the motor torque and motor speed timing chart.
Motor speed
Time
Regenerative resistors are not built into 200 V SERVOPACKs for 30 W to 400 W or 100 V SERVOPACKs for
30 W to 200 W. The following figures show the tentative relationship between the load moment of inertia and
motor speed using an example with a load moment of inertia 10 to 30 times the rotor moment of inertia at the
motor shaft.
External regenerative resistors are required when this condition is exceeded or if the allowable loss capacity (W)
of the built-in regenerative resistor is exceeded due to regenerative drive conditions when a regenerative resistor
is already built in.
4-13
(1) Allowable Load Moment of Inertia and Motor Speed for SGMAH 200 V Servomotors
The following relationships between the motor speed and load moment of inertia are for an AC input power voltage of 200 Vrms. The relationship will change according to changes in power voltage.
SGMAH-A5 (50 W)
SGMAH-A3 (30 W)
0.66
0.50
(9.35)
(7.08)
1.09
Load moment (15.4)
of inertia
-4
2
(10 kg m )
Load moment
of inertia
-4
2
(10 kg m )
Load moment
of inertia
(10-4 kg m2)
(10-3 oz in s2)
(10-3 oz in s2)
(10-3 oz in s2)
3000 5000
3000 5000
SGMAH-02 (200 W)
3000 5000
SGMAH-04 (400 W)
3300 min-1
3.18
2600 min-1
5.19
(73.5)
(45.0)
Load moment
of inertia
(10-4 kg m2)
SGMAH-01 (100 W)
3000 min-1
(15.9)
3000 5000
3000 5000
(2) Allowable Load Moment of Inertia and Motor Speed for SGMPH 200 V Servomotors
The following relationships between the motor speed and load moment of inertia are for an AC input power voltage of 200 Vrms. The relationship will change according to changes in power voltage.
SGMPH-01 (100 W)
SGMPH-02 (200 W)
3.74
1.47
3.31
(53.0)
(20.8)
Load moment
of inertia
-4
2
(10 kg m )
(46.9)
Load moment
1.10
of inertia
-4
2
(10 kg m ) (15.6)
(10-3 oz in s2)
Load moment
of inertia
-4
2
(10 kg m ) 0.89
(10-3 oz in s2)
SGMPH-04 (400 W)
0
3000 5000
Motor speed (min-1)
3000 5000
Motor speed (min-1)
Capacity Range
30 W to 200 W
400 W, 750 W
100 W
SGMPH
200 W
400 W
750 W, 1.5 kW
4-14
20
25
15
7
5
0
3000 5000
Motor speed (min-1)
Servomotor
Model
Capacity Range
450 W to 15 kW
300 W to 5.5 kW
SGMSH
1.0 kW to 5.0 kW
SGMDH
2.2 kW to 4.0 kW
5
5
Servomotor
Tension
Servomotor
Servomotor rotated repeatedly at a
constant speed to maintain the tension.
Servomotor
IMPORTANT
Never operate servomotors with an overhanging load. Doing so will cause the SERVOPACKs regenerative
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 SGDM SERVOPACKs is rated for short-term operation
approximately equivalent to the time it takes to decelerate to a stop.
4-15
Single-phase
Three-phase
100 V
200 V
100 V
200 V
200 V
200 V
200 V
200 V
200 V
200 V
SERVOPACK
Capacity
Model SGDMD/DA
30 W / 50 W / 100 W
A3B / A5B / 01B
30 W / 50 W / 100 W / 200 W
A3A / A5A / 01A / 02A
200 W
02B
400 W
04A
500 W / 800 W / 1.0 kW
05A / 08A / 10A
1.5 kW
15A
2.0 kW / 3.0 kW
20A / 30A
5.0 kW
50A
6.0 kW / 7.5 kW
60A / 75A
11.0 kW / 15.0 kW
1AA / 1EA
Reference
4.7.1
4.7.2
4.7.3
4.7.4
4.7.5
4.7.6
4.7.8
4.7.8
Single-phase
Three-phase
100 V
200 V
100 V
200 V
200 V
200 V
200 V
200 V
SERVOPACK
Capacity
Model SGDMD/DA-R
30 W / 50 W / 100 W
A3B / A5B / 01B
30 W / 50 W / 100 W / 200 W
A3A / A5A / 01A / 02A
200 W
02B
400 W
04A
500 W / 800 W / 1.0 kW
05A / 08A / 10A
1.5 kW
15A
2.0 kW / 3.0 kW
20A / 30A
5.0 kW
50A
Reference
4.8.1
4.8.2
4.8.3
4.8.4
4.8.5
4.8.6
4-16
200 V
200 V
Capacity
6.0 kW / 7.5 kW
11.0 kW / 15.0 kW
SERVOPACK
Model SGDM60A / 75A
1AA / 1EA
D/DA-P
Reference
4.9.1
4.9.2
5.5 (0.22)
YASKAWA SERVOPACK
160 (6.30)
149.50.5 (5.890.02)
(Mounting pitch)
MODE/SET
DATA/
CHARGE
POWER
CN3
CN1
Ground terminal
6
2M4 screws
(0.24)
CN2
10
(0.39)
55 (2.17)
Nameplate
75 (2.95) *
130 (5.12)
5 (0.20) *
Terminal
block
SGDM-
6 (0.24)
160 (6.30)
YASKAWA
5
(0.20)
55 (2.17)
* Reference length
Units: mm (in)
Approx. mass: 0.8 kg (1.76 lb)
17 (0.67)
Control power
supply
L1C L2C
Single-phase
100/200 VAC
50/60 Hz
Single-phase
100/200 VAC
50/60 Hz
SERVOPACK Connector
Connector
SERVOPACK
Manufacturer
Symbol Connector Model
CN1
10250-52A2JL
Sumitomo 3M Co., Ltd.
CN2
53460-0611
Molex Japan Co., Ltd.
CN3
10214-52A2JL
Sumitomo 3M Co., Ltd.
4-17
5.5 (0.22)
5.5 (0.22)
25 (0.20) holes
YASKAWA SERVOPACK
MODE/SET
160 (6.30)
149.50.5 (5.890.02)
(Mounting pitch)
Terminal
block
SGDM-
DATA/
CHARGE
POWER
CN3
CN1
10 (0.39)
Ground terminal
2M4 screws 12
(0.47)
5 (0.20)
63 (2.48) *
75 (2.95)
5*
(0.20)
6
(0.24)
6 (0.24)
CN2
Nameplate
75 (2.95)*
130 (5.12)
5
(0.20)*
160 (6.30)
149.5 (5.89)
YASKAWA
12 (0.47)
75 (2.95)
* Reference length
Units: mm (in)
Approx. mass: 1.1 kg (2.43 lb)
17 (0.67)
Single-phase
100/200 VAC
50/60 Hz
4-18
Control power
supply
L1C L2C
Single-phase
100/200 VAC
50/60 Hz
SERVOPACK Connector
Connector
SERVOPACK
Manufacturer
Symbol Connector Model
CN1
10250-52A2JL
Sumitomo 3M Co., Ltd.
CN2
53460-0611
Molex Japan Co., Ltd.
CN3
10214-52A2JL
Sumitomo 3M Co., Ltd.
4.7.3 Three-phase 200 V: 500 W/750 W/1.0 kW (05AD to 10AD, 05ADA to 10ADA)
5 (0.20) hole
Terminal
block
YASKAWA SERVOPACK200V
YASKAWA
SGDM-
MODE/SET
DATA/
CHARGE
POWER
160 (6.30)
5 (0.20)*
160 (6.30)
149.50.5 (5.870.02)
(Mounting pitch)
5.5
(0.22)
Cooling fan
CN3
CN1
5 (0.20)
94.4 (3.72)
96.2 (3.79)
15 (0.59)
CN2
Ground terminal
2M4 screws
Nameplate
10 (0.39)
35 55 (2.17)
(1.38)
90 (3.54)
75 (2.95)*
180 (7.09)
8 (0.31)
2M4 screw
holes
4
17 (0.67)
27 (1.06)
90 (3.54)
* Reference length
Units: mm (in)
Approx. mass: 1.7 kg (3.75 lb)
Control power
supply
L1C L2C
Three-phase
200 VAC
50/60 Hz
Single-phase
200 VAC
50/60 Hz
SERVOPACK Connector
Connector
SERVOPACK
Manufacturer
Symbol Connector Model
CN1
10250-52A2JL
Sumitomo 3M Co., Ltd.
CN2
53460-0611
Molex Japan Co., Ltd.
CN3
10214-52A2JL
Sumitomo 3M Co., Ltd.
4-19
5.5 (0.22)
YASKAWA SERVOPACK
MODE/SET
DATA/
CHARGE
160 (6.30)
160 (6.30)
149.50.5 (5.890.02)
(Mounting pitch)
SGDM-
POWER
CN3
CN1
CN2
Ground
terminal
2M4 screws
5 (0.20)
Terminal
block
110 (4.33)
Nameplate
75 (2.95)*
180 (7.09)
5
(0.20)*
YASKAWA
1000.5 (3.940.02)
5*
(0.20)
* Reference length
Units: mm (in)
Approx. mass: 2.8 kg (6.17 lb)
Cooling fan
Three-phase
200 VAC
50/60 Hz
4-20
Control power
supply
L1C L2C
Single-phase
200 VAC
50/60 Hz
SERVOPACK Connector
Connector
SERVOPACK
Manufacturer
Symbol Connector Model
CN1
10250-52A2JL
Sumitomo 3M Co., Ltd.
CN2
53460-0611
Molex Japan Co., Ltd.
CN3
10214-52A2JL
Sumitomo 3M Co., Ltd.
26 (0.24) holes
Heat sink
6
(0.24)
6 (0.24)
YASKAWA SERVOPACK
SGDM-
YASKAWA
CN1
CN2
CN2
5.5*
(0.22)
14-pin terminal
M4 mounting
screw
Ground terminal
2M4 screws 5
Nameplate
6
(0.24)
(0.20)*
110 (4.33)
180 (7.09)
4 (0.16)
(Mounting pitch)
250 (9.84)
238.5 (9.39)
CN1
CN3
250 (9.84)
POWER
CN3
238.50.5 (9.390.02)
DATA/
CHARGE
5.5
(0.22)*
MODE/SET
1000.5
(3.940.02)
5
(0.20)* (Mounting pitch)
5 (0.20)*
110 (4.33)
Nameplate
4
* Reference length
Units: mm (in)
Approx. mass: 3.8 kg (8.38 lb)
(100)
40
(1.57)*
Cooling fan
Control power
supply
L1C L2C
Three-phase
200 VAC
50/60 Hz
Single-phase
200 VAC
50/60 Hz
SERVOPACK Connector
Connector
SERVOPACK
Manufacturer
Symbol Connector Model
CN1
10250-52A2JL
Sumitomo 3M Co., Ltd.
CN2
53460-0611
Molex Japan Co., Ltd.
CN3
10214-52A2JL
Sumitomo 3M Co., Ltd.
4-21
6-pin terminal
M5 screw
6
(0.24)
Heat sink
6 (0.24)
YASKAWA SERVOPACK
SGDM-50ADA
Ver.
4-pin terminal
M4 screw
L1
L2
MODE/SET
DATA/
CN3
POWER
250 (9.84)
CN1
+1
250 (9.84)
238.5 (9.39)
+2
-
CN2
L1C
L2C
B1
B2
B3
U
238.50.5 (9.390.02)
(Mounting pitch)
CHARGE
L3
5*
(0.20)
5.7
(0.22) 125 (4.92)
135 (5.31)
Nameplate
5 (0.20)*
75 (2.95)*
3-pin terminal
M5 screw
Ground terminal
M5 screw
230 (9.06)
1.6
(0.06)
5.5 (0.22)*
5.5
(0.22)
5*
(0.20)
1250.5
(4.920.02)
(Mounting pitch)
5 (0.20)*
* Reference length
Units: mm (in)
Approx. mass: 5.5 kg (12.13 lb)
(100)
83 (3.27)*
L2
L3
Three-phase
200 VAC
50/60 Hz
4-22
Control power
supply
L1C L2C
Single-phase
200 VAC
50/60 Hz
SERVOPACK Connector
Connector
SERVOPACK
Manufacturer
Symbol Connector Model
CN1
10250-52A2JL
Sumitomo 3M Co., Ltd.
CN2
53460-0611
Molex Japan Co., Ltd.
CN3
10214-52A2JL
Sumitomo 3M Co., Ltd.
SERVOPARK 200V
Ver.
YASKAWA
66
(2.60)
51
46
(2.01) 12.5 (0.49) (1.81)
L3
B1
B2
41
123.5 (4.86) (1.61) (65.6)
30.5
171 (6.73)
(1.20) 25 (0.98) 180 (7.09)
Main circuit
terminal
28.3 (1.11)*
25 (0.98)*
Nameplate
Control
circuit
terminal
335 (13.19)
CN1 CN2
21 (0.83)
Ground terminal
M8
7.5 (0.30)*
WARNING
125 (4.92)
CHARGE
335 (13.19)
Max. 350 (13.78)
BATTERY
DATA/
25
(0.98)
180 (7.09)
25 (0.98)*
145 (5.71)
View A
90 (3.54)
19 (0.75)
10 (0.39)
7.5
(0.30)
25 (0.98)
282.6 (11.13)
100.5 (3.96)
MODE/SET
9
(0.35)
POWER
CN3
110 (4.33)
CN5
Control circuit
terminal
M4
!
L2
CN8
SGDM-
L1
Cooling fan
7.5 (0.30)
7.5 (0.30)
* Reference length
Units: mm (in)
Approx. mass: 14.3 kg (31.53 lb)
Main circuit
power supply
L1
L2
L3
Three-phase
200 VAC
50/60 Hz
Control power
supply
L1C L2C
Single-phase
200 VAC
50/60 Hz
External
regenerative
resistor
B1 B2
SERVOPACK Connector
Connector
SERVOPACK
Manufacturer
Symbol Connector Model
CN1
10250-52A2JL
Sumitomo 3M Co., Ltd.
CN2
53460-0611
Molex Japan Co., Ltd.
CN3
10214-52A2JL
Sumitomo 3M Co., Ltd.
4-23
Cooling fan
10 (0.39)
7.5 (0.30)
7.5 (0.30)
SERVOPACK 200V
SGDM- 1AADA
Ver.
YASKAWA
CN8
CN3
POWER
Regenerative
resistor
terminal M6
435 (17.13)
450 (17.72)
CN5
140 (5.51)
B2
Nameplate
L1C L2C
46 (1.81)
160 (6.30)
26.5 (1.04)
L1
L2
L3
+1
34 27 (1.06)
(1.34)
45
151 (5.94) (1.77)
7.5* (0.30)
B1
7
(0.28)
30
200 (7.87)
(1.18) 260 (10.24)
34
(1.34)
30 (1.18)*
17 (0.67)
125 (4.92)
126 (4.96)
285 (11.22)
Main circuit
terminal M8
Ground
terminal M8
7.5 (0.30)*
320 (12.60)
CN1 CN2
CHARGE
435 (17.13)
BATTERY
DATA/
MODE/SET
Control circuit
terminal M4
30
(1.18)
200 (7.87)
145 (5.71)
224 (8.82)
257 (10.12)
271 (10.67)
View A
* Reference length
Units: mm (in)
Approx. mass: 26 kg (57.32 lb)
Main circuit
power supply
L1
L2
L3
Three-phase
200 VAC
50/60 Hz
4-24
Control power
supply
L1C L2C
Single-phase
200 VAC
50/60 Hz
External
regenerative
resistor
B1 B2
SERVOPACK Connector
Connector
SERVOPACK
Manufacturer
Symbol Connector Model
CN1
10250-52A2JL
Sumitomo 3M Co., Ltd.
CN2
53460-0611
Molex Japan Co., Ltd.
CN3
10214-52A2JL
Sumitomo 3M Co., Ltd.
30
(1.18)*
5 (0.20) hole
2
(0.08)
10
(0.39)
7.5
(0.30)
7.5 (0.30)
17.5 (0.69)
YASKAWA SERVOPACK
POWER
C
N
3
CN3
L2
+1
+2
L1C
C
N
1
CN1
L2C
B1
B2
U
V
W
C
N
2
CN2
Nameplate
5 (0.20)
6
(0.24)
10 (0.39)
75 (2.95)
55 (2.17)
130 (5.12)
10 (0.39)
17.5 (0.69)
7.5 (0.30)
L1
7.5 (0.30)*
DATA/
CHANGE
6 (0.24)
195 (7.68)
160 (6.30)
180 (7.09)
MODE/SET
Terminal
block
1800.5 (7.090.02)
(Mounting pitch)
160 (6.30)
Min.166 (6.54)
SGDM-
YASKAWA
32.5 (1.28)*
22.5
(0.89) 55 (2.17)
Ground terminal
2M4 screws
* Reference length
Units: mm (in)
Approx. mass: 1.0 kg (2.20 lb)
17 (0.67)
Control power
supply
L1C L2C
Single-phase
100/200 VAC
50/60 Hz
Single-phase
100/200 VAC
50/60 Hz
SERVOPACK Connector
Connector
SERVOPACK
Manufacturer
Symbol Connector Model
CN1
10250-52A2JL
Sumitomo 3M Co., Ltd.
CN2
53460-0611
Molex Japan Co., Ltd.
CN3
10214-52A2JL
Sumitomo 3M Co., Ltd.
4-25
42 (1.65)
2
(0.08)
21.5
(0.85)
42.5
(1.67)
7.5 (0.30)
17.5 (0.69)
7.5 (0.30)
YASKAWA SERVOPACK
DATA/
CHANGE
L1
POWER
C
N
3
CN3
L2
+1
+2
L1C
C
N
1
CN1
L2C
B1
B2
U
V
C
N
2
CN2
6
(0.24)
17.5 (0.69)
7.5 (0.30)*
6
(0.24)
Nameplate
5 (0.20)
10 (0.39)
75 (2.95)
75* (2.95)
130 (5.12)
10 (0.39)*
MODE/SET
7.5 (0.30)*
195 (7.68)
160 (6.30)
180 (7.09)
Terminal
block
1800.5 (7.090.02)
(Mounting pitch)
160 (6.30)
Min.166 (6.54)
SGDM-
YASKAWA
42.5
(1.67)
32.5*
(1.28)
75 (2.95)
Ground terminal
2M4 screws
* Reference length
Units: mm (in)
Approx. mass: 1.3 kg (2.87 lb)
17 (0.67)
Main circuit
power supply
L1 L2
Single-phase
100/200 VAC
50/60 Hz
4-26
Control power
supply
L1C L2C
Single-phase
100/200 VAC
50/60 Hz
SERVOPACK Connector
Connector
SERVOPACK
Manufacturer
Symbol Connector Model
CN1
10250-52A2JL
Sumitomo 3M Co., Ltd.
CN2
53460-0611
Molex Japan Co., Ltd.
CN3
10214-52A2JL
Sumitomo 3M Co., Ltd.
17.5 (0.69)
7.5 (0.30)
96.2 (3.79)
42 (1.65)
25.5
(1.00) 46.5
43.5
(1.83)
(1.71)
YASKAWA SERVOPACK200V
SGDM-
YASKAWA
94.4
(3.72)
195 (7.68)
160 (6.30)
180 (7.09)
6 (0.24)
22.5 (0.89)*
24.5
5 ( 0.20) hole (0.96) 2
(0.08)
Terminal
block
MODE/SET
DATA/
CHANGE
L1
POWER
C
N
3
CN3
L2
L3
+1
+2
C
N
1
CN1
L1C
L2C
B1
B2
B3
U
C
N
2
CN2
17.5 (0.69)
Cooling fan
7.5
(0.30)
15
Ground
(0.59)
terminal
2M4 screws
Nameplate
5 (0.20)
35
(1.38)
10 (0.39)
55 (2.17)
75* (2.95)
180 (7.09)
90 (3.54)
17 (0.67)
10 (0.39)*
7.5 (0.30)*
* Reference length
46.5
(1.83)
Units: mm (in)
Approx. mass: 1.9 kg (4.19 lb)
43.5
(1.71)*
90 (3.54)
Control power
supply
L1C L2C
Three-phase
200 VAC
50/60 Hz
Single-phase
200 VAC
50/60 Hz
SERVOPACK Connector
Connector
SERVOPACK
Manufacturer
Symbol Connector Model
CN1
10250-52A2JL
Sumitomo 3M Co., Ltd.
CN2
53460-0611
Molex Japan Co., Ltd.
CN3
10214-52A2JL
Sumitomo 3M Co., Ltd.
4-27
Heat sink
7.5 (0.30)
6 (0.24)
17.5 (0.69)
2 5 (0.20)
Flange
YASKAWA SERVOPACK
SGDM-
195 (7.68)
17.5 (0.69)
CN3
CN1
CN2
Terminal
block
5 (0.20)
72 (2.83)
110 (4.33)
Ground terminal
2M4 screws
Flange
Nameplate
75 (2.95)*
24.5 (0.96)
180 (7.09)
7.5 (0.30)*
6 (0.24)
YASKAWA
48
500.5
(1.89)* (1.970.02)
12 (0.47)*
(Mounting pitch)
D1
* Reference length
Units: mm (in)
Approx. mass: 3.0 kg (6.61 lb)
Cooling fan
L2
L3
Three-phase
200 VAC
50/60 Hz
4-28
Control power
supply
L1C L2C
Single-phase
200 VAC
50/60 Hz
SERVOPACK Connector
Connector
SERVOPACK
Manufacturer
Symbol Connector Model
CN1
10250-52A2JL
Sumitomo 3M Co., Ltd.
CN2
53460-0611
Molex Japan Co., Ltd.
CN3
10214-52A2JL
Sumitomo 3M Co., Ltd.
7.5 (0.30)*
Heat sink
YASKAWA SERVOPACK
SGDM-
DATA/
CHANGE
POWER
CN3
285 (11.22)
270 (10.63)
250 (9.84)
2700.5 (10.630.02)
MODE/SET
CN1
CN2
6 (0.24)
7.5 (0.30)*
17.5 (0.69)*
14-pin terminal
Nameplate
M4 mounting screw
6 (0.24)
50 (1.97)
15 (0.59)*
80 (3.15)
110 (4.33)
Ground terminal
2M4 screws
15*
0.59
24.5 (0.96)
75 (2.95)*
155.5 (6.12)
180 (7.09)
7.5 (0.30)*
YASKAWA
4M5 tap
6 (.024)
Flange
(Mounting pitch)
7.5 (0.30)*
17.5 (0.69)*
30
(1.18)*
500.5
(1.970.02)
4
30 (1.18)*
(Mounting pitch)
* Reference length
Units: mm (in)
Approx. mass: 4.0 kg (8.82 lb)
(100)
40
(1.57)*
Cooling fan
L2
L3
Three-phase
200 VAC
50/60 Hz
Control power
supply
L1C L2C
Single-phase
200 VAC
50/60 Hz
SERVOPACK Connector
Connector
SERVOPACK
Manufacturer
Symbol Connector Model
CN1
10250-52A2JL
Sumitomo 3M Co., Ltd.
CN2
53460-0611
Molex Japan Co., Ltd.
CN3
10214-52A2JL
Sumitomo 3M Co., Ltd.
4-29
Flange
SGDM-50ADA-R
Ve r.
CN3
L1
L2
MODE/SET
DATA/
POWER
2700.5 (10.630.02)
CHANGE
L3
CN1
285 (11.22)
270 (10.63)
250 (9.84)
+1
+2
CN2
L1C
L2C
B1
B2
5-pin terminal
M4 screw
B3
U
V
17.5 (0.69)*
7.5 (0.30)*
35
(1.38)
6 (0.24)
50 (1.97) 50 (1.97)*
75 (2.95)*
135 (5.31)
Ground terminal
M5 screw
Nameplate
24.5 (0.96)
230 (9.06)
7.5 (0.30)*
3-pin terminal
M5 screw
6 (0.24)
6-pin terminal
M5 screw
7.5 (0.30)*
Heat sink
7.5 (0.30)*
17.5 (0.69)*
50
35* 500.5
(1.38) (1.970.02) (1.97)*
(Mounting pitch)
* Reference length
(100)
Units: mm (in)
Approx. mass: 5.7 kg (12.57 lb)
83
(3.27)*
L2
L3
Three-phase
200 VAC
50/60 Hz
4-30
Control power
supply
L1C L2C
Single-phase
200 VAC
50/60 Hz
SERVOPACK Connector
Connector
SERVOPACK
Manufacturer
Symbol Connector Model
CN1
10250-52A2JL
Sumitomo 3M Co., Ltd.
CN2
53460-0611
Molex Japan Co., Ltd.
CN3
10214-52A2JL
Sumitomo 3M Co., Ltd.
34
4M6 taps
(1.34) 82 (3.23)
10 (0.39)
CN8
26 (0.24)
holes
Ver.
POWER
100.5
(3.96)
25 (0.98)
9
(0.35)
30.5 (1.20)
12.5 (0.49)
66 (2.60)
46
12.5 (0.49) (1.81)
L2
L3
B1
B2
65.6*
41
123.5
(4.86) (1.61) (2.58)
19
(0.75)
171 (6.73)
205 (8.07)
Max.230 (9.06)
Main circuit
terminal M6
Punched hole
316 (12.44)
335 (13.19)
Nameplate
312.2 (12.29)
WARNING
125 (4.92)
CN1 CN2
L1C L2C
51
(2.01)
Control 21
circuit (0.83)
terminal
Main
circuit
terminal
28.3 (1.11)*
12.5 (0.49)
Ground terminal
M8
87.5
27 (3.44)
(1.06)
107 (4.21)
Max.235 (9.25)
Ground
terminal
15.9 (0.63)*
CN5
Control circuit
terminal M4
CHARGE
L1
BATTERY
DATA/
335 (13.19)
Max.350 (13.78)
MODE/SET
7.5
(0.30)
282.6 (11.13)
CN3
110 (4.33)
7 (0.28)
5.5
(0.22)*
205 (8.07)
219 (8.62)
7
(0.28)
5.5
(0.22)*
7.5 (0.30)*
SGDM-
YASKAWA
7.5 (0.30)
SERVOPACK 200V
Cooling fan
2.5 (0.10)*
11.5 (0.45)*
7.5 (0.30)*
7 (0.28)
21.9 (0.86)*
7.5 (0.30)
145 (5.71)
View A
90 (3.54)
* Reference length
217.3 (8.56)*
7.9
(0.31)*
Units: mm (in)
Approx. mass: 14 kg (30.86 lb)
4.8 (0.19)*
L2
L3
Three-phase
200 VAC
50/60 Hz
Control power
supply
L1C L2C
Single-phase
200 VAC
50/60 Hz
External
regenerative
resistor
B1 B2
SERVOPACK Connector
Connector
SERVOPACK
Manufacturer
Symbol Connector Model
CN1
10250-52A2JL
Sumitomo 3M Co., Ltd.
CN2
53460-0611
Molex Japan Co., Ltd.
CN3
10214-52A2JL
Sumitomo 3M Co., Ltd.
4-31
10 (0.39)
Externals
9 (0.35)
7.5 (0.30)
Cooling fan
18.5 (0.73)
7.5 (0.30)*
SERVOPACK 200V
SGDMVer.
YASKAWA
CN3
CN8
POWER
46
(1.81)
L1
L2
L3
34 27(1.06)
(1.34)
151
+1
45
(5.94) (1.77)
235 (9.25)
260 (10.24)
Main circuit
terminal M8
7
(0.28)
12.5 (0.49)*
Ground
terminal M8
126
17 (0.67)
34 (4.96)
122 (4.80)
(1.34)
282 (11.10)
Ground
terminal
4.5
(0.18)
8
(0.31)
235 (9.25)
244 (9.61)
20 (0.79)
99 (3.90)
132 (5.20)
146 (5.75)
View A
* Reference length
Units: mm (in)
Approx. mass: 22 kg (48.50 lb)
L2
L3
Three-phase
200 VAC
50/60 Hz
4-32
415 (16.34)
435 (17.13)
413 (16.26)
Main circuit
terminal
Control power
supply
L1C L2C
Single-phase
200 VAC
50/60 Hz
External
regenerative
resistor
B1 B2
SERVOPACK Connector
Connector
SERVOPACK
Manufacturer
Symbol Connector Model
CN1
10250-52A2JL
Sumitomo 3M Co., Ltd.
CN2
53460-0611
Molex Japan Co., Ltd.
CN3
10214-52A2JL
Sumitomo 3M Co., Ltd.
4.5
(0.18)*
11 (0.43)*
160 (6.30)
Nameplate
Punched hole
8*
(0.31)
7.5 (0.30)*
P1
CN2
Regenerative
resistor/
control circuit
terminal
18.5 (0.73)
CN1
435 (17.13)
450 (17.72)
Control circuit
terminal M4
CHARGE
7.5 (0.30)*
320 (12.60)
26.5 (1.04)
140 (5.51)
12.5
(0.49)
BATTERY
DATA/
MODE/SET
CN5
Regenerative
Resistor terminal
M6
5
Specifications and Dimensional
Drawings of Cables and
Peripheral Devices
5.1 Specifications and Dimensional Drawings of Servomotor
Main Circuit Cable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.1.1 Cables for SGMAH and SGMPH Servomotors Without Brakes - - - - - - - - - - - - - - - - 5.1.2 Cables for SGMAH and SGMPH Servomotors With Brakes - - - - - - - - - - - - - - - - - - - 5.1.3 Flexible Cables for SGMAH and SGMPH Servomotors Without Brakes - - - - - - - - - - 5.1.4 Flexible Cables for SGMAH and SGMPH Servomotors With Brakes - - - - - - - - - - - - 5.1.5 Cables for SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
5-3
5-3
5-4
5-5
5-6
5-38
5-39
5-39
5-39
5-1
5-2
Servomotor end
Units: mm (in)
L
35 (1.38)
Finished dimension
8.2 (0.32)
M4 crimped
terminal
Wire
markers
Units: m (ft)
Applicable Servomotor
Models
Cable Type
JZSP-CMM00-03
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-CMM00-05
JZSP-CMM00-10
JZSP-CMM00-15
JZSP-CMM00-20
Cable
Length
(L)
3
(9.84)
5
(16.40)
10
(32.81)
15
(49.21)
20
(65.62)
Applicable Servomotor
Models
Cable Type
JZSP-CMM20-03
JZSP-CMM20-05
SGMPH
200 V: 1.5 kW
JZSP-CMM20-10
JZSP-CMM20-15
JZSP-CMM20-20
Cable
Length
(L)
3
(9.84)
5
(16.40)
10
(32.81)
15
(49.21)
20
(65.62)
Servomotor end
Units: mm (in)
L
35
(1.38)
Finished dimension
7.3 (0.29)
M4 crimped
terminals
Wire markers
5-3
Units: m (ft)
Applicable Servomotor
Models
Cable
Length
(L)
3
(9.84)
5
(16.40)
10
(32.81)
15
(49.21)
20
(65.62)
Cable Type
JZSP-CMM10-03
SGMAH
200 V: 30 to 750 W
100 V: 30 to 200 W
SGMPH
200 V: 100 to 750 W
100 V: 100 and 200 W
JZSP-CMM10-05
JZSP-CMM10-10
JZSP-CMM10-15
JZSP-CMM10-20
Applicable Servomotor
Models
Cable Type
JZSP-CMM30-03
JZSP-CMM30-05
SGMPH
200 V: 1.5 kW
JZSP-CMM30-10
JZSP-CMM30-15
JZSP-CMM30-20
5.1.3 Flexible Cables for SGMAH and SGMPH Servomotors Without Brakes
SERVOPACK end
(10) (0.39)
50 (1.97)
Servomotor end
L
35 (1.38)
8.5 (0.33)
Finished dimension
6.5 (0.26)
Heat-shrinkable tube
M4 crimped
terminal
Wire markers
Cap: 350780-1 (4-pin)
Socket: 350536-6 (Chained)
Units: m (ft)
Applicable Servomotor
Models
Cable Type
JZSP-CMM01-03
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-CMM01-05
JZSP-CMM01-10
JZSP-CMM01-15
JZSP-CMM01-20
5-4
Cable
Length
(L)
3
(9.84)
5
(16.40)
10
(32.81)
15
(49.21)
20
(65.62)
Units: mm (in)
Cable
Length
(L)
3
(9.84)
5
(16.40)
10
(32.81)
15
(49.21)
20
(65.62)
5.1.4 Flexible Cables for SGMAH and SGMPH Servomotors With Brakes
SERVOPACK end
50 (1.97)
(10) (0.39)
8.5 (0.33)
Servomotor end
Units: mm (in)
L
35 (1.38)
Finished dimension
7.0 (0.28)
Heat-shrinkable tube
M4 crimped
terminals
Wire markers
Units: m (ft)
Applicable Servomotor
Models
Cable Type
JZSP-CMM11-03
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-CMM11-05
JZSP-CMM11-10
JZSP-CMM11-15
JZSP-CMM11-20
Cable
Length
(L)
3
(9.84)
5
(16.40)
10
(32.81)
15
(49.21)
20
(65.62)
5-5
Flexible Type
Length (L)
JZSP-CMM60-03
JZSP-CSM60-03
3 m (9.84 ft)
JZSP-CMM60-05
JZSP-CSM60-05
5 m (16.4 ft)
JZSP-CMM60-10
JZSP-CSM60-10
JZSP-CSM60-15
15 m (49.2 ft)
JZSP-CMM60-20
JZSP-CSM60-20
SERVOPACK end
Servomotor end
50 mm (1.97 in)
10 m (32.8 ft)
JZSP-CMM60-15
Dimensional Drawing
20 m (65.6 ft)
M4 crimped terminals
Servomotor end
Signal Pin No.
Red
Phase U
Phase U
White
Phase V
Phase V
Blue
Phase W
Phase W
Green/(yellow)
FG
FG
3
4
Description
Japan Aviation Electronics Industry, Ltd.
JN1DS04FK1(Soldered)
5.7 mm (0.22 in) to 7.3 mm (0.29 in)
51.5 (2.03) max.
5-6
19 (0.75)
15.5 (0.61)
18.8 (0.74)
No.1
No.2
No.3
Ground
Specifications
Finished Dimension
Internal Configuration
and Lead Color
Flexible Cable
JZSP-CSM80(20m (65.6 ft) max.)
UL2517 (Max. operating temperature:
105 C (221 F))
AWG22 6C
Standard Cable
JZSP-CSM90(20m (65.6 ft) max.)
UL2517 (Max. operating temperature:
105 C (221 F))
AWG20 6C
Black
Green/
(Yellow)
Black
Blue
Red
White
5
5m (16.4 ft), 10m (32.8 ft), 15m (49.2 ft), 20m (65.6 ft)
5-7
YASKAWA
200V
SERVOPACK
YASKAWA
200V
SERVOPACK
SGDM-
SGDM-
MODE/SET
CHARGE
DATA/
POWER
L1
MODE/SET
CHARGE
L3
1
L1C
2
C
N
1
L1C
L2
C
N
1
L2
B1
B1
B2
B2
B3
C
N
3
L2
L3
DATA/
POWER
L1
C
N
3
L2
B3
C
N
2
U
V
UVW
C
N
2
UVW
Encoder cable
Servomotor
main circuit cable
Encoder cable
Servomotor
main circuit cable
30 W to 750 W
AWG20
100 W
AWG22
200 to 400 W
750 W
1.5 kW
AWG16
(HIV 1.25)
AWG20
5-8
450 W 850 W 1.3 kW 1.8 kW 2.9 kW 4.4 kW 5.5 kW 7.5 kW 11.0 kW 15.0 kW
HIV2.0
HIV3.5 HIV5.5
HIV8
HIV14
HIV22
HIV3.5 HIV5.5
HIV8
HIV14
HIV3.5
HIV5.5
HIV8
HIV8
02B
05B
07B
04C
10C
42 W
105 W
147 W
84 W
209 W
45M
80M
707 W
1AM
80N
14C
08D
293 W 168 W
AWG20
1EN
17D
25D
16E
35E
356 W
393 W
335 W
550 W
2ZN
HIV2.0
HIV3.5
HIV2.0
HIV3.5
HIV5.5
Type
JZSP-CMM9-1
JZSP-CMM9-2
Type
JZSP-CMM9-1
JZSP-CMM9-2
JZSP-CMM9-3
JZSP-CMM9-4
5-9
(3) 30 to 750 W SGMAH and 100 to 750 W SGMPH Servomotors Without Brakes
(a) Connector Type: JZSP-CMM9-1
Units: mm (in)
Connector on
servomotor
Servomotor main
circuit connector
27.7 (1.09)
Cap
Socket
Type
350780-1
350570-3 or
350689-3
Soldered type
7.6 (0.30)
27.4 (1.08)
14.7 (0.58)
Signal
Phase U
Phase V
Phase W
FG
Lead Color
Red
White
Blue
Green/Yellow
(4) 30 to 750 W SGMAH and 100 to 750 W SGMPH Servomotors With Brakes
(a) Connector Type: JZSP-CMM9-2
Units: mm (in)
6
27.4 (1.08)
20.3 (0.80)
Cap
14 (0.55)
Servomotor main
circuit connector
3
Connector on
servomotor
28.4 (1.12)
5-10
Signal
Phase U
Phase V
Phase W
FG
Brake terminal
Brake terminal
Lead Color
Red
White
Blue
Green/Yellow
Black
Black
Remarks
No polarity
Socket
Type
350781-1
350570-3 or
350689-3
Soldered type
Servomotor main
circuit connector
Cap
27.7 (1.09)
Socket
Type
350780-1
350536-6 or
350550-6
(No. 1 to 4)
Soldered type
7.6 (0.30)
27.4 (1.08)
14.7 (0.58)
Signal
Phase U
Phase V
Phase W
FG
Lead Color
Red
White
Blue
Green/Yellow
Cap
1
27.4 (1.08)
20.3 (0.80)
14 (0.55)
Servomotor main
circuit connector
3
Connector on
servomotor
Socket
28.4 (1.12)
Type
350781-1
350536-6 or
350550-6
(No. 1 to 4)
350570-3 or
350689-3
(No. 5 and 6)
Soldered type
Signal
Phase U
Phase V
Phase W
FG
Brake terminal
Brake terminal
Lead Color
Red
White
Blue
Green/Yellow
Black
Black
Remarks
No polarity
5-11
H servomotor
Standard straight plug
Non-waterproof
cable clamp
Connector on
servomotor
Cable
Encoder
SGM
H servomotor
Conduit
Plug
Cable
Waterproof
cable clamp
Waterproof L-shaped plug
Connector Manufacturers
Contact Yaskawa Controls Co., Ltd.
Connector
Plug
Cable clamp
Conduit
5-12
Type
JL
CE
(JA
Manufacturer
Japan Aviation Electronics
Industry, Ltd.
DDK Electronics, Inc.
Nippon Flex Co., Ltd.
)
Cable
Capacity
(kW)
0.45
0.85
1.3
1.8
2.9
4.4
5.5
7.5
11.0
15.0
Plug
Connector on
Servomotor
Straight
L-shaped
MS3102A18-10P
MS3106B18-10S
MS3108B18-10S
MS3057-10A
MS3102A22-22P
MS3106B22-22S
MS3108B22-22S
MS3057-12A
MS3102A32-17P
MS3106B32-17S
MS3108B32-17S
MS3057-20A
Cable Clamp
Capacity
(kW)
0.45
0.85
1.3
1.8
2.9
4.4
5.5
7.5
11.0
15.0
Plug
Connector on
Servomotor
Straight
L-shaped
MS3102A20-15P
MS3106B20-15S
MS3108B20-15S
MS3057-12A
MS3102A24-10P
MS3106B24-10S
MS3108B24-10S
MS3057-16A
MS3102A32-17P
MS3106B32-17S
MS3108B32-17S
MS3057-20A
Cable Clamp
5-13
Capacity (kW)
Three-phase
200 V
5.5
7.5
11.0
15.0
Plug
Connector on
Servomotor
MS3102A10SL-3P
Cable Clamp
Straight
L-shaped
MS3106A10SL-3S
MS3057-4A
(3) SGMGH Servomotors (1500 min-1) Main Circuit Connector Pin Arrangement
(a) Without Holding Brakes
0.45 to 15.0 kW
Servomotor Connector Pin Arrangement
Pin No.
Signal
Phase U
A
Servomotor-end
connector
Phase V
Phase W
FG (Frame Ground)
Pin No.
Signal
Phase U
Signal
E*
Brake terminal
Brake terminal
Servomotor-end
connector
Phase V
F*
Phase W
2 5.5 to 15.0 kW
Brake Connector Pin Arrangement
Pin No.
B
Brake terminal
B*
Signal
A*
Brake terminal
C
Servomotor-end connector
Brake-end connector
Servomotor
* No polarity
Signal
Phase U
5-14
Phase V
Phase W
FG (Frame Ground)
Capacity
(kW)
0.3
0.6
0.9
1.2
2.0
3.0
4.0
5.5
Plug
Connector on
Servomotor
Straight
L-shaped
MS3102A18-10P
MS3106B18-10S
MS3108B18-10S
MS3057-10A
MS3102A22-22P
MS3106B22-22S
MS3108B22-22S
MS3057-12A
MS3102A32-17P
MS3106B32-17S
MS3108B32-17S
MS3057-20A
Cable Clamp
5
Capacity
(kW)
0.3
0.6
0.9
1.2
2.0
3.0
4.0
5.5
Plug
Connector on
Servomotor
Straight
L-shaped
MS3102A20-15P
MS3106B20-15S
MS3108B20-15S
MS3057-12A
MS3102A24-10P
MS3106B24-10S
MS3108B24-10S
MS3057-16A
MS3102A32-17P
MS3106B32-17S
MS3108B32-17S
MS3057-20A
Cable Clamp
Plug
Capacity
(kW)
Connector on
Servomotor
Straight
L-shaped
4.0
5.5
MS3102A10SL-3P
MS3106A10SL-3S
MS3108A10SL-3S
Cable Clamp
MS3057-4A
5-15
(3) SGMGH (1000 min-1) Servomotor Main Circuit Connector Pin Arrangement
(a) Without Holding Brakes
0.3 to 5.5 kW
Servomotor Connector Pin Arrangement
Pin No.
D
Signal
Phase U
Servomotor-end
connector
Phase V
Phase W
FG (Frame Ground)
Pin No.
Signal
Phase U
Signal
E*
Brake terminal
Servomotor-end
connector
Brake terminal
B
C
Phase V
F*
Phase W
Brake terminal
B*
Signal
A*
Brake terminal
C
* No polarity
Servomotor-end connector
Brake-end connector
Signal
Phase U
5-16
Phase V
Phase W
FG (Frame Ground)
Capacity
(kW)
1.0
1.5
2.0
3.0
4.0
5.0
Plug
Connector on
Servomotor
Straight
L-shaped
MS3102A18-10P
MS3106B18-10S
MS3108B18-10S
MS3057-10A
MS3102A22-22P
MS3106B22-22S
MS3108B22-22S
MS3057-12A
Cable Clamp
Capacity
(kW)
1.0
1.5
2.0
3.0
4.0
5.0
Plug
Connector on
Servomotor
Straight
L-shaped
MS3102A20-15P
MS3106B20-15S
MS3108B20-15S
MS3057-12A
MS3102A24-10P
MS3106B24-10S
MS3108B24-10S
MS3057-16A
Cable Clamp
5-17
(3) SGMSH Servomotor (3000 min-1) Main Circuit Connector Pin Arrangement
(a) Without Holding Brakes
1.0 to 5.0 kW
Servomotor Connector Pin Arrangement
Pin No.
Signal
A
B
C
A
B
Phase V
Phase W
D
C
Phase U
FG (Frame Ground)
Servomotor-end
connector
Servomotor-end
connector
Brake terminal
Phase V
F*
Brake terminal
E*
A
G
Signal
Phase U
Phase W
F
E
Pin No.
Signal
Plug
Capacity
(kW)
Connector on
Servomotor
Straight
L-shaped
2.2
3.2
4.0
MS3102A24-10P
MS3106B24-10S
MS3108B24-10S
Cable Clamp
MS3057-16A
Without Brakes
Pin No.
D
C
Servomotor-end
connector
5-18
Signal
A
B
Phase V
Phase W
FG
(Frame Ground)
Pin No.
Phase U
F
E
D
B
C
Pin No.
Signal
Phase U
Signal
E*
Brake terminal
Brake terminal
Phase V
F*
Phase W
FG
* No polarity
(Frame Ground)
INFO
Capacity
(kW)
Plug
Connector on
Servomotor
Straight
Cable Clamp
L-shaped
CE3057-10A-1
0.45
0.85
1.3
CE05-2A1810PD-B
CE05-6A18-10SDB-BSS
CE05-8A18-10SDB-BAS
CE3057-10A-2
CE3057-10A-3
JL04-2022CK(09)
1.8
2.9
4.4
JL04HV-2E2222PE-B
JL04V-6A22-22SE-EB
or
JA06A-22-22S-J1-EB
JL04V-8A22-22SE-EB
or
JA08A-22-22S-J1-EB
JL04-2022CK(12)
JL04-2022CK(14)
Applicable Cable
Range in mm (in)
(For reference)
10.5 (0.41) to
14.1 (0.56)
8.5 (0.33) to
11.0 (0.43)
6.5 (0.26) to
8.7 (0.34)
6.5 (0.26) to
9.5 (0.37)
9.5 (0.37) to
13.0 (0.51)
12.9 (0.51) to
15.9 (0.63)
Capacity
(kW)
Connector on
Servomotor
Conduit
Plug
Straight
L-shaped
ACS-16RL-MS32F ACA-16RL-MS32F
ACS-20RL-MS32F ACA-20RL-MS32F
5.5
7.5
11.0
15.0
ACS-24RL-MS32F ACA-24RL-MS32F
JL04V-2E32-17PE-B
JL04V-6A32-17SE
ACS-28RL-MS32F ACA-28RL-MS32F
ACS-32RL-MS32F ACA-32RL-MS32F
ACS-36RL-MS32F ACA-36RL-MS32F
Applicable Cable
Range in mm (in)
(For reference)
12.0 (0.47) to
16.0 (0.63)
16.0 (0.63) to
20.0 (0.79)
20.0 (0.79) to
24.0 (0.94)
24.0 (0.94) to
28.0 (1.10)
28.0 (1.10) to
32.0 (1.26)
32.0 (1.26) to
36.0 (1.42)
5-19
INFO
Capacity
(kW)
Plug
Connector on
Servomotor
Straight
Cable Clamp
L-shaped
JL04-2022CK(09)
0.45
0.85
1.3
JL04V-2E20-15PE-B
JL04V-6A20-15SE-EB
JL04V-8A2015SE-EB
JL04-2022CK(12)
JL04-2022CK(14)
JL04-2428CK(11)
1.8
2.9
4.4
JL04V-2E24-10PE-B
JL04V-6A24-10SE-EB
or
JA06A-24-10S-J1-EB
JL04V-8A2410SE-EB
or
JA08A-24-10S-J1-EB
JL04-2428CK(14)
JL04-2428CK(17)
JL04-2428CK(20)
Applicable Cable
Range in mm (in)
(For reference)
6.5 (0.26) to
9.5 (0.37)
9.5 (0.37) to
13.0 (0.51)
12.9 (0.51) to
15.9 (0.63)
9.0 (0.35) to
12.0 (0.47)
12.0 (0.47) to
15.0 (0.59)
15.0 (0.59) to
18.0 (0.71)
18.0 (0.71) to
20.0 (0.79)
Capacity
(kW)
Connector on
Servomotor
Conduit
Plug
Straight
L-shaped
ACS-16RL-MS32F ACA-16RL-MS32F
ACS-20RL-MS32F ACA-20RL-MS32F
5.5
7.5
11.0
15.0
ACS-24RL-MS32F ACA-24RL-MS32F
JL04V-2E32-17PE-B
JL04V-6A32-17SE
ACS-28RL-MS32F ACA-28RL-MS32F
ACS-32RL-MS32F ACA-32RL-MS32F
ACS-36RL-MS32F ACA-36RL-MS32F
5-20
Applicable Cable
Range in mm (in)
(For reference)
12.0 (0.47) to
16.0 (0.63)
16.0 (0.63) to
20.0 (0.79)
20.0 (0.79) to
24.0 (0.94)
24.0 (0.94) to
28.0 (1.10)
28.0 (1.10) to
32.0 (1.26)
32.0 (1.26) to
36.0 (1.42)
Capacity
(kW)
5.5
7.5
11.0
15.0
Connector on
Servomotor
Plug
Straight
Cable Clamp
CE3057-4A-1
L-shaped
Applicable Cable
Range in mm (in)
(For reference)
3.6 (0.14) to 5.6
(0.22)
Pin No.
Signal
Phase U
A
Servomotor-end
connector
Phase V
Phase W
FG (Frame Ground)
Pin No.
Signal
Phase U
Signal
E*
Brake terminal
Brake terminal
Servomotor-end
connector
Phase V
F*
Phase W
2 5.5 to 15.0 kW
Brake Connector Pin Arrangement
Pin No.
B
Brake terminal
B*
Signal
A*
Brake terminal
C
Servomotor-end connector
Brake-end connector
Servomotor
* No polarity
D
C
Signal
A
B
Phase U
Phase V
Phase W
FG (Frame Ground)
5-21
Capacity
(kW)
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.
Connector on
Servomotor
Plug
Straight
Cable Clamp
L-shaped
CE3057-10A-1
0.3
0.6
0.9
CE05-2A18-10PD-B
CE05-6A18-10SDB-BSS
CE05-8A18-10SDB-BAS
CE3057-10A-2
CE3057-10A-3
JL04-2022CK(09)
1.2
2.0
3.0
JL04HV-2E22-22PE-B
JL04V-6A22-22SE-EB
or
JA06A-22-22S-J1-EB
JL04V-8A22-22SE-EB
or
JA08A-22-22S-J1-EB
JL04-2022CK(12)
JL04-2022CK(14)
Applicable Cable
Range in mm (in)
(For reference)
10.5 (0.41) to
14.1 (0.56)
8.5 (0.33) to
11.0 (0.43)
6.5 (0.26) to
8.7 (0.34)
6.5 (0.26) to
9.5 (0.37)
9.5 (0.37) to
13.0 (0.51)
12.9 (0.51) to
15.9 (0.63)
Capacity
(kW)
Connector on
Servomotor
Conduit
Plug
ACA-20RL-MS32F
ACS-24RL-MS32F
ACA-24RL-MS32F
ACS-28RL-MS32F
ACA-28RL-MS32F
ACS-32RL-MS32F
ACA-32RL-MS32F
ACS-36RL-MS32F
5-22
ACA-16RL-MS32F
ACS-20RL-MS32F
JL04V-2E32-17PE-B
L-shaped
ACS-16RL-MS32F
4.0
5.5
Straight
ACA-36RL-MS32F
JL04V-6A32-17SE
Applicable Cable
Range in mm (in)
(For reference)
12.0 (0.47) to
16.0 (0.63)
16.0 (0.63) to
20.0 (0.79)
20.0 (0.79) to
24.0 (0.94)
24.0 (0.94) to
28.0 (1.10)
28.0 (1.10) to
32.0 (1.26)
32.0 (1.26) to
36.0 (1.42)
INFO
Capacity
(kW)
Plug
Connector on
Servomotor
Straight
Cable Clamp
L-shaped
JL04-2022CK(09)
0.3
0.6
0.9
JL04V-2E20-15PE-B
JL04V-6A20-15SE-EB
JL04V-8A20-15SE-EB
JL04-2022CK(12)
JL04-2022CK(14)
JL04-2428CK(11)
1.2
2.0
3.0
JL04V-2E24-10PE-B
JL04V-6A24-10SE-EB
or
JA06A-24-10S-J1-EB
JL04V-8A24-10SE-EB
or
JA08A-24-10S-J1-EB
JL04-2428CK(14)
JL04-2428CK(17)
JL04-2428CK(20)
Applicable Cable
Range in mm (in)
(For reference)
6.5 (0.26) to
9.5 (0.37)
9.5 (0.37) to
13.0 (0.51)
12.9 (0.51) to
15.9 (0.63)
9.0 (0.35) to
12.0 (0.47)
12.0 (0.47) to
15.0 (0.59)
15.0 (0.59) to
18.0 (0.71)
18.0 (0.71) to
20.0 (0.79)
Capacity
(kW)
Connector on
Servomotor
Conduit
Plug
Straight
L-shaped
ACS-16RL-MS32F ACA-16RL-MS32F
ACS-20RL-MS32F ACA-20RL-MS32F
4.0
5.5
JL04V-2E32-17PE-B
JL04V-6A3217SE
ACS-24RL-MS32F ACA-24RL-MS32F
ACS-28RL-MS32F ACA-28RL-MS32F
ACS-32RL-MS32F ACA-32RL-MS32F
ACS-36RL-MS32F ACA-36RL-MS32F
Applicable Cable
Range in mm (in)
(For reference)
12.0 (0.47) to
16.0 (0.63)
16.0 (0.63) to
20.0 (0.79)
20.0 (0.79) to
24.0 (0.94)
24.0 (0.94) to
28.0 (1.10)
28.0 (1.10) to
32.0 (1.26)
32.0 (1.26) to
36.0 (1.42)
5-23
Capacity
(kW)
Connector on
Servomotor
4.0
5.5
CE05-2A10SL-3PC-B
Plug
Cable Clamp
Straight
L-shaped
CE05-6A10SL-3SCB-BSS
CE05-8A10SL-3SCB-BAS
Applicable Cable
Range in mm (in)
(For reference)
CE3057-4A-1
3.6 (0.14) to
5.6 (0.22)
Signal
Phase U
Servomotor-end
connector
Phase V
Phase W
FG (Frame Ground)
Servomotor-end
connector
Brake terminal
Phase V
F*
Brake terminal
E*
A
G
Signal
Phase U
Phase W
F
E
Pin No.
Signal
Brake terminal
B*
Signal
A*
Brake terminal
C
* No polarity
Servomotor-end connector
Brake-end connector
Signal
Phase U
5-24
Phase V
Phase W
FG (Frame Ground)
Capacity
(kW)
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.
Connector on
Servomotor
Plug
Straight
L-shaped
Cable Clamp
CE3057-10A-1
1.0
1.5
2.0
CE05-2A1810PD-B
CE05-6A18-10SDB-BSS
CE05-8A18-10SDB-BAS
CE3057-10A-2
CE3057-10A-3
JL04-2022CK(09)
3.0
4.0
5.0
JL04HV-2E22-22PE-B
JL04V-6A22-22SE-EB
or
JA06A-22-22S-J1-EB
JL04V-8A22-22SE-EB
or
JA08A-22-22S-J1-EB
JL04-2022CK(12)
JL04-2022CK(14)
Applicable Cable
Range in mm (in)
(For reference)
10.5 (0.41) to
14.1 (0.56)
8.5 (0.33) to
11.0 (0.43)
6.5 (0.26) to
8.7 (0.34)
6.5 (0.26) to
9.5 (0.37)
9.5 (0.37) to
13.0 (0.51)
12.9 (0.51) to
15.9 (0.63)
5-25
Capacity
(kW)
The straight plug type JA06A-24-10S-J1-EB and L-shaped plug type JA08A-24-10S-J1-EB conform to IP67 Protective
Construction Standard only.
Connector on
Servomotor
Plug
Straight
L-shaped
Cable Clamp
JL04-2022CK(09)
1.0
1.5
2.0
JL04V-2E20-15PE-B
JL04V-6A20-15SE-EB
JL04V-8A20-15SE-EB
JL04-2022CK(12)
JL04-2022CK(14)
JL04-2428CK(11)
3.0
4.0
5.0
JL04V-2E24-10PE-B
JL04V-6A24-10SE-EB
or
JA06A-24-10S-J1-EB
JL04V-8A24-10SE-EB
or
JA08A-24-10S-J1-EB
JL04-2428CK(14)
JL04-2428CK(17)
JL04-2428CK(20)
5-26
Applicable Cable
Range in mm (in)
(For reference)
6.5 (0.26) to
9.5 (0.37)
9.5 (0.37) to
13.0 (0.51)
12.9 (0.51) to
15.9 0.63)
9.0 (0.35) to
12.0 (0.47)
12.0 (0.47) to
15.0 (0.59)
15.0 (0.59) to
18.0 (0.71)
18.0 (0.71) to
20.0 (0.79)
Signal
A
D
Phase U
Phase V
Phase W
FG (Frame Ground)
Servomotor-end
connector
Servomotor-end
connector
A
G
B
C
Pin No.
Signal
Phase U
Signal
E*
Brake terminal
Brake terminal
Phase V
F*
Phase W
5-27
INFO
Capacity
(kW)
Plug
Connector on
Servomotor
Straight
Cable Clamp
L-shaped
JL04-2428CK(11)
2.2
3.2
4.0
JL04V-6A24-10SE-EB
or
JA06A-24-10S-J1-EB
JL04V-2E24-10PE-B
JL04V-8A24-10SE-EB
or
JA08A-24-10S-J1-EB
JL04-2428CK(14)
JL04-2428CK(17)
JL04-2428CK(20)
Applicable Cable
Range in mm (in)
(For reference)
9.0 (0.35) to
12.0 (0.47)
12.0 (0.47) to
15.0 (0.59)
15.0 (0.59) to
18.0 (0.71)
18.0 (0.71) to
20.0 (0.79)
(2) SGMDH (2000 min-1) Servomotor Main Circuit Connector Pin Arrangement
With Brakes
Without Brakes
Pin No.
D
C
Servomotor-end
connector
5-28
Signal
A
B
Phase V
Phase W
FG
(Frame Ground)
Pin No.
Phase U
F
E
D
B
C
Pin No.
Signal
Phase U
Signal
E*
Brake terminal
Brake terminal
Phase V
F*
Phase W
FG
* No polarity
(Frame Ground)
B, C, D, and E Connectors
Description
Japan Aviation Electronics Industry, Ltd.
JN1DS04FK1(Soldered)
5.7 mm (0.22 in) to 7.3 mm (0.29 in)
51.5 (2.03) max.
19 (0.75)
15.5 (0.61)
18.8 (0.74)
No.1
No.2
No.3
Ground
Servomotor end
Signal Pin No.
Red
Phase U
Phase U
White
Phase V
Phase V
Blue
Phase W
Phase W
Green/(yellow)
FG
FG
3
4
M and N Connectors
SGMCS Servomotor
Standard
straight
plug
Non-waterproof
cable clamp
Servomotor-end
connector
Cable
Servomotor end
Receptacle
MS3102A18-10P
5-29
Shell
Size
W
U
Model
MS3108B
18
Length of
Joint
Portion
J0.12
Overall
Length
L max.
18.26
(0.719)
Joint
Screw
A
Outer
Diameter
of Joint
Nut
68.27
(2.69)
1 1/8 18UNEF
R
0.5
U
0.5
Cable
Clamp
Set
Screw
V
20.5
(0.81)
30.2
(1.19)
120UNEF
+0
Q-0.38
34.13
(1.34)
Effective
Screw
Length W
max.
9.53
(0.38)
Model
MS3106B
18
(d) MS3057A-
1 1/8 18UNEF
Overall
Length
L max.
18.26
(0.719)
Shell
Size
Length of
Joint
Portion
J0.12
Joint
Screw
A
Outer
Diameter
of Joint
Nut
52.37
(2.06)
34.13
(1.34)
Effective
Screw
Length W
max
Maximum
Width Y
max.
1-20UNEF
+0
Q-0.38
Cable
Clamp Set
Screw
V
9.53
(0.38)
42
(1.65)
1.6
E
(Inner cable clamp diameter)
H (Slide range)
Units: mm (in)
Cable Clamp
Type
MS3057-10A
5-30
Applicable
Connector
Shell Size
Overall
Length
Effective
Screw
Length
18
A0.7
23.8
(0.94)
C
10.3
(0.41)
Set Screw
E
15.9
(0.63)
G0.7
31.7
(1.25)
H
3.2
(0.13)
J
14.3
(0.56)
V
1-20UNEF
Outer
Diameter
Q0.7
30.1 (1.19)
Attached
Bushing
AN3420-10
Conduit
Manufacturers
Cable
Receptacle
(Waterproof)
Box mounting type
Straight plug
Cable clamp
(Waterproof when inserted only)
Cable
L-shaped plug
CE05-2A10SL-3PC-B
CE05-2A18-10PD-B
Plug
Type
Plug
Straight plug
L-shaped plug
Plug
Straight plug
L-shaped plug
Model
CE05-6A10SL-3SC-B
CE05-6A10SL-3SC-B-BSS
CE05-8A10SL-3SC-B-BAS
CE05-6A18-10SD-B
CE05-6A18-10SD-B-BSS
CE05-8A18-10SD-B-BAS
Waterproof Cable
Clamp
Applicable with conduit
CE3057-4A-1
(D265)
Applicable with conduit
CE3057-10A(D265)
Reference
(d)
(b) and (e)
(c) and (e)
(d)
(b) and (e)
(c) and (e)
5-31
Positioning key
Units: mm (in)
Joint Screw
A
Model
Outer Diameter
of Nut
Q +0 (-0.015)
-0.38
CE05-6A10SL-3SC-BSS
5/8-24UNEF-2B
1 1/8-18UNEF-2B
18.6
(0.73)
32.1
(1.26)
22.22 (0.87)
CE05-6A18-10SD-B-BSS
34.13 (1.34)
C0.8
(0.03)
Max.
Overall
Length
L
Cable Clamp
Mounting Screw
V
40 (1.57)
5/8-24UNEF-2A
57 (2.24)
1-20UNEF-2A
(S)
Positioning key
V screw
V
Units: mm (in)
Model
Joint Screw
A
Outer
Diameter of
Nut
Q +0 (-0.015)
-0.38
Max.
Overall
Length
L
Cable Clamp
Mounting Screw
V
Effective
Screw
Length
W
CE05-8A10SL-3SC-B-BAS 5/8-24UNEF-2B
22.22 (0.87)
47.8
(1.88)
5/8-24UNEF-2A
7.9
(0.31)
21.0
(0.83)
28.9
(1.14)
7.5 (0.30)
CE05-8A18-10SD-B-BAS
34.13 (1.34)
69.5
(2.74)
1-20UNEF-2A
13.2
(0.52)
30.2
(1.19)
43.4
(1.71)
7.5 (0.30)
1 1/8-18UNEF-2B
5-32
P -B-BAS is pin inserting type. The mating receptacle is socket inserting type.
(d) Plug
(J)
Positioning key
Gasket
A screw
V screw
H
Units: mm (in)
Model
Joint Screw
A
Outer Diameter
of Nut
Q +0 (-0.015)
-0.38
Overall
Length
L1
(0.04)
Conduit
Mounting
Screw
V
E0.5 B
(0.02)
+0.05 (+0.002)
-0.25 (-0.010)
H0.1
(0.004)
(J)
CE05-6A10SL-3SC-B
5/8-24UNEF-2B
22.22 (0.87)
23.3
(0.92)
9/16-24UNEF-2A
7.5
(0.30)
12.5 (0.49)
5.6
(0.22)
13.2
(0.52)
CE05-6A18-10SD-B
1 1/8-18UNEF-2B
34.13 (1.34)
33.7
(1.33)
1-20UNEF-2A
11.74
(0.46)
23.5 (0.93)
6.4
(0.25)
19.0
(0.75)
5-33
(e) CE3057-
1.6 (0.06)
V screw
E
(Cable clamp inner diameter)
(Bushing inner diameter)
H
(Movable range on one side)
Units: mm (in)
Model
Applicable
Shell Size
CE3057-4A-1(D265)
10SL
Overall
Length
A0.7
(0.03)
20.6
(0.811)
Outer
Diameter
Q0.7
(0.03)
20.6
(0.811)
Effective
Screw
Length
C
10.3
(0.406)
(D)
(41.3)
(1.63)
7.9
(0.311)
23.8
(0.937)
30.1 (1.19)
10.3
(0.406)
(41.3)
(1.63)
15.9
(0.626)
5.6
(0.220)
14.1
(0.555)
11
(0.433)
8.7
(0.34)
CE3057-10A-1(D265)
CE3057-10A-2(D265)
18
CE3057-10A-3(D265)
Model
Cable Clamp
Mounting Screw
V
5/8-24UNEF-2B
CE3057-4A-1(D265)
CE3057-10A-1(D265)
CE3057-10A-2(D265) 1-20UNEF-2B
CE3057-10A-3(D265)
22.2
(0.87)
1.6
(0.063)
31.7
(1.25)
3.2
(0.13)
Note: The cable clamp CE3057-6A for the shell size 14 is not available. Use together with a conduit.
5-34
G0.7
(0.03)
Conduit
Manufacturers
Nippon Flex Co., Ltd.
Cable
Receptacle
(Waterproof)
Box mounting type
Straight plug
Cable Clamp
(Waterproof when inserted only)
Cable
L-shaped plug
JL04V-2E20-15PE-B
JL04HV-2E22-22PE-B
JL04HV-2E24-10PE-B
JL04V-2E32-17PE-B
Plug
Type
Plug
Straight plug
L-shaped plug
Plug
Straight plug
L-shaped plug
Plug
Straight plug
L-shaped plug
Plug
Model
JL04V-6A20-15SE
JL04V-6A20-15SE-EB
JL04V-8A20-15SE-EB
JL04V-6A22-22SE
JL04V-6A22-22SE-EB
JL04V-8A22-22SE-EB
JL04V-6A24-10SE
5
Reference
(d)
JL04-2022CK(14) or applicable
with conduit
JL04-2028CK(14) or applicable
JL04V-6A24-10SE-EB
with conduit
JL04V-8A24-10SE-EB
JL04V-6A32-17SE
Applicable with conduit
(d)
(b) and (e)
(c) and (e)
(d)
JL04-2022CK(14) or applicable
with conduit
Applicable with conduit
5-35
F
(Wrench width)
BQ
BG
BB
Positioning key
Outer Diameter
of Nut
Q0.8 (0.03)
JL04V-6A20-15SE-EB
37.3 (1.47)
JL04V-6A22-22SE-EB
40.5 (1.59)
B0.2
(0.01)
L0.8
(0.03)
29.72
(1.17)
30.05
(1.18)
58.5
(2.30)
67.63
(2.66)
F0.5
(0.02)
G0.5
(0.02)
Cable Clamp
Mounting Screw
V
33 (1.30)
17 (0.67)
1-3/16-18UNEF-2A
35 (1.38)
17 (0.67)
1-3/16-18UNEF-2A
Note: For the conduit grounding, contact manufacturer of the conduit being used.
Positioning key
V screw
100.5 (0.390.02)
(Effective screw length)
B
L
Units: mm (in)
Model
Outer
Diameter of
Nut
Q +0 (-0.015)
-0.38
JL04V-8A20-15SE-EB
37.3 (1.47)
JL04V-8A22-22SE-EB
40.5 (1.59)
B0.8
(0.03)
L0.8
(0.03)
60.5
(2.38)
60.23
(2.37)
74.2
(2.92)
73.93
(2.91)
D0.8
(0.03)
F0.5
(0.02)
Cable Clamp
Mounting Screw
V
Note: For the conduit grounding, contact manufacturer of the conduit being used.
5-36
G0.5
(0.02)
(d) Plugs
Positioning key
BB
BQ
V screw
Conduit mounting
dimensions
E
Units: mm (in)
Model
Outer
Diameter
of Nut
Q0.8
(0.03)
JL04V-6A20-15SE
37.3 (1.47)
JL04V-6A22-22SE
40.5 (1.59)
JL04V-6A32-17SE
56.3 (2.22)
B0.2
(0.01)
L0.4
(0.02)
E max.
27.0
(1.06)
29.7
(1.17)
45.4
(1.79)
31.5
(1.24)
31.2
(1.23)
35.8
(1.41)
8
(0.31)
8
(0.31)
10
(0.39)
Conduit Mounting
Screw
V
1-1/8-18UNEF-2A
1-1/4-18UNEF-2A
1-7/8-16UN-2A
Note: For the conduit grounding, contact manufacturer of the conduit being used.
BQ
V screw
Bushing
BE
(Cable clamp inner diameter)
F
(Clamp range)
Units: mm (in)
Applicable
Shell Size
(0.03)
20 (0.79) and
22 (0.87)
24 (0.94) and
JL04-2428CK(17)
28 (1.10)
37.3
(1.47)
42.9
(1.69)
Model
JL04-2022CK(14)
A0.8
Q0.8
C0.8
D0.8
(0.03)
(0.03)
(0.03)
34.9
(1.37)
42.1
(1.66)
24.3
(0.96)
26.2
(1.03)
53.8
(2.12)
56.2
(2.21)
E0.8
(0.03)
15.9
(0.63)
18
(0.71)
Applicable
Cable Range
(0.03)
in mm (in)
4
12.9 (0.51) to
1-3/16-18UNEF-2B
(0.16)
15.9 (0.63)
4.8
15 (0.59) to
1-7/16-18UNEF-2B
(0.19)
18 (0.71)
F0.8
Mounting Screw
V
5-37
IMPORTANT
2. Use cable with a minimum withstand voltage of 600 V for main circuits.
3. If cables are bundled in PVC or metal ducts, consider the reduction ratio of the allowable current.
4. Use heat-resistant cables under high ambient or panel temperatures where normal vinyl cables will rapidly
deteriorate.
5. Use cables within the allowable moment of inertia.
6. Do not use cables under continuous regenerative state.
Name
Normal vinyl cable
600-V vinyl cable
Temperature-resistant
vinyl cable
HIV
Allowable
Conductor
Temperature
C (F)
60 (140)
75 (167)
The following table shows the wire size and allowable current for three cables. Use a cable whose specifications
meet or are less than the values in the table.
AWG Size
20
18
16
14
12
10
8
6
4
Nominal
Cross
Section
Diameter
mm2 (in2)
Configuration
Number of
wires/mm2
(in2)
19/0.18
(0.00028)
30/0.18
0.75 (0.00116)
(0.00028)
37/0.18
0.9 (0.00140)
(0.00028)
50/0.18
1.25 (0.00193)
(0.00028)
2.0 (0.00310) 7/0.6 (0.00093)
3.5 (0.00543) 7/0.8 (0.00124)
5.5 (0.00853) 7/1.0 (0.00155)
8.0 (0.0124) 7/1.2 (0.00186)
14.0 (0.0217) 7/1.6 (0.00248)
22.0 (0.0341) 7/2.0 (0.00310)
0.5 (0.00078)
5-38
Conductive
Resistance
/km
40C
(104F)
50C
(122F)
39.5
6.6
5.6
4.5
26.0
8.8
7.0
5.5
24.4
9.0
7.7
6.0
15.6
12.0
11.0
8.5
9.53
5.41
3.47
2.41
1.35
0.85
23
33
43
55
79
91
20
29
38
49
70
81
16
24
31
40
57
66
Terminal
Symbol
L1, L2
U, V, W
L1C, L2C
B1, B2
HIV2.0 or more
Ground terminal
Terminal
Symbol
L1, L2
U, V, W
L1C, L2C
B1, B2
HIV2.0 or more
Ground terminal
Terminal
Symbol
L1, L2, L3
U, V, W
L1C, L2C
B1, B2
HIV3.5
HIV2.0 or more
Ground terminal
HIV2.0
L1, L2, L3
U, V, W
L1C, L2C
B1, B2
HIV5.5
Terminal
Symbol
HIV8.0
HIV22
HIV2.0 or more
5-39
5.4.1 Encoder Cable With Connectors For SGMAH and SGMPH Servomotors
JZSP-CMP00-03
JZSP-CMP00-05
JZSP-CMP00-10
JZSP-CMP00-15
Cable Length
(L)
3 m (9.84 ft)
5 m (16.40 ft)
10 m (32.81 ft)
15 m (49.21 ft)
JZSP-CMP00-20
20 m (65.62 ft)
Cable Type
Dimensional Drawing
SERVOPACK end
L
Finished dimension
6.5 mm (0.26 in)
Crimped connector
(Molex Japan Co., Ltd.)
Encoder end
5.4.2 Encoder Cable With Connectors for SGMGH, SGMSH, and SGMDH Servomotors
(1) Cable With a SERVOPACK Connector and Encoder Straight Plug
JZSP-CMP01-03
JZSP-CMP01-05
JZSP-CMP01-10
JZSP-CMP01-15
Cable Length
(L)
3 m (9.84 ft)
5 m (16.40 ft)
10 m (32.81 ft)
15 m (49.21 ft)
JZSP-CMP01-20
20 m (65.62 ft)
Cable Type
Dimensional Drawing
SERVOPACK end
Encoder end
Finished dimension
6.5 mm (0.26 in)
Crimped connector
(Molex Japan Co., Ltd.)
MS3106B20 29S
(Daiichi Denshi Kogyo Co., Ltd.)
MS3057 12A
Cable clamp
JZSP-CMP02-03
JZSP-CMP02-05
JZSP-CMP02-10
JZSP-CMP02-15
Cable Length
(L)
3 m (9.84 ft)
5 m (16.40 ft)
10 m (32.81 ft)
15 m (49.21 ft)
JZSP-CMP02-20
20 m (65.62 ft)
Cable Type
5-40
Dimensional Drawing
SERVOPACK end
Encoder end
Finished dimension
6.5 mm (0.26 in)
Crimped connector
(Molex Japan Co., Ltd.)
MS3108B20 29S
(Daiichi Denshi Kogyo Co., Ltd.)
MS3057 12A
Cable clamp
5.4.3 Encoder Cable With a SERVOPACK Connector and Encoder Loose Leads for
SGMAH and SGMPH Servomotors
(1) Cable Type
JZSP-CMP03-03
JZSP-CMP03-05
JZSP-CMP03-10
JZSP-CMP03-15
Cable Length
(L)
3 m (9.84 ft)
5 m (16.40 ft)
10 m (32.81 ft)
15 m (49.21 ft)
JZSP-CMP03-20
20 m (65.62 ft)
Cable Type
Dimensional Drawing
SERVOPACK end
L
Finished dimension
6.5 mm (0.26 in)
Crimped connector
(Molex Japan Co., Ltd.)
Encoder end
60 mm (2.36 in)
1
2
3
4
5
6
Wire markers
Socket (Soldered)
Manufacturer
Molex Japan Co., Ltd.
Plug:
JZSP-CMP9-1 (SERVOPACK end)
Socket:
JZSP-CMP9-2 (Encoder end)
BAT(+)
BAT()
PS
/PS
Orange
White/
Orange
Light blue
White/
Light blue
4
5
PS
/PS
Light blue
White/
Light blue
5-41
5.4.4 Encoder Cable with a SERVOPACK Connector and Encoder Loose Leads for
SGMGH, SGMSH, and SGMDH Servomotors
(1) Cable Type
JZSP-CMP03-03
JZSP-CMP03-05
JZSP-CMP03-10
JZSP-CMP03-15
Cable Length
(L)
3 m (9.84 ft)
5 m (16.40 ft)
10 m (32.81 ft)
15 m (49.21 ft)
JZSP-CMP03-20
20 m (65.62 ft)
Cable Type
Dimensional Drawing
SERVOPACK end
Encoder end
60 mm (2.36 in)
L
Finished dimension
6.5 mm (0.26 in)
Crimped connector
(Molex Japan Co., Ltd.)
C
D
G
H
S
T
Wire markers
Plug
Cable
clamp
Connector on
Servomotor
MS3102A20-29P
5-42
Cable
Plug
Cable
clamp
Cable
Plug
(Manufactured by Daiichi Denshi
Kogyo Co., Ltd.)
Type
Model
Straight
MS3106B20-29S
L-shaped
MS3108B20-29S
Cable Clamp
(Manufactured by
Daiichi Denshi Kogyo
Co., Ltd.)
MS3057-12A
A
K
B
L
Light
PS
M
C
blue
White/
/PS
Light
D
N
blue
E
P
F
R
White/
PG0V
Black
BAT()
G
S
Orange
PG5V
Red
BAT(+) Orange
H
T
J
FG (Frame
Ground)
Shield wire
A
K
B
L
Light
PS
M
C
blue
White/
/PS
Light
D
N
blue
E
P
F
R
G
H
J
PG0V
Black
PG5V
Red
FG (Frame
Ground)
Shield wire
5-43
Cable Length
(L)
3 m (9.84 ft)
5 m (16.40 ft)
10 m (32.81 ft)
15 m (49.21 ft)
20 m (65.62 ft)
Dimensional Drawing
SERVOPACK end
L
Finished dimension
6.8 mm (0.27 in)
Crimped connector
(Molex Japan Co. Ltd.)
Encoder end
(2) Flexible Cable With a SERVOPACK Connector and Encoder Loose Leads
(a) Cable Type
JZSP-CMP13-03
JZSP-CMP13-05
JZSP-CMP13-10
JZSP-CMP13-15
Cable Length
(L)
3 m (9.84 ft)
5 m (16.40 ft)
10 m (32.81 ft)
15 m (49.21 ft)
JZSP-CMP13-20
20 m (65.62 ft)
Cable Type
Dimensional Drawing
SERVOPACK end
Encoder end
Finished dimension
6.8 mm (0.27 in)
60 mm (2.36 in)
20 mm
1
(0.79 in)
2
3
4
5
6
Heat-shrinkable tube
Wire markers
Crimped connector
(Molex Japan Co., Ltd.)
Type
JZSP-CMP9-2
Manufacturer
Molex Japan Co.,
Ltd.
Socket (Soldered)
Plug:
JZSP-CMP9-1 (SERVOPACK end)
Socket:
JZSP-CMP9-2 (Encoder end)
5-44
PS
Light blue
/PS
White/
Light blue
5.4.6 Encoder Flexible Cables for SGMGH, SGMSH, and SGMDH Servomotors
(1) Flexible Cable With a SERVOPACK Connector and Encoder Straight Plug
JZSP-CMP11-03
JZSP-CMP11-05
JZSP-CMP11-10
JZSP-CMP11-15
Cable Length
(L)
3 m (9.84 ft)
5 m (16.40 ft)
10 m (32.81 ft)
15 m (49.21 ft)
JZSP-CMP11-20
20 m (65.62 ft)
Cable Type
Dimensional Drawing
SERVOPACK end
Encoder end
Finished dimension
6.8 mm (0.27 in)
Crimped connector
(Molex Japan Co., Ltd.)
MS3106B20 29S
(Daiichi Denshi Kogyo Co., Ltd.)
MS3057 12A
Cable clamp
(2) Flexible Cable With a SERVOPACK Connector and Encoder L-shaped Plug
JZSP-CMP12-03
JZSP-CMP12-05
JZSP-CMP12-10
JZSP-CMP12-15
Cable Length
(L)
3 m (9.84 ft)
5 m (16.40 ft)
10 m (32.81 ft)
15 m (49.21 ft)
JZSP-CMP12-20
20 m (65.62 ft)
Cable Type
Dimensional Drawing
SERVOPACK end
Encoder end
Finished dimension
6.8 mm (0.27 in)
Crimped connector
(Molex Japan Co., Ltd.)
MS3108B20-29S
(Daiichi Denshi Kogyo Co., Ltd.)
MS3057-12A
Cable clamp
(3) Flexible Cable With a SERVOPACK Connector and Encoder Loose Leads
(a) Cable Type
JZSP-CMP13-03
JZSP-CMP13-05
JZSP-CMP13-10
JZSP-CMP13-15
Cable Length
(L)
3 m (9.84 ft)
5 m (16.40 ft)
10 m (32.81 ft)
15 m (49.21 ft)
JZSP-CMP13-20
20 m (65.62 ft)
Cable Type
Dimensional Drawing
SERVOPACK end
Encoder end
60 mm (2.36 in)
20 mm (0.79 in)
Finished dimension
6.8 mm (0.27 in)
Heat-shrinkable tube
Wire markers
Crimped connector
(Molex Japan Co., Ltd.)
1
2
3
4
5
6
Cable
clamp
Connector on
Servomotor
MS3102A20-29P
Cable
Plug
Cable
clamp
Cable
Plug
(Manufactured by Daiichi Denshi
Kogyo Co., Ltd.)
Type
Model
Straight
MS3106B20-29S
L-shaped
MS3108B20-29S
Cable Clamp
(Manufactured by
Daiichi Denshi Kogyo
Co., Ltd.)
MS3057-12A
5-45
A
K
B
L
Light
PS
C
M
blue
White/
/PS
Light
D
N
blue
E
P
F
R
White/
PG0V
Black
BAT()
G
S
Orange
PG5V
Red
BAT(+) Orange
H
T
J
FG (Frame
Ground)
Shield wire
A
K
B
L
Light
PS
C
M
blue
White/
/PS
Light
D
N
blue
E
P
F
R
G
PG0V
Black
PG5V
Red
FG (Frame
Ground)
Shield wire
Flexible Type
JZSP-CMP60-03
JZSP-CSP60-03
Length (L)
3 m (9.84 ft)
JZSP-CMP60-05
JZSP-CSP60-05
JZSP-CSP60-10
JZSP-CSP60-15
15 m (49.2 ft)
JZSP-CMP60-20
JZSP-CSP60-20
20 m (65.6 ft)
5-46
Encoder end
10 m (32.8 ft)
JZSP-CMP60-15
SERVOPACK end
5 m (16.4 ft)
JZSP-CMP60-10
Dimensional Drawing
Shield wire
Servomotor end
Pin No.
Lead Color
4
Red
Black
9
1
Light blue
Light blue/white
2
7
FG Shield
Plug connector
(crimped)
(Molex Japan Co.)
Straight plug
(caulking)
(Japan Aviation
Electronics Industry, Ltd.)
Flexible Type
Length (L)
JZSP-CMP03-03
JZSP-CMP13-03
3 m (9.84 ft)
Dimensional Drawing
SERVOPACK end
Encoder end
L
JZSP-CMP03-05
JZSP-CMP13-05
JZSP-CMP03-10
JZSP-CMP13-10
10 m (32.8 ft)
JZSP-CMP03-15
JZSP-CMP13-15
15 m (49.2 ft)
JZSP-CMP03-20
JZSP-CMP13-20
20 m (65.6 ft)
5 m (16.4 ft)
1
2
3
4
5
6
Plug connector
(crimped)
(Molex Japan Co.)
Wire
markers
Marker
/PS
Light blue/white
PS
Light blue
4
3
BAT(-)
BAT(+)
White/orange
5
4
PG0V
Black
1
Shell
PG5V
Red
Orange
3
2
1
FG
Shield wire
Note: The signals BAT(+) and BAT(-) are used when using
an absolute encoder.
5-47
Manufacturer
Units: mm (in)
Dimensional Drawing
18.4
(0.72 )
JZSP-CMP9-1
11 (0.43)
33 (1.3)
37.4 (1.47)
JZSP-CMP9-2
5-48
Manufacturer
Units: mm (in)
Dimensional Drawing
Socket (Soldered)
12 (0.47)
43.5 (1.71)
18.8
(0.74)
Model
Light
blue
Internal
Configuration and
Lead Colors
Black
Light blue/
White
Red
Black
Orange
Orange
Light
blue
Orange/
White
Light blue/
White
Red
Orange/
White
Yaskawa
Standard
Specifications
(Standard Length)
Plug:
JZSP-CMP9-1 (SERVOPACK end)
Socket:
JZSP-CMP9-2 (Encoder end)
4
5
PS
/PS
Light blue
White/
Light blue
5-49
5.5.2 Connectors and Cables for SGMGH, SGMSH, and SGMDH Servomotors
(1) Cable Type
10 m (32.81 ft)
15 m (49.21 ft)
20 m (65.62 ft)
JZSP-CMP19-40
JZSP-CMP19-50
40 m (131.23 ft)
50 m (164.04 ft)
Manufacturer
Molex Japan Co.,
Ltd.
Dimensional Drawing
Connector on
Servomotor
MS3102A20-29P
Straight Plug
MS3106B20-29S
Straight Plug
L-shaped Plug
Cable Clamp
JL04-2022CKE(09) *
97F3102E20-29P
JA06A-20-29S
-J1-EB *
JA08A-20-29S
-J1-EB *
JL04-2022CKE(12) *
JL04-2022CKE(14) *
5-50
Applicable
Cable Range in
mm (in)
6.5 (0.26) to
9.5 (0.37)
9.5 (0.37) to
13 (0.51)
12.9 (0.51) to
15.9 (0.63)
Light
blue
Red
Light blue/
White
Black
Black
Orange/
White
Orange
Red
Orange/
White
Light
blue
Light blue/
White
Orange
M A
N B
T
P C
K
D
J S R E
H G F
L
A
K
B
L
Light
PS
C
M
blue
White/
/PS
Light
D
N
blue
E
P
F
R
White/
PG0V
Black
BAT()
G
S
Orange
PG5V
Red
BAT(+) Orange
H
T
J
FG (Frame
Ground)
Shield wire
Signal
A
B
PS
/PS
E
F
Lead
Color
Light
blue
White/
Light
blue
PG0V
PG5V
H
J
Pin No.
Signal
K
L
Lead
Color
P
R
Black
Red
FG (Frame
Ground)
Shield wire
5-51
10 (0.39)
Arranged Model
Servomotor end
Japan Aviation Electronics Industry, Ltd.
Straight plug
JN1DS10SL1 (Caulking type)
Socket plug
JN1-22-22S-PKG100
Applicable cable outer diameter in mm (in):
5.7 (0.22) to 7.3 (0.29)
Applicable wire size: AWG21 to 25
Outer diameter of insulating sheath: 0.8 to 1.5 mm
(0.031 to 0.059)
Caulking tool (Hand Tool) model: CT150-2-JN
3
7
18.8
Appearance
SERVOPACK end
Molex Japan Co., Ltd.
55100-0600 (Soldered type)
or
55102-0600 (Caulking type)
55100-0600 (Soldered) when using a connector kit
19 (0.75)
Items
Manufacturer
Connector Type
36 (1.42)
1
4
10
JZSP-CMP9-1
Standard Cable
JZSP-CMP09-
Flexible Cable
JZSP-CSP39-
Finished Dimensions
Internal Configuration
and Lead Colors
Black/
Light blue
Blue
Red
Blue/
White
Red/
Light blue
Black
Orange
Orange/
White
Yaskawa Standard
Specifications
(Standard Length)
Black/
Pink
Green
Red/
Pink
Cable length: 5 m (16.4 ft), 10 m (32.8 ft), 15 m (49.2 ft), 20 m (65.6 ft)
5-52
Orange
Conditions
1. Repeat moving one end of the cable forward and backward for 320 mm (12.60 in) with using the test
equipment shown in the following.
2. Connect the lead wires in parallel, and count the number of cable return motion times until a lead wire is
disconnected. Note that one reciprocating is counted as one test.
Shifting distance 320 mm (12.60 in)
Shifting end
Bending
radius
R=90 mm
(3.54 in)
Fixed end
Note: 1. The life of flexible cable differs largely depending on the amount of mechanical shocks, mounting
to the cable, and fixing methods. The life of flexible cable is limited under the specified conditions.
2. The life of flexible cable indicates the number of bending times in which lead wires are electrically
conducted and by which no cracks and damages that affects the performance of cable sheathing are
caused. Disconnecting the shield wire is not taken into account.
5-53
Connector: 10150-6000EL(50P)
Shell: 10350-52A0-008
Sleeve F2 (black)
Cable (black)
SSRFPVV-SB AWG#28 25P
2.8 (0.11)
UL20276 VW-1SC
wire markers
Case
Connector
Type
Qty
Type
Qty
10350-52A0-008
1 set
10150-3000VE*
Units: mm (in)
41.1 (1.62)
17.0 (0.67)
18.0
(0.71)
39.0 (1.54)
5.7
(0.22) 23.8 (0.94)
46.5 (1.83)
5-54
52.4 (2.06)
12.7
(0.50)
14.0
(0.55)
19.3 (0.76)
(2.9) (0.11)
(6.6) (0.26)
12.7 (0.50)
2.3 (0.09)
2.54 (0.10)
1.27 (0.05)
5.1 (0.20)
Units: mm (in)
41.1 (1.62)
Pin No. 2
7.5 (0.30)
9.1 (0.36)
Pin No. 1
1.27 (0.05)
30.48 (1.20)
36.7 (1.44)
Pin No. 26
15
Specifications
Use twisted-pair or twisted-pair shielded wire.
AWG24, 26, 28, 30
16 mm (0.63 in) or less
5-55
SERVOPACK end
Marking
Color
Dots
Lead
Marker No.
Orange
Red
Orange
Black
SG
Gray
Red
SEN
Gray
Black
V-REF
White
Red
SG
White
Black
PULS
Yellow
Red
/PULS
Yellow
Black
T-REF
Pink
Red
10
SG
Pink
Black
10
11
SIGN
Orange
Red
11
12
/SIGN
Orange
Black
12
Signal
Lead
Color
SG
PL1
Pin No.
13
PL2
Gray
Red
13
14
/CLR
White
Red
14
15
CLR
White
Black
15
16
Gray
Black
16
17
Yellow
Red
17
18
PL3
Yellow
Black
18
19
PCO
Pink
Red
19
20
/PCO
Pink
Black
20
21
BAT(+)
Orange
Red
21
22
BAT(-)
Orange
Black
22
23
Gray
Red
23
24
Gray
Black
24
25
/V-CMP+
White
Red
25
26
/V-CMP-
White
Black
26
27
/TGON+
Yellow
Red
27
28
/TGON-
Yellow
Black
28
29
/S-RDY+
Pink
Red
29
30
Pink
Black
30
31
/S-RDYALM+
Orange
Red
31
32
ALM-
Orange
Black
32
33
PAO
Gray
Red
33
34
/PAO
Gray
Black
34
35
PBO
White
Red
35
36
/PBO
White
Black
36
37
ALO1
Yellow
Red
37
38
ALO2
Yellow
Black
38
39
ALO3
Pink
Red
39
40
/S-ON
Pink
Black
40
41
/P-CON
Orange
Red
41
42
P-OT
Orange
Black
42
43
N-OT
Gray
Red
43
44
/ALM-RST
Gray
Black
44
45
/P-CL
White
Red
45
46
/N-CL
White
Black
46
47
+24V-IN
PSO
/PSO
Yellow
Red
47
Pink
Red
48
Pink
Black
49
Yellow
Black
50
48
49
50
Case
5-56
Shield
14
25
47 (1.85)
8
Cable type:
AWG26 3C UL2464
13
2
M2.6 screws
14
3
2
7
4
5
1
SERVOPACK end
Pin No.
Shield wire
Case
FG
M2.6 screws
Cable type:
AWG26 3C UL2464
2 M2.6 screws
29.5 (1.16)
32 (1.26)
SERVOPACK end
Half-pitch connector
Plug: 10114-3000VE
D-sub connector (9-pin)
Shell: 10314-52A0-008
17JE 13090 02 D8A
(Daiichi Denshi Kogyo Co., Ltd.) (Sumitomo 3M Ltd.)
200050 (78.741.97) 39 (1.54)
38 (1.50)
8
14
2
3
5
7
8
Case
SERVOPACK end
Pin No.
Shield wire
Case
FG
2 M2.6 screws
5-57
SERVOPACK end
Half-pitch connector
Plug: 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)
200050 (78.741.97)
Signal
39 (1.54)
Label
Cable:
AWG26 3C UL2464
2 M2.6 screws
29.5 (1.16)
14
29.5 (1.16)
5 (0.20)
8
14
RXD
TXD
RTS
CTS
GND
FG
FG
1
9
10
4
14
12
Case
SERVOPACK
CN3
Digital Operator
Connect
to CN3
135 (5.31)
125 (4.92)
18.5 (0.73)
7 (0.28)
26 (1.02)
(8)
(0.31)
YASKAWA
39 (1.54)
29.5 (1.16)
5-58
SERVOPACK end
Pin No.
Shield wire
14
GND
Case
FG
(3) Other Types of the Applicable Connection Cables: JZSP-CMS00The following cables are applicable for longer distance connection.
Units: mm (in)
Cable Type
SERVOPACK end
39 (1.54)
29.5
(1.16)
11
JZSP-CMS00-1
JZSP-CMS00-2
JZSP-CMS00-3
20.2
(0.80)
2
10
17.3 (0.68)
Cable Length
(L)
1 m (3.28 ft)
1.5 m (4.92 ft)
2 m (6.56 ft)
MODE/SET
INFO
DATA/
CHARGE
POWER
Specify the cable type either JZSP-CA01 or DE9404559 when ordering the cable for analog monitor.
Black
Black
3
1
4
2
White
Red
(3) Specifications
Pin No.
Cable Color
Signal
Red
Analog Monitor 2
White
Analog Monitor 1
3 and 4
Monitoring Item
Motor speed: 1V/1000 min-1
Torque reference: 1V/100% rated
torque
Note: The above monitoring items are the factory settings. The monitoring items can be changed by setting the
parameter Pn003. Refer to 9.5 Analog Monitor.
5-59
SERVOPACK
-0
Attached cable length: 500 +50 mm (19.69
CN1
+1.97
0 in)
16
32
50
49
50
16
32
50
1
19
33
1
1
49
50
23.5 (0.14)
45 (1.77)
29.5
(1.16)
45 (1.77)
Terminal
block (50P)
M3.5 screw
7 (0.28)
15.5
(0.61)
Units: mm (in)
29.5 (1.16)
15.5 (0.61)
3.5 (0.14)
247.5 (9.74)
3.5 (0.14)
247.5 (9.74)
(62) (2.44)
43.5 (1.71)
Can be fixed on DIN rail
20.5
(0.81)
2 (0.08)
3.5 (0.14)
500
5-60
+50
0
(19.69 +1.97 )
0
3.5 (0.14)
(2) Specifications
Brake End
Red/Black
Nameplate
Lead wire
25 (0.98)
20 (0.79)
11 (0.43)
Units: mm (in)
Red
Surge suppressor
Diode
Surge suppressor
DC (Brake) side
No polarity
Black
5-61
Blue
AC side
90 to 120 V
Surge
suppressor
Red
Surge
DC (Brake) side
suppressor No polarity
White
Black
5-62
Min. Allowable
Resistance
()
Resistance ()
Three-phase 200 V
40
40
50
60
40
30
25
12.5
8
70
140
140
280
20
12
12
8
(6.25) 1
(880) 1
5.8
75ADA
1AADA
1EADA
Single-phase 200 V
60ADA
Single-phase 100 V
Capacity (W)
(3.13)2
(1760) 2
2.9
A3BD, A3BDA
A5BD, A5BDA
01BD, 01BDA
02BD, 02BDA
A3AD, A3ADA
A5AD, A5ADA
01AD, 01ADA
02AD, 02ADA
04AD, 04ADA
05AD, 05ADA
08AD, 08ADA
10AD, 10ADA
15AD, 15ADA
20AD, 20ADA
30AD, 30ADA
50ADA
* 1. The values in parentheses are for the optional JUSP-RA04 Regenerative Resistor Unit.
* 2. The values in parentheses are for the optional JUSP-RA05 Regenerative Resistor Unit.
5-63
The external regenerative resistor must be purchased by customers. Refer to the table below for selecting an
external regenerative resistor. Refer to 6.5 Connecting Regenerative Resistors for the connection.
70 W, 1 to 100
RH150
RH220
RH300C
RH500
90 W, 1 to 100
120 W, 1 to 100
200 W, 1 to 10 k
300 W, 1 to 30
Specifications
Manufacturer
Iwaki Wireless
Research Institute.
RH120 N
10 J
Model
N: Noninductive winding
Resistance
Resistance Tolerance
Code
Specifications
K
J
H
10%
5%
3%
(3) Specifications
Resistance Tolerance
Temperature Resistance
Characteristics
K: 10%, J: 5%, H: 3%
400 PPM / C (less than 20) , 260 PPM / C (20 or more)
Withstand Voltage
Insulation Resistance
Short-time Overload
Life
Heat Resistance
Operating Temperature
5-64
When 10 times of rated power is applied for five seconds, R: (2% + 0.05)
1000 hours of repeating the operation ON for 90 minutes and OFF for 30 minutes, R: (5% + 0.05)
Not ignite after having applied 10 times of rated electric power for one minute
-25 to 150C (-13 to 302 F)
B
A
D
4.5
(0.18)
F
E
4.5 (0.18)
Lead wire length L: 300 (11.81)
Model Rated Power
RH120
70 W
RH150
90 W
RH220
120 W
Resistance
Dimensions
1 to 100
1 to 100
1 to 100
RH120
Units: mm (in)
RH220
170 (6.69)
154 (6.06)
4 4.5 (0.18)
A B C D E F G
182 150 172 16 42 22 20
RH150
138 (5.43)
RH300C
RH500
Units: mm (in)
5.3
(0.21)
47
(1.85)
33
(1.30)
62 (2.44)
312 (12.28)
270 (10.63)
4.7 (0.19)
300 (11.81)
80 (3.15)
40 (1.57) 4.5 (0.18)
32
(1.26)
37 (1.46)
Units: mm (in)
250 (9.84)
234 (9.21)
2 - M3
60
(2.36)
30 (1.18)
3.0 (0.12)
Units: mm (in)
60 (2.36)
54 (2.13)
40 (1.57)
3.5 (0.14)
G
RH120/150/220
3
(0.12)
218 (8.58)
24.5 (0.18)
Regenerative Resistor
Unit Model
JUSP-RA04
JUSP-RA05
Specifications
6.25 , 880 W
3.13 , 1760 W
Allowable
Power Loss
180 W
350 W
5-65
M2
M1
W
Ground terminal (M4 screw)
External terminals (M5 screws)
30 (1.18)
Cement resistor
Units: mm (in)
Model
M1
M2
JUSP-RA04
JUSP-RA05
220 (8.66)
300 (11.81)
350 (13.78)
350 (13.78)
92 (3.62)
95 (3.74)
180 (7.09)
250 (9.84)
335 (13.19)
335 (13.19)
Approx. Mass
kg (lb)
4 (8.82)
7 (15.43)
PROHIBITED
Install the absolute encoder battery on either the SERVOPACK or the host controller.
Installing the batteries both on the SERVOPACK and host controller configures a loop in the circuit between two batteries, which damages the circuit.
5-66
Battery Model
JZSP-BA01
JZSP-BA01-1
14.5 (0.57)
17 (0.67)
Black
Connector
Red
26 (1.02)
203 (0.790.12)
JZSP-BA01-1
Lithium battery ER3V
3.6 V 1000 mAh
Manufactured by Toshiba Battery Co., Ltd.
Units: mm (in)
14.5 (0.57)
17 (0.67)
Red
26 (1.02)
Black
Connector
505 (1.970.20)
5-67
IMPORTANT
Circuit Breakers
Select a breaker for inverters.
High-frequency current leaks from the servomotor armature because of switching operations inside the
SERVOPACK.
5-68
FN2070
-10/07
Side view
FN2070-16/07
FN350-30/33
Side view
Side view
C
Top view
Top view
C
K
Model
Q
P
A
F
D
Top view
R
Q
B
5
D
J
A
140 +5
-0
(5.51+0.20)
-0
Contact Terminal
P/N/E
B
K
A
F
D
Dimensional
Drawings
5-69
FN2070
-6/07
Model
Symbol
A
113.5 1 (4.47
0.04)
FN2070
FN2070-16/07
-10/07
Dimensions
156 1 (6.14
119 0.5 (4.69 0.02)
0.04)
FN350-30/33
94 1
130.5 1 (5.14
(3.70 0.04)
0.04)
103 0.3 (4.06 143 0.3 (5.63
0.01)
0.01)
Q
R
S
Q
R
S
D
F
External
Dimensions
in mm (in)
Specifications
Applicable
SERVOPACK
SGDM-
Singlephase
100 V
Singlephase
200 V
Manufacturer
5-70
250 VAC, 16 A
Dimensions
105 0.5
(4.13 0.02)
99.5 0.5
(3.92 0.02)
57 1
(2.24 0.04)
84.5 1
(3.33 0.04)
79 0.5
(3.11 0.02)
95 0.2
(3.74 0.008)
51 0.1
(2.01 0.004)
19 0.5
(0.75 0.02)
4.4 0.1
(0.17 0.004)
6 0.1 (0.24 0.004)
250 VAC,
30 A
Schaffner Electronic
(a) FN Series
Model
FN258L-7/07
FN258L-16/07
Side view
C
B
O
J
E
A
Dimensional Drawings
FN258L-30/07
Symbol
A
B
C
D
E
External
Dimensions
F
in mm (in)
G
H
J
L
O
P
Specifications
Applicable
ThreeSERVOPACK phase
SGDM200 V
Manufacturer
Dimensions
305 1 (12.01 0.04)
142 0.8 (5.59 0.03)
55 0.6 (2.17 0.02)
AWG10
480 VAC, 30 A
30AD, 30ADA
5-71
FMAC-0934-5010
FMAC-0953-6410
H
(K)
(J)
LOAD
LINE
Dimensional Drawings
A
B
(L)
E
F
Symbol
A
B
C
D
External
Dimensions
in mm (in)
5-72
308 (12.13)
231 (9.09)
151 (5.94)
151 (5.94)
+
+
135 0 5.31 0
+
+
135 0 5.31 0
0.04
0.04
6.50.3 (0.260.01)
6.50.3 (0.260.01)
F
G
H
I
J
K
L
1150.3 (4.530.01)
M6
66 (2.60)
121 (4.76)
(10) (0.39)
(41) (1.61)
(17) (0.67)
440 VAC, 50 A
1150.3 (4.530.01)
M6
66 (2.60)
121 (4.76)
(13) (0.51)
(45) (1.77)
(34) (1.34)
440 VAC, 64 A
50ADA
60ADA
75ADA
Specifications
Applicable
ThreeSERVOPACK
phase
SGDM200 V
Manufacturer
Dimensions
251 (9.88)
201 (7.91)
Timonta AG
(c) FS Series
Model
FS5559-35-33
FS5559-80-34
FS5559-150-35
C
D
J
Dimensional Drawings
Symbol
A
B
C
D
E
External
Dimensions
F
in mm (in)
G
H
I
J
K
L
Specifications
Applicable
ThreeSERVOPACK
phase
SGDM200 V
Manufacturer
SCHAFFNER
330 (12.99)
85 (3.35)
370 (14.57)
348 (13.70)
110 (4.33)
80 (3.15)
30 (1.18)
25 (0.98)
1.5 (0.06)
6.5 (0.26)
25 (0.98)
M6
480 V, 35 A
Dimensions
420 (16.54)
95 (3.74)
460 (18.11)
438 (17.24)
180 (7.09)
140 (5.51)
50 (1.97)
25 (0.98)
1.5 (0.06)
6.5 (0.26)
25 (0.98)
M8
480 V, 80 A
440 (17.32)
150 (5.91)
480 (18.90)
458 (18.03)
200 (7.87)
170 (6.69)
50 (1.97)
35 (1.38)
1.5 (0.06)
6.5 (0.26)
25 (0.98)
M10
480 V, 150 A
1AADA
1EADA
Schaffner Electronic
5-73
Dimensions in mm (in)
Terminal Symbols
76 (2.99)
Auxiliary
contact
43 (1.69)
34.5 (1.36)
4.5 (0.18)
48 (1.89)
1NO
35(1.38)
41 (1.61)
74.5 (2.93)
78.5 (3.09)
Structure
52 (2.05)
13
(0.51)
5
(0.20)
61 (2.40)
15.5
(0.61)
M3.5 Coil
terminal
1NC
4
(0.16)
8.2 (0.32)
2 M4 Mounting
holes
9 (0.35)
Dimensions in mm (in)
HI-15J
Auxiliary
contact
35 (1.38)
Structure
1NO1NC
1 (0.04)
51 (2.01)
2
(0.08)
HI-20J
Auxiliary
contact
4 (0.16)
9.6
(0.38)
11.3 10.8
(0.44) (0.43)
35 (1.38)
85 (3.35)
29 (1.14)
70 (2.76)
75 (2.95)
3 (0.12)
5-74
4.5
(0.18)
5.2
(0.20)
50 (1.97)
9.6 (0.38)
8.2
(0.32)
M3.5 Coil
terminal
91 (3.58)
65 (2.56)
39 (1.54)
5
(0.20)
45.5 (1.79)
Terminal Symbols
8.2
(0.32)
M3.5 Auxiliary
contact terminal
M3.5 Main
contact terminal
9 (0.35)
54 (2.13)
76 (2.99)
2 M4 Mounting
holes
1NO1NC
Structure
Dimensions in mm (in)
Terminal Symbols
8.2
(0.32)
111 (4.37)
79 (3.11)
45 (1.77)
4.5 (0.18)
M3.5 Coil
terminal
4
(0.16)
50 (1.97)
10.5
(0.41)
58 (2.28)
Auxiliary
contact
Structure
12.2
(0.48)
1NO1NC
8 (0.31)
9 (0.35)
72 (2.83)
94 (3.70)
8.2 (0.32)
14.8 13.1
(0.58) (0.52)
70 (2.76)
6
(0.24)
75 (2.95)
5 (0.20)
35 (1.38)
92 (3.62)
29 (1.14)
50 (1.97)
58.4 (2.30)
7 (0.28)
M3.5 Auxiliary
contact terminal
M5 Main contact terminal
2 M4 Mounting
holes
Dimensions in mm (in)
Terminal Symbols
6
(0.24)
8 (0.31)
3
(0.12)
14 (0.55)
15.5
20
(0.79) (0.61)
75 (2.95)
75 (2.95)
8.2
(0.32)
M3.5 Auxiliary
contact terminal
Auxiliary
contact
95 (3.74)
A
R
65 (2.56)
7 (0.28)
7 (0.28)
5 (0.20)
2 M4 Mounting
holes
6
(0.24)
M3.5
Coil terminal
5
(0.20)
100 (3.94)
30 (1.18)
8.2
(0.32)
121 (4.76)
86.5 (3.41)
49.5 (1.95)
29 (1.14)
50 (1.97)
111 (4.37)
114 (4.49)
10.3 (0.41)
75 (2.95)
Structure
1NO1NC
75.5 (2.97)
98 (3.86)
2 M4 Mounting
holes
5-75
Rated
Insulation Voltage
TU-25C120
CR
150 VAC
TU-25C240
CR
300 VAC
TU-25V440
Varistor
500 VAC
TU-65C120
CR
150 VAC
TU-65C240
CR
300 VAC
TU-65V440
Varistor
500 VAC
Model
Note:
5-76
50 V
AC 50/60Hz
110 V 127 V 240 V 380 V 440 V
Applicable
Magnetic
Contactor
HI-11J
HI-15J
HI-20J
HI-25J
HI-35J
HI-50J
HI-65J
4.7
(0.19)
Units: mm (in)
Approx. mass: 0.02 kg (0.04 lb)
6.2
M3.5 Connection terminals
(0.24)
34 (1.34)
CR
22
(0.87)
Operation
indicator
(LED)
26 (1.02)
Varistor
22 (0.87)
Model TU-65
4.7
(0.19)
Units: mm (in)
Approx. mass: 0.035 kg (0.077 lb)
M3.5 Connection terminals
6.2
(0.24)
CR
44 (1.73)
32 (1.26)
Operation
indicator
(LED)
Varistor
3 (0.12)
37 (1.46)
21 (0.83)
5-77
Single-phase
100 V
Single-phase
200 V
Three-phase
200 V
5-78
A3BD, A3BDA
A5BD, A5BDA
01BD, 01BDA
02BD, 02BDA
A3AD, A3ADA
A5AD, A5ADA
01AD, 01ADA
02AD, 02ADA
04AD, 04ADA
05AD, 05ADA
08AD, 08ADA
10AD, 10ADA
15AD, 15ADA
20AD, 20ADA
30AD, 30ADA
50ADA
DC Reactor Specifications
DC Reactor
Model
Inductance
(mH)
Rated
Current
(A)
X5063
X5062
10.0
4.7
1.8
3.5
X5071
X5070
X5069
40.0
20.0
10.0
0.85
1.65
3.3
X5061
2.0
4.8
X5060
1.5
8.8
X5059
X5068
1.0
0.47
14.0
26.8
C
D
1 2
4H
Notch
DC Reactor
Model
X5059
X5060
X5061
X5062
X5063
X5068
X5069
X5070
X5071
E
F
Dimensions in mm (in)
A
50
(1.97)
40
(1.57)
35
(1.38)
40
(1.57)
35
(1.38)
50
(1.97)
40
(1.57)
40
(1.57)
35
(1.38)
74
(2.91)
59
(2.32)
52
(2.05)
59
(2.32)
52
(2.05)
74
(2.91)
59
(2.32)
59
(2.32)
52
(2.05)
125
(4.92)
105
(4.13)
80
(3.15)
100
(3.94)
90
(3.54)
125
(4.92)
105
(4.13)
100
(3.94)
80
(3.15)
140
(5.51)
125
(4.92)
95
(3.74)
120
(4.72)
105
(4.13)
155
(6.1)
125
(4.92)
120
(4.72)
95
(3.74)
35
(1.38)
45
(1.77)
35
(1.38)
40
(1.57)
35
(1.38)
53
(2.09)
45
(1.77)
35
(1.38)
30
(1.18)
45
(1.77)
60
(2.36)
45
(1.77)
50
(1.97)
45
(1.77)
66
(2.6)
60
(2.36)
45
(1.77)
40
(1.57)
60
(2.36)
65
(2.56)
50
(1.97)
55
(2.17)
50
(1.97)
75
(2.95)
65
(2.56)
50
(1.97)
45
(1.77)
5
(0.20)
4
(0.16)
4
(0.16)
4
(0.16)
4
(0.16)
5
(0.20)
4
(0.16)
4
(0.16)
4
(0.16)
5.3
(0.21)
4.3
(0.17)
4.3
(0.17)
4.3
(0.17)
4.3
(0.17)
6.4
(0.25)
4.3
(0.17)
4.3
(0.17)
4.3
(0.17)
Approx.
Mass
in kg (lb)
1.1
(2.43)
1.0
(2.20)
0.5
(1.10)
0.9
(1.98)
0.6
(1.32)
1.9
(4.19)
1.0
(2.20)
0.8
(1.76)
0.5
(1.10)
5-79
Panel
11.51 (0.450.04)
(Panel driling diagram)
311
(1.220.04)
21 (0.83) max.
251 (0.980.04)
25 HP Helicolumn
14.51
(0.570.04)
2.5
(0.10)
hole
10 (0.39)
241
MD multi-dial
(0.940.04)
37.51 (1.480.04)
4.5 (0.18)
25HP-10B
2 k
2
12V
5-80
SERVOPACK
CN1
5
(9)
V-REF
(T-REF)
6
(10)
SG
(2) Specifications
Specifications
Power Supply
Receiver Unit
LRX-01/A1
LRX-01/A2
LRX-01/A3
LRX-01/A4
12 VDC 10 %, 100 mA
5 VDC 5 %, 100 mA
Balanced line driver input (RS-422)
Input Circuit
Input Signals
Output Circuit
Open collector
output
Output Circuit
Output Circuit
Open collector
output
Output Circuit
RS-422
Input Signal
Level
H: 10 V min.
(1 mA)
L: 0.5 V max.
(30 mA)
Output Signal
Level
YASKAW
A
Ambient
Temperature
IC Used
Response
Frequency
L: 0.5 V min.
(30 mA)
Withstand voltage: 50 V
H: 3 V min.
(1 mA)
L: 0.5 V max.
(30 mA)
L: 0.5 V min.
(30 mA)
Withstand voltage: 50 V
0 (32 F) to + 60 C (140 F)
Receiver IC: AM26LS32C or the equivalent
100 kHz
50 (1.97)
Receiver unit
Socket
7.8 (0.31)
4
(0.16)
2 4.5
( 0.18) hole
5 (0.20)
4
(0.16)
35.4
(1.39)
35.4 (1.39)
80 (3.15)
29
(1.14)
81 (3.19) max.
129 (5.08)
100 (3.94)
11-M3.5 7
SEMS screws
40 0.2
(1.57 0.0079)
51 (2.01) max.
18 (4.65 max.)
5-81
6
Wiring
6-18
6-19
6-22
6-24
6-25
6-26
6-28
6-29
6-1
6 Wiring
6.1.1 Names and Functions of Main Circuit Terminals
CAUTION
Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines separated by at least 300 mm (11.81 in).
Failure to observe this caution may result in malfunction.
Use twisted-pair shielded wires or multi-core twisted pair shielded wires for signal and encoder (PG) feedback lines.
The maximum length is 3 m (118.11 in) for reference input lines and is 20 m (787.40 in) for PG feedback lines.
Do not touch the power terminals for five minutes after turning power OFF because high voltage may still
remain in the SERVOPACK.
Make sure the charge indicator is turned OFF first before starting an inspection.
Avoid frequently turning 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 turned ON. Frequently turning the power ON and OFF causes main power devices such as capacitors and
fuses to deteriorate, resulting in unexpected problems.
Name
Main
Circuit
Voltage
(V)
Maximum
Applicable
Servomotor
Capacity
(kW)
Functions
100
0.03 to 0.2
200
0.03 to 0.4
200
0.5 to 7.5
UVW
Servomotor
connection terminals
L1CL2C
100
0.03 to 0.2
200
0.03 to 7.5
L1L2
L1L2L3
Ground terminals
6-2
Terminal Symbol
Name
Main
Circuit
Voltage
(V)
100
B1B2
B1B2B3
200
External
regenerative
resistor connection
terminal
200
200
B1B2
100
1 2
DC reactor for
harmonic
suppression
terminal
Main circuit plus
terminal
Main circuit minus
terminal
Maximum
Applicable
Servomotor
Functions
Capacity
(kW)
0.03 to 0.2 Normally not connected.
Connect an external regenerative resistor (provided
0.03 to 0.4 by customer) between B1 and B2 if the regenerative
capacity is insufficient.
Normally short B2 and B3 (for an internal regenerative resistor).
Remove the wire between B2 and B3 and connect an
0.5 to 5.0
external regenerative resistor (provided by customer)
between B1 and B2 if the capacity of the internal
regenerative resistor is insufficient.
Connect an external regenerative resistor (provided
6.0 to 15.0 by customer) between B1 and B2. Refer to 6.5 Connecting Regenerative Resistors for details.
0.03 to 0.2 Normally short
1 and
2.
200
0.03 to 5.0
200
6.0 or more
200
6.0 or more
* If using the main circuit power supply and the control power supply with DC power supply input, refer to 6.1.3
Typical Main Circuit Wiring Examples (3) DC Power Supply Input for more information on wiring.
6-3
6 Wiring
6.1.2 Wiring Main Circuit Power Supply Connector (Spring Type)
CAUTION
Observe the following precautions when wiring main circuit connector.
Remove the connector from the SERVOPACK prior to wiring.
Insert only one wire per terminal on the connector.
Make sure that the core wire is not electrically shorted to adjacent core wires.
SERVOPACKs with a capacity below 1.5 kW have a removable connector for the main circuit power supply
or the control power supply terminal. Use the following procedure when connecting the SERVOPACK to the
connector.
8 to 9 mm
(0.31 to 0.35 inches)
2. Open the wire terminal on the power supply connector housing (plug) with the tool using the procedure
shown in Fig. A or B.
Insert the connection hook end of the provided tool into the slot as shown in Fig. A.
Use a standard flat-blade screwdriver (blade width of 3.0 to 3.5 mm (0.12 to 0.14 in)) or type 549320000 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 shown in Fig. A or B can be used to open the wire insert opening.
Fig. A
Fig. B
3. Insert the wire core into the opening and then close the opening by releasing the lever connection or
removing the screwdriver.
6-4
SERVOPACK
SGDMAD/ADA
SGDMBD/BDA
1QF
FIL
L1C
L2C
1KM
1Ry
1KM
PG
L1
L2
CN1
B1
B2 ALM+ 31
+1
+2
ALM 32
(For servo
alarm display)
U
V
W
1PL
1KM
1SUP
+24V
1Ry
1D
024V
1Ry : Relay
1PL : Indicator lamp
1SUP : Surge suppressor
1D : Flywheel diode
1QF
Molded-case circuit breaker
FIL : Noise filter
1KM : Magnetic contactor
SERVOPACK
SGDMAD/ADA
1QF
FIL
L1C
L2C
1KM
(For servo
1PL
1KM
1KM
1SUP
1QF : Molded-case circuit breaker
FIL : Noise filter
1KM : Magnetic contactor
L1
L2
L3
B2
B3
+1
+2
U
V
W
PG
ALM+
CN1
31
1Ry
ALM
32
1D
+24V
024V
Relay
1Ry
1PL : Indicator lamp
1SUP : Surge suppressor
1D
: Flywheel diode
6-5
6 Wiring
6.1.3 Typical Main Circuit Wiring Examples
IMPORTANT
Power supply
Servo alarm (ALM)
output signal
Select the power supply specifications for the parts in accordance with the input power supply.
Harmonic Suppression
If another device requires for harmonic suppression, connect the DC reactor to the DC main circuit side on the
SERVOPACK. For connecting examples, refer to 6.4.8 DC Reactor for Harmonic Suppression.
WARNING
SGDM SERVOPACK is applicable for both AC and DC power supply input excluding 6-kW and 7.5-kW control power supply input.
However, if the DC power supply input supplies a voltage without setting 1 (for DC power supply input) in
the parameter Pn001.2, the SERVOPACKs internal elements will burn and may cause fire or malfunction.
When using the SERVOPACK with DC power supply input, confirm the following setting of parameters.
When using the main circuit power supply input of the SGDM SERVOPACK with DC power supply input, use
the following power supply and set the parameter Pn001.2 for 1. Also, read carefully to the following Important section.
IMPORTANT
1. 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 side.
2. Take appropriate measures to ensure that a high charging current stays inside the SERVOPACK when
power is OFF.
Name
Functions
L1CL2C
6-6
1 or
Control power
supply input terminal
Single-phase 200 to 230 VAC +10%, -15% (50/60 Hz) or 270 to 310 VDC,
without polarity, excluding 6-kW and 7.5-kW control power supply input.
Single-phase 100 to 115 VAC +10%, -15% (50/60 Hz) or 135 to 155 VDC,
BD/SGDMBDA SERVOPACK with
without polarity, for SGDM100 V input
BD/SGDM-
Meaning
Not applicable for main circuit DC power supply input: Input the AC power supply for the terminal L1, L2 or L3.
Applicable for main circuit DC power supply input: Input the DC power supply
n. 1
Pn001
1, or the terminal
nal .
When changing the parameters, turn the power ON again for the necessity of the effective setting.
6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK
(CN1)
(1) Incremental Encoders
SERVOPACK
Phase A
Incremental
encoder
Phase B
1
C (5)
D (6)
2
Light blue
PS
PG
H (1)
G (2)
Red
Black
PG
5V
PG
0V
CN2
5
6
Phase C
Host controller
2
CN1
33
34
35
36
PAO
/PAO
PBO
/PBO
19
20
PCO
/PCO
R
R
R
2
1
6
7
10
9
8
1
2
Line receiver
3 Phase
A
Phase
B
11 Phase
C
16
Choke
coil
PG5V
PG0V
+
-
CN1
0V
0.33 mm2
(0.001 in 2 )
0 V C +5 V
SG
Smoothing
capacitor
+5 V
0V
Connector shell
(Shell)
Shield wire
Connector
shell
0.1 F
1 The pin numbers for the connector wiring differ depending on the servomotors.
C, D, H, G : pin number for the SGMGH, SGMSH, SGMDH servomotors.
1, 2, 5, 6 : pin number for the SGMAH and SGMPH servomotors.
2
6-7
6 Wiring
6.2.2 Encoder Connector (CN2) Terminal Layout
Absolute encoder
1
Light
blue
Phase B
C (5)
PS
D (6) White/Light blue /PS
CN2
5
6
Phase C
Phase S
PG
Host controller
CN1
33
34
35
36
19
20
48
49
Line receiver
PAO
/PAO
PBO
/PBO
PCO
/PCO
PSO
/PSO
R
R
R
PG5V
PG0V
CN1
1 PG5 V
2
PG0 V
0.33 mm2
(0.001in2)
SEN
2
1
Phase
A
Phase
B
11 Phase
C
16
0 V C +5 V
H (1) Red
G (2) Black
2
1
6
7
10
9
Choke
coil
SG
SG
+5 V
+
Smoothing
capacitor
0V
+5 V
0V
CN1
T (3) Orange
BAT +
S (4) White/Orange BAT -
BAT +
BAT -
+
3
- Battery
Connector
shell
(Shell)
21
22
3
4
Shield wire
Connector
shell
1 The pin numbers for the connector wiring differ depending on the servomotors.
C,D,H,G,S,T : pin number for the SGMGH, SGMSH, SGMDH servomotors.
1, 2, 3, 4, 5, 6 : pin number for the SGMAH and SGMPH servomotors
2
3 When using an absolute encoder, install a battery on the host controller side to
supply power.
PG5V
PG power supply
+5 V
PG 0 V
BAT (+)
Battery (+)
(For an absolute encoder)
BAT (-)
/PS
5
PS
SHELL Shield
6-8
PG power supply
0V
Battery (-)
(For an absolute encoder)
PG serial signal input
Speed reference
(2 to 10V
/rated motor
speed)
External torque 4.
limit/Torque feed
forward
(1 to 10 V
/rated torque)
V-REF
SG
2.
LPF
37
SG
BAT (+)
+5 V
SEN
SG
0V
5.
+24 V
LPF
6.
+24VIN
47
PBO
/PBO
19
20
22
PAO
/PAO
35
36
21
BAT (-)
33
34
PCO
/PCO
48
49
PSO
/PSO
SG
38
10
Backup battery 3.
(2.8 to 4.5 V)
39
T-REF
A/D
2.
3.3 k
Servo ON
(Servo ON when ON)
/S-ON
40 (SI0)
P control
(P control when ON)
/P-CON
P-OT
(SO1) 25
/V-CMP+
41 (SI1)
26
/V-CMP-
42 (SI2)
(SO2) 27
/TGON+
28
43 (SI3)
Running output
(ON when the motor speed
/TGON- exceeds the settings.)
N-OT
Alarm reset
(Reset when ON)
/ALM-RST
44 (SI4)
30
/S-RDY-
/P-CL
45 (SI5)
31
ALM+
32
ALM-
(SO3) 29
/N-CL
46 (SI6)
/S-RDY+
Photocoupler output
Max. operating voltage:
30 VDC
Max. operating current:
FG Connect shield to 50 mA DC
connector shell.
Connector
shell
* 1.
6-9
6 Wiring
6.3.2 Position Control Mode
11
Phase B
/SIGN
/CLR
CLR
15
PL1
Backup battery 2.
2.8 to 4.5 V
3.
+24 V
ALO3
33
PAO
34
PL2
/PAO
35
36
PBO
/PBO
19
20
PCO
/PCO
48
49
PSO
/PSO
SG
13
PL3
1 k
18
BAT +
21
BAT -
22
SEN
SG
+24VIN
47
4.
+5 V
ALO2
14
150
+12 V
Open- collector
reference
power supply
ALO1
39
150
12
CLR
37
38
SIGN
CCW
Position
reference
150
SIGN
Phase A
PULS
/PULS
PULS
CW
3.3 k
Servo ON
(Servo ON when ON)
/S-ON
P control
(P control when ON)
/P-CON
41 (SI1)
26
P-OT
42 (SI2)
(SO2) 27
/TGON+
28
/TGON-
40 (SI0)
(SO1) 25
TGON output
(ON at levels above the setting.)
43 (SI3)
N-OT
Alarm reset
(Reset when ON)
/ALM-RST
44 (SI4)
30
/P-CL
45 (SI5)
31
ALM+
32
ALM-
/N-CL
(SO3) 29
/S-RDY+
46 (SI6)
Connector
shell
FG Connect shield
to connector shell.
* 1.
Photocoupler output
Max. operating voltage:
30 VDC
Max. operating current:
50 mA DC
* 2. Connect a backup battery when using an absolute encoder. When connecting a battery to the host controller,
however, do not connect a backup battery.
* 3. Customers must purchase a 24 VDC power supply with double-shielded enclosure.
* 4. Enabled when using the absolute encoder.
Note: The functions allocated to the input signals SI0 to SI6 and the output signals SO1 to SO3 can be changed by
using the parameters. Refer to 7.3.2 Input Circuit Signal Allocation and 7.3.3 Output Circuit Signal Allocation.
6-10
1.
SG
BAT +
35
36
5.
PCO
/PCO
48
49
PSO
/PSO
6.
+24 V
PBO
/PBO
19
20
PAO
/PAO
SG
SG
0V
ALO3
33
34
22
ALO2
39
LPF
ALO1
38
21
SEN
+5 V
3.
37
A/D
2.
10
BAT -
Backup battery
2.8 to 4.5 V
SG
3.
2.
LPF
T-REF
Torque reference
(1 to 10 V
/rated torque)
V-REF
+24VIN
47
3.3 k
Servo ON
(Servo ON when ON)
/S-ON
P control
(P control when ON)
/P-CON
41 (SI1)
26
P-OT
42 (SI2)
(SO2) 27
N-OT
43 (SI3)
40 (SI0)
(SO1) 25
28
(SO3) 29
/VLT+
/VLT-
Alarm reset
(Reset when ON)
/ALM-RST
44 (SI4)
30
/P-CL
45 (SI5)
31
ALM+
32
ALM-
/N-CL
46 (SI6)
Connector
shell
FG Connect shield to
connector shell.
* 1.
/S-RDY+
Photocoupler output
Max. operating voltage:
30 VDC
Max. operating current:
50 mA DC
6-11
6 Wiring
6.3.4 I/O Signal Connector (CN1) Terminal Layout
Signal
Name
Function
1
SG
SEN signal
input
5
SG
/PULS
Reference
pulse input
10
12
14
16
18
/CLR
PL2
Open-collector reference
power supply
Reference
sign input
Clear input
PL3
Open-collector reference
power supply
CLR
BAT (-)
PG dividing
pulse output
Phase C
41
17
19
PCO
21
BAT (+)
PG dividing
pulse output
Phase C
43
47
25
/V-CMP+
(/COIN+)
PG dividing
pulse output
Phase A
PG dividing
pulse output
Phase B
34
/PAO
PG dividing
pulse output
Phase A
36
/PBO
PG dividing
pulse output
Phase B
ALO2
Alarm code
output
/S-ON
Servo ON
input
P-OT
Forward run
prohibit input
44
/ALMRST
Alarm reset
input
46
/N-CL
Reverse
external
torque limit
input
PSO
Phase-S
signal output
50
Alarm code
output
Alarm code
output
P control
input
Reverse run
prohibit input
/P-CL
Forward
external
torque limit
input
+24V
IN
External input
power supply
49
Servo alarm
output
Servo alarm
output
N-OT
Battery (+)
Battery (-)
/P-CON
ALM-
Servo ready
output
45
23
ALO3
32
48
39
ALO1
Servo ready
output
42
37
PBO
/S-RDY-
Clear input
/PCO
24
SIGN
Reference
sign input
35
15
20
22
T-REF
PAO
Running
signal output
40
Reference
pulse input
GND
13
ALM+
/TGON-
38
33
11
/SIGN
PULS
/S-RDY+
30
29
/TGON+
/V-CMP(/COIN-)
28
27
31
9
SG
V-REF
GND
7
PL1
Open-collector reference
power supply
26
GND
GND
3
SEN
SG
/PSO
Phase-S
signal output
6-12
Pin No.
Function
40
Servo ON: Turns ON the servomotor when the gate block in the inverter is released.
Function selected by parameter.
Proportional control
Switches the speed control loop from PI (proportional/
reference
integral) to P (proportional) control when ON.
With the internal set speed selected: Switch the rotation
Direction reference
direction.
/P-CON
41
Control mode
switching
Zero-clamp reference
Reference pulse block
Common P-OT
N-OT
/P-CL
/N-CL
/ALM-RST
42
43
45
46
44
+24VIN
47
SEN
BAT (+)
BAT (-)
4 (2)
Speed
V-REF
5 (6)
Torque
T-REF
9 (10)
PULS
/PULS
SIGN
/SIGN
7
8
11
12
CLR
/CLR
PL1
PL2
PL3
15
14
3
13
18
Position
21
22
Position speed
Position torque
Torque speed
Forward run
prohibited
Overtravel prohibited: Stops servomotor when movable part
travels beyond the allowable range of motion.
Reverse run
prohibited
Function selected by parameter.
Forward external
torque limit ON
Current limit function enabled when ON.
Reverse external
torque limit ON
Internal speed
With the internal set speed selected: Switches the
switching
internal speed settings.
Alarm reset: Releases the servo alarm state.
Control power supply input for sequence signals: Users must provide the +24 V
power supply.
Allowable voltage fluctuation range: 11 to 25 V
Initial data request signal when using an absolute encoder.
Connecting pin for the absolute encoder backup battery.
Do not connect when a battery is connected to the host controller.
Speed reference speed input: 2 to 10 V/rated motor speed (Input gain can be
modified using a parameter.)
Torque reference input: 1 to 10 V/rated motor torque (Input gain can be modified
using a parameter.)
Input mode is set from the following pulses.
Sign + pulse string
CCW/CW pulse
Two-phase pulse (90 phase differential)
Positional error pulse clear input: Clears the positional error pulse during position
control.
+12 V pull-up power is supplied when PULS, SIGN, and CLR reference signals are
open-collector outputs (+12 V power supply is built into the SERVOPACK).
Reference
8.3.1
9.4.4
8.8.2
8.10.1
8.10.2
8.5.6
8.6.7
8.3.3
8.9.2
8.8
8.11.1
6.3.6
8.4.1
8.4.1
6.2
8.5.2
8.7.2
8.6.1
8.6.1
6.3.6
6-13
6 Wiring
6.3.5 I/O Signal (CN1) Names and Functions
Pin No.
31
32
Function
Reference
8.11.1
/TGON+
/TGON-
8.11.3
/S-RDY+
/S-RDYPAO
/PAO
29
30
Servo ready: ON if there is no servo alarm when the control/main circuit power
supply is turned ON.
8.11.4
33 (1)
34
PBO
/PBO
PCO
/PCO
PSO
/PSO
ALO1
ALO2
ALO3
35
36
19
20
48
49
37
38
39 (1)
FG
Common
27
28
Shell
Phase-A signal
Phase-B signal
Phase-C signal
Phase-S signal
6.2
6.3.1
8.4.6
8.5.7
8.11.1
Speed
/V-CMP+
/V-CMP-
25
26
Speed coincidence (output in Speed Control Mode): Detects whether the motor
speed is within the setting range and if it matches the reference speed value.
8.5.8
Position
/COIN+
/COIN-
25
26
8.6.5
Reserved terminals
The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN) can be changed by
using the parameters. /CLT, /VLT, /BK, /WARN, and /NEAR signals can also be
changed.
8.3.4
8.6.6
8.7.4
8.9.5
8.11.2
16
17
23
24
50
Reserved
/CLT
/VLT
/BK
/WARN
/NEAR
6-14
SERVOPACK
1.8 k (1/2 W)min.
3
12 V
25HP-10B
2 k 1
Host controller
V-REF or
T-REF
About 14 k
SG
SERVOPACK
V-REF or
T-REF
SG About 14 k
D/A
0V
0V
SERVOPACK
150
4.7 k
SERVOPACK
Vcc
R1
Host controller
i
150
SERVOPACK
PL1, PL2, PL3 terminals
4.7 k
1.0 k
VF
+12 V
150
Tr1
About
9 mA
VF = 1.5 to 1.8 V
R1 = 1 k with a
Vcc of 12 V 5%
1.5 V max.
when ON
0V
R1 = 180 with a
Vcc of 5 V 5%
6-15
6 Wiring
6.3.6 Interface Circuit
SERVOPACK
24 VDC
+24VIN 3.3 k
24 VDC
SERVOPACK
+24VIN 3.3 k
/S-ON, etc.
/S-ON, etc.
INFO
24 V
+
Source Circuit
24 V
SERVOPACK input
SERVOPACK input
6-16
0V
5 to 12 VDC
SERVOPACK
5 to 24 VDC
Photocoupler
0V
Relay
0V
5 to 12 VDC
0V
0V
Note: The maximum allowable voltage and current capacities for open-collector output circuits are as
follows:
Voltage: 30 VDC
Current: 20 mA DC
SERVOPACK
5 to 24 VDC
0V
Relay
SERVOPACK
5 to 12 VDC
0V
Note: The maximum allowable voltage and current capacities for photocoupler output circuits are as
follows:
Voltage: 30 VDC
Current: 50 mA DC
6-17
6 Wiring
6.4.1 Wiring Precautions
6.4 Others
6.4.1 Wiring Precautions
To ensure safe and stable operation, always observe the following wiring precautions.
IMPORTANT
1. For wiring for reference inputs and encoders, use the specified cables. Refer to Chapter 5 Specifications
and Dimensional Drawings of Cables and Peripheral Devices for details.
Use cables as short as possible.
2. For a ground wire, use as thick a cable as possible (2.0 mm2 (0.003 in2) or thicker).
At least class-3 ground (100 max.) is recommended.
Ground to one point only.
If the servomotor is insulated from the machine, ground the servomotor directly.
3. Do not bend or apply tension to cables.
The conductor of a signal cable is very thin (0.2 to 0.3 mm (0.0079 to 0.012 in)), so handle the cables
carefully.
4. Use a noise filter to prevent noise interference.
(For details, refer to 6.4.2 Wiring for Noise Control.)
If the equipment is to be used near private houses or may receive noise interference, install a noise filter
on the input side of the power supply line.
Because the SERVOPACK is designed as an industrial device, it provides no mechanism 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 install a surge suppressor in the relay, solenoid and magnetic contactor coils.
The distance between a power line (such as a power supply line or servomotor cable) and a signal line
must be at least 300 mm (11.81 in). Do not put the power and signal lines in the same duct or bundle
them together.
Do not share the power supply with an electric welder or electrical discharge machine. When the
SERVOPACK is placed near a high-frequency generator, install a noise filter on the input side of the
power supply line.
6. Use a molded-case circuit breaker (QF) or fuse to protect the power supply line from high voltage.
The SERVOPACK connects directly to a commercial power supply without a transformer, so always use
a QF or fuse to protect the SERVOPACK from accidental high voltage.
7. The SERVOPACKs do not have built-in ground protection circuits. To configure a safer system, install an
earth leakage breaker for protection against overloads and short-circuiting, or install an earth leakage
breaker combined with a wiring circuit breaker for ground protection.
6-18
6.4 Others
Noise filter 3
L1
200 VAC
Servomotor
L2
L3
2LF
3.5 mm
2
(0.005 in )
min. 1
U
V
W
L1C
(FG)
CN2
PG
L2C CN1
2.0 mm2
(0.003 in2 )
min .
Operation relay
sequence
Signal generation
circuit (provided by
customer)
3
1LF
AVR
(Ground)
(Casing)
(Casing)
2 mm (0.003 in ) min.
2
(Casing) 3.5mm 2 (0.005 in ) min.1
Wires of 3.5 mm 2
1
(0.005 in 2 ) or more
3.5mm 2
(0.005 in 2)
min.
(Casing)
(Ground plate)
Ground: Ground to an independent ground
(at least class-3 grounding (100 max).)
1 For ground wires connected to the casing, use a thick wire with a thickness of
2
at least 3.5 mm2 (0.005 in ) (preferably, plain stitch cooper wire)
2
: represents twisted-pair wires.
3 When using a noise filter, follow the precautions in 6.4.2 Wiring for Noise Control
(3) Using Noise Filter.
. Also be sure to
If the servomotor is grounded via the machine, a switching noise current will flow from the SERVOPACK
power unit through servomotor stray capacitance. The above grounding is required to prevent the adverse
effects of switching noise.
6-19
6 Wiring
6.4.2 Wiring for Noise Control
Voltage
Single-phase
100 V
Single-phase
200 V
Three-phase
200 V
IMPORTANT
A3BD to -01BD
A3BDA to -01BDA
02BD, 02BDA
A3AD to -02AD
A3ADA to -02ADA
04AD, 04ADA
Model
FN2070-6/07
FN2070-10/07
FN2070-6/07
FN2070-10/07
Manufacturer
SCHAFFNER
05AD, 05ADA
08AD to -20AD
08ADA to -20ADA
30AD, 30ADA
FN258L-7/07
FN258L-16/07
FN258L-30/07
50ADA, 60ADA
75ADA
1AADA, 1EADA
Correct
Noise
filter
Noise
filter
Box
Box
Noise
filter
Box
Noise
filter
Box
6-20
6.4 Others
2. Separate the noise filter ground wire from the output lines.
Do not accommodate the noise filter ground wire, output lines, and other signal lines in the same duct or
bundle them together.
Incorrect
Correct
Noise
filter
Noise
filter
The ground wire
can be close to
input lines.
Box
Box
3. Connect the noise filter ground wire directly to the ground plate.
Do not connect the noise filter ground wire to other ground wires.
Incorrect
Correct
Noise
filter
SERVOPACK
Noise
filter
SERVOPACK
SERVOPACK
SERVOPACK
6
Shielded
ground wire
Thick and
short
Box
Box
Unit
SERVOPACK
Noise
filter
SERVOPACK
Ground
Box
6-21
6 Wiring
6.4.3 Installation Conditions of EMC Directives
Brake power
supply
PE
Core
Host controller
Specifications
Shield cable
Servomotor cable
Shield cable
Encoder cable
Shield cable
AC Line cable
6-22
Core
Clamp
Encoder
CN1
Core
Cable Name
Brake
Servomotor
L1C, L2C
CN2
Symbol
Core
L1, L2
Clamp
Noise
filter
Core
U, V, W
Core
Power Supply
Single-phase
100 VAC or 200 VAC
Clamp
SERVOPACK
Shield cable
PE
6.4 Others
L1, L2, L3
Core
Noise
filter
Core
U, V, W
Clamp
Brake
Servomotor
Clamp
CN2
Core
L1C, L2C
Core
Power Supply
Three-phase
200 VAC
Clamp
SERVOPACK
Encoder
CN1
PE
PE
Core
Host controller
Symbol
Cable Name
Specifications
Shield cable
Encoder cable
Shield cable
AC Line cable
Shield cable
Shield cable
Ferrite core
Cable Name
I/O signals cable
Motor cable
Encoder cable
Manufacturer
ESD-SR-25
Tokin. Corp.
PC40T96 20 70
TDK
6-23
6 Wiring
6.4.4 Installation Conditions of UL Standards
Cable
Cable
clamp
IMPORTANT
Connection Terminals
L1, L2, L3
(Main circuit power supply input)
U, V, W (Motor Output)
6-24
6.4 Others
QF
Power
ON
Power
OFF
1RY
1KM
1KM
Noise
filter
SUP
1KM
L1
L2
L3
Servomotor
SERVOPACK
M
L1C
L2C
+24V
1RY
CN1
31 ALM+
32 ALM -
L1
L2
L3
Servomotor
SERVOPACK
L1C
L2C
CN1
31 ALM+
32 ALM -
L1
L2
L3
Servomotor
SERVOPACK
L1C
L2C
CN1
31 ALM+
32 ALM 0V
Note: Wire the system, so that the phase-S power supply will be the ground phase.
6-25
6 Wiring
6.4.6 Extending Encoder Cables
Cable type
Cable length
Fixed Type
JZSP-CMP1950 m (164.0 ft) max.
UL20276 (Max. operating temperature: 80C (176F))
AWG16 2C + AWG26 2P
Basic Specifications
Finished Dimensions
Black
Internal Configuration and
Lead Color
Orange
Light
blue
Orange/
White
Light blue/
White
Red
Yaskawa Standards
Specifications
(Standard Length)
6-26
6.4 Others
Type
Specifications
Reference
JZSP-CMP9-1
JZSP-CMP9-2
SGMAH
SGMPH
5.5.1
5.4.3
5.4.5
5.5.1
L-shaped plug
5.4.4
5.5.2
MS3108B20-29S1
For standard
environment
Straight plug
5.4.4
5.5.2
MS3106B20-29S1
Cable clamp
Servomotor end
connector kit
5.4.4
5.5.2
MS3057-12A1
SGMGH
SGMSH
SGMDH
Straight plug
JA06A-20-29S-J1-EB
5.5.2
L-shaped plug
JA08A-20-29S-J1-EB2
For IP67
specification
JL04-2022CKE (09)2
Cable diameter 6.5 to 9.5
JL04-2022CKE (12)2
Cable diameter 9.5 to 13
5.5.2
6
Cable clamp
5.5.2
JL04-2022CKE (14)2
Cable diameter 12.9 to 15.9
50 m (164.0 ft) max.
Cables
JZSP-CMP19-
5.5.1
6-27
6 Wiring
6.4.7 Operating Conditions on 400-V Power Supply Voltage
CAUTION
Do not connect the SERVOPACK for 100 V and 200 V directly to a voltage of 400 V.
The SERVOPACK will be destroyed.
Control the AC power supply ON and OFF sequence at the primary side of voltage conversion transfer.
Voltage conversion transfer inductance will cause a surge voltage if the power is turned ON and OFF at the secondary,
damaging the SERVOPACK.
There are four types of SGDM SERVOPACKs, for the power supply voltages: Single-phase 100 VAC, singlephase 200 VAC, and three-phase 200 VAC. When using the SERVOPACK for 100 V or 200 V with the threephase 400-VAC class (380 to 480 V), prepare the following voltage conversion transformers (single-phase or
three-phase)
Primary Voltage
380 to 480 VAC
380 to 480 VAC
Secondary Voltage
200 VAC
100 VAC
When selecting a voltage conversion transformer, refer to the capacities shown in the following table.
Voltage
Single-phase
100 V
Single-phase
200 V
Three-phase
200 V
SERVOPACK Model
SGDMA3BD, A3BDA
A5BD, A5BDA
01BD, 01BDA
02BD, 02BDA
A3AD, A3ADA
A5AD, A5ADA
01AD, 01ADA
02AD, 02ADA
04AD, 04ADA
05AD, 05ADA
08AD, 08ADA
10AD, 10ADA
15AD, 15ADA
20AD, 20ADA
30AD, 30ADA
50ADA
60ADA
75ADA
1AADA
1EADA
6-28
8
4
7
10
13
17
28
32
41
60
81
6.4 Others
Voltage conversion
transformer
Single-phase
R
1KM
SERVOPACK
S
1KM
T
Magnetic contactor for
power supply ON and OFF
Single-phase
200 V
Three-phase
200 V
A3BD, A3BDA
A5BD, A5BDA
01BD, 01BDA
02BD, 02BDA
A3AD, A3ADA
A5AD, A5ADA
01AD, 01ADA
02AD, 02ADA
04AD, 04ADA
05AD, 05ADA
08AD, 08ADA
10AD, 10ADA
15AD, 15ADA
20AD, 20ADA
30AD, 30ADA
50ADA
DC Reactor
Model
Reactor Specifications
Inductance (mH)
Rated Current (A)
X5063
X5062
10.0
4.7
1.8
3.5
X5071
X5070
X5069
40.0
20.0
10.0
0.85
1.65
3.3
X5061
2.0
4.8
X5060
1.5
8.8
X5059
X5068
1.0
0.47
14.0
26.8
Note: Select a proper DC reactor for the input current to the SERVOPACK.
Refer to 2.6.2 Molded-case Circuit Breaker and Fuse Capacity for input current to each
SERVOPACK. For the kind of reactor, refer to 5.8.13 DC Reactor for Harmonic Suppression.
6-29
6 Wiring
6.4.8 DC Reactor for Harmonic Suppression
SERVOPACK
1
2
6-30
Necessity of
External Regenerative Resistors
400 W or less
Not Required
500 W to 5.0 kW
Not Required
6.0 to 15.0 kW
Required
Explanation
No built-in regenerative resistor is provided, however, normally an external
regenerative resistor is not required.
Install external regenerative resistors when the smoothing capacitor in
SERVOPACK cannot process all the regenerative power.
A built-in regenerative resistor is provided as standard. Install external regenerative resistors when the built-in regenerative resistor cannot process all the
regenerative power.
No built-in regenerative resistor is provided, so the external regenerative
resistor is required. If the external regenerative resistor is not connected with
the SERVOPACK, the alarm30 is detected as a regeneration error alarm.
6-31
6 Wiring
6.5.2 Connecting External Regenerative Resistors
Three-phase
200 V
A3BD to -02BD,
A3BDA to -02BDA
A3AD to -04AD,
A3ADA to -04ADA
05AD to -10AD,
05ADA to -10ADA
15AD, 15ADA
20AD, 20ADA
30AD, 30ADA
50ADA
60ADA
75ADA to -1EADA
Specifications
of Build-in Resistor
Resistance
()
Capacity
(W)
Regenerative Power
Processed by Built-in
Resistor 1
(W)
40
40
50
60
12
40
30
25
12.5
8
70
140
140
280
14
28
28
56
20
12
12
8
(6.25) 2
(880) 2
(180) 2
5.8
2.9
(3.13)
(1760)
(350)
Minimum
Allowable
Resistance
()
* 1. The average regenerative power that can be handled is 20% of the rated capacity of the regenerative
resistor built into the SERVOPACK.
* 2. The values in parentheses are for the optional JUSP-RA04 Regenerative Resistor Unit.
* 3. The values in parentheses are for the optional JUSP-RA05 Regenerative Resistor Unit.
6-32
Speed
Position
Torque
Setting Range
Unit
Factory Setting
Setting Validation
0 to SERVOPACK
10 W
0
Immediately
capacity
Be sure to set this parameter when installing an external regenerative resistor with the SERVOPACK.
With the factory setting of 0, the SERVOPACKs built-in resistor is used.
Set the regenerative resistor capacity within tolerance value. When the set value is improper, alarm A.32 is not detected correctly. Also, do not set other than 0 without connecting the regenerative resistor because alarm A.30 or A.33 may be detected.
Pn600
The set value differs depending on the cooling method of external regenerative resistor:
For natural air cooling method: Set the value maximum 20% of the actually installed regenerative resistor capacity (W).
For forced air cooling method: Set the value maximum 50% of the actually installed regenerative resistor capacity (W).
For example, set 20 W (100 W 20% ) for the 100 W external regenerative resistor with natural cooling method: Pn600 = 2
(units: 10 W)
IMPORTANT
1. When resistors for power are used at the rated load ratio, the resistor temperature increases to between 200
C (392 F ) and 300 C (572 F ) . The resistors must be used at or below the rated values. Check with the
manufacturer for the resistors load characteristics. 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 safetys sake, use the resistors with thermoswitches.
6-33
6 Wiring
6.5.2 Connecting External Regenerative Resistors
Do not touch the regenerative resistors because they reach high temperatures. Use heat-resistant, non-flammable wiring and make sure that the wiring does not touch the resistors. Refer to 5.3 SERVOPACK Main Circuit
Wire Size for connecting wire size when connecting an external regenerative resistor.
SGDM-
L2C
B1
MODE/SET
DATA/
CHARGE
POWER
B2
U
V
W
L1C
YASKAWA SERVOPACK200V
L2C
B1
B2
B3
6-34
U
V
YASKAWA
SGDM-
MODE/SET
DATA/
CHARGE
POWER
Applicable
SERVOPACK
Model SGDM-
Applicable
Regenerative
Resistor Unit
60ADA
JUSP-RA04
Resistance
()
6.25
75ADA to 1EADA
JUSP-RA05
3.13
Specifications
25 220 W 4 (parallel connection)
25 220 W 8 (parallel connection)
The following diagram shows the connection method between the SERVOPACK and the regenerative resistor unit.
Regenerative Resistor Unit
JUSP-RA
SERVOPACK
SERVOPARK 200V
SGDMVer.
YASKAWA
POWER
BATTERY
DATA/
MODE/SET
CHARGE
WARNING
L1
L2
L3
B1
B2
Note: Connect a regenerative resistor unit between B1 and B2 terminals. The regenerative resistor unit is
provided by the customer.
6-35
7
Digital Operator/Panel Operator
7.1 Functions on Digital Operator/Panel Operator - - - - - - - - - - - - - - - - - - - - - 7-2
7.1.1 Connecting the Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7.1.2 Key Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7.1.3 Basic Mode Selection and Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7.1.4 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
7-2
7-3
7-4
7-6
) - - - - - - - - - - - - - - - - - - - - - 7-8
) - - - - - - - - - - - - - - - - - - 7-18
) - - - - - - - - - - - - - - - - - - - - - - - - - 7-27
7-1
Panel Operator
YASKAWA
SERVOPACK
200V
SGDM-
. .
DIGITAL
SERVOPACK OPERATOR
JUSP-OP02A
ALARM
RESET
JOG
SVON
MODE/SET
DATA/
DSPL
SET
DATA
ENTER
YASKAWA
CN3
IMPORTANT
7-2
SERVOPACK
If the digital operator is connected to the SERVOPACK, the panel operator does not display anything.
Digital Operator
(RESET Key)
Panel Operator
+
Press simultaneously
DSPL
SET
SERVOPACK
ALARM
RESET
JOG
SVON
DIGITAL
OPERATOR
JUSP-OP02A
(DSPL/SET Key)
DSPL
SET
DATA
ENTER
DATA
ENTER
(DATA/ENTER Key)
YASKAWA
(UP Key)
SERVOPACK
MODE/SET
(MODE/SET Key)
(DOWN Key)
(RIGHT Key)
(LEFT Key)
Panel Operator
DATA/
(DATA/SHIFT Key)
(UP Key)
(DOWN Key)
DATA/
(DATA/SHIFT Key)
JOG
SVON
(SVON Key)
IMPORTANT
MODE/SET
(MODE/SET Key)
Function
To reset the servo alarm.
Note 1. The servo alarm can be reset by /ALM-RST (CN1-44)
input signal.
2. The servo alarm need not be reset if the control power
supply is turned OFF.
To select a basic mode, such as the status display mode, utility
function mode, parameter setting mode, or monitor mode.
Can be also used to set the data.
To display parameter setting and set value.
When an alarm occurs, remove the cause, and then reset the alarm. Refer to 11.1 Troubleshooting.
7-3
DSPL
SET
.
Press
Repeat
Press
DSPL
SET
DSPL
SET
DSPL
SET
Fn
DATA
ENTER
Pn
DATA
ENTER
Pn
: Monitor Mode
(Refer to 7.4)
.
Press
Press
.
Press
Press
DATA
ENTER
Press DSPL/SET Key and UP or DOWN Key to select the desired parameter number.
Then, press DATA/ENTER Key to display the contents of selected parameter number
in the selected mode. (Refer to each operation instruction described later.)
7-4
.
MODE/SET
Press
Repeat
Press
DATA/
(DATA/SHIFT)
Fn
Pn
Un
MODE/SET
Press
Press
DATA/
(DATA/SHIFT Key)
MODE/SET
Press
DATA/
(DATA/SHIFT Key)
Press
.
MODE/SET
Press DSPL/SET Key and UP or DOWN Key to select the desired parameter number.
Then, press DATA/SHIFT Key for more than one second to display the contents of selected
parameter number in the selected mode. (Refer to each operation instruction described later.)
7-5
Code
Bit Data
Control
Power ON
Control
Power ON
Baseblock
Baseblock
Speed
Coincidence
(/V-CMP)
Rotation
Detection
(/TGON)
Speed
Reference
Input
Torque
Reference
Input
Power Ready
7-6
Positioning
Completion
(/COIN)
Reference
Pulse Input
Error Counter
Clear Signal
Input
Power Ready
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.
Alarm Status
Displays the alarm number.
7-7
Fn001
9.2.4
Fn002
8.1.1
Fn003
7.2.3
Fn004
Fixed parameter
Fn005
7.2.4
Fn006
7.2.5
Fn007
9.2.7
Fn008
Fn009
Fn00A
8.4.5
8.5.3
8.7.3
8.5.3
Fn00B
8.7.3
Fn00C
Fn00D
Fn00E
Fn00F
Fn010
Fn011
Fn012
Fn013
Function
Remarks
7.2.6
7.2.7
7-8
Reference
Section
7.2.2
7.2.8
7.2.9
7.2.10
8.4.8
The following alarm are operator-related alarms which are not recorded in the traceback data.
Display
Description
Digital operator transmission error 1
1. Alarm traceback data will not be updated when the same alarm occurs repetitively.
2. The display A.-- means no alarm occurs.
Follow the procedure below to confirm alarms which have been generated.
Step
Display after
Operation
Digital Operator
Panel Operator
DSPL
SET
(DSPL/SET Key)
DATA
ENTER
(DATA/ENTER Key)
MODE/SET
(MODE/SET Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
3
(UP Key)
(UP Key)
4
(UP Key)
DATA
ENTER
(DATA/ENTER Key)
(UP Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
Description
Press the DSPL/SET or MODE/SET Key to select Alarm
Traceback Data Display (Fn000). If a number other than
Fn000 is displayed, press UP Key or DOWN Key to set
Fn000.
Note: The enabled digit blinks.
Press the DATA/ENTER Key once, or DATA/SHIFT Key
for more than one second.
The latest alarm data is displayed.
Press the UP Key to display the data for a previous alarm.
(To display one newer alarm data, press DOWN Key.)
Note: The higher the digit on the far left, the older the
alarm data is.
Press the UP Key to display value in order.
Note: A.-- means no alarm occurs.
Press the DATA/ENTER Key once, or DATA/SHIFT Key
for more than one second. The display will return to
Fn000.
7-9
CAUTION
Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are disabled during zero-point
search mode operations using Fn003.
The zero-point search mode is designed to perform positioning to the zero-point pulse (phase-C) position of the
encoder and to clamp at the position.
This mode is used when the motor shaft needs to be aligned to the machine.
Execute the zero-point search without connecting the motor shaft with the machine.
Display after
Operation
Digital Operator
Panel Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
JOG
SVON
(SVON Key)
MODE/SET
(MODE/SET Key)
7-10
Description
Display blinks.
Display after
Operation
Step
DATA
ENTER
INFO
Digital Operator
(DATA/ENTER Key)
Panel Operator
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
Description
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second.
Fn003 display appears again.
The motor will be servo OFF status.
Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals cannot be input during the zero-point search
operation.
IMPORTANT
Step
Display after
Operation
Digital Operator
Panel Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
End of initialization
Description
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
7-11
Display after
Operation
Digital Operator
Panel Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
DSPL
7-12
Description
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
IMPORTANT
Step
Execute the automatic offset adjustment if the torque ripple is too big when compared with that of other
SERVOPACKs.
Display after
Operation
Digital Operator
Panel Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
DSPL
Description
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
7-13
IMPORTANT
If this function, particularly manual adjustment, is executed carelessly, it may worsen the characteristics.
When performing manual adjustments, run the motor at a speed of approximately 100 min-1, and adjust the
operator until the torque monitor ripple is minimized. (Refer to 9.5 Analog Monitor.) Adjust the phase-U and
phase-V offsets alternately several times until these offsets are well balanced.
Step
Display after
Operation
Digital Operator
Panel Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
10
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
7-14
11
Press the UP or DOWN Key to adjust the offset. Carefully adjust the offset while monitoring the torque reference monitor signal.
Description
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
Display after
Operation
Digital Operator
Panel Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
Description
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
7-15
Display after
Operation
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
Description
Press the DSPL/SET or MODE/SET Key to select the
utility function mode.
Press the UP or DOWN Key to select Fn011.
Note: The enabled digit blinks.
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
Data
Motor Voltage
Model
00
01
02
Data
00
01
02
03
04
05
100VAC, 140VDC
200VAC, 280VDC
Reserved
Motor Type
Model
SGMAH
SGMPH
SGMSH
SGMGH- A(1500 min-1)
SGMGH- B(1000 min-1)
SGMDH
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
Encoder Type
Data
Type
00
Incremental
01
02
Multi-turn data
absolute encoder
Single-turn data
absolute encoder
Data Resolution
13
13-bit
16
16-bit
17-bit
17
20
20-bit
DSPL
Encoder Resolution
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
7-16
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
Display after
Operation
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
DSPL
Description
SET
(DSPL/SET Key)
DATA
ENTER
(DATA/ENTER Key)
MODE/SET
(MODE/SET Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
7-17
Functions can be selected or adjusted by setting parameters. There are two types of parameters. One type requires
value setting and the other requires function selection. These two types use different setting methods.
With value setting, a parameter is set to a value within the specified range of the parameter. With function selection, the functions allocated to each digit of the seven-segment LED panel indicator (five digits) can be selected.
EXAMPLE
Step
The example below shows how to change parameter Pn100 (speed loop gain) from 40 to 100.
Display after
Operation
Digital Operator
Panel Operator
DSPL
SET
(DSPL/SET Key)
DATA
ENTER
(DATA/ENTER Key)
MODE/SET
(MODE/SET Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
DATA/
(DATA/SHIFT Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
ENTER
(DATA/ENTER Key)
7-18
Description
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
Pn406
: Torque control
Speed
Setting Range
Setting Unit
Factory Setting
0 to 800
1%
Position
800
Torque
Setting Validation
Immediately
7-19
IMPORTANT
If the parameters with After restart in Setting Validation column in the table are changed, turn OFF the
main circuit and control power supply and ON again to validate new setting.
Pn10B.1 and Pn110.0 require the power to be reset as mentioned above.
Pn10B.0, Pn110.1, and Pn110.2 are enabled with the off-line, so the power does not have to be reset.
Parameter
No.
Pn000
Pn001
Pn002
Pn003
Pn10B
0000
Pn110
0010
Pn200
Pn207
0000
0000
Setting
Validation
After restart
After restart
After restart
Immediately
After restart/
Immediately
After restart/
Immediately
After restart
After restart
Pn408
0000*
Immediately
Sequence Related
Parameter
(Input Signal Selection)
Pn50A
Pn50B
Pn50C
Pn50D
Sequence Related
Parameter
(Output Signal Selection)
Pn50E
Pn50F
Pn510
Pn512
2100
6543
8888
8888
3211
0000
0000
0000
After restart
After restart
After restart
After restart
After restart
After restart
After restart
After restart
Category
Function Selection
Parameter
Name
7-20
Factory
Setting
0000
0000
0000
0002
Display after
Operation
Digital
Operator
Panel Operator
DSPL
SET
(DSPL/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
DATA/
(DATA/SHIFT Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
ENTER
(DATA/ENTER Key)
(UP Key)
MODE/SET
(MODE/SET Key)
Description
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
To enable the change in the setting of function selection basic switches (Pn000), turn OFF the power and ON again.
1st digit
2nd digit
3rd digit
4th digit
For the hexadecimal display only
Pn000.0 or n.xxx :
Pn000.1 or n.xx x:
Pn000.2 or n.x xx:
Pn000.3 or n. xxx:
7-21
For details on each digit of the parameter, see 12.3.2 List of Parameters.
Parameter
Pn50A
Meaning
n.2
n.8
Input the forward run prohibited signal (P-OT) from CN1-42 (Factory setting).
Forward run prohibited signal (P-OT) is disabled (Forward rotation allowed).
Pn50A:
Pn50B:
7-22
40
41
42
43
44
45
46
2
B
2
3
C
3
4
D
4
5
E
5
6
F
6
P-CON
P-OT
/P-OT
N-OT
/N-OT
/ARM-RST
ARM-RST
/P-CL
0
9
0
1
A
1
2
B
2
3
C
3
4
D
4
5
E
5
6
F
6
P-CL
/N-CL
N-CL
/SPD-D
SPD-D
/SPD-A
SPD-A
/SPD-B
SPD-B
/C-SEL
1
A
1
Zero Clamp
Pn50D.0 = n.xxx
0
9
0
Forward External
Torque Limit
Pn50B.2 = n.x xx
Reserve External
Torque Limit
Pn50B.3 = n. xxx
Internal Set Speed
Selection
Pn50C.0 = n.xxx
Internal Set Speed
Selection
Pn50C.1 = n.xx x
Internal Set Speed
Selection
Pn50C.2 = n.x xx
Control Method
Selection
Pn50C.3 = n. xxx
/S-ON
S-ON
/P-CON
Alarm Reset
Pn50B.1 = n.xx x
L
H
L
Proportional Operation
Reference
Pn50A.2 = n.x xx
Forward Run
Prohibited
Pn50A.3 = n. xxx
Reverse Run
Prohibited
Pn50B.0 = n.xxx
IMPORTANT
Input
Signal
L
H
L
Servo ON
Pn50A.1 = n.xx x
Gain Changeover
Pn50D.2 = n.x xx
Validity
Level
C-SEL
L
H
L
H
L
H
/ZCLAMP
ZCLAMP
/INHIBIT
INHIBIT
/G-SEL
G-SEL
0
9
0
9
0
9
1
A
1
A
1
A
2
B
2
B
2
B
3
C
3
C
3
C
4
D
4
D
4
D
5
E
5
E
5
E
6
F
6
F
6
F
Connection Not
Required
(SERVOPACK judges
the connection)
Always
Always
ON
OFF
7
1. When using Servo ON, Forward Run Prohibited, and Reverse Run Prohibited signals with the setting
Polarity Reversal, the machine may not move to the specified safe direction at occurrence of failure such
as signal line disconnection. If such setting is absolutely necessary, confirm the operation and observe
safety precautions.
2. When two or more signals are allocated to the same input circuit, the input signal level will be applied to all
the allocated signal.
7-23
EXAMPLE
Before
After
Display after
Operation
Digital
Operator
Pn50A:
Pn50B:
Step
Panel Operator
DSPL
SET
(DSPL/SET Key)
DATA
ENTER
(DATA/ENTER Key)
3
(UP Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
DATA/
(DATA/SHIFT Key)
DATA/
(DATA/SHIFT Key)
DATA
ENTER
(DATA/ENTER Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
7
(UP Key)
DATA
ENTER
(DATA/ENTER Key)
10
12
7-24
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
DATA/
(DATA/SHIFT Key)
DATA
ENTER
(DATA/ENTER Key)
11
(UP Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
Description
Press the DSPL/SET or MODE/SET Key to select the
value setting parameter mode. If a parameter other
than Pn50A is displayed, press the UP or DOWN Key to
set Pn50A.
Note: The enabled digit blinks.
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second to display the current data
of Pn50A.
(/S-ON is allocated to CN1-40.)
Press the UP Key to set to 1.
(Sequence input signals can be freely set.)
Press the LEFT or RIGHT Key or DATA/SHIFT Key to
select the second digit from the right. Press the UP key
to set to 5.
(Changes the allocation of /S-ON from CN1-40 to CN145.)
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second. The value blinks and is
saved.
At the moment, the CN1-45 operates with OR logic for
/S-ON and /P-CL.
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second to return to the display
Pn50A.
Press the UP Key to set Pn50B.
Note: The enabled digit blinks.
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second to display the current data
of Pn50B.
(/P-CL is allocated to CN1-45.)
Press the LEFT or RIGHT Key or DATA/SHIFT Key to
select the third digit from the right. Press the DOWN
Key to set to 0.
(Changes the allocation of /P-CL from CN1-45 to CN140.)
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second. The value blinks and is
saved.
25/(26)
Pn512=n.xxx
Parameter Setting
Allocation
Positioning
Completion
(/COIN)
Pn50E.0 = n.xxx
Speed Coincidence Detection
(/V-CMP)
Pn50E.1 = n.xx x
Rotation Detection
(/TGON)
Pn50E.2 = n.x xx
Servo Ready
(/S-RDY)
Pn50E.3 = n. xxx
Torque Limit
Detection
(/CLT)
Pn50F.0 = n.xxx
Speed Limit
Detection
(/VLT)
Pn50F.1 = n.xx x
Brake
(/BK)
Pn50F.2 = n.x xx
Warning
(/WARN)
Pn50F.3 = n. xxx
Near
(/NEAR)
Pn510.0 = n.xxx
IMPORTANT
0
1
2
3
0
1
2
3
0
1
2
3
0
1
2
3
0
1
2
3
0
1
2
3
0
1
2
3
0
1
2
3
0
1
2
3
0
Invalid
L
29/(30)
Pn512=n.x xx
H
H
H
L
H
L
H
Factory Setting
H
L
Pn50E:
H
L
Invalid
L
Pn512:
H
L
Note:
The output signals for Positioning
Completion Signal and Speed Coincidence Detection Signal differ depending on the control method.
H
L
Invalid
L
H
L
Invalid
L
Pn50F:
Pn510:
H
L
Invalid
L
L:
Valid output signal: Low level
H:
Valid output signal: High level
Invalid:
Do not use the output signal.
H
L
Invalid
L
Invalid
L
Remark
L
Invalid
L
L
Invalid
L
27/(28)
Pn512=n.xx x
H
L
1. When two or more signals are allocated to the same output circuit, a signal is output with OR logic.
2. The signals not detected are considered as Invalid. For example, Positioning Completion (/COIN) Signal
in speed control mode is Invalid.
7-25
EXAMPLE
Before
After
Pn50E:
Step
Display after
Operation
Digital
Operator
Panel
Operator
DSPL
SET
(DSPL/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
DATA/
(DATA/SHIFT Key)
DATA
ENTER
(DATA/ENTER Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(DATA/ENTER Key)
10
11
7-26
(UP Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
DATA/
(DATA/SHIFT Key)
DATA
ENTER
DATA
(DATA/SHIFT Key)
6
(UP Key)
Description
DATA
(DATA/SHIFT Key)
The monitor mode can be used for monitoring the reference values, I/O signal status, and SERVOPACK internal
status.
The monitor mode can be selected during motor operation.
Content of Display
min-1
Un000
Un001
Un002
Un003
Un004
Un005
Un006
Un007
Un008
Error counter value (amount of position error) (valid only in position control mode)
Accumulated load rate (value for the rated torque as 100%. Displays effective torque in 10-s
cycle.)
Un009
Un00A
Un00B
Un00C
Un00D
Unit
Regenerative load rate (value for the processable regenerative power as 100%. Displays regenerative power consumption in 10-s cycle.)
Power consumed by DB resistance
(Value for the processable power when dynamic brake is applied as 100%. Displays power consumed by DB resistance in 10-s cycle.)
Input reference pulse counter (32-bit hexadecimal code)
(valid only in position control mode) *2
Feedback pulse counter (Data as four times of the encoder pulse number: 32-bit hexadecimal
code) *2
min-1
%
Number of pulses
from the zero-point
deg
min-1
reference unit
%
%
%
7-27
Number
Refer to 7.3.2 Input Circuit Signal Allocation for the relation between input terminals and signals.
Display LED
Number
1
2
3
4
5
6
7
8
EXAMPLE
Factory Setting
CN1-40
CN1-41
CN1-42
CN1-43
CN1-44
CN1-45
CN1-46
CN1-4
/S-ON
/P-CON
P-OT
N-OT
/ALM-RST
/P-CL
/N-CL
SEN
87 6 5 4 3 2 1
87 6 5 4 3 2 1
87 6 5 4 3 2 1
7-28
Display LED
Number
1
Output Terminal
Name
CN1-31, -32
ALM
CN1-25, -26
/COIN or /V-CMP
CN1-27, -28
/TGON
4
5
6
7
CN1-29, -30
CN1-37
CN1-38
CN1-39
/S-RDY
AL01
AL02
AL03
Factory Setting
Seven segments in the top and bottom rows of an LED turn ON and OFF in different combinations to indicate
various output signals.
These segments ON for L level and OFF for H level.
EXAMPLE
765 4 321
Display after
Operation
Digital
Operator
Panel
Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
Description
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
7-29
(4) Monitor Display of Reference Pulse Counter and Feedback Pulse Counter
The monitor display of reference pulse counter and feedback pulse counter is expressed in 32-bit hexadecimal.
Step
Display after
Operation
Digital
Operator
Panel
Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
3
The upper 16-bit data
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
4
The lower 16-bit data
Description
+
(Press simultaneouly)
DATA
ENTER
(DATA/ENTER Key)
Press simultaneously
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
When the control power supply is turned ON, reference pulse and feedback pulse will be 0. The counter
value increases by forward references, and decreases by reverse references.
Displays the pulse number from 0 to 4294967295 in sequence. If one pulse is decreased from 0, the digital
operator and the panel operator display 4294967295 and then decrease from this pulse number. Also, if one
pulse in increased from 4294967295, the digital operator and the panel operator display 0 and increase from
this pulse number.
The feedback pulse will be 65536 pulse/rev, when using the 16-bit encoder. The feedback pulse will be
131071 pulse/rev, when using the 17-bit encoder.
7-30
8
Operation
8-18
8-19
8-20
8-22
8-25
8-26
8-28
8-29
8-29
8-30
8-30
8-32
8-36
8-37
8-38
8-39
8-40
8-43
8-43
8-43
8-45
8-47
8-1
8 Operation
8.8 Operating Using Speed Control with an Internally Set Speed - - - - - - - - - 8-66
8.8.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-66
8.8.2 Input Signal Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-67
8.8.3 Operating Using an Internally Set Speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-67
8-2
8-3
8 Operation
200V
SGDM-
To power
supply
DATA/
MODE/SET
CHARGE
POWER
L1
C
N
3
L2
CN1
+1
+2
C
N
1
L1C
L2C
B1
B2
U
V
C
N
2
Purpose
The servomotor is operated without connecting the shaft to
the machine in order to confirm that the following wiring is
correct.
Power supply circuit wiring
Motor wiring
Encoder wiring
Motors rotation direction and motor speed
200V
SGDM-
To power
supply
DATA/
MODE/SET
CHARGE
L1
L2
+1
POWER
C
N
3
CN1
+2
L1C
L2C
B1
B2
U
To host controller
V
W
Purpose
The servomotor is operated without connecting the shaft to
the machine in order to confirm that the following wiring is
correct.
I/O signal wiring between the SERVOPACK and the host
controller.
Motors rotation direction, motor speed, and number of
rotations
Check the operation of the brake, overtravel, and other protective functions.
(3)Trial Operation for the Servomotor and Machine Combined (Refer to 8.1.3.)
YASKAWA
SERVOPACK
200V
SGDM-
To power
supply
DATA/
MODE/SET
CHARGE
L1
L2
+1
POWER
C
N
3
CN1
+2
L1C
L2C
B1
B2
U
To host controller
V
W
8-4
Purpose
The servomotor is connected to the machine and trial operation is performed. The SERVOPACK is adjusted to match the
machine characteristics.
The servomotors rotation direction, motor speed, and
machine travel distance.
Set the necessary parameters.
Step
Item
Installation
and mounting
Wiring and
connections
Connect the power supply circuit (L1 and L2 or L1, L2 and L3), servomotor wiring
(U, V, W), I/O signal wiring (CN1), and encoder wiring (CN2). During (1) Trial
Operation for Servomotor without Load, however, disconnect the CN1 connector.
Turn ON the
power.
Turn ON the power. Check the panel operator to make sure that the SERVOPACK is
running normally. If using a servomotor equipped with an absolute encoder, perform
the setup for the absolute encoder. (Refer to 8.4.5 Absolute Encoder Setup (Fn008).)
Execute jog
mode
operation.
Execute jog mode operation with the servomotor alone under a no-load condition.
Connect input
signals.
Check input
signals.
Host
Reference
Input
reference.
Input the reference for the control mode being used, and check the servomotor for
correct operation.
Host
Reference
Turn OFF the power, and then connect the servomotor to the machine.
If using a servomotor with an absolute encoder, set up the absolute encoder and make
the initial settings for the host controller to match the machines zero position.
10
Set
necessary
parameters.
Using the same procedure as you did to input a reference in step 8, operate the servomotor from the host controller and set the parameter so that the machines travel
direction, travel distance, and travel speed all correspond to the reference.
Host
Reference
Operation
The servomotor can now be operated. Adjust the servo gain if necessary. Refer to
9.1 Autotuning.
If a problem occurs, refer to Chapter 11 Inspection, Maintenance, and Troubleshooting.
Host
Reference
11
Description
Install the servomotor and SERVOPACK according to the installation conditions.
(Do not connect the servomotor to the machine because the servomotor will be operated first under a no-load condition for checking.)
Reference
Jog Operation
8-5
8 Operation
8.1.1 Trial Operation for Servomotor without Load
CAUTION
Release the coupling between the servomotor and the machine, and secure only the servomotor without a
load.
To prevent accidents, initially perform the trial operation for servomotor under no-load conditions (with all couplings
and belts disconnected).
In this section, confirm the cable connections of the main circuit power supply, motor and encoder except the
connection to host controller. Incorrect wiring is generally the reason why servomotors fail to operate properly
during the trial operation.
Confirm the wiring, and then conduct the trial operation for servomotor without load.
The operation and the display are the same both for the panel operator and optional digital operator (JUSPOP02A-2).
Step
Description
Secure the servomotor.
Secure the mounting plate
of the servomotor to the
equipment.
200V
SGDM-
DATA/
MODE/SET
CHARGE
Power
supply
L1
L2
POWER
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 circuit. Refer to 2.5 Selecting Cables for motor and encoder cables.
C
N
3
+1
+2
L1C
L2C
B1
B2
C
N
1
U
V
W
C
N
2
Encoder
cable
Turn ON power.
Normal Display
3
Alternate display
8-6
Step
Description
Operate with the panel operator.
YASKAWA SERVOPACK
YASKAWA
SGDM-
Panel Operator
MODE/SET
DATA/
CHARGE
Panel
Operator
POWER
YASKAWA
SERVOPACK
SERVOPACK
200V
SGDM-
DATA/
MODE/SET
CHARGE
L1
Power
supply
L2
POWER
C
N
3
+1
+2
L1C
L2C
B1
B2
C
N
1
U
V
W
C
N
2
Display after
Operation
Digital Operator
Panel
Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
3
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
JOG
SVON
(SVON Key)
Description
MODE/SET
(MODE/SET Key)
Forward
running
Reverse
running
6
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
7
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
Press the DSPL/SET or MODE/SET Key. This will turn OFF the
power to the servomotor. The power will remain OFF even if the
SVON or DATA/SHIFT Key is pressed for more than one second.
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second to return to the Fn002 display of the utility
function mode.
8-7
8 Operation
8.1.1 Trial Operation for Servomotor without Load
INFO
The servomotors rotation direction depends on the setting of parameter Pn000.0 (Direction Selection). The example
above describes operation with Pn000.0 in the factory setting.
Pn304
JOG Speed
Setting Range
0 to 10000
Speed
Setting Unit
-1
Factory Setting
500
1 min
Sets the utility function Fn002 (Jog Mode Operation) to the reference value of motor speed.
Position
Torque
Setting Validation
Immediately
The motor can be operated using only the digital operator without reference from the host controller. The following conditions are required to perform jog mode operation.
1. The servo on (/S-ON) input 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.
Pay attention that the Forward Run Prohibited (P-OT) and Reverse Run Prohibited (N-OT) signals are invalid
during jog mode operation. For the jog mode operation procedures, refer to pages 8-6 and 8-7.
8-8
8.1.2 Trial Operation for Servomotor without Load from Host Reference
Check that the servomotor move reference or I/O signals are correctly set from the host controller to the SERVOPACK. Also check that the wiring and polarity between the host controller and SERVOPACK, and the SERVOPACK operation settings are correct. This is final check before connecting the servomotor to the machine.
+24V
/S-ON
CN1
47
40
Position Control
[Pn000=n.
1 ]
+24V
/S-ON
CN1
47
40
P-OT
42
P-OT
42
N-OT
43
N-OT
43
V-REF
PULS
SIGN
11
0V
0V
Change the SEN signal (CN1-4) to the H level when an absolute encoder is used.
8-9
8 Operation
8.1.2 Trial Operation for Servomotor without Load from Host Reference
Step
Description
Configure an input signal circuit necessary for servo ON.
Connect the I/O signal connectors (CN1) in the circuit on
the previous page or equivalent to input the signal necessary for servo ON. Then turn OFF the power and connect
the CN1 to the SERVOPACK.
YASKAWA
SERVOPACK
200V
SGDM-
DATA/
MODE/SET
CHARGE
L1
L2
POWER
C
N
3
+1
+2
-
CN1
L1C
L2C
B1
B2
C
N
1
U
V
W
C
N
2
Turn ON the power and make sure that the panel operator
display is as shown below.
Un005 =
Check input signal wiring in monitor mode using the digital operator or panel operator. Refer to 7.4.1 List of Monitor Modes.
Turn ON and OFF each signal line to see if the LED monitor bit
display on the digital operator changes as shown below.
Input signal LED display
P-OT
N-OT
Un005 =
Input the /S-ON signal, then make sure that the display of
the panel operator is as shown below.
3
8-10
/P-CON
/S-ON
Top lights when input
signal is OFF (high level).
Bottom lights when input
signal is ON (low level).
/ALM-RST
/P-CL
/N-CL
SEN
0 )
+24V
/S-ON
CN1
47
40
P-OT
N-OT
+
VE
0V
42
43
V-REF
5
6
Step
1
3
4
5
Description
Check the power and input signal circuits again, and
check that the speed reference input (voltage
between the V-REF and SG) is 0 V.
Turn ON the servo ON (/S-ON) input signal.
8-11
8 Operation
8.1.2 Trial Operation for Servomotor without Load from Host Reference
INFO
SERVOPACK
Position control
Speed control
M
Trial operation for
servomotor without load
When the SERVOPACK conducts speed control and position control is conducted at the host controller, perform the oper0 ) on the preations below, following the operations in (2) Operating Procedure in Speed Control Mode (Pn000 = n.
vious page.
Step
9
10
Description
Check the input signal circuit again, and check that
the speed reference input (voltage between the VREF and SG) is 0 V.
Turn ON the servo ON (/S-ON) input signal.
11
12
13
8-12
1 )
+24V
/S-ON
40
Reference pulse
according to
parameter
Pn200.0 setting
Step
1
2
3
4
10
42
N-OT
CLR
Pulse reference
P-OT
43
PULS
/PULS
SIGN
11
/SIGN
12
15
Description
Match the reference pulse form with the pulse output form from the host controller.
Set the reference unit and electronic gear ration so
that it coincides with the host controller setting.
Turn ON the power and the servo ON (/S-ON) input
signal.
Send the pulse reference for the number of motor
rotation easy to check (for example, one motor revolution) and with slow speed from the host controller
in advance.
Check the number of reference pulses input to the
SERVOPACK by the changed amount before and
after the Un00C (input reference pulse counter)
[pulse] was executed.
Check the actual number of motor rotation [pulse]
by the changed amount before and after the Un003
(rotation angle 1) [pulse] was executed.
Check that steps 5 and 6 satisfy the following equation:
Un003=Un00C (Pn202/Pn203)
Check that the motor rotation direction is the same
as the reference.
Input the pulse reference with the large number of
motor rotation from the host controller to obtain the
constant speed.
Check the reference pulse speed input to the SERVOPACK using the Un007 (input reference pulse
speed) [min-1].
Set the motor speed of several 100 min-1 for the reference pulse speed because such speed is safe.
Pn202
Pn203
Electronic
gear ratio
1
213(8192)
Encoder
pulse
* The encoder pulse differs depending on the model of the servomotor used.
8-13
8 Operation
8.1.2 Trial Operation for Servomotor without Load from Host Reference
Step
11
Description
Check the motor speed using the Un000 (motor
speed) [min-1].
12
13
14
8-14
To change the motor rotation direction without changing input reference pulse form, refer to 8.3.2 Switching
the Servomotor Rotation Direction.
Perform the operation from step 9 again after the
motor rotation direction is changed.
WARNING
Follow the procedure below for trial operation precisely as given.
Malfunctions that occur after the servomotor is connected to the machine not only damage the machine, but may also
cause an accident resulting death or injury.
200V
SGDM-
To power
supply
DATA/
MODE/SET
CHARGE
L1
L2
+1
POWER
C
N
3
CN1
+2
L1C
L2C
B1
B2
U
To host controller
V
W
Step
1
Description
Turn ON the power and make the settings for
mechanical configuration related to protective function such as overtravel and brake.
3
4
Connect the servomotor to the machine with coupling, etc., while the power is turned OFF.
Check that the SERVOPACK is servo OFF status
and then turn ON the power to the machine (host
controller). Check again that the protective function
in step 1 operates normally.
Perform trial operation with the servomotor connected to the machine, following each section in
8.1.2 Trial Operation for Servomotor without Load
from Host Reference.
Check the settings of parameters for control mode
used set in step 2 again.
8-15
8 Operation
8.1.4 Servomotor with Brakes
Step
7
Description
Adjust the servo gain and improve the servomotor
response characteristics, if necessary.
SERVOPACK
Position control
Speed control
Reference from
the Host
Controller
Check Item
M
Trial operation for
servomotor without load.
Check Method
Review Items
Reference
Section
JOG Operation
(Constant
Reference Speed
Input from
Host Controller)
Motor Speed
8.5.1
Simple
Positioning
8.5.7
Overtravel
(P-OT and
N-OT Used)
8-16
8.3.3
Control Mode
Reference
Section
8.5
n.
0
(Factory
setting)
n.
8.6
n.
n.
8.10
n.
4
n.
B
8.7
8.8
8-17
8 Operation
8.3.1 Setting the Servo ON Signal
Name
Input
/S-ON
Connector Pin
Number
CN1-40
(Factory setting)
Setting
ON (low level)
OFF (high
level)
Meaning
Servomotor power ON. Servomotor can be operated.
Servomotor power OFF. Servomotor 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 signal to start or stop. Doing so will degrade internal elements and lead to malfunction.
Note: A parameter can be used to re-allocate the input connector number for the /S-ON signal. Refer to
7.3.2 Input Circuit Signal Allocation.
n.
n.
0
7
Meaning
Inputs the /S-ON signal from the input terminal CN1-40. (Factory setting)
Constantly enables the /S-ON signal.
After changing these parameters, turn OFF the main circuit and control power supplies and then turn them ON again to
enable the new settings.
When the parameter is set to constantly enable the signal, resetting an alarm can only be done by turning the power
OFF and ON. (Alarm reset is disabled.)
8-18
Name
Reference
Forward Reference
Pn000
n.
0 Standard setting
(CCW = Forward)
(Factory setting)
Reverse Reference
Analog monitor
torque reference
Forward
(CCW)
Rotation speed
Analog monitor
Reverse
(CW)
PAO
PAO
PBO
n.
Reverse Rotation
Mode
(CW = Reverse)
Phase B advanced
Phase A advanced
PBO
Analog monitor
Analog monitor
Reverse
(CW)
Forward
(CCW)
PAO
PAO
PBO
Phase B advanced
Phase A advanced
PBO
8-19
8 Operation
8.3.3 Setting the Overtravel Limit Function
Name
Input
P-OT
Connector Pin
Number
CN1-42
(Factory setting)
Setting
Meaning
ON (low level)
Forward rotation allowed. Normal operation status.
OFF (high
Forward rotation prohibited. Forward overtravel.
level)
Input N-OT
CN1-43
ON (low level)
Reverse rotation allowed. Normal operation status.
(Factory setting)
OFF (high
Reverse rotation prohibited. Reverse overtravel.
level)
Connect limit switches as shown below to prevent damage to
Motor forward rotation direction
the devices during linear motion.
SERVOPACK
Rotation in the opposite direction is possible during overtravel.
Servomotor
For example, reverse rotation is possible during forward overCN1
Limit
Limit
P-OT
42
switch
switch
travel.
N-OT
43
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 clear the error pulses.
CAUTION
When using the servomotor on a vertical axis, the workpiece may fall in the overtravel condition.
To prevent this, always set the zero clamp after stopping with Pn001 = n.
1 .
Refer to (3) Selecting the Motor Stop Method When Overtravel is Used in this section.
n.2
n.8
n.
n.
Meaning
Inputs the Forward Run Prohibited (P-OT) signal from CN1-42. (Factory setting)
Disables the Forward Run Prohibited (P-OT) signal. (Allows constant forward rotation.)
3 Inputs the Reverse Run Prohibited (N-OT) signal from CN1-43. (Factory setting)
8 Disables the Reverse Run Prohibited (N-OT) signal. (Allows constant reverse rotation.)
Applicable control methods: Speed control, position control, and torque control
After changing these parameters, turn OFF the main circuit and control power supplies and then turn them ON again to
enable the new settings.
* A parameter can be used to re-allocate input connector number for the P-OT and N-OT signals. Refer to 7.3.2 Input Circuit Signal Allocation.
8-20
n.
n.
n.
Stop Mode
00
01
02
Stop by dynamic
brake
Mode After
Stopping
Coast
Meaning
Rapidly stops the servomotor by dynamic braking
(DB), then places it into Coast (power OFF) Mode.
Coast to a stop
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 800
1%
800
Immediately
This sets the stop torque for when the overtravel signal (P-OT, N-OT) is input.
The setting unit is a percentage of the rated torque (i.e., the rated torque is 100%).
The value large enough to be the motor maximum torque, 800% is set as the factory setting for emergency stop torque.
However, the actual output emergency stop torque is determined by motor ratings.
8-21
8 Operation
8.3.4 Setting for Holding Brakes
Vertical Shaft
Servomotor
Holding brake
External
force
Servomotor
IMPORTANT
1. The brake built into the servomotor with brakes is a deenergization brake, which is used only to hold and
cannot be used for braking. Use the holding brake only to hold a stopped motor. Brake torque is at least
120% of the rated motor torque.
2. When operating using only a speed loop, turn OFF the servo and set the input reference to 0 V when the
brake is applied.
3. When forming a position loop, do not use a mechanical brake while the servomotor is stopped because
the servomotor enters servolock status.
SERVOPACK
R
S
T
Power supply
L1
L2
L3
L1C
U
V
W
L2C
(/BK+)
CN1
1
(/BK-)
BK-RY
CN2
PG
+24V
BK-RY
BK
Surge suppressor
CR50500BL
(manufactured by
Okaya Electric
Industries Co., Ltd.)
8-22
Name
Output
/BK
Connector Pin
Number
Must be allocated
Setting
Meaning
ON (low level)
Releases the brake.
OFF (high level) Applies the brake.
This output signal controls the brake and is used only for a servomotor with a brake. This output signal is not used with the
factory settings. The output signal must be allocated (with Pn50F). It does not need to be connected for servomotors without a brake.
IMPORTANT
The /BK signal is not output during overtravel, or when there is no power to the servomotor.
n.
n.
n.
n.
0
1
2
3
Meaning
CN1-25
CN1-26
CN1-27
CN1-28
CN1-29
CN1-30
IMPORTANT
When set to the factory setting, the brake signal is invalid. When multiple signals are allocated to the same output terminal, the signals are output with OR logic. To output the /BK signal alone, disable the other output signals or set them to
output terminals other than the one allocated to the /BK signal. For the allocation of SERVOPACK output signals other
than /BK signal, refer to 7.3.3 Output Circuit Signal Allocation.
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 50
10 ms
0
Immediately
(0 to 500 ms)
When using the servomotor to control a vertical axis, the
/S-ON
machine movable part may shift slightly depending on the brake
Servo OFF
Servo ON
(CN1-40)
ON timing due to gravity or an external force. By using this
parameter to delay turning the servo OFF, this slight shift can be
Brake released Brake held
/BK output
eliminated.
This parameter changes the brake ON timing while the servomoNo power to motor
Power to motor Power to motor
tor is stopped.
For details on brake operation while the servomotor is operating,
Pn506
refer to (5) Setting the Brake ON Timing When Servomotor Running in this section.
IMPORTANT
The servomotor will turn OFF immediately when an alarm occurs, regardless of the setting of this parameter.
The machine movable part may shift due to gravity or external force during the time until the brake operates.
8-23
8 Operation
8.3.4 Setting for Holding Brakes
Pn508
Speed
Setting Unit
Setting Validation
100
Immediately
1 min
Timing for Brake Reference Output during Motor Operation
/BK output
Torque
Factory Setting
-1
Setting Range
Setting Unit
10 to 100
10 ms
(100 to 1000 ms)
/BK Signal Output Conditions When Servo/S-ON input
motor Running
Or alarm or
The /BK signal goes to high level (brake ON)
power OFF
when either of the following conditions is satisfied:
When the motor speed falls below the level set
Motor speed
in Pn507 after the servo OFF.
When the time set in Pn508 is exceeded after
the servo OFF.
Position
Speed
Factory Setting
50
(500 ms)
Servo ON
Torque
Setting Validation
Immediately
Servo OFF
Pn507
Brake released
Position
Brake held
Pn508
IMPORTANT
The servomotor will be limited to its maximum speed even if the value set in Pn507 is higher than the maximum speed.
Allocate the running output signal (/TGON) and the brake signal (/BK) to different terminals.
If the brake signal (/BK) and running output signal (/TGON) are allocated to the same output terminal, the /TGON signal
will go to low level at the speed at which the movable part drops on the vertical axis, which means that the /BK signal will
not go to high level even if the conditions of this parameter are met. (This is because signals are output with OR logic
when multiple signals are allocated to the same output terminal.) For output signal allocations, refer to 7.3.3 Output Circuit Signal Allocation.
8-24
n.
Stop Mode
Mode After
Stopping
Dynamic Brake
Stop by dynamic
brake
n.
n.
2 Coast to a stop
Coast
Coast
Meaning
Stops the servomotor by dynamic braking (DB),
then holds it in Dynamic Brake Mode. (Factory setting)
Stops the servomotor by dynamic braking (DB),
then places it into Coast (power OFF) Mode.
Stops the servomotor by coasting, then places it
into Coast (power OFF) Mode.
IMPORTANT
TERMS
SERVOPACK
Servomotor
8-25
8 Operation
8.3.6 Instantaneous Power Loss Settings
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
Setting Validation
20 to 1000
1 ms
20
Immediately
In power loss detection, the status of the main circuit power supply is detected and OFF status is ignored so servomotor
operation will continue if the servomotor turns back ON within the time set in 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 lost (equivalent to normal power OFF
operation) with loss of the control power supply.
Pn509 > t
OFF time t
Servo ON
Operation
continued
IMPORTANT
The maximum setting for the hold time during a power
loss is 1,000 ms, but the hold time for the SERVOPACK
Servo ON
Servo OFF
Pn509 < t
control power supply is about 100 ms. The hold time for
the main circuit power supply depends on the SERVOPACK output.
To continue SERVOPACK operation for a power loss that is longer than this, provide an uninterruptible power supply.
8-26
WARNING
The output range of multiturn data for the -II series absolute detection system differs from that for conventional systems (15-bit encoder and 12-bit encoder). When an infinite length positioning system of the conventional type is to be configured with the -II series, be sure to make the following system modification.
If a motor with an absolute encoder is used, a system to detect the absolute position can be made in the host controller. Consequently, operation can be performed without zero point return operation immediately after the
power is turned ON.
SGM H-
SGM H-
Absolute position
detected continuously
Absolute encoder
Absolute Encoder
Type
Resolution
Series
SGD
SGDA
SGDB
12-bit
15-bit
Output Range
of Multiturn
Data
-99999 to
+ 99999
- Series
SGDM
SGDH
SGDP
16-bit
17-bit
-32768 to
+ 32767
When the upper limit (+99999) is exceeded in the forward direction, the multiturn data is 0.
When the lower limit (-99999) is exceeded in the reverse direction, the multiturn data is 0.
When the upper limit (+32767) is exceeded in the forward direction, the multiturn data is -32768.*
When the lower limit (-32767) is exceeded in the reverse direction, the multiturn data is +32768.*
* The action differs when the Multiturn Limit Setting (Pn205) is changed. Refer to 8.4.7 Multiturn Limit
Setting.
8-27
8 Operation
8.4.1 Interface Circuits
BAT(+)
BAT(-)
+5V
0V
Battery
Up/down
counter
UP
DOWN
22
33
34
35
36
19
20
48
49
SG
Line driver
Edge
detection
PA
PB
PC
Clear
Serial interface
circuit
PS
R
R
R
R
Encoder
SG
+
-
Serial interface
circuit
PAO
/PAO
PBO
/PBO
PCO
/PCO
PSO
/PSO
SEN
7406
SERVOPACK
CN2
1 PG5V
2 PG0V
3 BAT (+)
CN1
4
2
21
0V
BAT ( - )
PS
PG
/PS
Connector
shell
Shield (shell)
Name
SEN
Connector
Pin Number
CN1-4
Setting
Meaning
ON (high level)
OFF
ON
1.3 s min.
15 ms min.
8-28
Meaning
Use the absolute encoder as an absolute encoder. (Factory setting)
n. 0
n. 1
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 circuit and control power supplies and then turn them ON again to
enable the new settings.
PROHIBITED
Install the battery at either the host controller or the SERVOPACK.
It is dangerous to install batteries at both simultaneously, because that sets up a loop circuit between the batteries.
Battery
Installation
Location
Yaskawa Model*
Host controller
SERVOPACK
Manufacturer
Model
ER6VC3
30 W to 5.0 kW
6.0 to 15.0 kW
JZSP-BA01
JZSP-BA01-1
ER3V
Specifications
Manufacturer
Lithium battery
3.6 V 2000mAh
Lithium battery
3.6 V 1000mAh
Ver.
YASKAWA
POWER
MODE/SET
DATA/
BATTERY
Battery mounting
location
For 30 W to 5.0 kW SERVOPACK
Battery model: JZSP-BA01
8-29
8 Operation
8.4.4 Replacing Batteries
IMPORTANT
If the SERVOPACK control power supply is turned OFF and the battery 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).
Use a built-in type digital operator in the SERVOPACK or a digital operator for setup.
IMPORTANT
8-30
Step
1
2
Display after
Operation
Digital
Operator
Alarm generated
Panel
Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
8
DATA
ENTER
(DATA/ENTER Key)
Press the DSPL/SET or MODE/SET Key to select the utility function mode.
Press the UP or DOWN Key to select parameter Fn008.
Note: The digit that can be set will blink.
Description
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
Turn OFF the power, and then turn it ON again to make the setting valid.
8-31
8 Operation
8.4.6 Absolute Encoder Reception Sequence
PG
PS
PAO
PBO
Dividing
circuit
(Pn201)
Conversion
from serial data
into pulse
PCO
PSO
Data
conversion
Signal Name
PAO
PBO
PCO
PSO
Status
At initial status
At normal status
At initial status
At normal status
Always
Always
Meaning
Serial data
Initial incremental pulse
Incremental pulse
Initial incremental pulse
Incremental pulse
Zero point pulse
Rotation count serial data
SEN signal
PAO
PBO
Undefined
Undefined
PSO
Undefined
50ms
260 ms max.
Incremental pulse
(Phase A) (Phase A)
Initial increIncremental pulse
mental pulse
(Phase B) (Phase B)
Rotation count serial data
1 to 3 ms
400 ms max.
Approx.15ms
Serial data: Indicates how many turns the motor shaft has made from the reference position (position specified at setup).
Initial incremental pulse: Outputs pulses at the same pulse rate as when the motor shaft rotates from the
origin to the current position at about 1250 min-1 (for 17 bits when the dividing pulse is at the factory setting).
8-32
-1
0
+1
Value M
Current position
+1
+2
+3
+2
+3
PO
MR
PE
PS
PM
PS
PE = M R + PO
PM = PE - PS
PM
PM = PE - PS
"P"
"CR"
0 00 0 0 1 0 1 0 1
Data
Start bit
Stop bit
Even parity
Note: 1. Data is P+00000 (CR) or P-00000 (CR) when the number of revolutions is zero.
2. The revolution range is +32767 to -32768. When this range is exceeded, the data changes from
+32767 to -32678 or from -32678 to +32767. When changing multiturn limit, the range
changes. For details, refer to 8.4.7 Multiturn Limit Setting.
8-33
8 Operation
8.4.6 Absolute Encoder Reception Sequence
"P"
0 00 0 0 10 1 0 1
Data
Start bit
Stop bit
Even parity
Note: 1. The absolute position data within one revolution is the value before divided.
2. The absolute position data increases during forward rotation. (The reverse rotation mode is
invalid.)
Reverse rotation
Phase A
Phase A
Phase B
Phase C
8-34
Phase B
Phase C
Panel Operator
(Digital Operator)
Display
Error detection
or
Overspeed
PAO
Serial Data
Incremental pulse
ALM81 CR
Serial Data
8-35
8 Operation
8.4.7 Multiturn Limit Setting
WARNING
The multiturn limit value must be changed only for special applications. Changing it inappropriately or unintentionally can be dangerous.
If the Multiturn Limit Disagreement alarm (A.CC) occurs, check the setting of parameter Pn205 to be sure
that it is correct.
If Fn013 is executed when an incorrect value is set in Pn205, an incorrect value will be set in the encoder. The alarm
will disappear even if an incorrect value is set, but incorrect positions will be detected, resulting a dangerous situation
where the machine will move to unexpected positions and machine break and personal accident will occur.
The parameter for the multiturn limit setting sets the upper limit for the multiturn data from the encoder into
Pn002 = n 0
when using an absolute encoder. When the rotation amount exceeds this setting, the encoder
rotation amount returns to 0.
Pn205
Position
Speed
Torque
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 65535
1 rev
65535
After restart
This parameter is valid when Pn002 = n 0
(when the absolute encoder is used).
The range of the multiturn data will vary when this parameter is set to anything other than the factory setting.
Factory Setting (=65535)
Without Factory Setting (65535)
+32767 Forward
Reverse
direction
Forward
direction
direction
Multiturn 0
data
Reverse
direction
Multiturn
data
-32768
No. of revolutions
No. of revolutions
Position detection
(Revolution counter)
Detection amount
Position
(Absolute encoder)
8-36
Alarm Name
Multiturn Limit Disagreement
ALO2
OFF (H)
ALO3
ON (L)
Meaning
Different multiturn limits have been set
in the encoder and SERVOPACK.
8.4.8 Multiturn Limit Setting When Multiturn Limit Disagreement (A.CC) Occurred
Perform the following operation using the digital operator or panel operator.
This operation can only be done when the A.CC alarm is generated.
Step
1
Display after
Operation
Digital
Operator
Panel
Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
Description
Press the DSPL/SET or MODE/SET Key to select the utility function mode.
Press the LEFT/RIGHT or UP/DOWN Key or the UP or DOWN
Key to set the parameter Fn013.
*The digit that can be set will blink.
3
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
4
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
Press the DSPL/SET or MODE/SET Key. The multiturn limit setting in the absolute encoder will be changed.
When the setting is completed, donE will blink for about one
second.
After donE is displayed, PGSEt will be displayed again.
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
Turn OFF the power, and then turn it ON again to make the setting valid.
8-37
8 Operation
8.5.1 Setting Parameters
Description
Control mode selection: Speed control (analog reference) (factory setting)
Pn000
n.
Pn300
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
Setting Validation
1.50 to 3000
0.01 V/Rated
600
Immediately
(150 to 30.00 V/Rated speed)
speed
(6 V/ Rated speed)
Sets the analog voltage level for the speed reference (V-REF) necessary to operate the
Reference
servomotor at the rated speed.
Speed
(min -1)
EXAMPLE
Pn300=600: 6-V input is equivalent to the rated speed of the servomotor
(factory setting).
Pn300=1000: 10-V input is equivalent to the rated speed of the servomotor.
Pn300=200: 2-V input is equivalent to the rated speed of the servomotor.
8-38
Set this
slope.
Reference
Voltage (V)
Signal
Connector Pin
Name
Name
Number
Input V-REF CN1-5
Speed Reference Input
SG
CN1-6
Signal Ground for Speed Reference Input
The above inputs are used for speed control (analog voltage reference). (Pn000.1 = 0, 4, 7, 9, or A)
Pn300 is used to set the speed reference input gain. Refer to 8.5.1 Setting Parameters.
Input Specifications
Input range: 2 VDC to 10 VDC/rated speed
Maximum allowable input voltage: 12 VDC
Setting Example
Pn300 = 600: Rated speed at 6 V
Rated motor speed
Actual examples are shown below.
Factory setting
-12
-8
Speed Reference
Input
-4
4
12
SGMAH
Servomotor
3000 min -1
+1 V
Forward
500 min -1
-3 V
Motor Speed
+6 V
Rotation
Direction
Forward
Reverse
1500 min-1
2 k
SERVOPACK
Host controller
Speed reference
output terminals
SERVOPACK
+12 V
V-REF
CN1
5
SG
PAO
/PAO
PBO
/PBO
33
34
35
36
CN1
V-REF 5
SG
Feedback
pulse input
terminals
Signal
Name
/P-CON
Connector
Pin Number
CN1-41
Setting
Description
ON (low level)
Operates the SERVOPACK with proportional control.
OFF (high level) Operates the SERVOPACK with proportional integral
control.
/P-CON signal selects either the PI (proportional integral) or P (proportional) Speed Control Mode.
Switching to P control reduces servomotor rotation and minute vibrations due to speed reference input drift.
Input reference: At 0 V, the servomotor rotation due to drift will be reduced, but servomotor rigidity (holding force) drops
when the servomotor is stopped.
Note: A parameter can be used to reallocate the input connector number for the /P-CON signal. Refer to 7.3.2 Input Circuit
Signal Allocation.
8-39
8 Operation
8.5.3 Adjusting Offset
Reference
voltage
Offset
Speed
reference
Offset automatically
adjusted in SERVOPACK.
Speed
reference
Automatic
offset
adjustment
After completion of the automatic adjustment, the amount of offset is stored in the SERVOPACK. The amount of
offset can be checked in the speed reference offset manual adjustment mode (Fn00A). Refer to 8.5.3 (2) Manual
Adjustment of the Speed Reference Offset.
8-40
IMPORTANT
The speed reference offset must be automatically adjusted with the servo OFF.
Display after
Operation
Digital
Operator
SERVOPACK
Host
controller
Panel
Operator
Servomotor
Slow rotation
(Servo ON)
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
4
DATA
ENTER
(DATA/ENTER Key)
Turn OFF the SERVOPACK, and input the 0-V reference voltage
from the host controller or external circuit.
0-V speed
reference
Servo OFF
Description
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
8-41
8 Operation
8.5.3 Adjusting Offset
Display after
Operation
Digital
Operator
Panel
Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
Description
Press the DSPL/SET or MODE/SET Key to select the utility
function mode.
Press the UP or DOWN Key to select parameter Fn00A.
*The digit that can be set will blink.
3
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
4
Servo ON
5
DATA/
(DATA/SHIFT Key)
(Less than 1 s.)
Press the LEFT or RIGHT Key or MODE/SET Key for less than
one second. The display will appear momentarily as shown at the
left, and donE will blink and the offset will be set. After the
setting is completed, the display will return to the display as
shown at the left.
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second to return to the Fn00A display of the utility
function mode.
MODE/SET
(MODE/SET Key)
(Less than 1 s.)
8
DATA
ENTER
(DATA/ENTER Key)
8-42
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
Speed
Setting Range
0 to 10000
Pn306
Setting Unit
1 ms
Factory Setting
0
Setting Validation
Immediately
Speed
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 10000
1 ms
0
Immediately
The soft start function enables smooth speed control when inputting a stepwise speed reference or when selecting internally
set speeds. Set both Pn305 and Pn306 to 0 for normal speed control.
Set these parameters as follows:
Pn305: The time interval from the time the motor starts until the motor maximum speed is reached.
Pn306: The time interval from the time the motor is operating at the motor maximum speed until it stops.
Maximum speed of Servomotor
After soft start
Pn305
Pn306
Speed
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 65535
0.01 ms
40
Immediately
(0 to 655.35 ms)
(0.40 ms)
This smoothens the speed reference by applying a 1st-order delay filter to the analog speed reference (V-REF) input. A
value that is too large, however, will slow down response.
YASKAWA SERVOPACK
Speed reference
V-REF
YASKAWA
SGDM-
MODE/SET
DATA/
CHARGE
POWER
Stops precisely!
Zero clamp
/P-CON
(/ZCLAMP)
8-43
8 Operation
8.5.6 Using the Zero Clamp Function
n.
Pn000
Meaning
Control mode selection: Speed control (analog voltage reference) Zero clamp
Speed reference
Zero clamp
V-REF
/P-CON
(/ZCLAMP)
CN1
5
Speed
Preset value
for zero clamping
Pn501
41
Time
/P-CON (/ZCLAMP) input
Zero clamp is performed.
Pn501
Open (OFF)
OFF
ON
Closed (ON)
ON
OFF
ON
Speed
Setting Unit
1
min-1
Factory Setting
Setting Validation
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 the servomotor, the maximum speed will be used.
/P-CON
Connector Pin
Number
CN1-41
/ZCLAMP
Input
Signal Name
Must be allocated
Setting
ON (low level)
OFF (high level)
ON (low level)
OFF (high level)
Meaning
Zero clamp function ON (enabled)
Zero clamp function OFF (disabled)
Zero clamp function ON (enabled)
Zero clamp function OFF (disabled)
8-44
Signal
Name
PAO
/PAO
PBO
/PBO
PCO
/PCO
Connector
Pin Number
CN1-33
CN1-34
CN1-35
CN1-36
CN1-19
CN1-20
Name
Encoder output phase A
Encoder output phase /A
Encoder output phase B
Encoder output phase /B
Encoder output phase C (zero-point pulse)
Encoder output phase /C (zero-point pulse)
These outputs explained here.
Host controller
SERVOPACK
(Servomotor)
Encoder
Serial data
PG
CN2 *
Frequency
dividing
circuit
* The pulse width of the zero-point pulse (phase C) is changed according to the setting of the dividing ratio (Pn201). This
pulse width should be the same as that for phase A.
Output Phase Form
Forward rotation (phase B leads by 90)
90
90
Phase A
Phase A
Phase B
Phase B
Phase C
Phase C
Output
Signal
Name
SEN
SG
BAT (+)
BAT (-)
SG
Connector
Pin Number
CN1-4
CN1-2
CN1-21
CN1-22
CN1-1
Name
SEN Signal Input
Signal Ground
Battery (+)
Battery (-)
Signal Ground
Dividing
TERMS
The dividing means that the divider converts data into the pulse density based on the pulse data of the encoder installed on
the servomotor, and outputs it. The setting unit is the number of pulses/revolution.
8-45
8 Operation
8.5.7 Encoder Signal Output
If using the SERVOPACKs phase-C pulse output for a zero point return, rotate the servomotor twice or
more before starting a zero point return. If the configuration prevents the servomotor from rotating the servomotor or more, perform a zero point return at a motor speed of 600 min-1 or below. If the motor speed is
faster than 600 min-1, the phase-C pulse output may not be output correctly.
IMPORTANT
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
Setting Validation
16 to 16384
1 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 per revolution are divided inside the SERVOPACK by the number set in Pn201 before
being output. (Set according to the system specifications of the machine or host controller.)
The setting range varies with the number of encoder pulses for the servomotor used.
Motor Model
Encoder
Specifications
A
B 1
C 1
2048
16384
32768
Setting
Range
16 to 2048
16 to 16384
Output Example
Pn201=16 (when 16 pulses are output per revolution)
Preset value: 16
PAO
PBO
1 revolution
Note: Refer to 10.3.2 Improvement of Dividing Output Resolution for the encoder resolution 17-bit or more.
8-46
Signal
Name
/V-CMP
Connector
Pin Number
CN1-25, 26
(Factory setting)
Setting
Meaning
ON (low level)
Speed coincides.
OFF (high level) Speed does not coincide.
This output signal can be allocated to another output terminal with parameter Pn50E.
Refer to 7.3.3 Output Circuit Signal Allocation for details.
Pn503
Setting Unit
-1
1 min
The /V-CMP signal is output when the difference between the speed
reference and actual motor speed is the same as the pn503 setting or
less.
EXAMPLE
The /V-CMP signal turns ON at 1900 to 2100 min-1 if the Pn503 parameter is set to 100 and the reference speed is 2000 min-1.
Speed
Factory Setting
Setting Validation
10
Immediately
Motor speed
Pn503
Reference speed
/V-CMP is output in
this range.
/V-CMP is a speed control output signal. When the factory setting is used and the output terminal allocation is not performed with the Pn50E, this signal is automatically used as the positioning completed signal /COIN for position control,
and it is always OFF (high level) for torque control.
8-47
8 Operation
8.6.1 Setting Parameters
n.
Meaning
Control mode selection: Position control (pulse train reference)
Signal
Name
PULS
/PULS
SIGN
/SIGN
Connector
Pin Number
CN1-7
CN1-8
CN1-11
CN1-12
Name
Reference Pulse Input
Reference Pulse Input
Reference Code Input
Reference Code Input
Set the input form for the SERVOPACK using parameter Pn200.0 according to the host controller specifications.
Parameter
Pn200
n.
n.
Reference Pulse
Form
Input
Pulse
Multiplier
Forward Rotation
Reference
PULS
(CN1-7)
PULS
(CN1-7)
SIGN
(CN1-1
1)
CW pulse + CCW
pulse
(Positive logic)
PULS
(CN1-7)
SIGN
(CN1-1
1)
n.
n.
n.
2
3
4
Two-phase pulse
train with 90 phase
differential
(Positive logic)
n.
Reverse Rotation
Reference
SIGN
(CN1-1
1)
PULS
(CN1-7)
SIGN
(CN1-1
1)
n.
n.
n.
7
8
9
90
90
PULS
(CN1-7)
SIGN
(CN1-11)
SIGN
(CN1-11)
CW pulse + CCW
pulse
(Negative logic)
PULS
(CN1-7)
PULS
(CN1-7)
Two-phase pulse
train with 90 phase
differential
(Negative logic)
SIGN
(CN1-1
1)
PULS
(CN1-7)
SIGN
(CN1-1
1)
SIGN
(CN1-1
1)
90
90
PULS
(CN1-7)
PULS
(CN1-7)
SIGN
(CN1-11)
SIGN
(CN1-11)
Forward rotation
Reverse rotation
PULS
(CN1-7)
SIGN
(CN1-11)
1
Internal
processing
2
4
8-48
PULS
(CN1-7)
PULS
(CN1-7)
SIGN
(CN1-1
1)
n.
Motor movement
reference pulses
Signal
Name
CLR
/CLR
Connector
Pin Number
CN1-15
CN1-14
Name
Clear Input
Clear Input
The internal processing of the SERVOPACK for the clear signal can be set to either of four types by parameter
Pn200.1. Select according to the specifications of the machine or host controller.
Parameter
n.
n.
Pn200
Description
Clears at high level.
Position error pulses do not accumulate while the
signal is at high level.
(Factory setting)
Timing
CLR
(CN1-15)
Clears at
high level
CLR
(CN1-15)
High
n.
n.
CLR
(CN1-15)
CLR
(CN1-15)
Low
n. 0
n. 1
n. 2
Description
Clear the error pulse at the CLR signal input during the baseblock. (Factory setting)
During the baseblock means when the SVON signal or the main circuit power supply is
OFF, or an alarm occurs.
Do not clear the error pulse. Clear only with the CLR signal.
Clear the error pulse when an alarm occurs or the CLR signal is input.
8-49
8 Operation
8.6.2 Setting the Electronic Gear
SGM H-
Motor Model
Encoder Specifications Encoder Type
2048
Incremental
encoder
16 bits
16384
17 bits
32768
Absolute
encoder
16 bits
16384
17 bits
32768
A
B
C
1
2
Note: For details on reading servomotor model numbers, refer to 2.1 Servomotor Model Designations.
INFO
The number of bits representing the resolution of the applicable encoder is not the same as the number of encoder signal
pulses (phases A and B). The number of bits representing the resolution is equal to the number of encoder pulses 4 (multiplier).
8-50
Pn203
Setting Range
Setting Unit
1 to 65535
Position
Factory Setting
4
Setting Validation
After restart
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
1 to 65535
1
After restart
If the deceleration ratio of the servomotor and the load shaft is given as n/m where m is the rotation of the servomotor and
n is the rotation of the load shaft,
Electronic gear ratio:
m
Pn202
B
No. of encoder pulses 4
=
=
n
Pn203
A
Travel distance per load
shaft revolution (reference units)
* If the ratio is outside the setting range, reduce the fraction (both numerator and denominator) until you obtain integers
within the range. Be careful not to change the electronic gear ratio (B/A).
IMPORTANT
Electronic gear ratio setting range: 0.01 Electronic 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.
Operation
Check machine specifications.
Check the number of encoder pulses.
Determine the reference unit used.
5
6
Description
Check the deceleration ratio, ball screw pitch, and pulley diameter.
Check the number of encoder pulses for the servomotor used.
Determine the reference unit from the host controller, considering the
machine specifications and positioning accuracy.
Calculate the number of reference units necessary to turn the load
shaft one revolution based on the previously determined reference
units.
Use the electronic gear ratio equation to calculate the ratio (B/A).
Set parameters using the calculated values.
8-51
8 Operation
8.6.2 Setting the Electronic Gear
Operation
Load Configuration
Disc Table
Ball Screw
Ball screw
pitch: 6 mm
Load shaft
13-bit encoder
Load shaft
Deceleration
ratio
2:1
Pully diameter:
100 mm
16-bit encoder
Check machine
specifications.
6 mm/0.001 mm=6000
360/0.1=3600
Set parameters.
Pn202
8192
Pn202
24576
Pn202
Pn203
6000
Pn203
3600
Pn203
3
4
5
6
B
2048 4
1
=
A
6000
1
B
2048 4
=
A
3600
3
1
2
B 16384 4
=
1
A
15700
131072
15700
Reduce the fraction (both numerator and denominator) since the calculated result will not be within the setting
range. For example, reduce the numerator and denominator by four to obtain Pn202=32768, Pn203=3925 and
complete the settings.
B
A
=4P m
G
A
4P m
G
( B )=
nP
A
8-52
Pitch = P (mm/rev)
Position Speed
loop
loop
m
4
4P
G
P
P (P/rev)
G
m
n
Pn203
Pn202
Line-driver Output
+24V Open-collector output
+12V Open-collector output
+5V Open-collector output
IMPORTANT
Description
n.1
ON
Release
t1
Baseblock
t1 30 ms
t2 6 ms
(When parameter Pn506 is set to 0.)
t3 40 ms
t2
H
CN1-11
t3
CN1-7
H
L
PAO
Encoder pulses
PBO
/COIN
CLR
t4, t5, t6 2 ms
t7 20 s
H
L
t4
t5
ON
t7
t6
ON
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, otherwise the reference pulse may not be received by the SERVOPACK.
2. The error counter clear signal must be ON for at least 20 s.
8-53
8 Operation
8.6.3 Position Reference
Electrical Specifications
SIGN
PULS
t1 t2
t7
t3
t4
T
Forward
reference
8-54
t6
Reverse
reference
t1t2 0.1 ms
1.0 s
(/T) 100 50%
t2
Forward
reference
t1
t3
Reverse
reference
t1t2 0.1 ms
1.0 s
(/T) 100 = 50%
t2
Phase A
Phase B
t3 3 s
CW
t5
t1
CCW
Remarks
Sign (SIGN)
H = Forward
t3t7 0.1 ms
reference
t4t5t6 3 s
L = Reverse
1.0 s
reference
(/T) 100 50%
t1t2 0.1 ms
T
Forward reference
Phase B leads
phase A by 90
Reverse reference
Phase B lags
phase A by 90
Switching of
the input pulse
multiplier
mode is done
with parameter
Pn200.0 setting.
SERVOPACK
CN1
Photocoupler
PULS
7 150
/PULS
SIGN
11 150
/SIGN
12
CLR
/CLR
15 150
14
SERVOPACK
Vcc
CN1 Photocoupler
R1
i
PULS
/PULS
R1
7 150
8
Example
When Vcc is +24V: R1=2.2 k
When Vcc is +12V: R1=1 k
When Vcc is +5V: R1=180
Note: When the open-collector output is used,
the signal logic is as follows:
11 150
When Tr1 is ON
/SIGN
R1
SIGN
12
15 150
/CLR
CLR
14
8-55
8 Operation
8.6.3 Position Reference
When the external power supply is used, the circuit will be isolated by a photocoupler. When the SERVOPACK internal power supply is used, the circuit will not be isolated.
Host controller
SERVOPACK
CN1
3 1k
PL1
PULS
150
/PULS
PL2
Tr1
13
SIGN
/SIGN
1.5 V max. at ON
+12V
Photocoupler
PL3
11
12
18
15
CLR
/CLR
14
1
IMPORTANT
Differential
Reference
pulse
PG signal
output
Pn200.0
1
2
4
Pn204
B
A
Pn203
Error
- counter
Pn201
Dividing
8-56
Pn107
Bias
Pn102
Kp
4
Pn108
Bias adding
width
Pn202
Smoothing
Pn202 Pn10A
B Feed-forward filA ter time
Pn203 constant
+ +
Servomotor
Speed
loop
Current
loop
PG
Encoder
8.6.4 Smoothing
A filter can be applied in the SERVOPACK to a constant-frequency reference pulse.
n.
n.
Description
0 Acceleration/deceleration filter
1 Average movement filter
* After resetting the parameter, turn OFF the power once and turn it ON again.
Pn208
Setting Range
Setting Unit
0 to 6400
0.01 ms
(0 to 64.00 ms)
Average Movement Time of Position Reference
Setting Range
0 to 6400
(0 to 64.00 ms)
Setting Unit
0.01 ms
Factory Setting
0
(0.00 ms)
Position
Setting Validation
Immediately
Position
Factory Setting
0
(0.00 ms)
Setting Validation
Immediately
IMPORTANT
When the position reference acceleration/deceleration time constant (Pn204) is changed, a value with no reference pulse
input and a position error of 0 will be enabled. To ensure that the setting 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 the following cases. The function does not affect the travel distance (i.e.,
the number of pulses).
When the host controller that outputs a reference cannot perform acceleration/deceleration processing.
When the reference pulse frequency is too low.
When the reference electronic gear ratio is too high (i.e., 10 or more).
The difference between the position reference acceleration/deceleration time constant (Pn204) and the position reference
movement averaging time (Pn208) is shown below.
Acceleration/Deceleration Filter
Average Movement Time Filter
Pn207=n.
0
Pn207=n.
1
Before filter applied
After filter applied
100%
100%
t
Pn208
63.2%
36.8%
t
Pn204
Pn204
Pn208
t
Response waveform for ramp reference input
8-57
8 Operation
8.6.5 Positioning Completed Output Signal
Signal
Name
/COIN
Connector
Pin Number
CN1-25, 26
(Factory setting)
Setting
Meaning
ON (low level)
Positioning has been completed.
OFF (high level) Positioning is not completed.
This output signal can be allocated to an output terminal with parameter Pn50E. The factory setting is allocated to CN1-25,
26.
Pn500
Setting Range
Setting Unit
0 to 250
1 Reference units
The positioning completed (/COIN) signal is output when the difference
(position error pulse) 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 reference units (the number of input
pulses defined using the electronic gear.)
Too large a value at this parameter may output only a small error during
low-speed operation that will cause the /COIN signal to be output continuously.
Position
Factory Setting
7
Setting Validation
Immediately
Reference
Motor speed
Speed
Error pulse
(Un008)
Pn500
/COIN
(CN1-25)
The positioning completed width setting has no effect on final positioning accuracy.
/COIN is a position control signal.
When the factory setting is used and the output terminal allocation is not performed with the Pn50E, this signal is used for
the speed coincidence output /V-CMP for speed control, and it is always OFF (high level) for torque control.
8-58
Signal
Name
/NEAR
Connector
Pin Number
Must be allocated
Setting
Meaning
ON (low level)
Setting Range
Setting Unit
1 to 250
1 Reference units
The positioning near (/NEAR) signal is output when the difference (error) 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 Pn504.
Set the number of error pulses in reference units (the number of
input pulses defined using the electronic gear.)
Normally, the setting should be larger than that for the positioning completed width (Pn500).
Position
Factory Setting
7
Setting Validation
Immediately
Reference
Motor speed
Speed
Pn504
Pn500
Error pulse
0
/NEAR
/COIN
8-59
8 Operation
8.6.7 Reference Pulse Inhibit Function (INHIBIT)
/P-CON
(/INHIBIT)
1
OFF
Reference pulse
Pn000=n.
ON
Error
counter
/P-CON (/INHIBIT)
Feedback pulse
Meaning
/INHIBIT signal
(/P-CON)
ON
OFF
ON
Reference pulse
t1
t2
t1, t2 0.5 ms
Signal Name
/P-CON
Connector Pin
Number
CN1-41
(Factory setting)
Setting
ON (low level)
(/INHIBIT)
Must be allocated
CN1-
ON (low level)
Meaning
Turns the INHIBIT function ON.
(Inhibits the SERVOPACK from counting reference pulses.)
Turns the INHIBIT function OFF.
(Counts reference pulses.)
Turns the INHIBIT function ON.
(Inhibits the SERVOPACK from counting reference pulses.)
Turns the INHIBIT function OFF.
(Counts reference pulses.)
8-60
Meaning
Control mode selection: Torque control (analog voltage reference)
Pn000
n.
Pn400
Position
Speed
Setting Range
Setting Unit
Factory Setting
10 to 100
0.1V/Rated torque
30
(1.0 to 10.0 V/Rated torque)
(3.0 V/Rated torque)
This sets the analog voltage level for the torque reference (T-REF) that is
Reference torque
necessary to operate the servomotor at the rated torque.
Torque
Setting Validation
Immediately
Rated torque
EXAMPLE
Pn400 = 30: The servomotor operates at the rated torque with 3-V input
(factory setting).
Pn400 = 100: The servomotor operates at the rated torque with 10-V
input.
Pn400 = 20: The servomotor operates at the rated torque with 2-V input.
Signal
Connector
Name
Name
Pin Number
Input
T-REF
CN1-9
Torque Reference Input
SG
CN1-10
Signal Ground for Torque Reference Input
Used during torque control (analog voltage reference). (Pn000.1 = 2, 6, 8, 9)
The torque reference gain is set in Pn400. For setting details, refer to 8.7.1 Setting Parameters.
Input Specifications
Input range: 1 to 10VDC/rated torque
Reference torque (%)
Max. allowable input voltage: 12 VDC
Factory setting
Pn400 = 30: Rated torque at 3 V
+3-V input: Rated torque in forward direction
+9-V input: 300% rated torque in forward direction
-0.3-V input: 10% rated torque in reverse direction
The voltage input range can be changed with parameter Pn400.
300
200
100
- 12
-8
-4
0 34
Factory setting
- 100
12
- 200
- 300
SERVOPACK
T-REF
SG
CN1
9
10
8-61
8 Operation
8.7.3 Adjusting the Reference Offset
INFO
).
Reference voltage
Offset automatically
adjusted in SERVOPACK.
Offset
Torque
reference
Automatic
offset
adjustment
Torque
reference
After completion of the automatic adjustment, the amount of offset is stored in the SERVOPACK. The amount of
offset can be checked in the manual adjustment of torque reference offset (Fn00B).
The automatic adjustment of analog reference offset (Fn009) cannot be used when a position loop has been
formed with the host controller and the error pulse is changed to zero at the servomotor stop due to servolock.
Use the torque reference offset manual adjustment (Fn00B).
IMPORTANT
8-62
The analog reference offset must be automatically adjusted with the servo OFF.
Use the following procedure for automatic adjustment of the torque reference offset.
Step
Display after
Operation
Digital
Operator
Panel
Operator
Host
controller
Slow rotation
(Servo ON)
Servo OFF
Turn OFF the SERVOPACK, and input the 0-V reference voltage
from the host controller or external circuit.
Servomotor
SERVO-
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
4
DATA
ENTER
(DATA/ENTER Key)
Description
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
Analog
Input
Voltage
8-63
8 Operation
8.7.4 Limiting Servomotor Speed during Torque Control
Use the following procedure to manually adjust the torque reference offset.
Step
Display after
Operation
Digital
Operator
Panel
Operator
DSPL
SET
MODE/SET
(MODE/SET Key)
(DSPL/SET Key)
Description
Press the DSPL/SET or MODE/SET Key to select the utility
function mode.
Press the LEFT/RIGHT or UP/DOWN Key or UP or DOWN Key
to select parameter Fn00B.
*The digit that can be set will blink.
3
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
4
Servo ON
5
DATA/
(DATA/SHIFT Key)
(Less than 1 s.)
Press the LEFT or RIGHT Key or DATA/SHIFT Key for less than
one second to return to the display shown on the left.
DATA/
(DATA/SHIFT Key)
(Less than 1 s.)
8
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
Motor speed
Maximum speed
Speed limit
8-64
n.
n.
0
1
Description
Uses the value set in Pn407 as the speed limit (internal speed limit function).
Uses V-REF (CN1-5, 6) as an external speed limit input. Applies a speed limit using the input
voltage of V-REF and the setting in Pn300 (external speed limit function).
Torque
Setting Unit
-1
Factory Setting
10000
Setting Validation
Immediately
min
Sets the servomotor speed limit value during torque control.
0 .
The setting in this parameter is enabled when Pn002 = n.
The servomotors maximum speed will be used when the setting in this parameter exceeds the maximum speed of the servomotor used.
Signal
Connector
Name
Name
Pin Number
Input
V-REF
CN1-5
External Speed Limit Input
SG
CN1-6
Signal Ground
Inputs an analog 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
1 .
Pn002 = n.
The setting in Pn300 determines the voltage level to be input as the limit value. Polarity has no effect.
Pn300
Speed
Position
Torque
Factory Setting
Setting Validation
600
Immediately
(6.00 V/rated speed)
Sets the voltage level for the speed that is to be externally limited during torque control.
With Pn300 = 600 (factory setting) and 6 V input from V-REF (CN1-5, 6), the actual motor speed is limited to the rated
speed of the servomotor used.
INFO
Setting Unit
0.01 V/rated speed
Signal
Name
/VLT
Connector
Pin Number
Must be allocated
CN1-
Setting
Meaning
ON (low level)
Servomotor speed limit being applied.
OFF (high level) Servomotor speed limit not being applied.
This signal is output when the servomotor speed reaches the speed limit value set in Pn407 or set by the analog voltage reference.
For use, this output signal must be allocated with parameter Pn50F. For details, refer to 7.3.3 Output Circuit Signal Allocation.
8-65
8 Operation
8.8.1 Setting Parameters
/P-CON (/SPD-D)
/P-CL
(/SPD-A)
(/SPD-B)
SPEED1 Pn301
45
/N-CL
Contact inputs
CN1
41
46
SPEED2 Pn302
Speed
reference
Servomotor
M
SPEED3 Pn303
Meaning
Control mode selection: Internally set speed control (contact reference)
Pn000
n.
Pn301
Pn302
Setting Unit
1
min-1
Factory Setting
Setting Validation
100
Immediately
Pn303
Speed
Speed
Setting Unit
-1
1 min
Factory Setting
200
Speed
Setting Unit
-1
1 min
Factory Setting
Setting Validation
300
Immediately
Note: The maximum speed of servomotor is used whenever a speed settings for the Pn301 to Pn303
exceed the maximum speed.
8-66
Setting Validation
Immediately
Signal
Connector Pin
Meaning
Name
Number
Input
/P-CON
CN1-41
Switches the servomotor rotation direction.
(/SPD-D)
Must be allocated
Input
/P-CL
CN1-45
Selects the internally set speed.
(/SPD-A)
Must be allocated
Input
/N-CL
CN1-46
Selects the internally set speed.
(/SPD-B)
Must be allocated
Input Signal Selection
The following two types of operation can 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-A, and /SPD-B input signals must be allocated with parameter Pn50C. Refer to 7.3.2 Input Circuit Signal
Allocation.
ON (low)
/N-CL
(/SPD-B)
OFF (high)
ON (low)
ON (low)
OFF (high)
OFF (high) OFF (high)
OFF (high) ON (low)
ON (low)
ON (low)
ON (low) OFF (high)
Motor Rotation
Direction
Forward
Reverse
Speed
IMPORTANT
Speed
Pulse train reference input (position control)
Pn301: Internally Set Speed 1 (SPEED1)
Pn302: Internally Set Speed 2 (SPEED2)
Pn303: Internally Set Speed 3 (SPEED3)
8-67
8 Operation
8.8.3 Operating Using an Internally Set Speed
+SPEED3
Acceleration/deceleration are
done for the soft start times set in
Pn305 and Pn306.
2nd speed
+SPEED2
1st speed
+SPEED1
0
Stop
Stop
Stop
- SPEED1
1st speed
- SPEED2
2nd speed
- SPEED3
/P-CL (/SPD-A)
/N-CL (/SPD-B)
3rd speed
OFF
OFF
ON
ON
OFF
ON
ON
OFF
ON
ON
ON
/P-CON( /SPD-D)
IMPORTANT
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
When Pn000.1 = 5 (Internally set speed control Position control), the soft start function will operate only
when selecting the internally set speed. The soft start function cannot be used with pulse reference input.
When switching to pulse reference input during operation at either of the three speeds (1st speed to 3rd
speed), the pulse reference will not be received by the SERVOPACK until after the positioning completed (/
COIN) signal is output. Always begin the output 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 Control (Pulse Train Reference)
Signal Timing in Position Control
Motor speed
0 min -1
/COIN
Pulse reference
/P-CL (/SPD-A)
/N-CL (/SPD-B)
Selected speed
t1
t1
OFF
ON
1st speed
ON
ON
2nd speed
ON
OFF
3rd speed
OFF
OFF
Pulse reference
t1 2 ms
8-68
OFF
ON
1st speed
Limiting Method
Reference Section
8.9.1
8.9.2
8.9.3
8.9.4
Pn403
Setting Range
0 to 800
Reverse Torque Limit
Speed
Setting Unit
1%
Factory Setting
800
Speed
Position
Torque
Setting Validation
Immediately
Position
Torque
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 800
1%
800
Immediately
The settings in these parameters are constantly enabled. The setting unit is a percentage of rated torque.
If the torque limit is set higher than the maximum torque of the servomotor, the maximum torque of the servomotor is used
(as is the case with the 800% factory setting).
No Internal Torque Limit
Internal Torque Limit
(Maximum Torque Can Be Output)
Pn403
t
Pn402
Speed
Maximum torque
Speed
Limiting torque
Too small a torque limit setting will result in insufficient torque during acceleration and deceleration.
8-69
8 Operation
8.9.2 External Torque Limit (Output Torque Limiting by Input Signals)
Pn405
Speed
Setting Unit
1%
Factory Setting
100
Speed
Setting Unit
1%
Factory Setting
100
Position
Torque
Setting Validation
Immediately
Position
Torque
Setting Validation
Immediately
Note: The setting unit is a percentage of rated torque (i.e., the rated torque is 100%).
Signal
Name
/P-CL
Connector Pin
Number
CN1-45
(Factory Setting)
Setting
Limit Value
8-70
ON (low level)
Meaning
Pn403
Pn403
Torque
Torque
Pn404
/N-CL
(Reverse
External
Torque Limit
Input)
Speed
Speed
Pn402
Low
level
Pn402
Pn403
Pn403
Torque
Torque
Pn405
Pn405
Pn404
Speed
Speed
Pn402
Pn402
8-71
8 Operation
8.9.3 Torque Limiting Using an Analog Voltage Reference
Torque limit
value
Speed
refer+
V-REF ence
Speed
input
reference
gain
(Pn300)
Forward torque
value (Pn402)
Speed loop
gain
(Pn100)
Speed loop
integral
time
constant
(Pn101)
Torque
reference
Reverse torque
value (Pn403)
Speed feedback
INFO
There is no polarity in the input voltage of the analog voltage reference for torque limiting. The absolute values of both +
and - voltages are input, and a torque limit value corresponding to that absolute value is applied in the forward or reverse
direction.
Meaning
Speed control option: Uses the T-REF terminal to be used as an external torque limit input.
Pn002
n.
When n.
2 is set, the T-REF terminal is used for torque feed-forward input, but the functions cannot be used together.
Signal
Connector
Name
Name
Pin Number
Input
T-REF
CN1-9
Torque reference input
SG
CN1-10
Signal ground for torque reference input
The torque limit input gain is set at parameter Pn400. Refer to 8.7.1 Setting Parameters.
Input Specifications
Input range: 1 VDC to 10 VDC/rated torque
Maximum allowable input voltage: 12 VDC
8-72
8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference
This function can be used to combine torque limiting by an external input signal and by analog voltage reference.
Because the torque limit by analog voltage reference is input from T-REF (CN1-9, 10), this function cannot be
used during torque control. Use /P-CL (CN1-45) or /N-CL (CN1-46) for torque limiting by external input signal.
When /P-CL (or /N-CL) is ON, either the torque limit by analog voltage reference or the setting in Pn404 (or
Pn405) will be applied as the torque limit, whichever is smaller.
SERVOPACK
/P-CL
/N-CL
Torque reference
T-REF input gain
(Pn400)
Torque limit
value
Speed
reference
Speed
refer+
V-REF ence
input
gain
(Pn300)
Forward torque
value (Pn402)
Speed loop
gain
(Pn100)
Pn404
( /P-CL: ON )
Torque
reference
Speed loop
integral
Reverse torque
time
Pn405
constant
value (Pn403)
( /N-CL : ON)
(Pn101)
Speed feedback
n.
Meaning
3 Speed control option: When /P-CL or /N-CL is enabled, the T-REF terminal is used as the
When n.
Pn404
Pn405
Setting Range
0 to 800
Reverse External Torque Limit
Setting Range
0 to 800
Speed
Position
Torque
Setting Unit
1%
Factory Setting
100
Setting Validation
Immediately
Setting Unit
1%
Factory Setting
100
Setting Validation
Immediately
* The setting unit is a percentage of rated torque (i.e., the rated torque is 100%).
8-73
8 Operation
8.9.5 Checking Output Torque Limiting during Operation
Signal
Connector Pin
Name
Name
Number
Input T-REF
CN1-9
Torque reference input
SG
CN1-10
Signal ground for torque reference input
The torque limit input gain is set in parameter Pn400. Refer to 8.7.1 Setting Parameters.
Input Specifications
Input range: 1 VDC to 10 VDC/rated torque
Maximum allowable input voltage: 12 VDC
Type
Input
/N-CL
Connector Pin
Number
CN1-45
(Factory setting)
CN1-46
(Factory setting)
Meaning
Limit Value
ON (low level)
Input
Signal
Name
/P-CL
Setting
ON (low level)
When using the torque limiting with the external torque limit and analog voltage reference, make sure that there are no
other signals allocated to the same terminals as /P-CL and /N-CL. When multiple signals are allocated to the same terminal,
the signals are handled with OR logic, which affects the ON/OFF state of the other signals. Refer to 7.3.2 Input Circuit Signal Allocation.
Signal
Name
/CLT
Connector Pin
Number
Must be allocated
Setting
Meaning
ON (low level)
Servomotor output torque is being limited.
OFF (high level)
Torque is not being limited.
The output terminal must be allocated with parameter Pn50F to use this output signal. Refer to 7.3.3 Output Circuit Signal
Allocation for details.
8-74
n.
n.
n.
n.
n.
n.
n.
n.
Control Method
4
5
6
7
8
9
A
B
Internally set speed control (contact reference) Speed control (analog voltage reference)
Internally set speed control (contact reference) Position control (pulse train reference)
Internally set speed control (contact reference) Torque control (analog voltage reference)
Position control (pulse train reference) Speed control (analog voltage reference)
Position control (pulse train reference) Torque control (analog voltage reference)
Torque control (analog voltage reference) Speed control (analog voltage reference)
Speed control (analog voltage reference) Zero clamp
Position control (pulse train reference) Position control (inhibit)
Signal
Name
/P-CL
Connector
Setting
Meaning
Pin Number
Input
CN1-45
OFF (high level)
Switches control mode.
(Factory setting)
(/SPD-A)
Must be allocated
Input /N-CL
CN1-46
OFF (high level)
(Factory setting)
(/SPD-B)
Must be allocated
Input Signal Selection
The following two types of control mode selection are available for switching from internally set speed control:
Switching with the /P-CL and /N-CL input signals (pins allocated in factory setting)
Switching with the /SPD-A and /SPD-B input signals
When using /SPD-A and /SPD-B, they must be allocated with parameter Pn50C. Refer to 7.3.2 Input Circuit Signal Allocation.
8-75
8 Operation
8.10.2 Switching the Control Mode
Signal
Name
Connector
Pin Number
Input
/P-CON
CN1-41
(Factory setting)
(Input)
(/C-SEL)
Must be allocated
Setting
ON (low level)
n.
7
Speed
Position
Speed
Pn000 Setting
n.
9
n.
A
Speed
Zero
clamp
Position
Torque
Speed
Torque
Speed
Zero
clamp
Position
Torque
Speed
n.
8
Torque
n.
B
Inhibit
Position
Inhibit
8-76
8.11.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3)
(1) Servo Alarm Output (ALM)
This signal is output when an error is detected in the SERVOPACK.
Type
Output
Signal
Name
ALM
Connector
Pin Number
CN1-31, 32
(Factory setting)
Setting
ON (low level)
OFF (high level)
Meaning
Normal SERVOPACK condition
SERVOPACK alarm condition
IMPORTANT
Always form an external circuit so this alarm output turns OFF the main circuit power supply to the SERVOPACK.
Signal
Connector
Name
Name
Pin Number
Input /ALM- CN1-44
Alarm Reset
RST
When a servo alarm (ALM) has occurred and the cause of the alarm has been eliminated, the alarm can be reset by turning
this signal (/ALM-RST) from OFF (high level) to ON (low level).
This signal can be allocated to other pin numbers with Pn50B.
For details on the procedure, refer to 7.3.2 Input Circuit Signal Allocation.
The /ALM-RST signal cannot be constantly enabled by the allocation of an external input signal. Reset the alarm by changing the signal from high level to low level. The alarm can also be reset from the panel operator or digital operator. Refer to
7.1.2 Key Names and Functions for details.
IMPORTANT
1. Some encoder-related alarms cannot be reset with the /ALM-RST signal input. To reset these alarms,
turn OFF the control power supply.
2. When an alarm occurs, always eliminate the cause before resetting the alarm. The methods for troubleshooting alarms are described in 11.1.3 Troubleshooting of Alarm and Warning.
Signal
Name
ALO1
ALO2
ALO3
SG
Connector
Pin Number
CN1-37
CN1-38
CN1-39
CN1-1
8
Meaning
Alarm code output
Alarm code output
Alarm code output
Signal ground for alarm code output
These open-collector signals output alarm codes. The ON/OFF combination of these output signals indicates the type of
alarm detected by the servomotor.
Use these signals to display alarm codes at the host controller. Refer to 11.1.1 Alarm Display Table for details on alarm
code output.
8-77
8 Operation
8.11.2 Warning Output (/WARN)
Signal
Name
/WARN
Connector
Pin Number
Must be allocated
Setting
Meaning
Related Parameters
The following parameter is used to select the alarm code output.
Parameter
Pn001
Description
Outputs alarm codes alone for alarm codes ALO1, ALO2, and ALO3.
n.0
n.1
Outputs both alarm and warning codes for alarm codes ALO1, ALO2, and ALO3, and outputs an alarm code when an alarm occurs.
Refer to 8.11.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3) for alarm code descriptions.
Refer to 11.1.2 Warning Display for the ON/OFF combinations of ALO1, ALO2, and ALO3 when a warning code is output.
Signal
Name
/TGON
Connector
Pin Number
CN1-27, 28
(Factory setting)
Setting
Meaning
ON (low level)
Related Parameter
Pn502
Speed
Setting Unit
-1
Factory Setting
20
Position
Torque
Setting Validation
Immediately
1 min
Set the range in which the running output signal (/TGON) is output in this parameter.
When the servomotor rotation speed is above the value set in the Pn502, it is judged to be servomotor rotating and the running output signal (/TGON) is output. The rotation detection signal can also be checked on the digital operator. For details,
refer to 7.1.4 Status Display and 7.4.1 List of Monitor Modes.
8-78
Signal
Connector Pin
Name
Number
/S-RDY CN1-29, 30
(Factory setting)
Setting
Meaning
ON (low level)
Servo is ready.
OFF (high level)
Servo is not ready.
This signal indicates that the SERVOPACK received the servo ON signal and completed all preparations.
It is output when there are no servo alarms and the main circuit power supply is turned ON.
An added condition with absolute encoder specifications is that when the SEN signal is at high level, absolute data was output to the host controller.
The servo ready signal condition can also be checked on the digital operator. For details, refer to 7.1.4 Status Display and
7.4.1 List of Monitor Modes.
The /S-RDY signal can be allocated to another output terminal with parameter Pn50E. For details, refer to 7.3.3 Output Circuit Signal Allocation.
8-79
9
Adjustments
9-12
9-13
9-13
9-14
9-14
9-15
9-16
9-17
9-18
9-19
9-22
9-22
9-23
9-25
9-26
9-1
9 Adjustments
9.1.1 Servo Gain Adjustment Methods
9.1 Autotuning
9.1.1 Servo Gain Adjustment Methods
The SERVOPACK has the servo gains to determine the servo response characteristics. The servo gains are set in
the parameters. The parameters are designated for each function as shown in 9.1.2 List of Servo Adjustment
Functions.
The servo gains are factory-set to stable values, and responsiveness can be increased depending on the actual
machine conditions. The following flowchart shows an overview procedure for adjusting the servo gains to
reduce the positioning time for position control. Follow this flowchart to effectively adjust the servo gains. For
functions in bold lines in the flowchart, select the adjustment method according to the clients intent using 9.1.2
List of Servo Adjustment Functions.
Start adjusting servo gain.
Results OK.
Results OK?
Results insufficient.
Results OK.
Results OK?
Results insufficient.
Vibration resulted
Results OK?
Results insufficient.
Results OK.
If the desired responsiveness cannot be achieved adjusting according to the servo gain adjustment methods, consider the following possible causes.
Autotuning does not suit the operating conditions.
Adjust the servo gains manually. Refer to 9.3 Manual Tuning.
The selection of settings for the positioning time reduction functions or vibration reduction functions are
not appropriate.
Each function may not be effective for all machines due to machine characteristics or operating
conditions.
Use other positioning time reduction function or vibration reduction function.
9-2
9.1 Autotuning
Online Autotuning
Pn110.0
Fn001
Fn007
Description
This function automatically measures the machine characteristics and sets the required servo gains accordingly.
This function allows beginners to adjust the servo gains Only the minimum number of parameters
easily.
must be set for autotuning using a normal
The load moment of inertia is calculated during opera- operation reference.
tion for a user reference, and the servo gains (Kv, Ti,
Kp, and Tf) are set according to the Machine Rigidity
Setting (Fn001).
Reference
Section
9.2
Reference
Section
Position
9.4.1
Speed
9.4.2
Position
9.4.3
Position
Speed
9.4.5
Description
Feed-forward
Pn109
Pn10A
Feed-forward compensation for the position reference is added to the speed reference.
Torque feed-forward
Pn002
Pn400
Speed feed-forward
Pn207
Pn300
Mode Switch
(P/PI Switching)
Pn10B
Pn10C
Pn10D
Pn10E
Pn10F
9.4.8
Position
Speed
9.4.9
Speed Feedback
Compensation
Pn110
Pn111
Gain Switching
Pn100
Pn101
Pn102
Pn104
Pn105
Pn106
Features
Adjustment is easy.
The system will be unstable if a large
value is set, possibly resulting in overshooting or vibration.
9-3
9 Adjustments
9.1.2 List of Servo Adjustment Functions
9-4
Description
Features
Valid
Control
Modes
Reference
Section
A constant acceleration/deceleration is
achieved for smoother operation. The
operation time is increased for the specified time.
Speed
8.5.4
Position
8.6.4
Position
8.6.4
Position
Speed
9.4.7
Speed
8.5.5
Position
Speed
Torque
9.4.10
Position
Speed
Torque
9.4.10
9-5
9 Adjustments
9.2.2 Online Autotuning Procedure
WARNING
Do not perform extreme adjustment or setting changes causing unstable servo operation.
Failure to observe this warning may result in injury and damages to the machine.
Adjust the gains slowly while confirming motor operation.
Start
Operate with factory setting.
(Set Pn110.0 = 0.)
Operation OK?
Yes
No
No
Load moment of
inertia varies?
Yes
Continuous online autotuning.
(Set Pn110.0 = 1.)
Operation OK?
Yes
No
Ajust the machine rigidity setting.
(Set at Fn001.)
Operation OK?
Yes
No
Adjust the friction compensation.
(Set Pn110.2.)
Operation OK?
Yes
No
Do not perform online autotuning.
(Set Pn110.0 = 2.)
End
9-6
Setting Range
Speed
Position
Setting Unit
Factory Setting
Setting Validation
0010
After restart
Parameter
Meaning
n.
0
Online autotuning is performed only after the first time power is turned ON. (Factory Setting)
Pn110
n.
1
Online autotuning (moment of inertia calculations) is performed continuously.
n.
2
Online autotuning is not performed.
The factory setting is n.
0. This setting is recommended for applications in which the load moment of inertia does not
change much or if the load moment of inertia is not known. The inertia calculated at the beginning of operation is used continously. In this case, differences in machine 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 each
time the power supply is turned ON.
If this occurs, overwrite the moment of inertia ratio in Pn103 using the utility function Fn007 (Writing to EEPROM
moment of inertia ratio data obtained from online autotuning), and set Pn110 to n.
2 to disable online autotuning.
The setting n.
1 is used when the load moment of inertia varies constantly. This setting enables a consistent responsiveness even when the load moment of inertia changes. If the load moment of inertia changes in less than 200 ms, however, the autotuning accuracy will deteriorate, in which case Pn110.0 should be set to 0 or 2.
The setting n.
2 is used when online autotuning is not possible, when the load moment of inertia is known and the
moment of inertia ratio is set in Pn103 to perform the adjustment manually, or any other time the online autotuning function
is not going to be used.
9-7
9 Adjustments
9.2.4 Machine Rigidity Setting for Online Autotuning
1
2
3
4
5
6
7
8
9
10
15
20
30
40
60
85
120
160
200
250
15
20
30
40
60
85
120
160
200
250
Torque Reference
Filter Time Constant
[0.01 ms]
Pn401
250
200
130
100
70
50
30
20
15
10
If the machine rigidity setting is greater, the servo gain will increase and positioning time will decrease. If the
setting is too large, however, vibration may result depending on the machine configuration. Set the machine
rigidity starting at a low value and increasing it within the range where vibration does not occur.
9-8
Digital Operator
Panel
Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
UP
DATA/
(DATA/SHIFT)
DOWN
DSPL
Description
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT)
This completes changing the machine rigidity setting for online autotuning.
9-9
9 Adjustments
9.2.6 Saving the Results of Online Autotuning
CAUTION
Always set the correct moment of inertia ratio when online autotuning is not used.
If the moment of inertia ratio is set incorrectly, vibration may occur.
For online autotuning, the most recent load moment of inertia is calculated and the control parameters are
adjusted to achieve response suitable for the machine rigidity setting. When online autotuning is performed, the
Position Loop Gain (Pn102), Speed Loop Gain (Pn100), and Speed Loop Integral Time Constant (Pn101) are
saved. When the power supply to the SERVOPACK is turned OFF, however, the calculated load moment of inertia is lost and the factory setting is used as the default value to start autotuning the next time the power supply is
turned ON.
To use the calculated load moment of inertia as 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 save the most recent value in parameter Pn103 (Moment of Inertia Ratio). The
moment of inertia ratio is given as the moment of inertia ratio (%) of the rotor moment of inertia of the servomotor.
Moment of Inertia Ratio
Pn103
Setting Range
0 to 10,000
(0 to 20,000) *
Speed
Position
Torque
Setting Unit
Factory Setting
Setting Validation
1%
Immediately
The factory setting for the moment of inertia ratio is 0% (no-load operation of motor without connecting a machine).
* Used when the software version number is later than 32.
9-10
Digital Operator
Panel
Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT)
DSPL
Description
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT)
This completes saving the default value for the moment of inertia ratio for online autotuning. The next time the
power supply is turned ON, the value that was saved for the Moment of Inertia Ratio (Pn103) will be used to start
online autotuning.
9-11
9 Adjustments
9.3.1 Explanation of Servo Gain
Move
Speed pattern reference
Time
+
-
Error
counter
Speed
reference
Position
loop
gain Kp
Speed loop
Tf
+ Current
- control
section
Servomotor
Electric
power
converting
Current loop
PG
Position loop
Encoder
SERVOPACK
Host controller
(provided by user)
To adjust the servo gain manually, understand the configuration and characteristics of the SERVOPACK and
adjust the servo gain parameters one by one. If one parameter is changed, it is almost always necessary to adjust
the other parameters. It will also be necessary to make preparations such as setting up a measuring instrument to
monitor the output waveform from the analog monitor.
The SERVOPACK has three feedback loops (i.e., position loop, speed loop, and current loop). The 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 decreases.
The SERVOPACK is designed to ensure that the current loop has good response performance. The user need to
adjust only position loop gain and speed loop gain.
9-12
For the position and speed control, the adjustment in the following procedure can increase the responsiveness.
The positioning time in position control can be reduced.
Step
1
2
3
4
5
Explanation
Set correctly the moment of inertia ratio (Pn103). The utility function Fn007 can be used after the
online autotuning.
Increase the speed loop gain (Pn100) to within the range so that the machine does not vibrate. At the
same time, decrease the speed loop integral time constant (Pn101).
Adjust the torque reference filter time constant (Pn401) so that no vibration occurs.
Repeat the steps 1 and 2. Then reduce the value for 10 to 20%.
For the position control, increase the position loop gain (Pn102) to within the range so that the machine
does not vibrate.
Position
Pn102
Setting Range
Setting Unit
Factory Setting
Setting Validation
1 to 2,000
1/s
40
Immediately
The responsiveness of the position loop is determined by the position loop gain. The responsiveness increases and the positioning time decreases when the position loop gain is set to a higher value. In general, the position loop gain cannot be set
higher than natural vibrating frequency of the mechanical system, so the mechanical system must be made more rigid to
increase its natural vibrating frequency and allow the position loop gain to be set to a high value.
INFO
If the position loop gain (Pn102) cannot be set high in the mechanical system, an overflow alarm may occur during high
speed operation. In this case, increase the values in the following parameter to suppress detection of the overflow alarm.
Overflow Level
Pn505
Setting Range
Setting Unit
1 to 32,767
256 reference units
This parameters new setting must satisfy the following condition.
Position
Factory Setting
1,024
Setting Validation
Immediately
9-13
9 Adjustments
9.3.4 Speed Loop Gain
Speed
Position
Pn100
Setting Range
Setting Unit
Factory Setting
Setting Validation
1 to 2,000
1 Hz
40
Immediately
This parameter determines the responsiveness of the speed loop. If the speed loops responsiveness is too low, it will delay
the outer position loop and cause overshooting and vibration of the speed reference. The SERVOPACK will be most stable
and responsive when the speed loop gain is set as high as possible within the 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.
Pn103
Pn103setvalue=
Speed
Position
Torque
Setting Unit
Factory Setting
Setting Validation
1%
Immediately
100(%)
The factory setting is Pn103=0. Before adjusting the servo, determine the moment of inertia ratio with the equation above
and set parameter Pn103.
* Used when the software version number is later than 32.
Speed
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
15 to 51,200
2,000
0.01 ms
Immediately
(0.15 to 512.00 ms)
(20.00 ms)
The speed loop has an integral element so that the speed loop can respond to minute inputs. This integral element causes a
delay in the SERVOPACK. If the time constant is set too long, overshooting will occur, which results in a longer positioning settling time or responsiveness decreases.
The estimated set value for Pn101 depends on the speed loop control method with Pn10B.1, as shown below.
Pn101
INFO
9-14
Selecting the Speed Loop Control Method (PI Control or I-P Control)
Generally, I-P control is more effective in high-speed positioning or high-speed/precision manufacturing applications. The
position loop gain is lower than it would be in PI control, so shorter positioning times and smaller arc radii can be
achieved. On the other hand, PI control is generally used when switching to P control fairly often with a mode switch or
other method.
Setting Range
0 to 100
Position
Setting Unit
1%
Factory Setting
0
Setting Range
0 to 6,400
(0.00 to 64.00 ms)
Setting Validation
Immediately
Position
Setting Unit
Factory Setting
Setting Validation
0.01ms
0
(0.00 ms)
Immediately
Position
reference pulse
Differential
Pn109
Position loop
gain Kp
Pn10A
+ +
9-15
9 Adjustments
9.4.2 Torque Feed-forward
Pn002
Meaning
0
2
n.
n.
Disabled
Uses T-REF terminal for torque feed-forward input.
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
Setting Validation
10 to 100
30
(1.0 to 10.0V/Rated
0.1V/Rated torque
Immediately
(3 V/Rated torque)
torque)
The torque feed-forward function is valid only in speed control (analog reference).
The torque feed-forward function shortens positioning time, differentiates a speed reference at the host controller to generate a torque feed-forward reference, and inputs the torque feed-forward reference together with the speed reference to the
SERVOPACK.
Too high a torque feed-forward value will result in overshooting or undershooting. To prevent such troubles, set the optimum value while observing the system responsiveness.
Connect a speed reference signal line to V-REF (CN1-5 and -6) and a torque forward-feed reference to T-REF (CN1-9 and
-10) from the host controller.
Pn400
Host controller
+
Position
reference
SERVOPACK
Differential
KFF
Kp
T-REF (CN1-9)
V-REF (CN1-5) +
Pn300
Pn400
Servomotor
+
+
Integration
(Pn101)
Pn100
Speed
calculation
Divider
Current loop
PG
Encoder
9-16
Pn207
n.
n.
Meaning
0
1
Disabled
Uses V-REF terminal for speed feed-forward input.
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
Setting Validation
150 to 3,000
0.01 V/Rated
600
(1.50 to 30.00 V/Rated
Immediately
speed
(6 V/Rated speed)
speed)
The speed feed-forward function uses analog voltages and is valid only in position control.
The speed feed-forward function is used to shorten positioning time. The host controller differentiates the position reference 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 will result in overshooting or undershooting. To prevent such troubles, set the optimum value while observing the system responsiveness.
Connect a position reference signal line to PULS and SIGN (CN1-7, -8, -11, and -12) and a speed feed-forward reference
signal line to V-REF (CN1-5 and -6) from the host controller.
Pn300
Host controller
SERVOPACK
Differential
KFF
Position
reference
Kp ( Pn102 )
Servomotor
+
+
-
Pn100
+
+
Current loop
Integration
(Pn101)
Speed
calculation
PG
Encoder
9-17
9 Adjustments
9.4.4 Proportional Control Operation (Proportional Operation Reference)
n.
Control Mode
0
Speed
Control
Pn000
n.
1
Position
Control
SERVOPACK
CN1
P/PI
Switching
/P-CON
41
P control
When sending references from the host controller to the SERVOPACK, P control mode can be selected from the host
controller for particular operating conditions. This mode switching method can be used to suppress overshooting and
shorten the settling time. Refer to 9.4.5 Using the Mode Switch (P/PI Switching) for more details on inputting the /PCON signal and switching the control mode for particular operating conditions.
If PI control mode is being used and the speed reference has a reference offset, the servomotor may rotate very slowly
and fail to stop even if 0 is specified as the speed reference. In this case, use P control mode to stop the servomotor.
9-18
Overshoot
Actual motor operation
Reference
Time
Undershoot
Settling time
The mode switch function automatically switches the speed control mode from PI control mode to P control
mode based on a comparison between the servos internal value and a user-set detection level.
1. The mode switch function is used in very high-speed positioning when it is necessary to use the servodrive
near the limits of its capabilities. The speed response waveform must be observed to adjust the mode
switch.
IMPORTANT
2. For normal use, the speed loop gain and position loop gain set by autotuning provide sufficient speed/
position control. Even if overshooting or undershooting occur, they can be suppressed by setting the host
controllers acceleration/deceleration time constant, the SERVOPACKs Soft Start Acceleration/
Deceleration Time (Pn305, Pn306), or Position Reference Acceleration/Deceleration Time Constant
(Pn204).
Parameter
Parameter
Containing
Detection
Point Setting
Setting Unit
n.
0
Pn10B
Pn10C
n.
1
n.
2
n.
3
n.
4
Pn10D
Pn10E
Pn10F
Reference unit
Select a condition to execute the mode switch (P/PI switching). (Setting is validated immediately.)
TERMS
PI control means proportional/integral control and P control means proportional control. In short, switching from PI
control to P control reduces effective servo gain, making the SERVOPACK more stable.
9-19
9 Adjustments
9.4.5 Using the Mode Switch (P/PI Switching)
Motor speed
Torque reference
+Pn10C
Torque
reference 0
- Pn10C
PI P
PI control
P PI control
Operating Example
If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the speed of the
motor may overshoot or undershoot due to torque saturation during acceleration or deceleration. The mode switch function
suppresses torque saturation and eliminates the overshooting or undershooting of the motor speed.
Overshoot
Motor
speed
Motor
speed
Undershoot
Time
Time
Speed
Pn10D
Speed reference
PI
P control
Motor
speed
Time
PI control
Operating Example
In this example, the mode switch is used to reduce the settling time. It is necessary to increase the speed loop gain to reduce
the settling time. Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased.
Motor speed
Motor
speed
Long settling time
Increase speed loop gain.
Overshoot
Motor
speed
Undershoot
Time
9-20
Motor
speed
Settling time
Motor speed
Motor acceleration
+Pn10E
Acceleration 0
-Pn10E
PI P
PI control P PI control
Operating Example
If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the speed of the
motor may overshoot or undershoot due to torque saturation during acceleration or deceleration. The mode switch function
suppresses torque saturation and eliminates the overshooting or undershooting of the motor speed.
Overshoot
Motor
speed
Motor
speed
Undershoot
Time
Time
Time
Position
error pulse
Pn10F
Motor
speed
PI
P control
PI control
Operating Example
In this example, the mode switch is used to reduce the settling time. It is necessary to increase the speed loop gain to reduce
the settling time. Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased.
Motor speed
Motor
speed
Long settling time
Increase speed loop gain.
Overshoot
Motor
speed
Undershoot
Time
Motor
speed
Settling time
9-21
9 Adjustments
9.4.6 Setting the Speed Bias
Position
Setting Range
0 to 450
Setting Unit
1
Factory Setting
Setting Validation
Immediately
min-1
Setting Range
0 to 250
Position
Setting Unit
1 Reference units
Factory Setting
7
Setting Validation
Immediately
Speed reference
Bias set
No bias
Bias (Pn107)
Bias (Pn107)
Error pulse
Speed
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 65,535
(0.00 to 655.35 ms)
Pn308
0.01 ms
0
(0.00 ms)
Immediately
Sets the 1st-order filter for the speed loops speed feedback. Makes the motor speed smoother and reduces vibration. If the
set value is too high, it will introduce a delay in the loop and cause poor responsiveness.
9-22
Setting Range
Speed
Setting Unit
Factory Setting
0010
Setting Range
1 to 500
Speed
Setting Unit
1%
Parameter
Pn110
IMPORTANT
Error counter
output
n.
n.
Factory Setting
100
Position
Setting Validation
After restart
Position
Setting Validation
Immediately
Function
0
1
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.
Speed
reference
Speed loop
PI control
(Pn100,Pn101)
Torque reference
filter time constant
(Pn401)
Torque reference
Speed feedback
Speed feedback
compensation selection
(Pn110.1)
Speed feedback
compensation
(Pn111)
9-23
9 Adjustments
9.4.8 Speed Feedback Compensation
4000
Pn100
IMPORTANT
9-24
The speed feedback compensation usually makes it possible to increase the speed loop gain and position loop
gain. Once the speed loop gain and position loop gain have been increased, the machine may vibrate significantly and may even be damaged if the compensation value is changed significantly or Pn110.1 is set to 1
(i.e., speed feedback compensation disabled).
Signal
Setting
Meaning
OFF: H (high)
Gain settings 1
Signal allocation
level
/G-SEL
Input
required
ON: L (low) level Gain settings 2
To use the input signal, the input terminal must be allocated in the parameter Pn50D. Refer to 7.3.2 Input Circuit Signal
Allocation.
OFF (H Level)
Pn100
Pn101
Pn102
ON (L Level)
Pn104
Pn105
Pn106
Pn50A
n.
Function
Pn100
Setting Range
1 to 2,000
Speed
Setting Unit
1 Hz
Pn101
Setting Range
15 to 51,200
(0.15 to 512.00 ms)
Factory Setting
40
Speed
Setting Range
1 to 2,000
Setting Range
1 to 2,000
Setting Validation
0.01 ms
2,000
(20.00 ms)
Immediately
Position
Setting Unit
1/s
Factory Setting
40
Setting Unit
1 Hz
Factory Setting
40
Speed
Pn105
Setting Range
15 to 51,200
(0.15 to 512.00 ms)
Setting Unit
0.01 ms
Speed
Factory Setting
2,000
(20.00 ms)
Pn106
Setting Range
1 to 2,000
Position
Factory Setting
Pn104
Setting Validation
Immediately
Setting Unit
Pn102
Position
Setting Validation
Immediately
Position
Setting Validation
Immediately
Position
Setting Validation
Immediately
Position
Setting Unit
1/s
Factory Setting
40
Setting Validation
Immediately
9-25
9 Adjustments
9.4.10 Torque Reference Filter
Torque
function
switches
Pn408
Notch
filter
frequency
Pn409
Torque reference
filter time
constant
Pn401
Torque reference
before filtering
Torque reference
after filtering
Notch filter
Pn401
Speed
Position
Torque
Setting Unit
Factory Setting
Setting Validation
0.01 ms
100
(1.00 ms)
Immediately
Pn408
n.
n.
Meaning
0
1
Set the machines vibration frequency in the parameter of a notch filter to be used.
Notch Filter Frequency
Pn409
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
Setting Validation
50 to 2,000 Hz
1 Hz
2,000*
Immediately
9-26
IMPORTANT
1. Sufficient precautions must be taken when setting the notch frequency. Do not set the notch filter frequency
(Pn409) that is close to the speed loops response frequency. Set the frequency at least four times higher
than the speed loops 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 Speed Loop Gain (Pn100) when the Moment of Inertia Ratio (Pn103) is set to the correct value.
2. Change the Notch Filter Frequency (Pn409) only when the servomotor is stopped. Vibration may occur if
the notch filter frequency is changed when the servomotor is rotating.
9-27
9 Adjustments
SERVOPARK 200V
CN5
SGDMVer.
YASKAWA
POWER
MODE/SET
Cable Type:
JZSP-CA01
or DE9404559
CN5
Black
Black
White
Red
Pin Number
Red
Analog monitor 2
2
3, 4
9-28
Line Color
Signal Name
White
Black (2 lines)
Analog monitor 1
GND (0 V)
DATA/
BATTERY
Related Parameters
The following signals can be monitored.
Pn003
n.
0
n.
1
n.
2
n.
3
n.
4
n.
5
n.
6
n.
7
n.
8
n.
9
n.
A
n.
B
n.
C
n.
D
n.
E
n.
F
n.
n.
n.
n.
n.
n.
n.
n.
n.
n.
n.
n.
Function
Observation Gain
Monitor Signal
n.
n.
n.
n.
Remarks
Motor speed
1 V / 1000 min-1
Speed reference
1 V / 1000 min-1
Position error
Position error
1 V / 1000 min-1
Motor speed 4
1 V / 250 min-1
Motor speed 8
1 V / 125 min-1
* When using speed control or torque control, the position error monitor signal is not specified.
INFO
The analog monitor output voltage is 8 V (maximum). The output will be limited to 8 V even if this value is exceeded
in the above calculations.
9-29
10
Upgraded Versions
10-19
10-20
10-20
10-21
10-21
10-22
10
10-1
10 Upgraded Versions
Version Numbers
Check the 5-digit version number indicated on the front side of the SERVOPACK. The lower two digits indicate the software version number.
The software version number later than 32 means the upgraded products.
10-2
Description
Reference
Section
10.3.2
10.4.2
10.3.2
10.3.3
10.3.4
10.3.5
Description
Reference
Section
10.4.1
10.4.2
10.4.3
10
10-3
10 Upgraded Versions
10.3.1 SGMCS Direct-drive Motor Supporting Function
The direct-drive motor model can be confirmed by the auxiliary function Fn011 Motor models display on the
digital operator or the panel operator.
Fn011-F.
Servomotor Voltage
Code
Voltage
Servomotor Model
Code
Model
00
00
SGMAH
01
01
SGMPH
02
Reserved
02
SGMSH
03
04
05
SGMDH
32
SGMCS-
33
SGMCS-
34
SGMCS-
35
SGMCS-
37
SGMCS-
38
SGMCS-
10-4
SGMCS 02 B 3 A 1 1
SGMCS Direct-drive
Servomotor
1st and 2nd digits:
Rated Torque (N m)
Code
02
04
05
07
08
10
14
16
17
25
35
45
80
1A
1E
2Z
2.0
4.0
5.0
7.0
8.0
10.0
14.0
16.0
17.0
25.0
35.0
45.0
80.0
110.0
150.0
200.0
Specification
B
C
D
E
M
N
Code Specification (135) (175) (230) (290) (280) (360)
Without Brake
Code
Specification
C face
Code
Specification
45 to 200N m
2 to 35N m
4th digits: Encoder Specifications
Code
Specification
Remarks
Standard
20-bit incremental
Option
Encoder
Construction
W
Nm
Nm
A
A
02B
42
2.00
6.00
1.8
5.1
Rated Speed
min-1
200
Max. Speed
min-1
500
25.0
05B
105
5.00
15.0
1.8
5.1
51.0
07B
147
7.00
21.0
1.4
4.1
04C
84
4.00
12.0
2.1
6.0
10C
209
10.0
30.0
2.0
5.80
14C
293
14.0
42.0
2.0
5.9
200
500
77.0
77.0
kg m2
10-4
Outside Diameter
Length
Mass
Protective Construction
mm
mm
kg
Vibration Resistance
m/s2
220.0
P/R
140.0
300
49
400
1,048,576 (20-bit)
Output Form
Number of Pulses per Rotation
135
51
5.0
80
6.2
10
175
120
8.6
IP42
59
7.2
80
10.2
120
14.2
10-5
10 Upgraded Versions
Encoder
Construction
W
Nm
Nm
A
A
Rated Speed
min-1
Max. Speed
min-1
Outside Diameter
Length
Mass
Protective Construction
17D
356
17.0
51.0
2.3
6.6
500
400
250
500
250
285.0
510.0
750
930
1430
230
64
14.0
290
100
22.0
150
29.7
IP42
76
26.0
1,048,576 (20-bit)
45M
Rated Speed
min-1
80M
min-1
Max. Speed
100
34.0
W
Nm
Nm
A
A
150
P/R
Rated Output
Rated Torque
Instantaneous Peak Torque
Rated Current
Instantaneous Max. Current
Output Form
200
Vibration Resistance
35E
550
35.0
105.0
3.5
10.0
49
Output Form
Outside Diameter
Length
Mass
Protective Construction
16E
335
16.0
48.0
3.3
9.4
m/s2
Vibration Resistance
25D
393
25.0
75.0
2.7
7.90
150
200
kg m2
10-4
mm
mm
kg
10-6
08D
168
8.0
24.0
2.0
5.9
kg m2
10-4
mm
mm
kg
707
45
135
5.80
17
1260
80
240
9.74
28
SGMCS1AM
80N
1730
110
330
13.4
42
1260
80
240
9.35
28
1EN
2360
150
450
17.4
56
2ZN
3140
200
600
18.9
56
150
300
388
627
250
865
1360
280
157.5
38
207.5
45
2470
3060
360
257.5
51
IP44
167.5
50
m/s2
24.5
P/R
1,048,576(20-bit)
217.5
68
267.5
86
Speed
Setting Range
0 to 10000 min-1
Pn302
Setting Unit
Direct-drive motors or others with
a maximum speed of 500 min-1 or
less.
0.1 min-1
Factory
Setting
Setting Validation
100 min-1
Immediately
Speed
Setting Unit
Direct-drive motors or others with
a maximum speed of 500 min-1 or
less.
0 to 10000 min-1
0.1 min-1
All other
motors
1 min-1
Factory
Setting
Setting Validation
200 min-1
Immediately
Speed
Setting Range
Setting Unit
Direct-drive motors or others with
a maximum speed of 500 min-1 or
less.
0 to 10000 min-1
Pn304
1 min-1
Setting Range
Pn303
All other
motors
0.1 min-1
All other
motors
1 min-1
JOG Speed
Factory
Setting
Setting Validation
300 min-1
Immediately
Speed
Setting Range
Setting Unit
Direct-drive motors or others with
a maximum speed of 500 min-1 or
less.
0 to 10000 min-1
0.1 min-1
All other
motors
1 min-1
Position
Torque
Factory
Setting
Setting Validation
500 min-1
Immediately
10
10-7
10 Upgraded Versions
10.3.1 SGMCS Direct-drive Motor Supporting Function
Also, the analog monitor output units are changed as shown in the shaded areas in the following table.
Parameter
Monitor 1
n.
n.
Motor speed
1 V / 100 min-1
n.
n.
Speed reference
1 V / 100 min-1
n.
n.
n.
n.
Position error
n.
n.
Position error
n.
n.
1 V / 100 min-1
n.
n.
Motor speed 4
1 V / 25 min-1
n.
n.
Motor speed 8
1 V / 12.5 min-1
n.
n.
n.
n.
n.
n.
n.
n.
Pn003
Monitor 2
8
9
A
B
C
D
E
F
n.
n.
n.
n.
n.
n.
n.
n.
8
9
A
B
C
D
E
F
Monitor Signal
Description
Measurement Gain
1 V / 100%
Rated Torque
0.05 V / 1
Reference Units
0.05 V / 100
Reference Units
Remarks
Monitor 2:
Factory setting
Monitor 1:
Factory setting
* When using speed control or torque control, the position error monitor signal is variable.
INFO
10-8
The maximum output voltage of the analog monitor is 8V. If the input voltage is outside of this range, it will be output as
8V.
Description
Uses the parameter Pn201 (For 16-bit or less) as the dividing ratio (Factory setting).
Uses the parameter Pn212 (For 17-bit or more) as the dividing ratio.
Pn212
Speed
Setting Unit
1 P/rev
Factory Setting
16384
Speed
Position
Torque
Setting Validation
After restart
Position
Torque
Setting Range
Setting Unit
Factory Setting
Setting Validation
16 to 1073741824
1 P/rev
2048
After restart
The setting range of Pn212 differs depending on the encoder used.
The upper limit of dividing output frequency is 1.4 Mpps because of the restrictions on the hardware. Therefore, setting a
high number of pulses limits the motor speed.
The following table shows the setting conditions when Pn212 is used.
Encoder Resolution
(Bits)
13
2048
16 to 2048
16
16384
16 to 16384
17
32768
16 to 32768
20
262144
16 to 262144
For settings higher than 16384 P/R, pulses must be set in the following increments.
PG Dividing Ratio
Setting (P/R)
Increments
(P/R)
16 to 16384
1-pulse
16386 to 32768
2-pulse
82 106/Set value
32772 to 65536
4-pulse
65544 to 131072
8-pulse
131088 to 262144
16-pulse
10
The setting error alarm A.09 (dividing ratio setting error) will occur if the setting is outside the allowable range or does not
satisfy the setting conditions. The overspeed alarm A.51 will occur if the motor speed exceeds the upper limit.
When setting the pulse dividing ratio using a digital operator or panel operator, the display of the number of pulses increments as shown in the above table and the upper limit will not increment above the resolution of mounted encoder.
When Pn212 is set without connecting a servomotor to the SERVOPACK, the upper limit is automatically set to 230
(=1073741824: the maximum output value of the SERVOPACK) since the encoder resolution of the servomotor is
unknown.
Therefore, it is recommended to set Pn212 after connecting a servomotor.
10-9
10 Upgraded Versions
10.3.3 Reference Pulse Input Multiplication Switching Function
Display After
Operation
Hand-held
digital operator
DSPL
SET
(DSPL/SET Key)
Panel Operator
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
(Press at least
one second.)
(Blinks)
INFO
DATA/
(DATA/SHIFT Key)
DATA/
(DATA/SHIFT Key)
(Press at least
one second.)
(Blinks)
DATA
ENTER
(DATA/ENTER Key)
Description
DATA/
(DATA/SHIFT Key)
(Press at least
one second.)
When the password setting (write prohibited setting) is enabled, the setting can be read only by pressing Left or Right
Cursor Key.
10-10
Pn217
n.
n.
Description
0
1
Position
Setting Unit
Factory Setting
1
Setting Validation
Immediately
4ms or less
Xn
(n=Pn217)
Connector Pin
Number
Setting
Meaning
ON (low level)
Enabled when the /PSEL signal turns ON.
OFF (high level)
Disabled when the /PSEL signal turns OFF.
The /PSEL signal is the input signal that switches the multiplication factor of the reference pulse input to the value
set in Pn217.
This signal must be allocated in parameter Pn513.0 as shown in the following table. Refer to 7.3.2 Input Circuit
Signal Allocation for more information on how to allocate input signals. After setting Pn217, turn OFF the power
supplies for the main circuit and the control and then turn ON again.
/PSEL
Parameter
Description
n.
0
Inputs from the SI0 (CN1-40) input terminal.
n.
1
Inputs from the SI1 (CN1-41) input terminal.
n.
2
Inputs from the SI2 (CN1-42) input terminal.
n.
3
Inputs from the SI3 (CN1-43) input terminal.
n.
4
Inputs from the SI4 (CN1-44) input terminal.
n.
5
Inputs from the SI5 (CN1-45) input terminal.
n.
6
Inputs from the SI6 (CN1-46) input terminal.
n.
7
Sets the signal ON.
n.
8
Sets the signal OFF. (Factory setting)
n.
9
Inputs the reverse signal from the SI0 (CN1-40) input terminal.
n.
A Inputs the reverse signal from the SI1 (CN1-41) input terminal.
n.
B Inputs the reverse signal from the SI2 (CN1-42) input terminal.
n.
C Inputs the reverse signal from the SI3 (CN1-43) input terminal.
n.
D Inputs the reverse signal from the SI4 (CN1-44) input terminal.
n.
E
Inputs the reverse signal from the SI5 (CN1-45) input terminal.
n.
F
Inputs the reverse signal from the SI6 (CN1-46) input terminal.
Note: After changing the setting, turn OFF the power and ON again to enable the new setting.
Pn513
10
10-11
10 Upgraded Versions
10.3.4 Second Stage Notch Filter and Changeable Q Value
Connector Pin
Number
Signal allocation not
required
Setting
ON (low level)
OFF (high level)
Meaning
Enabled when the /PSEL signal turns ON.
Disabled when the /PSEL signal turns OFF.
The /PSELA signal cant be used with the factory setting. Allocate the /PSELA output signal.
Parameter
Meaning
n. 0
Disabled
n. 1
Outputs the /PSELA signal from the CN1-25, 26 output terminal.
n. 2
Outputs the /PSELA signal from the CN1-27, 28 output terminal
n. 3
Outputs the /PSELA signal from the CN1-29, 30 output terminal.
For the factory settings, the pins CN1-25 to CN1-30 are allocated for other output signals. If multiple signals are allocated
to the same output terminal, signals are output with OR logic. To enable only the /PSELA output signal, allocate the other
signals to other output terminals or disable the other signals.
Refer to 7.3.3 Output Circuit Signal Allocation for the allocation of output signals.
Pn510
Note: After changing the setting, turn OFF the power and ON again to enable the new setting.
NO
YES
Torque Limit
End
10-12
NO
Added
function
Torque
reference
waveform
Torque
reference
waveform
Notch filtering
(fc = 1/t)
s2 + c2
c2
s
s2 +
Q
c2
After torque
reference filtering
(c = 2fc)
Torque
reference
Torque
reference
Frequency
fc
Frequency Characteristics When Q is set to 0.7.
Frequency
fc
Frequency Characteristics When Q is set to 2.0.
Note: The frequency characteristics shown above indicate that no response of the speed proportional gain can be
obtained if the difference between the speed proportional gain and the vibration frequency is too small.
Setting smaller Q value decreases the response in wider zone around the set frequency.
Setting bigger Q value decreases the response in the limited zone at about the set frequency.
Meaning
0
1
10
10-13
10 Upgraded Versions
10.3.5 Automatic Gain Switching Function
Pn409
Pn40A
Factory Setting
2000*
Pn40B
Speed
Setting Unit
1 Hz
Speed
Position
Torque
Setting Validation
Immediately
Position
Torque
Setting Unit
Factory Setting
Setting Validation
0.01
70
(0.70)
Immediately
Speed
Position
Torque
Setting Range
Factory Setting
Setting Validation
50 to 2000
Pn40C
Setting Unit
1 Hz
2000
Immediately
Speed
Setting Unit
Factory Setting
70
(0.70)
0.01
Position
Torque
Setting Validation
Immediately
Gain Setting 2
Pn104: Speed loop gain #2
Pn105_Speed loop integral time constant #2
Pn106_Position loop gain #2
The existing gain switching function by /G-SEL signal is also available. However, it cannot be used with the
automatic gain switching function.
Note that automatic gain switching function is enabled only in position control mode. In the control modes other
than position control, gain setting 1 is used.
When the automatic gain switching is enabled by setting 1 to 3 of Pn10B.2, the gain switching function by /GSEL signal is disabled.
10-14
Disabled (Pn10B.2 = 0)
Enabled (Pn10B.2 = 1 to 3)
Automatic gain
switching condition
Position reference
(Pn10B.2 = 1)
With or without
position reference
With
Position error
Without
Gain switching timer
count-up
Position reference
and position error
(Pn10.B = 3)
Position error
(Pn10B.2 = 2)
Position
reference and
Position error
NO
YES
Gain Setting 2
Gain Setting 1
End
Pn124
Parameter
n. 0
n. 1
n. 2
n. 3
Meaning
Automatic gain switching disabled (Factory setting)
Switches the gain according to the position reference condition only.
Switches the gain according to the position error condition only.
Switches the gain according to the position reference and position error condition only.
Pn125
Setting Unit
1 ms
Position
Factory Setting
100
Setting Unit
1 Reference units
Setting Validation
immediately
Position
Factory Setting
7
Setting Validation
immediately
10-15
10
10 Upgraded Versions
10.4.1 Moment of Inertia Ratio Setting Range
Speed
Position
Torque
Setting Unit
Factory Setting
Setting Validation
1%
Immediately
Confirm the single-turn absolute encoder model in Motor Models Display (Fn011) on the digital operator or
panel operator:
Fn011-E.
Encoder Model
Code
Model
Encoder Resolution
Code Specification
00
13
13 bits
01
16
16 bits
02
17
17 bits
20
10-16
Incremental encoder
20 bits
Specifications
Not required
(Because no multiturn data needs to be stored.)
Set to NO_OP and disabled
Set to NO_OP and disabled
Can be set, but the setting of Pn205 does not have any effect.
The alarm A.CC does not occur when the setting is changed. And the
multi-turn data is always 0 regardless of the Pn205 setting.
Same as for the multi-turn absolute encoder
Pn002.2=0: Use the absolute encoder as an absolute encoder
Pn002.2=1: Use the absolute encoder as an incremental encoder
The transmission format is the same as that of multi-turn absolute data
However, the data section is always set to 0 as follow.
P+00000 [CR]
The transmission format is the same as that of multi-turn absolute data
However, the data section is always set to 0 as follow.
P+00000, nnnnnnn [CR]
Note: n represents the absolute value within one rotation.
The output pulse frequency is not changed. Therefore, the initial incremental pulse output time increases according to the number of bits of the
mounted encoder.
As the maximum resolution of the existing specification is 16 bits, the
output time is 25 ms. With 20-bit encoder, the output time is 386 ms.
The equation to obtain the output time by the number of bits of encoder is
given below. The output time obtained by the equation is the minimum
required time.
T=
2n
17062.51000
65536
= 24.094 25ms
17062.51000
1048576
= 385.506 386ms
17062.51000
10
10-17
10 Upgraded Versions
10.4.3 Serial Number and Manufactured Data Reading Function
10-18
10.5.1 Parameters
Category
Function
Selection
Parameters
Parameter
No.
Name
Setting Range
Setting
Unit
Factory
Setting
Remarks
Pn004
0000 to 1110
0000
Pn103
0 to 20000
0000 to 2314
0000
1 to 10000
ms
100
Newly added
1 to 250
Reference
Unit
Newly added
0000 to 1111
0000
16 to 1073741824
pulse
2048
Newly added
Pn10B
Gain Related
Parameters
Pn124
Pn125
Pn207
Position
Related
Parameters
Pn212
Newly added
0000 to 0001
0000
Newly added
Pn309
0 to 500
min-1
60
Newly added
0000 to 0101
0000*3
Pn40A
50 to 400
0.01
70
Newly added
Pn40B
50 to 2000
Hz
2000
Newly added
Pn40C
50 to 400
0.01
70
Newly added
Pn510
0000 to 0333
0000
Pn513
Sequence
Related
Parameters
1 to 99
Pn408
Torque
Related
Parameters
Pn218
Speed
Related
Parameters
Pn217
0000 to 00FF
0088
Newly added
Pn51A
0 to 32767
Reference
Unit
100
Newly added
Pn51B
1 to 32767
256
Reference
Unit
Pn51C
0 to 10000
min-1
450
Newly added
Pn51E
0 to 100
Newly added
10-19
10
10 Upgraded Versions
10.5.2 Switches
* 1. After changing these parameters, turn OFF the control power supply and then turn it ON again to enable the
new settings.
* 2. The upper limit differs depending on the resolution (number of bits) of the encoder connected to SERVOPACK.
Upper Limit: (2 numbers of encoder bits) / 4
When no encoder is connected, the value in the above list is the upper limit.
For further information on the restrictions, refer to 10.3.2 Improvement of Dividing Output Resolution.
The factory setting is 0001 for the models with 5 kW or more.
* 3. The factory setting is 0001 for the models with 5 kW or more.
Note: The specifications shown in shaded column are the modified items.
10.5.2 Switches
Parameter
Pn10B
n.
n.
n.
n.
Pn207
Pn218
Pn408
n.
n.
n.
n.
n.
n.
Meaning
Automatic gain switching disabled (Factory setting)
Switches the gain according to the position reference condition only.
Switches the gain according to the position error condition only.
Switches the gain according to the position reference and position error condition only.
0
1
2
3
0
1
0
1
0
1
Uses the parameter Pn201 (For 16-bit or less) as the dividing ratio (Factory setting).
Uses the parameter Pn212 (For 17-bit or more) as the dividing ratio.
Reference pulse input multiplication switching function: Disabled (Factory setting)
Reference pulse input multiplication switching function: Enabled
Second notch filter disabled.
Uses second notch filter.
Parameter
n.
n.
n.
n.
n.
n.
n.
n.
n.
n.
n.
n.
n.
n.
n.
n.
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Meaning
ON when CN1-40 input signal is ON (L-level).
ON when CN1-41 input signal is ON (L-level).
ON when CN1-42 input signal is ON (L-level).
ON when CN1-43 input signal is ON (L-level).
ON when CN1-44 input signal is ON (L-level).
ON when CN1-45 input signal is ON (L-level).
ON when CN1-46 input signal is ON (L-level).
Sets signal ON.
Sets signal OFF. (Factory setting)
ON when CN1-40 input signal is OFF (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).
ON when CN1-44 input signal is OFF (H-level).
ON when CN1-45 input signal is OFF (H-level).
ON when CN1-46 input signal is OFF (H-level).
* After changing the setting, turn OFF the power and ON again to enable the new setting.
10-20
Meaning
Pn510
n. 0
Disabled (The /PSELA signal is not used.
n. 1
Outputs the /PSELA signal from the CN1-25, CN1-26 output terminal.
n. 2
Outputs the /PSELA signal from the CN1-27, CN1-28 output terminal.
n. 3
Outputs the /PSELA signal from the CN1-29, CN1-30 output terminal.
For the factory settings, the pins CN1-25 to CN1-30 are allocated for other output signals. If multiple signals are allocated
to the same output terminal, signals are output with OR logic. To enable only the /PSELA output signal, allocate the other
signals to other output terminals or disable the other signals.
Refer to 7.3.3 Output Circuit Signal Allocation for the allocation of output signals.
Note: After changing the setting, turn OFF the power and ON again to enable the new setting.
Contents of Display
: No modification in voltage designation
: Servomotor models
32: SGMCSC
33: SGMCSD
34: SGMCSB
35: SGMCSE
36: SGMCSL
37: SGMCSM
38: SGMCSN
: Encoder models
00: Incremental
01: Multiturn data absolute
02: Single-turn data absolute
: No modification in encoder resolution
designation
Note: Refer to 10.3.1 (1) Applicable Motors and 10.4.2 Adaptation to Single-turn Data Absolute Encoder for
details.
10
10-21
10 Upgraded Versions
10.5.6 Troubleshooting
10.5.6 Troubleshooting
In this section, explain the alarms and warnings that have been added and also the alarms and warnings whose
conditions for detection have been modified.
Alarm
Display
A.09
A.0A
A.b3
A.F5
A.F6
Meaning
The setting of dividing ratio (Pn212) is not
acceptable (out of fixed increments), or
exceeds the value for the connected, encoder
resolution.
N/A
Alarm Name
Dividing Ratio
Setting Error
Encoder Model
Unmatched
Current
Detection Error
Servomotor
Disconnection
Alarm
Servo
Alarm
ALO1 ALO2 ALO3 (ALM
Output)
Alarm
Reset
N/A
H
H
N/A
Available
Available
Warning Name
Excessive Position Error
Warning
Meaning
The position errors exceed the setting in
Pn51E.
A.0A
10-22
Alarm Name
Dividing
Ratio Setting
Error
Encoder
Model
Unmatched
Situation at Alarm
Occurrence
Occurred when the
control power supply was turned
ON.
Cause
The setting of dividing ratio
(Pn212) is not acceptable (out of
fixed increments), or exceeds the
value for the connected encoder
resolution.
The SERVOPACK EEPROM
and the related circuit are faulty.
The connected serial encoder is
not supported by SGDM SERVOPACK.
A SERVOPACK board fault
occurred.
Corrective Actions
Correct the setting of Pn212, and
turn OFF the control power and
turn it ON again.
(Contd)
Alarm
Display
A.b3
Situation at Alarm
Alarm Name
Occurrence
Current
Occurred when the
Detection
control power supError
ply was turned
ON.
Occurred when the
servo was ON.
Occurred during
normal operation.
A.F5
A.F6
Servomotor
Disconnection Alarm
The power is
not supplied
to the servomotor though
the SERVOPACK
received the
Servo ON
command.
Cause
Corrective Actions
Warning
Name
Excessive
Position Error
Warning:
Warning for
the alarm
A.d0
(In servo ON
status, the
position error
pulses exceed
the excessive
position error
warning level
set in the
parameter
Pn51E.)
Situation at
Warning
Occurrence
Occurred at the
servomotor highspeed rotation.
The servomotor
did not run with
position reference
input.
Normal movement, but occurred
with a long distance reference
input.
Cause
The contact in the servomotor U,
V, and W wirings is faulty.
A SERVOPACK board fault
occurred.
The contact in the servomotor U,
V, and W wirings is faulty.
A SERVOPACK board fault
occurred.
The SERVOPACK gain adjustment is improper.
The position reference pulse frequency is too high.
Corrective Actions
Correct the servomotor wiring.
Correct the encoder wiring.
Replace the SERVOPACK.
Correct the servomotor wiring.
Replace the SERVOPACK.
Increase the speed loop gain
(Pn100) and position loop gain
(Pn102).
Adjust slowly the position reference pulse frequency.
Apply the smoothing function
(Pn204 or Pn205).
Correct the electronic gear ratio
(Pn202, Pn203).
Set the parameter Pn51E to proper
value.
Reconsider and correct the load
and servomotor capacity.
10-23
10
11
Inspection, Maintenance, and
Troubleshooting
11
11-1
11.1 Troubleshooting
11.1.1 Alarm Display Table
The relation between alarm displays and alarm code outputs is shown in Table 11.1.
If an alarm occurs, the servomotor can be stopped by doing either of the following operations.
DB STOP: Stops the servomotor immediately using the dynamic brake.
COAST TO A STOP: Stops naturally, with no brake, by using the friction resistance of the motor in operation.
Table 11.1 Alarm Displays and Outputs
Alarm Code Output
Alarm
Display
Alarm Name
Meaning
Alarm
Reset
Servo
Alarm
(ALM)
Output
A.05
Combination Error
Available
A.04
N/A
A.03
ALO3
Parameter Breakdown
ALO2
A.02
ALO1
A.09
A.0A
A.10
A.30
A.32
Regenerative Overload
A.33
A.40
Overvoltage *2
A.41
Undervoltage *2
A.51
Overspeed
11-2
N/A
Available
N/A
N/A
N/A
N/A
Available
Available
Available
Available
Available
Available
11.1 Troubleshooting
Alarm Name
A.71
A.72
A.73
A.74
A.7A
A.81
A.82
A.83
A.84
A.85
Encoder Overspeed
A.86
Encoder Overheated
A.b1
A.b2
A.b3
A.bF
System Alarm
A.C1
A.C8
A.C9
A.CA
A.Cb
A.CC
A.d0
A.F1
Meaning
Alarm
Reset
Servo
Alarm
(ALM)
Output
ALO1
ALO2
ALO3
Available
Available
Available
Available
Available
Available
Available
N/A
N/A
Available
N/A
N/A
N/A
Available
Available
Available
N/A
Available
N/A
N/A
N/A
N/A
N/A
11-3
11
A.F5
A.F6
Alarm Name
Not an error
Meaning
* 1. Occurred when only the software version number is later than 32.
* 2. The alarm meaning differs depending on the SERVOPACK capacity.
For the SERVOPACK with a capacity of 5.0 kW or lower:
A.40: Overvoltage detection alarm
A.41: Undervoltage detection alarm
For the SERVOPACK with a capacity of 6.0 kW or higher:
A.40: Alarm detecting excessively high/low voltage in the main circuit
A.41: Not used
11-4
Alarm
Reset
ALO1
ALO2
ALO3
Available
Servo
Alarm
(ALM)
Output
N/A
Not decided
N/A
11.1 Troubleshooting
Warning Name
A.90
A.91
Overload
A.92
Regenerative Overload
A.93
Meaning
The position errors exceed the setting in Pn51E.
This warning occurs before the overload alarms (A.71 or
A.72) occur. If the warning is ignored and operation continues, an overload alarm may occur.
This warning occurs before the regenerative overload
alarm (A.32) occurs. If the warning is ignored and operation continues, a regenerative overload alarm may occur.
This warning occurs when the absolute encoder battery
voltage is lowered. If the warning is ignored and operation
continues, an overload alarm may occur.
* Occurred when only the software version number is later than 32.
Note: Warning code is not output without setting Pn001 = n.1
(Outputs both Alarm Codes and Warning
Codes.)
11
11-5
Alarm Name
Situation at Alarm
Occurrence
Cause
Corrective Actions
A.03
Main Circuit
Encoder Error
(Not detected for
the SERVOPACK with the
capacity of 6.0
kW or more)
A.04
Parameter
Setting Error
(The parameter
setting was out
of the allowable
setting range.)
A.05
A.09
A.0A
11-6
Combination
Error
(The SERVOPACK and servomotor
capacities do not
correspond.)
Dividing Ratio
Setting Error
Encoder Model
Unmatched
A.02
Parameter
Breakdown
(The EEPROM
data storing the
parameter is
incorrect.)
Correct the power supply, and set Fn005 to initialize the parameter.
The setting of dividing ratio (Pn212) is not acceptable (out of fixed increments), or exceeds the value
for the connected encoder resolution.
11.1 Troubleshooting
Alarm Name
Situation at Alarm
Occurrence
Occurred when the
control power supply was turned ON.
Cause
The overload alarm has been reset by turning OFF
the power too many times.
The connection is faulty between the SERVOPACK
board and the thermostat switch.
Corrective Actions
Change the method to reset the alarm.
A.10
Overcurrent
(An overcurrent
flowed through
the IGBT) or
Heat Sink Overheated
A.30
The jumper between B2 and B3 is removed for a servomotor of 500 W or more, and 5.0 kW or less.
Regeneration
Error Detected
(Detected when
the power to the
main circuit was
turned ON.)
A SERVOPACK fault, such as regenerative transistor and voltage sensor fault, occurred.
11-7
11
Alarm Name
Situation at Alarm
Occurrence
Cause
Corrective Actions
Regenerative
Overload
(Detected when
the power to the
main circuit is
turned ON.)
A.33
A.40
Main Circuit
Wiring Error
(Detected when
the power to the
main circuit is
turned ON.)
Overvoltage1
(Detected when
the
SERVOPACKs
main circuit DC
voltage is 420 V
or more.)
(Detected when
the power to the
main circuit is
turned ON.)
Occurred during
normal operation
(small increase of
regenerative resistor
temperature).
A.32
Occurred during
normal operation
(large increase of
regenerative resistor
temperature).
1 and
terminals.
Occurred during
normal operation.
Set Pn600 to 0.
11-8
11.1 Troubleshooting
Alarm Name
Situation at Alarm
Occurrence
Occurred when the
control power supply was turned ON.
A.41
Undervoltage1
(Detected when
the
SERVOPACKs
main circuit DC
voltage is 170 V
or less.)
(Detected when
the power to the
main circuit is
turned ON.)
Cause
Corrective Actions
Replace the SERVOPACK. Check the power supply voltage, and reduce the number of times that
the main circuit is turned ON or OFF.)
A.51
Overspeed
(Detected when
the feedback
speed is the maximum motor
speed 1.2 or
more for the
SGMGH servomotor, and 1.1
or more for the
other servomotors.)
Occurred when
servo was ON.
A.71
A.72
11-9
11
Alarm Name
Situation at Alarm
Occurrence
Cause
Corrective Actions
A.73
Dynamic Brake
Overload
A.81
A.82
11-10
Encoder
Backup Error
(Detected on the
encoder side.)
(Only when an
absolute encoder
is connected.)
Encoder
Checksum
Error
(Detected on the
encoder side.)
Occurred during
operations other
than the turning
ON/OFF of the
main circuit.
Occurred at the
main circuit power
supply ON/OFF
operation.
A SERVOPACK board fault occurred when an absolute encoder is used with the setting for incremental
encoder.
A.7A
Heat Sink
Overheated
(Detected when
the heat sink
temperature
exceeds 100
C.)
A.74
Overload of
Surge Current
Limit Resistor
(Detected when
the number of
times that the
main circuits
power is turned
ON or OFF more
than 10 times/2
seconds.)
Set up the encoder. If this alarm occurs frequently, replace the servomotor.
Set up the encoder. If this alarm occurs frequently, replace the servomotor.
11.1 Troubleshooting
Alarm Name
Absolute
Encoder
Battery Error
(Detected when
the battery voltage is lower than
the specified
value 2 to 4 s
after the control
power supply is
turned ON.)
(Only when an
absolute encoder
is connected.)
Situation at Alarm
Occurrence
When the control
power supply was
turned ON.
(Setting:
Pn002.2=1)
Cause
Corrective Actions
When the absolute encoder was used as an incremental, a SERVOPACK board fault occurred.
A.84
A.85
A.86
Encoder Data
Error
(Detected on the
encoder side.)
Encoder Overspeed
(Detected when
the encoder
power supply
was turned ON.)
(Detected on the
encoder side.)
Encoder
Overheated
(Only when an
absolute encoder
is connected.)
(Detected on the
encoder side.)
Occurred during
normal operation.
Correct the wiring around the encoder by separating the encoder cable from the power line, or by
checking the grounding and other wiring.)
A.83
min-1
or more.
Occurred during
normal operation.
Occurred during
normal operation.
A.b2
A.b3
Reference
Torque Input
Read Error
(Detected when
the servo is ON.)
Occurred during
normal operation.
A.b1
Reference
Speed Input
Read Error
(Detected when
the Servo is ON.)
Occurred during
normal operation.
11
11-11
A.bF
A.C1
A.C8
Alarm Name
System Alarm
(Program error)
Software operation time
exceeded
Stack overflow
Micro program error
Servo Overrun
Detected
(Detected when
the servo is ON.)
Absolute
Encoder Clear
Error and Multiturn Limit Setting Error
Situation at Alarm
Occurrence
Occurred when the
control power supply was turned ON.
Cause
Corrective Actions
A program is incorrect.
Occurred during
normal operation.
Occurred when an
encoder alarm was
cleared and reset.
Noise interference occurred because the wiring distance for the encoder cable is too long.
Encoder
Communications Error
A.C9
A.CA
11-12
Encoder
Parameter
Error
11.1 Troubleshooting
Alarm Name
Situation at Alarm
Occurrence
Cause
The encoder wiring and contact are incorrect.
Noise interference occurred due to incorrect encoder
cable specifications.
Corrective Actions
Correct the encoder wiring.
Use tinned annealed copper twisted-pair or
twisted-pair shielded wire with a core of at least
0.12 mm2 (0.0002 in2).
Noise interference occurred because the wiring distance for the encoder cable is too long.
A.Cb
Multiturn Limit
Disagreement
A.CC
A.d0
Position Error
Pulse Overflow
(In servo ON status, the position
error pulses
exceed the overflow level set in
the parameter
Pn505.)
Normal movement,
but occurred with a
long distance reference input.
A.F1
Power Line
Open Phase
(In the main
power supply
ON status, the
voltage stays low
for 1 second or
more at one of
the phases R, S,
and T.)
(Detected when
the main circuit
power supply
turns ON.)
11
11-13
A.F5
A.F6
CPF00
Alarm Name
Servomotor
Disconnection
Alarm
The power is not
supplied to the
servomotor
though the SERVOPACK
received the
Servo ON command.
Digital Operator Transmission Error 1 2
Digital Opera-
sion Error 2 3
Situation at Alarm
Occurrence
Occurred when the
control power supply was turned ON.
Cause
Corrective Actions
11-14
11.1 Troubleshooting
Warning Name
Situation at Warning
Occurrence
Cause
Corrective Actions
A.90
A.91
Overload:
Warning for the
alarms A71 and
A72
In either of the following cases:
1. 20% of the overload detection level
of A71
2. 20% of the overload detection level
of A72.
Reconsider the load and operation conditions. Or, check the servomotor capacity.
A.92
Regenerative
Overload:
Warning for the
alarm A320
11-15
11
A.93
11-16
Warning Name
Absolute Encoder
Battery Warning
(The battery voltage
stays below the
specified value 4
seconds after the
control power supply was turned ON.)
(Only when an
absolute encoder is
connected.)
Situation at Warning
Occurrence
Cause
A SERVOPACK board fault occurred. (The absolute encoder is used in the incremental encoder
setting.)
Occurred 4 seconds or
more after the control
power supply was
turned ON
(Setting: Pn002.2=0).
When an absolute
encoder was used.
Corrective Actions
11.1 Troubleshooting
Cause
Inspection
Corrective Actions
Overloaded
Check V-REF and SG to confirm if the control method and the input are agreed.
Check V-REF and SG to confirm if the control method and the input are agreed.
Servomotor
Suddenly
Stops during
Operation
and will Not
Restart
Servomotor
Speed Unstable
Servomotor
Does Not
Start
Servomotor
Moves Instantaneously, and then
Stops
11
11-17
Cause
Inspection
Corrective Actions
Servomotor
Rotates Without Reference Input
Check V-REF and SG to confirm if the control method and the input are agreed.
Check V-REF and SG to confirm if the control method and the input are agreed.
DB (dynamic
brake) Does
Not Operate
DB resistor disconnected
Defective bearings
Abnormal
Noise from
Servomotor
Encoder fault
11-18
11.1 Troubleshooting
Cause
Inspection
Corrective Actions
High
Rotation
Speed
Overshoot on
Starting and
Stopping.
Servomotor
Vibrates at
about 200 to
400 Hz
Absolute
Encoder
Position
Difference
Error
(The position
saved in host
controller
when the
power turned
OFF is different from the
position when
the power
turned ON.)
Encoder fault
SERVOPACK fault
11
11-19
Inspection
Cause
Corrective Actions
The overtravel signal does not operate normally (P-OT or N-OT signal
sometimes changes).
Overtravel
(OT)
(Movement
over the zone
specified by
the host controller)
The distance to the position of OT (overtravel) is too short considering the coasting
distance.
Encoder fault
SERVOPACK fault
Position error
(without
alarm)
Check if a position error occurs at the coupling between machine and servomotor.
The input signal cable distance must be within the specified range.
Servomotor
Overheated
11-20
Check visually.
Overloaded
IMPORTANT
During inspection and maintenance, do not disassemble the servomotor. If disassembly of the servomotor is
required, contact your Yaskawa representative.
Table 11.6 Servomotor Inspections
Item
Vibration and Noise
Exterior
Insulation Resistance
Measurement
Replacing Oil Seal
Overhaul
Frequency
Daily
According to degree
of contamination
At least once a year
Procedure
Touch and listen.
Clean with cloth or compressed
air.
Disconnect SERVOPACK and
test insulation resistance
at 500 V. Must exceed 10 M .
Contact your Yaskawa representative.
Contact your Yaskawa representative.
Comments
Levels higher than normal?
* Measure across the servomotor FG and the phase-U, phase-V, or phase-W power line.
Frequency
At least once a year
Procedure
Comments
11
11-21
11-22
Standard Replacement
Period
4 to 5 years
7 to 8 years
10 years
5 years
Operating Conditions
Ambient Temperature: Annual average of 30C
Load Factor: 80% max.
Operation Rate: 20 hours/day max.
12
Appendix
12-14
12-15
12-16
12-17
12-18
12-19
12-20
12-21
12-22
12-23
12
12-1
12 Appendix
12.1.1 Selection Example for Speed Control
Servomotor
Coupling
Ball screw
Load speed: V = 15 m/min
Linear motion section mass: M = 500 kg
Ball screw length: LB = 1.4 m
= 0.275 m
Coupling mass: MC = 1 kg
Coupling outer diameter: DC = 0.06 m
15
Speed
(m/min) a
t
60
60
t = n = 40 = 1.5 (s)
where ta = td
tc
Time (s)
td
ta = tm
1.2
t
60
V
= 1.2
60 0.275
= 0.1 (s)
15
Motor shaft rotation speed with the direct coupling: Gear ratio 1/R = 1/1
Therefore,
R = 1500 1 = 1500 (min-1 )
NM = N
9.8 M PB
9.8 0.2 500 0.01
=
= 1.73 (N m)
2 1 0.9
2R
P
( 2R )
B
= 500
0.01
( 2 1 )
Ball screw
JB = LB D B4 = 7.87 10-3 1.4 (0.04)4 = 27.7 10-4 (kg m 2 )
32
32
Coupling
JC = 1 MC DC2 = 1 1 (0.06)2 = 4.5 10-4 (kg m2)
8
8
12-2
2NM TL
2 1500 1.73
=
= 272 (W)
60
60
( 2 N )
60
JL
2
=
1500
ta
60
44.9 10-4
= 1108 (W)
0.1
2N M (J M + J L )
2 1500 (13.9 + 44.9) 10 4
+ TL =
+ 1.73
60ta
60 0.1
2N M (J M+ J L )
2 1500 (13.9 + 44.9) 10 4
TL =
1.73
60td
60 0.1
Torque efficiency
T rms =
ta + TL
tc + T S
td
12
12-3
12 Appendix
12.1.2 Selection Example for Position Control
(9) Result
The provisionally selected servomotor and SERVOPACK are confirmed to be applicable.
The torque diagram is shown below.
(N m)
Torque
Speed
11
1.73
0
-7.5
0.1
0.1
1.0
1.5
Linear motion
1
Coupling
Ball screw
15
Speed
(m/min)
td ts
tc
1.2
t
ta
60
60
t = ----- = ----- = 1.5 ( s )
n
40
Reference
pulse
Load
speed
Motor shaft rotation speed with direct coupling: Gear ratio 1/R = 1/1
Therefore,
NM = N
12-4
9.8 M PB
9.8 0.2 80 0.005
=
= 0.139 (N m)
2 1 0.9
2R
P
( 2R )
B
= 80
0.005
( 2 1 )
Ball screw
JB = LB DB4 = 7.87 103 0.8 (0.016)4 = 0.405 10-4 (kg m2)
32
32
Coupling
JC = 1 MC DC4 = 1 0.3 (0.03)2 = 0.338 10-4 (kg m2)
8
8
PO =
( 2 N )
60
M
JL
2
=
3000
ta
60
1.25 10 -4
= 123.4 (W)
0.1
12
12-5
12 Appendix
12.1.2 Selection Example for Position Control
2N M (J M + J L )
2 3000 (0.209 + 1.25) 104
+ TL =
+ 0.139
60ta
60 0.1
2N M (J M+ J L )
2 3000 (0.209 + 1.25) 10 4
TL =
0.139
60ta
60 0.1
Effective torque
T rms =
ta + TL
tc + T S
td
The above confirms that the provisionally selected servomotor and SERVOPACK capacities are sufficient. In the
next step, their performance in position control are checked.
B
(9) PG Feedback Pulse Dividing Ratio: Setting of Electronic Gear Ratio ( A )
As the electrical stop accuracy = 0.01mm, take the position detection unit = 0.01mm/pulse.
5
PB
B
B
( A ) = 0.01 ( A ) = 2048 4
B
k = A = 2048 4
500
(SERVOPACK NM
control range)
NR
833
5000 3000
3000
The above results confirm that the selected SERVOPACK and servomotor are applicable for the position control.
12-6
Applicable
SERVOPACK Model
SGDM-
100 V
A3BD, A3BDA
A5BD to 02BD
A5BDA to 02BDA
200 V
A3AD to A5AD
A3ADA to A5ADA
01AD to 04AD
01ADA to 04ADA
Regenerative
Energy that Can
be Processed
(joules)
7.8
15.7
Remarks
18.5
Value when main circuit input voltage is 200 VAC
37.1
Calculate the rotational energy Es in the servomotor from the following equation:
ES = J (NM)2/182 (joules)
J = J M + JL
JM: Servomotor rotor moment of inertia (kgm2)
JL: Load converted to shaft moment of inertia (kgm2)
NM: Rotation speed used by servomotor (min-1)
12
12-7
12 Appendix
12.1.3 Calculating the Required Capacity of Regenerative Resistors
200 V
Series
Capacity
Symbol
SGMGHA A
SGMGHA B
SGMSH
SGMDH
32
40
44
50
11
20
29
8
11
22
Regeneration mode
Servomotor-generated torque
Maximum torque
t
Maximum torque
T
(Operating cycle)
Use the following equation to calculate the allowable frequency for regeneration mode operation.
Allowable frequency for Servomotor only
Allowable frequency =
(1 + n)
n = JL/JM
JM: Servomotor rotor moment of inertia (kgm2)
JL: Load converted to shaft moment of inertia (kgm2)
12-8
(times/min)
Series
Capacity
Symbol
SGMGHSGMGH-
200 V
1A
1E
26
44
A A
A B
75
36
36
32
0
tD
TL: Load torque
Motor torque
0
Regenerative
torque
12
12-9
12 Appendix
12.1.3 Calculating the Required Capacity of Regenerative Resistors
Item
Calculate the rotational energy of the servomotor.
Calculate the energy consumed by load loss
during the deceleration period.
Symbol
Equation
ES
ES = JNM2/182
EL
EL = (/60) NMTLtD
EM
EC
EK
EK = ES (EL+EM+EC)
WK
WK = EK/ (0.2 T)
5
6
Note: 1. The 0.2 in the equation for calculating WK is the value for when the regenerative resistors
utilized load ratio is 20%.
2. The units for the various symbols are as follows:
ES to EK: Energy joules (J)
TL: Load torque (Nm)
WK: Regenerative resistor required capacity (W)
tD: Deceleration stopping time (s)
J: (= JM + JL)(kgm2)
T: Servomotor repeat operation period (s)
NM: Servomotor rotation speed (min-1)
If the above calculation determines that the amount of regenerative power (Wk) processed by the built-in
resistor is not exceeded, then an external regenerative resistor is not required.
If the amount of regenerative power that can be processed by the built-in resistor is exceeded, then install an
external regenerative resistor for the capacity obtained from the above calculation.
If the energy consumed by load loss (in step 2 above) is unknown, then perform the calculation using EL = 0.
When the operation period in regeneration mode is continuous, add the following items to the above calculation procedure in order to find the required capacity (W) for the regenerative resistor.
Energy for continuous regeneration mode operation period: EG (joules)
Energy consumed by regenerative resistor: EK = ES - (EL + EM + EC) + EG
Required capacity of regenerative resistor: WK = EK/ (0.2 T)
Here, EG = (2/60) NMGTGtG
tG: Same operation period (s) as above
TG: Servomotors generated torque (Nm) in continuous regeneration mode operation period
NMG: Servomotor rotation speed (min-1) for same operation period as above
12-10
SGMPH Servomotors
Model: SGMAH-
200
01B
02B
180
Model: SGMPH-
160
140
160
02B
01B
120
140
Loss
120
(W)
100
A5B
80
A3B
Loss 100
(W)
80
60
60
40
40
20
20
0
0
100
200
300
100
200
300
Torque (%)
Torque (%)
200-V Servomotors
SGMAH Servomotors
SGMPH Servomotors
Model: SGMAH-
300
04A
08A
250
Loss 200
(W)
Model: SGMPH-
300
15A
08A
250
01A,02A
Loss 200
(W)
04A
150
150
01A
A5A
100
100
A3A
02A
50
50
0
100
200
Torque (%)
300
100
200
300
Torque (%)
12
12-11
12 Appendix
12.1.3 Calculating the Required Capacity of Regenerative Resistors
Model: SGMGH-
2800
05A
09A
13A
20A
30A
44A
1AA
75A
55A
1EA
2600
2400
2200
2000
1800
1600
Loss
1400
(W)
1200
Model: SGMGH-
2000
55A B
A
A
A
A
A
A
A
A
A
A
1800
40A B
1600
1400
1200
Loss
1000
(W)
800
1000
30A B
20A B
09A B
06A B
800
600
600
400
12A B
200
03A B
400
200
0
100
200
300
SGMDH Servomotors
Model: SGMSH-
1400
1200
Loss 800
(W)
600
15A
10A
400
40A
32A
22A
1000
Loss 800
(W)
600
Model: SGMDH-
1400
1200
50A
40A
30A
20A
1000
400
200
200
100
200
Torque (%)
12-12
300
Torque (%)
SGMSH Servomotors
200
100
Torque (%)
300
100
200
Torque (%)
300
360
18
16
A5BD to 02BD
A5BDA to 02BDA
14
12
10
A3BD, A3BDA
8
6
4
2
0
90
100
110
120
AC Input Power Supply Voltage (Vrms)
200-V SERVOPACKs
100
80
60
600
40
20
0
Model: SGDM-
700
120
1EADA
1AADA
500
75ADA
60ADA
400
50ADA
300
200
100
180
200
220
240
AC Input Power Supply Voltage (Vrms)
260
180
200
220
240
260
12
12-13
12 Appendix
12.2.1 Example of Connection to MP920 4-axes Analog Module SVA-01
SGDM SERVOPACK
NREF
SG
PA
PAL
PB
PBL
PC
PCL
SG
+24V OUT
V-REF
SG
PAO
/PAO
PBO
/PBO
PCO
/PCO
SG
CN1
5
2
33
34
35
36
19
20
6
+24V-IN 47
34
31
30
12
13
14
SVON
ALMRST
PCON
OTR
OTF
32
/S-ON
DOSEN
/ALM-RST 44
/P-CON 41
N-OT 43
P-OT 42
0V
20
19
28
29
SEN
SG
0V
0V
SEN
SG
/S-RDY+
4
10
30
17
10
35
18
22
21
SVALM
0V
SVRDY
BRK
BAT
0BAT
ALM+
ALM/S-RDY+
/TGON+
BAT(+)
BAT(-)
31
32
29
27
21
22
12-14
U
V
W
40
11
FG
L1C
L2C
L1
L2
L3
CN2
A(1)
B (2)
C(3)
D (4)
PG
SGDM SERVOPACK
CN
17
22
47
23
CN1
+24V
DO0
DO1
DO2
48
24
19
DO3
DO4
DI2
43
DI1
18
DI0
44
45
DI3
0 24 V
1
26
3
4
7
8
10
11
12
13
14
15
9
SENS
SENSG
IN-A
0V
TLIMP
TLIMPG
PA
PAL
PB
PBL
PC
PCL
PG0V
+24V-IN
/S-ON
/P-CON
N-OT
P-OT
/ALM-RST
/TGON+
/TGON/V-CMP+
/V-CMP/S-RDY+
/S-RDYALM+
ALMBAT(+)
BAT(-)
SEN
SG
V-REF
SG
T-REF
SG
PAO
/PAO
PBO
/PBO
PCO
/PCO
SG
47
40
41
43
42
44
27
28
25
26
29
30
31
32
21
22
4
2
5
6
9
10
33
34
35
36
19
20
1
L1C
L2C
L1
L2
L3
U
V
W
CN2
A(1)
B (2)
C(3)
D (4)
PG
Connector shell
12
12-15
12 Appendix
12.2.3 Example of Connection to MEMOCON GL120/130 Series Motion Module MC20
SGDM SERVOPACK
SV1
1
2
3
4
5
6
7
8
9
10
19
13
14
11
12
15
16
17
PA
/PA
PB
/PB
PC
/PC
VREF
SG
BAT
BAT0
+24V
SVON
PCON
SEN
0SEN
ALM-RST
ALM
ALM0
FG (Connector frame)
12-16
CN1
PAO
/PAO
PBO
/PBO
33
34
35
36
PCO
/PCO
V-REF
SG
19
20
5
6
BAT(+)
BAT(-)
+24VIN
/S-ON
/P-CON
SEN
SG
/ALM-RST
21
22
ALM+
ALM -
47
40
41
4
2
44
31
32
L1C
L2C
L1
L2
L3
Servomotor
U
V
W
CN2
A (1)
B (2)
C (3)
D (4)
PG
024V +24V
SGDM SERVOPACK
CN2
1
33
1Ry
SERVO
NORMAL
DECELERATION
LS
20
35
START
STOP
+12V
3
2
45
46
47
+5V
48
49
50
0V
10
11
12
CN2
24
23
22
21
38
5
6
CN1
16
17
18
19
14
15
1
2
3
20
CN2
36
PULSE
/PULSE
SIGN
/SIGN
CLR
/CLR
0V
PULSE
/PULSE
SIGN
/SIGN
CLR
/CLR
SG
CN1
7
8
11
12
15
14
2
Connector shell 3
PA
/PA
PB
/PB
PC
/PC
0V
0V
0V
FG
ERROR 2Ry
PAO
/PAO
PBO
/PBO
PCO
/PCO
SG
33
34
35
36
19
20
L1C
L2C
L1
L2
L3
U
V
W
Servomotor
A(1)
B(2) M
C(3)
D(4)
PG
CN2
CN1
47
024V +24V
+24VIN
43
+12V
/S-ON
P-OT 3Ry
N-OT 4Ry
31
ALM+
32
ALM -
40
42
1Ry 1
* 1. The ALM signal is output for approximately two seconds when the power is turned ON. Take this into consideration when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to
stop main circuit power supply to the SERVOPACK.
* 2. Set parameter Pn200.0 to 1.
* 3. Connect the shield wire to the connector shell.
* 4.
12
12-17
12 Appendix
12.2.5 Example of Connection to OMRONs Motion Control Unit
SGDM SERVOPACK
24 VDC
CN1
ALM+ 31
/S-ON 40
/ALM-RST 44
SG 1
2
2
SEN 1
4
1
SG
PAO 33
/PAO 34
/PBO 36
PBO 35
PCO 19
/PCO 20
5
V-REF
SG
6
FG
+24-IN
ALM-
24 V output 19
24 V output ground 20
I/O connector
24 V input 1
X-axis CW limit input 2
X-axis CCW limit input 4
X-axis immediate stop input 6
X-axis origin proximity input 10
24 V input ground 14
L1C
L2C
L1
L2
L3
Control
power supply
Main circuit
power supply
Servomotor
U
V
W
A(1)
B(2)
C(3)
D(4)
CN2
PG
Shell
47
32
24 VDC
Battery 1
BAT(+) 1
BAT(-) 1
2.8 to 4.5 VDC
21
22
Note: 1. Only signals applicable to OMRONs MC unit and Yaskawas SGDM SERVOPACK are shown in the
diagram.
2. The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example.
The power supply and wiring must be in accordance with the power supply specifications of the
SERVOPACK to be used.
3. Note that incorrect signal connection will cause damage to the MC unit and SERVOPACK.
4. Open the signal lines not to be used.
5. The above connection diagram shows only X-axis connection. When using another axes, make connection
to the SERVOPACK in the same way.
6. The normally closed (N.C.) input terminals not to be used at the motion control unit I/O connector section
must be short-circuited at the connector.
7. Make the setting so that the servo can be turned ON/OFF by the /S-ON signal.
12-18
+24V +
-
A4
A3
+24 V
0 24
SGDM SERVOPACK
5 VDC
A5
A6
A7
A8
2
4
A1
A2
1Ry
X-axis external interrupt input
X-axis origin proximity input
X-axis CCW limit input
X-axis CW limit input
X-axis immediate stop input
A19
A21
A23
A22
A20
CN1
PULS
7
/PULS
8
SIGN 11
/SIGN 12
CLR 15
/CLR 14
PCO 19
/PCO 20
COIN+ 25
/COIN- 26
+24V-IN
/S-ON
P-OT
N-OT
/ALM-RST
1
ALM+
ALM-
47
40
42
43
44
31
32
L1C
L2C
L1
L2
L3
Control
power supply
Main circuit
power supply
Servomotor
U
V
W
CN2
A(1)
B(2)
C(3)
D(4)
PG
Connector
shell 3
* 1. The ALM signal is output for about two seconds after the power is turned ON. Take this into consideration
when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop the
main circuit power supply to the SERVOPACK.
* 2. Set parameter Pn200.0 to 1.
* 3. Connect the shield wire to the connector shell.
* 4.
Note: Only signals applicable to OMRONs MC unit (positioning unit) and Yaskawas SGDM SERVOPACK are
shown in the diagram.
12
12-19
12 Appendix
12.2.7 Example of Connection to OMRONs Position Control Unit C500-NC221 (SERVOPACK in Speed Control Mode)
ON when
positioning
is canceled.
ON when
proximity
is detected.
3(19)
9(25)
8(24)
7(23)
6(22)
5(21)
4(20)
16(14)
15(13)
1(17)
Servomotor
CN1
ALM+ 31
ALM - 32
A(1)
B (2)
C(3)
U
V
W
D (4)
PG
CN2
+24VIN 47
11
12
L1C
L2C
L1
L2
L3
+24V
024V
1Ry 1
+24V
OUT-1X
X-OUT
X-AG
X-A
X-/A
X-B
X-/B
X-C
X-/C
0V
/S-ON 40
V-REF(T-REF) 5(9)
SG 6(10)
3
PAO
/PAO
PBO
/PBO
PCO
/PCO
SG
33
34
35
36
19
20
1
42 P-OT
3Ry
43 N-OT
024V
4Ry
Connector 2
shell
* 1. The ALM signal is output for approximately two seconds when the power is turned ON. Take this into consideration when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to
stop main circuit power supply to the SERVOPACK.
* 2. Connect the I/O cables shield wire to the connector shell.
* 3.
Note: Only signals applicable to OMRONs C500-NC221 position control unit and Yaskawas SGDM
SERVOPACK are shown in the diagram.
12-20
Position control
unit C500-NC112
manufactured by
OMRON
1A
1B
2A
CW LIMIT
2B
CCW LIMIT
3A
EMERGENCY STOP
3B
EXTERNAL INTERRUPT
4A
ORIGIN
012V
Servomotor
+12V
4Ry
Encoder signal
conversion unit
3Ry
5A
5B
8A
+5V 8B
9A
PULSE OUTPUT 9B
10A
10B
READY
LRX-01/A2
10 PCO 19
12V 0V
ORIGIN PROXIMITY 4B
LOCAL
L1C
L2C
L1
L2
L3
1Ry
+24V
7 1Ry
U
V
W
A(1)
B (2)
C(3)
D (4)
9 /PCO 20
CN2
PG
ALM+ 31
ALM - 32
+5 V
PULSE
/PULSE
SIGN
/SIGN
CLR
/CLR
7
8
11
12
15
14
47 +24VIN
40 /S-ON
+24V
42 P-OT 3Ry
43 N-OT 4Ry
External
power supply
+24V
012V
* 1. The ALM signal is output for approximately two seconds when the power is turned ON. Take this into consideration when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to
stop main circuit power supply to the SERVOPACK.
* 2. Set parameter Pn200.0 to 1.
* 3. Manufactured by Yaskawa Controls Co., Ltd.
Note: Only signals applicable to OMRONs C500-NC112 position control unit and Yaskawas SGDM
SERVOPACK are shown in the diagram.
12
12-21
12 Appendix
12.2.9 Example of Connection to MITSUBISHIs AD72 Positioning Unit (SERVOPACK in Speed Control Mode)
+24 V
ON when
positioning is
canceled.
ON when
proximity is
detected.
STOP
DOG
+24V-IN
/S-ON
SV-ON
1Ry
Speed reference
ENCO
4
5
7
8
10
11
3
6
9
CN1
47
40
1Ry 1
ALM+
READY
L1C
L2C
L1
L2
L3
0 24 V
ALMV-REF (T-REF)
SG
4
PULSE A
PULSE B
PULSE C
0V
0V
0V
PBO
/PBO
PAO
/PAO
PCO
/PCO
SG
31
32
5(9)
6(10)
35
36
33
34
19
20
1
Control
power supply
Main circuit
power supply
Servomotor
A(1)
B (2)
C(3)
U
V
W
D (4)
PG
CN2
CN1
42
P-OT
43
N-OT
024 V
Connector
3
shell
* 1. The ALM signal is output for about two seconds after the power is turned ON. Take this into consideration
when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop the
main circuit power supply to the SERVOPACK.
* 2. Pin numbers are the same both for X-axis and Y-axis.
* 3. Connect the connector wire to the connector shell.
* 4.
Note: Only signals applicable to Mitsubishis AD72 Positioning Unit and Yaskawas SGDM SERVOPACK are
shown in the diagram.
12-22
SGDM SERVOPACK
+24 V
0 24V
L1C
L2C
L1
L2
L3
X-axis (Y-axis)
26
7
READY
14
STOP
11
DOG
1Ry
ON when
positioning is
canceled.
ON when
proximity is
detected.
U
V
W
PCO
/PCO
1Ry
3
21
PULSE
4
22
SIGN
5
23
19
ALM+
31
7
8
CN1
SIGN
/SIGN
CLR
/CLR
11
12
15
14
47
40
42
43
A(1)
B(2)
C(3)
32
PULS
/PULS
PGO
Main circuit
power supply
Servomotor
CN1
ALM -
24
25
Control
power supply
20
D(4)
PG
CN2
CLEAR
2.2K
+24V
/S-ON
P-OT
N-OT
0 24V
* The ALM signal is output for about two seconds when the power is turned ON. Take this into consideration when
designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop the main circuit power supply to the SERVOPACK.
Note: Only signals applicable to Mitsubishis AD75 Positioning Unit and Yaskawas SGDM SERVOPACK are
shown in the diagram.
12
12-23
12 Appendix
12.3.1 Utility Functions List
Fn009
Fn00A
Fn00B
Fn00C
Fn00D
Fn00E
Fn00F
Fn010
Fn011
Fn012
Fn013
Function
Remarks
Reference
Section
7.2.2
9.2.4
8.1.1
7.2.3
7.2.4
7.2.5
9.2.7
8.4.5
8.5.3
8.7.3
8.5.3
8.7.3
Note: When the parameters marked with in remarks column are set for Write Prohibited Setting (Fn010), the
indication shown below appears and such parameters cannot be changed.
Blinks for
one second
12-24
7.2.6
7.2.7
7.2.8
7.2.9
7.2.10
8.4.8
IMPORTANT
1. Each digit of the function selection parameters is defined as shown below. The following explains the
purpose of each digit of a 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 digit of parameter Pn000.
Pn000.3 or n. : Indicates the value for the 4th digit of parameter Pn000.
1st digit
2nd digit
3rd digit
4th digit
Hexadecimal display
12
12-25
12 Appendix
12.3.2 List of Parameters
Parameter
No.
Pn000
Name
Setting Range
n.
Units
Factory
Setting
0000
Setting
Validation
After
restart
Reference
Section
Direction Selection
(Refer to "8.3.2 Switching the Servomotor Rotation Direction.")
0
Axis Address
0 to F Sets SERVOPACK axis address (Function supported by PC software SigmaWin 100/200).
Rotation Type/Linear Type Startup Selection (When the Encoder is not Connected)
0
1
12-26
Parameter
No.
Pn001
Name
Setting Range
Units
n.
Factory
Setting
0000
Setting
Validation
After
restart
Reference
Section
Stops the motor by applying dynamic brake (DB) and then releases DB.
Makes the motor coast to a stop state without using the dynamic brake (DB).
Sets the torque of Pn406 to the maximum value, decelerate the motor to a stop, and then sets it
to servolock state.
Sets the torque of Pn406 to the maximum value, decelerates the motor to a stop, and then sets it
to coasting state.
Applicable to main circuit DC power input: Input DC power supply between + 1 and
ALO1, ALO2, and ALO3 output both alarm codes and warning codes. While warning
codes are output, ALM signal output remains ON (normal state).
12
12-27
12 Appendix
12.3.2 List of Parameters
Parameter
No.
Pn002
Name
Setting Range
Units
Factory
Setting
0000
Setting
Validation
After
restart
Reference
Section
n.
Speed Control Option (T-REF Terminal Allocation)
0
N/A
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
* The parameter Pn111 setting is enabled only when the parameter Pn110.1 is set to 0.
12-28
Parameter
No.
Pn003
Name
Setting Range
Units
n.
Factory
Setting
0002
Setting
Validation
After
restart
Reference
Section
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Pn004
0000 to 1110
0000
Pn005
0000
Pn100
1 to 2000
1 Hz
40
Pn101
15 to 51200
0.01 ms
2000
Pn102
1 to 2000
1/s
40
Pn103
1%
Pn104
0 to 10000
(0 to 20000)*
1 to 2000
1 Hz
40
Pn105
15 to 51200
0.01 ms
2000
Pn106
1 to 2000
1/s
40
Pn107
Bias
0 to 450
1 min-1
Pn108
0 to 250
Pn109
Feed-forward
0 to 100
1 reference
unit
1%
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
9.3.4
9.3.5
9.3.3
9.2.6
9.3.3
9.4.9
9.4.9
9.4.9
9.4.6
9.4.6
9.4.1
12-29
12
12 Appendix
12.3.2 List of Parameters
Pn10B
Setting Range
Units
0 to 6400
0.01 ms
Factory
Setting
0
Parameter
No.
Pn10A
0000 to 2314
0000
Name
n.
Setting
Validation
Immediately
After
restart/
Immediately
Reference
Section
9.4.1
Setting
Validation
Immediately
Immediately
Immediately
Immediately
Immediately
PI control
Setting
Validation
After restart
IP control
After restart
After restart
Setting
Validation
After restart
After restart
After restart
After restart
Pn10C
0 to 800
1%
200
Pn10D
0 to 10000
1 min-1
Pn10E
0 to 3000
1 min-1/ s
Pn10F
0 to 10000
1 reference
unit
* Used only when the software version number is higher than 32.
12-30
Immediately
Immediately
Immediately
Immediately
9.4.5
9.4.5
9.4.5
9.4.5
Parameter
No.
Pn110
Name
Setting Range
Units
n.
Factory
Setting
0010
Setting
Validation
After
restart/
Immediately
Reference
Section
Always tunes.
Setting
Validation
After restart
Applicable
Setting
Validation
N/A
Immediately
Setting
Validation
Immediately
Pn111
Pn112
Pn113
Pn114
1 to 500
1%
100
100
1000
200
32
16
100
100
50
1000
Pn115
Pn116
Pn117
Pn118
Pn119
Pn11A
Pn11B
Pn11C
Pn11D
Pn11E
Pn11F
Pn120
Pn121
Pn122
Pn123
Pn124
1 to 10000
1 ms
100
Pn125
1 to 250
1 reference
unit
Immediately
9.4.8
Immediately
Immediately
10.3.5
50
70
100
100
0
0
50
0
0
10.3.5
12
* 1. The parameter Pn111 setting is enabled only when the parameter Pn110.1 is set to 0.
* 2. Used only when the software version number is later than 32.
12-31
12 Appendix
12.3.2 List of Parameters
Parameter
No.
Pn200
Name
Setting Range
3rd
digit
2nd
digit
Unit
Factory
Setting
0000
Setting
Validation
After
restart
Reference
Section
8.6.1
1st
digit
n.
Reference Pulse Form
0
Clear Operation
0
Does not clear error counter (Possible to clear error counter only with CLR signal).
Filter Selection
0
16 to 16384
1 P/rev
16384
Pn202
PG Dividing Ratio
(For 16-bit or less)
Electronic Gear Ratio (Numerator)
1 to 65535
Pn203
1 to 65535
Pn204
0 to 6400
0.01 ms
Pn205
0 to 65535
1 rev
65535
Pn206
16384
Pn201
After
restart
After
restart
After
restart
Immediately
After
restart
* This setting must be changed only for special applications. Changing this limit inappropriately or unintentionally
can be dangerous.
12-32
8.5.7
8.6.2
8.6.2
8.6.4
8.4.7
Parameter
No.
Pn207
Name
Setting Range
Unit
n.
Factory
Setting
0000
Setting
Validation
After
restart
Reference
Section
Acceleration/deceleration filter
Uses the parameter Pn212 (For 17-bit or more) as the dividing ratio.
Pn208
Pn212
Pn217
0.01 ms
16 to 1073741824
1 P/rev
2048
1 to 99
0000 to 0001
0000
Pn218
0 to 6400
n.
After
restart
After
restart
After
restart
Immediately
8.6.4
10.3.2
10.3.3
10.3.3
Enabled
Pn300
150 to 3000
0.01V
/ rated speed
600
Immediately
8.5.1
8.7.4
9.4.3
8.8.1
Pn301
0 to 10000
1 min-1
(0.1min-1) *2
100
Immediately
Pn302
0 to 10000
1 min-1
(0.1min-1) *2
200
Immediately
8.8.1
Pn303
0 to 10000
1 min-1
(0.1min-1) *2
300
Immediately
8.8.1
* 1. Used only when the software version number is later than 32.
* 2. Used a unit of 0.1 min-1 unit for direct-drive servomotors or for servomotors whose maximum speed is 500
12
min-1 or less.
12-33
12 Appendix
12.3.2 List of Parameters
Parameter
No.
Pn304
Setting Range
Unit
JOG Speed
0 to 10000
1 min-1
Factory
Setting
500
Pn305
0 to 10000
1 ms
Pn306
0 to 10000
1 ms
Pn307
0 to 65535
0.01 ms
40
Pn308
0 to 65535
0.01 ms
Pn309
0 to 500
1 min-1
60
Pn400
10 to 100
0.1 V/rated
torque
30 V
Pn401
0 to 65535
0.01 ms
100
Pn402
0 to 800
1%
800
Pn403
0 to 800
1%
800
Pn404
0 to 800
1%
100
Pn405
0 to 800
1%
100
Immediately
Pn406
0 to 800
1%
800
Pn407
0 to 10000
1 min-1
10000
Pn408
0000 to 0101
0000*2
Immediately
Immediately
Immediately
Name
n.
Setting
Validation
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Reference
Section
8.1.1
8.5.4
8.5.4
8.5.5
9.4.7
8.7.1
8.9.3
8.9.4
9.4.2
9.4.10
8.9.1
8.9.1
8.9.2
8.9.4
8.9.2
8.9.4
8.3.3
8.7.4
9.4.10
Pn409
50 to 2000
* 1. Used only when the software version number is later than 32.
* 2. The factory setting is 0001 for the models with 5 kW or more.
* 3. The factory setting is 1500 for the models with 5 kW or more.
12-34
1 Hz
2000*3
Immediately
9.4.10
Factory
Setting
70
(0.70)
2000
Parameter
No.
Pn40A
Pn40B
Pn40C
Pn500
Pn501
0 to 10000
1 min-1
10
Pn502
1 to 10000
1 min-1
20
Pn503
0 to 100
1 min-1
10
Pn504
1 to 250
Pn505
Overflow Level
1024
Pn506
0 to 50
1 reference
unit
256 reference unit
10 ms
Pn507
0 to 10000
1 min-1
100
Pn508
10 to 100
10 ms
50
20 to 1000 ms
1 ms
20
Pn509
Name
Setting Range
Unit
50 to 400
(0.50 to 4.00)
50 to 2000
0.01
50 to 400
(0.50 to 4.00)
0 to 250
0.01
1 to 32767
1 Hz
1 reference
unit
70
(0.70)
7
Setting
Validation
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Reference
Section
10.3.4
10.3.4
10.3.4
8.6.5
8.5.6
8.11.3
8.5.8
8.6.6
9.3.3
8.3.4
8.3.4
8.3.4
8.3.6
* Used only when the software version number is later than 32.
12
12-35
12 Appendix
12.3.2 List of Parameters
Parameter
No.
Pn50A
Setting Range
Unit
Factory
Setting
Name
2100
n.
Setting
Validation
After
restart
12-36
Reference
Section
* When Pn50A.0 is set to 0 for the input signal standard allocation mode, the following modes are compatible:
Pn50A.1 = 7, Pn50A.3 = 8, and Pn50B.0 = 8.
Parameter
No.
Pn50B
Name
Setting Range
Unit
n.
Factory
Setting
6543
Setting
Validation
After
restart
Reference
Section
INFO
Effective Level
Low (L) level
High (H) level
Voltage level
0V
24 V
Contact
Close
Open
12
12-37
12 Appendix
12.3.2 List of Parameters
Parameter
No.
Pn50C
Name
Setting Range
Unit
n.
Factory
Setting
8888
Setting
Validation
After
restart
12-38
F Same as /SPD-D
Reference
Section
Parameter
No.
Pn50D
Name
Setting Range
Unit
n.
Factory
Setting
8888
Setting
Validation
After
restart
Reference
Section
12
12-39
12 Appendix
12.3.2 List of Parameters
Parameter
No.
Pn50E
Name
Setting Range
n.
Unit
Factory
Setting
3211
Setting
Validation
After
restart
Reference
Section
0000
After
restart
Pn50F
n.
12-40
Parameter
No.
Pn510
Name
Setting Range
0000 to 0333
Unit
Factory
Setting
0000
Setting
Validation
After
restart
Reference
Section
n.
Pn511
8888
Pn512
0000
n.
Immediately
After
restart
7.3.3
* Used only when the software version number is later than 32.
12
12-41
12 Appendix
12.3.2 List of Parameters
Parameter
No.
Pn513
Name
Setting Range
0000 to 00FF
n.
Unit
Factory
Setting
0088
Setting
Validation
After
restart
Reference
Section
10.3.3
Pn51A
0 to 32767
1 reference
unit
Immediately
10.5.1
Pn51B
1 to 32767
100
Pn51C
0 to 10000
1 min-1
450
Pn51E
0 to 100
1%
Pn600
10 W
0W
Pn601
Depends on
SERVOPACK Capacity 3
Depends on
SERVOPACK Capacity 3
Immediately
Immediately
Immediately
Immediately
0W
Immediately
* 1. Used only when the software version number is later than 32.
* 2. Normally set to 0. When using an external regenerative resistor, set the allowable power loss (W) of the
regenerative resistor.
* 3. The upper limit is the maximum output capacity (W) of the SERVOPACK.
12-42
11.1.2
11.1.3
6.5
Content of Display
Unit
Un000
min-1
Un001
Un002
Un003
Un004
Un005
Un006
min-1
%
pulse
deg
Un007
Un008
Error counter value (amount of position error) (displayed only in position control mode)
Un009
Accumulated load rate (Value for the rated torque as 100%: Displays effective torque in 10 s
cycle.)
Un00A
Un00B
Un00C
Un00D
Regenerative load rate (Value for the processable regenerative power as 100%: Displays regenerative power consumption in 10 s cycle.)
Power consumed by DB resistance
(Value for the processable power when dynamic brake is applied as 100%: Displays DB power
consumption in 10 s cycle.)
Input reference pulse counter (hexadecimal code)
(displayed only in position control mode)
Feedback pulse counter (hexadecimal code)
min-1
reference
unit
%
%
%
12
12-43
12 Appendix
Factory
Setting
0000
0000
Pn002
0000
Pn003
0002
Pn004
Pn005
0000
0000
Pn100
Pn101
Pn102
Pn103
Pn104
Pn105
Pn106
Pn107
40 Hz
Pn108
Pn109
Pn10A
Pn10B
Pn10C
Pn10D
Pn10E
Pn10F
Pn110
Pn111
Pn112
Pn113
Pn114
Pn115
Pn116
Pn117
Pn118
Pn119
Pn11A
Pn11B
Pn11C
Pn11D
Pn11E
Pn11F
12-44
20.00 ms
40 /s
0%
40 Hz
20.00 ms
40 /s
0 min-1
7 reference
units
0%
0.00 ms
0000
200%
0 min-1
0 min-1/s
0 reference
units
0010
100%
100%
1000
200
32
16
100%
100%
50 /s
1000%
50 Hz
70 Hz
100%
100%
0 ms
Name
Function Selection Basic Switches
Function Selection Application
Switches 1
Function Selection Application
Switches 2
Function Selection Application
Switches 3
Reserved (Do not change)
Reserved (Do not change)
Setting
Validation
After restart
After restart
After restart
After restart
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Feed-forward
Feed-forward Filter Time Constant
Gain-related Application Switches
Mode Switch Torque Reference
Mode Switch Speed Reference
Immediately
Immediately
After restart
Immediately
Immediately
Immediately
Immediately
After restart
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Parameter
No.
Pn200
Factory
Setting
0 ms
50 Hz
0 Hz
0%
1 ms
1 reference
unit
0000
Pn201
16384 P/rev
Pn202
Pn203
Pn204
4
1
0.00 ms
Pn205
Pn206
Pn207
Pn208
65535 rev
16384 P/rev
0000
0.00 ms
Pn212
2048 P/rev
Pn217
Pn218
1
0000
Pn300
6.00 V/
rated speed
Pn301
100 min-1
Immediately
Pn302
Immediately
Immediately
JOG Speed
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Pn120
Pn121
Pn122
Pn123
Pn124
Pn125
200
min-1
Pn303
300
min-1
Pn304
500 min-1
0 ms
0 ms
0.40 ms
0.00 ms
Pn305
Pn306
Pn307
Pn308
Pn309
Pn400
60 min-1
3.0 V/
rated speed
1.00 ms
800%
800%
100%
100%
800%
Pn401
Pn402
Pn403
Pn404
Pn405
Pn406
Pn407
10000 min-1
Pn408
0000*1
Pn409
Pn40A
Hz*2
2000
70 (0.70)
Name
Setting
Validation
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
After restart
After restart
Immediately
After restart
After restart
After restart
Immediately
After restart
After restart
After restart
After restart
Immediately
Immediately
Immediately
Immediately
12-45
12
12 Appendix
Parameter
No.
Pn40B
Pn40C
Pn500
Factory
Setting
2000 Hz
70 (0.70)
7 reference
units
Pn501
10 min-1
Pn502
20
min-1
Pn503
10 min-1
Pn504
7 reference
units
1024
reference units
10 ms
Pn505
Pn506
Pn507
Pn508
100 min-1
500 ms
Pn509
Pn50A
Pn50B
Pn50C
Pn50D
Pn50E
Pn50F
Pn510
Pn511
Pn512
Pn513
Pn51A
20 ms
2100
6543
8888
8888
3211
0000
0000
8888
0000
0088
0
reference units
Pn51B
100
reference units
Pn51C
Pn51E
450 min-1
0%
Pn600
Pn601
0W
0W
* 1. The factory setting is 0001 for the models with 5 kW or more.
* 2. The factory setting is 1500 for the models with 5 kW or more.
12-46
Setting
Validation
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Overflow Level
Immediately
Immediately
Immediately
Immediately
After restart
After restart
After restart
After restart
After restart
After restart
After restart
Immediately
After restart
After restart
Immediately
Immediately
Immediately
Name
Immediately
Immediately
Immediately
Immediately
Immediately
Index
INDEX
A
absolute encoder battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-31
absolute encoder reception sequence- - - - - - - - - - - - - - - - - - - - 8-32
absolute encoder setup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30
absolute encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-27
adaptation to single-turn data absolute encoder - - - - - - - - 10-3, 10-16
additional functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3
adjusting offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-40
alarm code output - - - - - - - - - - - - - - - - - - - - - - - 8-77, 10-22, 11-2
alarm display and troubleshooting - - - - - - - - - - - - - - - - - - - - - 11-6
alarm display table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
alarm reset - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-77, 10-22, 11-2
alarm traceback data clear (Fn006) - - - - - - - - - - - - - - - - - - - - - 7-12
alarm traceback data display (Fn000) - - - - - - - - - - - - - - - - - - - - 7-9
alignment - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-45
allocating input signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-24
allocating output signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-26
allowable loads - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-48
ALM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
ALM-RST - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13, 7-3
ALO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
aluminum electrolytic capacitor replacement - - - - - - - - - - - - - 11-22
ambient/storage temperature - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
analog monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-28
analog monitor cable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-31
analog monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
analog voltage reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11
angular transmission error accuracy - - - - - - - - - - - - - - - - - - - - 3-51
attaching the ferrite core - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-23
automatic gain switching - - - - - - - - - - - - - - - - - - - - - - - 1-12, 10-3
automatic gain switching function - - - - - - - - - - - - - - - - - - - - 10-14
automatic gain switching timer - - - - - - - - - - - - - - - - - 10-15, 10-19
automatic gain switching width - - - - - - - - - - - - - - - - - 10-15, 10-19
automatic offset-signal adjustment of motor current detection signal
(Fn00E) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-13
autotuning functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3
average movement filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11
B
ball screw - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-52
base-mounted type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16
BAT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-31
absolute encoder battery - - - - - - - - - - - - - - - - - - - - - - - - - 5-66
belt and pulley- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-52
bias setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
BK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
brake power supply unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-61
brake power supply units
selection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-34
built-in open collector power supply - - - - - - - - - - - - - - - - - - - - - 4-4
C
cable selection
SGMAH and SGMPH servomotors - - - - - - - - - - - - - - - - - 2-18
D
DATA/ENTER key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
DATA/SHIFT key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
DC reactors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-78
selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-33
digital operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-31, 5-58
key names and functions - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
status display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-6
direct-drive motor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
dividing ratio - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-9
model designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13
disc table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-52
dividing ratio setting error - - - - - - - - - - - - - - - - - - - - - - - - - -10-22
DOWN key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
DSPL/SET key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
duct-ventilated type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16
dynamic brake - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
E
electronic gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
electronic gear ratio equation - - - - - - - - - - - - - - - - - - - - - - - - 8-52
EMC installation conditions - - - - - - - - - - - - - - - - - - - - - - - - - 6-22
encoder cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-40
encoder cables and connectors
SGMCS servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-46
encoder Connector (CN2) terminal layout - - - - - - - - - - - - - - - - - 6-8
Index-1
Index
F
feed forward compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
feed-forward reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-15
first stage notch filter frequency - - - - - - - - - - - - - - - - - - - - - - 10-14
first stage notch filter Q value - - - - - - - - - - - - - - - - - - 10-14, 10-19
flexible cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-53
wiring precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-53
forward rotation prohibited - - - - - - - - - - - - - - - - - - - - - - - - - - 8-20
frequency characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
fuse capacity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-32
fuse replacement - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-22
G
gain-related application switches - - - - - - - - - - - - - - - - - - - - - 10-19
ground noise - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-51
grounding - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-19
H
handling batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-29
handling oil and water- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-46
hot start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
I
I/O signal (CN1) names and functions - - - - - - - - - - - - - - - - - - - 6-13
I/O signal cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-30, 5-54
I/O signal connections- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
impact acceleration- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47
impact occurrences - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47
impact resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47, 3-50
improved functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-16
improvement of dividing output resolution - - - - - - - - - - - - - - - - 10-9
increase moment of inertia ratio range - - - - - - - - - - - - - - - - - - - 1-12
input circuit signal allocation - - - - - - - - - - - - - - - - - - - - - - - - - 7-22
input signal monitor display - - - - - - - - - - - - - - - - - - - - - - - - - - 7-28
input signal selections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-19
inspection and maintenance - - - - - - - - - - - - - - - - - - - - - - - - - 11-21
installation conditions of EMC directives - - - - - - - - - - - - - - - - - 6-22
instantaneous power loss settings - - - - - - - - - - - - - - - - - - - - - - 8-26
interface for reference input circuits - - - - - - - - - - - - - - - - - - - - 6-15
analog input circuit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15
position reference input circuit - - - - - - - - - - - - - - - - - - - - - 6-15
internal torque limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-69
L
LEFT key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
limiting torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-69
list of parameter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-24
list of utility function modes - - - - - - - - - - - - - - - - - - - - - - - - - - 7-8
load moment of inertia - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
load regulation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
lost motion - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-51
Index-2
M
machine rigidity setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8
magnetic contactor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-74
magnetic contactors
selection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-33
main circuit cables and connectors
SGMCS servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
main circuit wiring examples - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5
manual adjustment of the torque reference offset - - - - - - - - - - - 8-63
manual offset-adjustment of motor current detection signal
(Fn00F) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-14
manual tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-12
mating concentricity of the flange - - - - - - - - - - - - - - - - - - - - - 3-46
max. allowable input motor speed - - - - - - - - - - - - - - - - - - - - - 3-51
max. output current - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
mechanical tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-46
middle-capacity series SGMCS servomotors - - - - - - - - - - - - - - 3-43
mode switch (P/PI switching) - - - - - - - - - - - - - - - - - - - - - - - - 9-19
MODE/SET key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
model designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-5
molded-case circuit breaker - - - - - - - - - - - - - - - - - - - - - - - - - - 5-68
molded-case circuit breaker (MCCB) - - - - - - - - - - - - - - - - - - - 2-32
moment load - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-48
moment of inertia ratio - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-19
moment of inertia ratio setting range- - - - - - - - - - - - - - - 10-3, 10-16
monitor display
feedback pulse counter - - - - - - - - - - - - - - - - - - - - - - - - - - 7-30
reference pulse counter - - - - - - - - - - - - - - - - - - - - - - - - - - 7-30
monitor mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27
motor models display (Fn011) - - - - - - - - - - - - - - - - - - - - - - - - 7-16
multiturn limit setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-36
N
names and functions of main circuit terminals - - - - - - - - - - - - - - 6-2
N-CL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
NEAR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
noise data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-51
noise filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-69
noise filter for brake power supplies - - - - - - - - - - - - - - - - - - - - 6-20
noise filters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20
selection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-33
noise interference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18
north american safety standards - - - - - - - - - - - - - - - - - - - - - - - 1-10
N-OT- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-26
number of pulses - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-9
O
online autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5
machine rigidity setting - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8
saving the results - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10
operating using position control - - - - - - - - - - - - - - - - - - - - - - - 8-48
operating using speed control with an internally set speed - - - - - 8-66
operating using speed control with analog reference - - - - - - - - - 8-38
operating using torque control - - - - - - - - - - - - - - - - - - - - - - - - 8-61
operation in monitor mode - - - - - - - - - - - - - - - - - - - - - - - - - - 7-29
output circuit interface - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-16
line driver output circuit - - - - - - - - - - - - - - - - - - - - - - - - - 6-16
open-collector output circuit - - - - - - - - - - - - - - - - - - - - - - 6-17
photocoupler output circuit - - - - - - - - - - - - - - - - - - - - - - - 6-17
Index
P
panel operator
key names and functions - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
status display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-6
PAO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
PAO serial data specifications - - - - - - - - - - - - - - - - - - - - - - - - 8-33
parameter setting mode- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-18
parameter settings initialization (Fn005) - - - - - - - - - - - - - - - - - 7-11
parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-19, 7-21
example of changing function selection- - - - - - - - - - - - - - - 7-21
password setting (protects parameters from being changed)
(Fn010) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-15
PBO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
P-CL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
PCO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
P-CON- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
peripheral device selection - - - - - - - - - - - - - - - - - - - - - - - - - - 2-30
perpendicularity between the flange face and output shaft - 3-46, 3-49
PG divider - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-46
PG dividing ratio (for 16-bit or less) - - - - - - - - - - - - - - - - - - - - 10-9
PG dividing ratio (for 17-bit or more) - - - - - - - - - - - - - - 10-9, 10-19
PL1 to 3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
polarity reversal- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11
position control block diagram- - - - - - - - - - - - - - - - - - - - - - - - 8-56
position control by host controller - - - - - - - - - - - - - - - - - - - - - 8-16
position control function switches - - - - - - - - - - - - - - - - - - - - 10-19
position error level between motor and load - - - - - - - - - - - - - - 10-19
position loop gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13
positioning completed output signal - - - - - - - - - - - - - - - - - - - - 8-58
positioning completed width setting - - - - - - - - - - - - - - - - - - - - - 4-4
positioning near signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-59
positioning time reduction functions - - - - - - - - - - - - - - - - - - - - - 9-3
P-OT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
product part names- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
programming for the capacity selection on AC servomotor- - - - - 2-14
proportional control operation (proportional operation reference) 9-18
protection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
protective specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-50
PSEL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-10
PSO- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
PULS- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
pulse dividing ratio setting - - - - - - - - - - - - - - - - - - - - - - - - - - 8-46
Q
Q value - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-12
R
rack-mounted type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16
rated input motor speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-51
rated torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-51
reactors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-78
DC reactor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-29
selection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-33
reference pulse
form - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
frequency- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
reference pulse inhibit function (INHIBIT) - - - - - - - - - - - - - - - 8-60
reference pulse input multiplication - - - - - - - - - - - - - - -10-11, 10-19
reference pulse input multiplication range switching - - - - - - - - - 10-3
reference pulse input multiplication switching - - - - - - - - - - - - - 1-12
reference pulse input multiplication switching function - - - - - - -10-10
reference pulse multiplication range switching function- - - - - - -10-19
reference unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-50
regenerative resistor- - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13, 5-63
regenerative resistor capacity - - - - - - - - - - - - - - - - - - - - - - - - 6-33
regenerative resistor unit - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-65
regenerative resistors
selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-34
relay replacement - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11-22
replacing batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30
RESET key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
reverse rotation prohibited - - - - - - - - - - - - - - - - - - - - - - - - - - 8-20
RIGHT key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
running output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-78
run-out at the end of the shaft - - - - - - - - - - - - - - - - - - - - - - - - 3-46
S
second stage notch filter and changeable Q value - - - - - - 1-11, 10-12
second stage notch filter Changeable Q value - - - - - - - - - - - - - 10-3
second stage notch filter frequency - - - - - - - - - - - - - - -10-14, 10-19
second stage notch filter Q value - - - - - - - - - - - - - - - - -10-14, 10-19
selecting a position reference filter- - - - - - - - - - - - - - - - - - - - - 8-57
selecting an absolute encoder - - - - - - - - - - - - - - - - - - - - - - - - 8-29
selecting the speed loop control method
(PI Control or IP Control)- - - - - - - - - - - - - - - - - - - - - - - - - - - 9-14
selecting the stopping method after servo OFF- - - - - - - - - - - - - 8-25
SEN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
SEN signal connection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-28
sequence I/O signal monitor display - - - - - - - - - - - - - - - - - - - - 7-28
sequence input - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
sequence input circuit interface - - - - - - - - - - - - - - - - - - - - - - - 6-16
sequence output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
serial number and manufactured data of SERVOPACK or servomotor
reading function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3
serial number and manufactured data reading function - - - - - - -10-18
servo alarm - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-22
servo alarm (ALM) output - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
servo alarm output (ALM) - - - - - - - - - - - - - - - - - - - - - - - - - - 8-77
servo gain
adjustment methods- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
explanation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-12
servo ready output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-79
servo system configurations - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
servomotor
support tool for the capacity selection- - - - - - - - - - - - - - - - 2-14
winding resistance loss- - - - - - - - - - - - - - - - - - - - - - - - - -12-11
servomotor disconnection alarm - - - - - - - - - - - - - - - - - - - - - -10-22
servomotor inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11-21
servomotor main circuit wire size and connectors- - - - - - - - - - - - 5-8
servomotors
capacity selection examples - - - - - - - - - - - - - - - - - - - - - - 12-2
direction of rotation - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-50
direction of servomotor rotation - - - - - - - - - - - - - - - - - - - 3-47
mechanical specifications - - - - - - - - - - - - - - - - - - - - - - - - 3-45
model designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
Index-3
Index
nameplate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
overhanging loads - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15
precautions on servomotor installation- - - - - - - - - - - - - - - - 3-45
product part names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
winding resistance loss - - - - - - - - - - - - - - - - - - - - - - - - - 12-11
wire size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-8
SERVOPACK
upgraded versions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
SERVOPACK inspection- - - - - - - - - - - - - - - - - - - - - - - - - - - 11-21
SERVOPACK part replacement schedule - - - - - - - - - - - - - - - - 11-22
SERVOPACKs
absorbable energy - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-13
applicable servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - 2-16
cable types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38
dimensional drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16
installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
internal block diagrams - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
load moment of inertia - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
model designations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-15
nameplate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
operating conditions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
orientation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7
overload characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
power losses - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
power supply capacities - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
product part names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
ratings and specifications- - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
wire size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38
setting a reference pulse form- - - - - - - - - - - - - - - - - - - - - - - - - 8-48
setting for holding brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-22
setting PG dividing ratio of 5-digit or more - - - - - - - - - - - - - - 10-10
setting the electronic gear - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-50
setting the overtravel limit function - - - - - - - - - - - - - - - - - - - - - 8-20
setting the servo ON signal - - - - - - - - - - - - - - - - - - - - - - - - - - 8-18
setting the speed bias - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-22
SGMAH and SGMPH servomotor connectors for standard
environments- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-9
SGMAH servomotors (3000 min-1)
derating rate for servomotor fitted with oil seal - - - - - - - - - - - 3-5
dimensional drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-54
holding brake electrical specifications - - - - - - - - - - - - - - - - - 3-6
holding brake moment of inertia - - - - - - - - - - - - - - - - - - - - - 3-5
output shafts with oil seals- - - - - - - - - - - - - - - - - - - - - - - - 3-92
torque-motor speed characteristics - - - - - - - - - - - - - - - - - - - 3-5
with low-backlash gears - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9
with standard backlash gears - - - - - - - - - - - - - - - - - - - - - - - 3-7
without gears- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4
SGMCS direct-drive motor supporting function - - - - - - - - 10-3, 10-4
SGMCS direct-drive motors
ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - 10-5
SGMCS servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
all middle-capacity series - - - - - - - - - - - - - - - - - - - - - - - 3-156
all small-capacity series - - - - - - - - - - - - - - - - - - - - - - - - 3-155
connectors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29
dimensional drawings - - - - - - - - - - - - - - - - - - - - - 3-151, 3-152
dividing ratio- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-9
mechanical specifications - - - - - - - - - - - - - - - - - - - - - - - - 3-48
middle-capacity series- - - - - - - - - - - - - - - - - - - - - - - 2-29, 3-43
model designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-5
ratings and specifications- - - - - - - - - - - - - - - - - - - - - 3-39, 10-5
Index-4
Index
T
temperature regulation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
terms
gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-51
TGON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14, 8-78
through shaft section - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-46
thrust load - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-48
torque control tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
torque function switches - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-19
torque limiting using an analog voltage reference - - - - - - - - - - - 8-72
torque limiting using an external torque limit and analog voltage
reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-73
torque reference filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-26
torsion rigidity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-51
T-REF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
trial operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4
trial operation for servomotor without load - - - - - - - - - - - - - - - - 8-6
troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
alarm- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-6
malfunction without alarm display - - - - - - - - - - - - - - - - - -11-17
U
UL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10
UL standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10
installation conditions - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24
undershooting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-19
UP key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
upgraded versions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
using more than one SERVOPACK - - - - - - - - - - - - - - - - - - - - 6-25
V
variable resistor for speed and torque setting - - - - - - - - - - - - - - 5-80
V-CMP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
VCT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
vibration class- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47, 3-50
vibration reduction functions- - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
vibration resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47, 3-50
vibration/shock resistance- - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
VLT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
voltage regulation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
voltage resistance test - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7
V-REF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
W
WARN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14, 8-78
warning code output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-5
warning display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-5
warning display and troubleshooting - - - - - - - - - - - - - - - - - - -11-15
warning output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-78
wiring
400-V power supply voltage - - - - - - - - - - - - - - - - - - - - - - 6-28
absolute encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
DC power supply input - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
incremental encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7
wiring encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7
wiring example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-19
wiring for noise control - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-19
wiring main circuit power supply connector - - - - - - - - - - - - - - - 6-4
wiring precautions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18
Z
zero clamp function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-43
zero-point search mode (Fn003) - - - - - - - - - - - - - - - - - - - - - - 7-10
Index-5
Revision History
The revision dates and numbers of the revised manuals are given on the bottom of the back cover.
MANUAL NO.
SIEPS80000015A
C Printed in Japan
August 2003
WEB
Rev.
No.
April 2004
Date of Printing
Rev.
No.
Revision number
Date of original
publication
Section
Revised Content
First edition Revised and combined the contents of the following manuals:
-II Series SGM H/SGDM USERS MANUAL Servo Selection and Data Sheets
(Manual No. SIE-S800-32.1)
-II Series SGM H/SGDM USERS MANUAL Design and Maintenance
(Manual No. SIE-S800-32.2)
2.1.3 (2)
2.1.5 (2)
2.1.6
3.15.2 (2)
Revision: Dimensional drawing of 200-V class SGMGH servomotors (1500 min-1, without
gears and with brakes, 5.5 to 15 kW)
3.15.3
Revision: Dimensional drawing of 400-V class SGMGH servomotors (1500 min-1, without
gears and with brakes, 500 W to 15 kW)
3.15.4 (1)
Revision: Dimensional drawing of SGMGH servomotors (1500 min-1, with standard backlash gears and without brakes, foot-mounted type, grease lubricating type)
3.15.5 (2)
Revision: Dimensional drawing of SGMGH servomotors (1500 min-1, with standard backlash gears and without brakes, flange-mounted type, small oil lubricating type)
3.16.3 (1)
Revision: Dimensional drawing of SGMGH servomotors (1000 min-1, with standard backlash gears and without brakes, foot-mounted type, grease lubricating type)
3.16.4 (1)
Revision: Dimensional drawing of SGMGH servomotors (1000 min-1, with standard backlash gears and without brakes, flange-mounted type, grease lubricating type)
3.16.4 (2)
Revision: Dimensional drawing of SGMGH servomotors (1000 min-1, with standard backlash gears and without brakes, flange-mounted type, small oil lubricating type)
3.18.1
Addition: Shaft-end dimensions of SGMDH servomotors (2000 min-1, without gears and
with/without brakes)
3.20
8.4.6 (2)
Revision: Procedure 4
Back cover
Revision: Address
Revision: Nameplate of servomotors
Revision: Brake holding torque
Chapter 3
1.1.2
3.1.1, 3.2.1
December 2004
5.7.3
5.8.1 (1)
Partly revised
5.8.5 (2)
8.6.3 (2)
9.5 (1)
Back cover
April 2005
Revision: Address
8.6.1 (3)
11.1.1
March 2005
2 )
Series SGMH/SGDM
USER'S MANUAL
IRUMA BUSINESS CENTER
480, Kamifujisawa, Iruma, Saitama 358-8555, Japan
Phone 81-4-2962-5696 Fax 81-4-2962-6138
CEP: 04304-000
BEIJING OFFICE
Room No. 301 Office Building of Beijing International Club, 21
Jianguomenwai Avenue, Beijing 100020, China
Phone 86-10-6532-1850 Fax 86-10-6532-1851
TAIPEI OFFICE
9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280
YASKAWA
In the event that the end user of this product is to be the military and said product is to be
employed in any weapons systems or the manufacture thereof, the export will fall under
the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade
Regulations. Therefore, be sure to follow all procedures and submit all relevant
documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice
for ongoing product modifications and improvements.
2003-2005 YASKAWA ELECTRIC CORPORATION. All rights reserved.
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