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YASKAWA

Series SGMH/SGDM

USER'S MANUAL
SGMAH/SGMPH/SGMGH/SGMSH/SGMDH/SGMCS Servomotors SGDM SERVOPACK

YASKAWA

MANUAL NO. SIEP S800000 15C

Copyright 2003 YASKAWA ELECTRIC CORPORATION All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

About this Manual


Intended Audience
This manual is intended for the following users. Those selecting -II Series servodrives or peripheral devices for -II Series servodrives. Those wanting to know about the ratings and characteristics of -II Series servodrives. Those designing -II Series servodrive systems. Those installing or wiring -II Series servodrives. Those performing trial operation or adjustments of -II Series servodrives. Those maintaining or inspecting -II Series servodrives.

Description of Technical Terms


The terms in this manual are defined as follows: Servomotor or motor = -II Series SGMAH, SGMPH, SGMGH, SGMSH, SGMDH, servomotor. SERVOPACK = -II Series SGDM amplifier. Servodrive = A set including a servomotor and servo amplifier. Servo System = A servo control system that includes the combination of a servodrive with a host computer and peripheral devices. Parameter number = Numbers that the user inputs toward the SERVOPACK.

Indication of Reverse Signals


In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/) before the signal name, as shown in the following example: S-ON=/S-ON P-CON=/P-CON

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Quick access to your required information


Read the chapters marked with
Chapter 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

to get the information required for your purpose.


Ratings and Characteristics System Design Panel Configura-tion and Wiring Trial Operation and Servo Adjustment Inspection and Maintenance

SERVOPACKs, Servomotors, and Peripheral Devices

Visual Aids The following aids are used to indicate certain types of information for easier reference. Indicates important information that should be memorized, including precautions such as alarm displays to avoid damaging the devices. Indicates supplemental information.

IMPORTANT

INFO

EXAMPLE

Indicates application examples.

TERMS

Indicates definitions of difficult terms or terms that have not been previously explained in this manual.

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Related Manuals
Refer to the following manuals as required.
Manual Name -II Series SGM H/SGDM Digital Operator Operation Manual -II Series SERVOPACKs Personal Computer Monitoring Software Operation Manual Manual Number TOE-S800-34 Contents Provides detailed information on the operating method of JUSP-OP02A-2 type Digital Operator (option device). Describes the using and the operating methods on software that changes the local personal computer into the monitor equipment for the -II Series servomotor.

SIE-S800-35

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

The ISO symbol is used in this manual. Both of these symbols appear on warning labels on Yaskawa products. Please abide by these warning labels regardless of which symbol is used.

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Notes for Safe Operation


Read this manual thoroughly before checking products on delivery, storage and transportation, installation, wiring, operation and inspection, and disposal of the AC servodrive.

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.

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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.

Storage and Transportation

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.

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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.

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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.

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Maintenance and Inspection

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

Note the following to ensure safe application.


The drawings presented in this manual are sometimes shown without covers or protective guards. Always replace the cover or protective guard as specified first, and then operate the products in accordance with the manual. The drawings presented in this manual are typical examples and may not match the product you received. This manual is subject to change due to product improvement, specification modification, and manual improvement. When this manual is revised, the manual code is updated and the new manual is published as a next edition. If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual. Yaskawa will not take responsibility for the results of unauthorized modifications of this product. Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modification.

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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

1.2 Product Part Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4


1.2.1 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 1.2.2 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.3 Examples of Servo System Configurations - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7


1.3.1 Single-phase, 100 V and 200 V Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7 1.3.2 Three-phase, 200 V Main Circuit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8 1.3.3 Connecting to SGMCS Servomotor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9

1.4 Applicable Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10


1.4.1 North American Safety Standards (UL, CSA) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10 1.4.2 CE Marking- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10

1.5 -II Series SGDM SERVOPACK Upgraded Functions - - - - - - - - - - - - - - - - - - 1-11

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

2.2 Selecting Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-14


2.2.1 Support Tool for the Capacity Selection of the AC Servomotors - - - - - - - - - - - - - - - - - - - - - 2-14 2.2.2 Servomotor Capacity Selection Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-14

2.3 SERVOPACK Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-15

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2.4 -II Series SERVOPACKs and Applicable Servomotors - - - - - - - - - - - - - - - - - 2-16


2.4.1 SGDM SERVOPACKs and SGM H Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-16 2.4.2 SGDM SERVOPACKs and SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-17

2.5 Selecting Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-18


2.5.1 Cables for SGMAH and SGMPH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-18 2.5.2 Cables for SGMGH/SGMSH/SGMDH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-23 2.5.3 Cables for SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-27

2.6 Selecting Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-30


2.6.1 Special Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-30 2.6.2 Molded-case Circuit Breaker and Fuse Capacity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-32 2.6.3 Noise Filters, Magnetic Conductors, Surge Suppressors and DC Reactors - - - - - - - - - - - - - 2-33 2.6.4 Regenerative Resistors and Brake Power Supply Units - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-34

3 Specifications and Dimensional Drawings


3.1 Ratings and Specifications of SGMAH (3000 min-1) - - - - - - - - - - - - - - - - - - - - - 3-4
3.1.1 SGMAH Servomotors Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-4 3.1.2 SGMAH Servomotors With Standard Backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-7 3.1.3 SGMAH Servomotors With Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-9

3.2 Ratings and Specifications of SGMPH (3000min-1) - - - - - - - - - - - - - - - - - - - - 3-11


3.2.1 SGMPH Servomotors Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11 3.2.2 SGMPH Servomotors With Standard Backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13 3.2.3 SGMPH Servomotors With Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15

3.3 Ratings and Specifications of SGMGH (1500min-1) - - - - - - - - - - - - - - - - - - - - 3-17


3.3.1 SGMGH Servomotors (1500min-1) Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-17 3.3.2 SGMGH Servomotors (1500min-1) With Standard Backlash Gears - - - - - - - - - - - - - - - - - - - 3-20 3.3.3 SGMGH Servomotors (1500min-1) With Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - - - 3-23

3.4 Ratings and Specifications of SGMGH (1000min-1) - - - - - - - - - - - - - - - - - - - - 3-25


3.4.1 SGMGH Servomotors (1000min-1) Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-25 3.4.2 SGMGH servomotors (1000min-1) With Standard Backlash Gears - - - - - - - - - - - - - - - - - - 3-28 3.4.3 SGMGH Servomotors (1000 min-1) With Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - - 3-30

3.5 Ratings and Specifications of SGMSH (3000min-1) - - - - - - - - - - - - - - - - - - - - 3-32


3.5.1 SGMSH Servomotors (3000min-1) Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-32 3.5.2 SGMSH Servomotors (3000min-1) With Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - - 3-35

3.6 Ratings and Specifications of SGMDH (2000min-1) - - - - - - - - - - - - - - - - - - - - 3-37


3.6.1 SGMDH Servomotors (2000min-1) With Holding Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - 3-37

3.7 Ratings and Specifications of SGMCS Servomotors - - - - - - - - - - - - - - - - - - - 3-39


3.7.1 Small-capacity Series SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-39 3.7.2 Middle-capacity Series SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-43

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3.8 Mechanical Specifications of SGMAH, SGMPH, SGMGH, SGMSH, and SGMDH Servomotors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-45
3.8.1 Precautions on Servomotor Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-45 3.8.2 Mechanical Tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-46 3.8.3 Direction of Servomotor Rotation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47 3.8.4 Impact Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47 3.8.5 Vibration Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47 3.8.6 Vibration Class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47

3.9 Mechanical Specifications of SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - 3-48


3.9.1 Allowable Loads - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-48 3.9.2 Mechanical Tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-49 3.9.3 Direction of Servomotor Rotation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-50 3.9.4 Impact Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-50 3.9.5 Vibration Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-50 3.9.6 Vibration Class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-50 3.9.7 Protective Specification - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-50

3.10 Terms and Data for Servomotors With Gears- - - - - - - - - - - - - - - - - - - - - - - - 3-51 3.11 Servomotor Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-53 3.12 Dimensional Drawings of SGMAH Servomotors (3000 min-1) - - - - - - - - - - - - 3-54
3.12.1 SGMAH Servomotors (3000 min-1) Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-54 3.12.2 SGMAH Servomotors (3000 min-1) Without Gears and With Brakes - - - - - - - - - - - - - - - - - 3-57 3.12.3 SGMAH Servomotors (3000 min-1) With Standard Backlash Gears - - - - - - - - - - - - - - - - - 3-60 3.12.4 SGMAH Servomotors (3000 min-1) With Standard Backlash Gears and Brakes- - - - - - - - - 3-66 3.12.5 SGMAH Servomotors (3000 min-1) With Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - 3-71

3.13 Dimensional Drawings of SGMPH Servomotors (3000 min-1) - - - - - - - - - - - - 3-77


3.13.1 SGMPH Servomotors (3000 min-1) Without Gears and Brakes - - - - - - - - - - - - - - - - - - - - 3-77 3.13.2 SGMPH Servomotors (3000 min-1) With Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-79 3.13.3 SGMPH Servomotors (3000 min-1) With Standard Backlash Gears and Without Brakes- - - 3-81 3.13.4 SGMPH Servomotors (3000 min-1) With Standard Backlash Gears and Brakes- - - - - - - - - 3-84 3.13.5 SGMPH Servomotors (3000 min-1) With Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - 3-88

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

3.15 Dimensional Drawings of SGMGH Servomotors (1500 min-1) - - - - - - - - - - - - 3-93


3.15.1 SGMGH Servomotors (1500 min-1) Without Gears and Brakes - - - - - - - - - - - - - - - - - - - - - 3-93 3.15.2 SGMGH Servomotors (1500 min-1) 200-V Specifications Without Gears and With Brakes - - 3-95 3.15.3 SGMGH Servomotors (1500min-1) With Standard Backlash Gears and Without Brakes (Foot-mounted Type)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-99 3.15.4 SGMGH Servomotors (1500min-1) With Standard Backlash Gears and Without Brakes (Flange-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-106 3.15.5 SGMGH Servomotors (1500min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-114

3.16 Dimensional Drawings of SGMGH Servomotors (1000 min-1) - - - - - - - - - - - 3-118


3.16.1 SGMGH Servomotors (1000 min-1) Without Gears and Brakes - - - - - - - - - - - - - - - - - - - - 3-118 3.16.2 SGMGH Servomotors (1000 min-1) Without Gears and With Brakes - - - - - - - - - - - - - - - - 3-120 3.16.3 SGMGH Servomotors (1000 min-1) With Standard Backlash Gears and Without Brakes (Foot-mounted Type)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-123 3.16.4 SGMGH Servomotors (1000 min-1) With Standard Backlash Gears and Without Brakes (Flange-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-129 3.16.5 SGMGH Servomotors (1000 min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-136

3.17 Dimensional Drawings of SGMSH Servomotors (3000min-1)- - - - - - - - - - - - 3-140


3.17.1 SGMSH Servomotors (3000min-1) Without Gears and Without Brakes - - - - - - - - - - - - - - 3-140 3.17.2 SGMSH Servomotors (3000 min-1) 200-V Specifications Without Gears and With Brakes - 3-142 3.17.3 SGMSH Servomotors (3000 min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-144

3.18 Dimensional Drawings of SGMDH Servomotors (2000min-1) - - - - - - - - - - - 3-149


3.18.1 SGMDH Servomotors (2000min-1) Without Gears and With/Without Brakes- - - - - - - - - - - 3-149

3.19 Dimensional Drawings of SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - 3-151


3.19.1 SGMCS Servomotors 135 Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-151 3.19.2 SGMCS Servomotors 175 Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-151 3.19.3 SGMCS Servomotors 230 Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-152 3.19.4 SGMCS Servomotors 290 Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-152 3.19.5 SGMCS Servomotors 280 Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-153 3.19.6 SGMCS Servomotors 360 Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-154 3.19.7 Servomotor Connector for All Small-capacity Series Servomotors - - - - - - - - - - - - - - - - - - 3-155 3.19.8 Servomotor Connector for All Middle-capacity Series Servomotors - - - - - - - - - - - - - - - - - 3-156

3.20 Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors - 3-157

xvi

4 SERVOPACK Specifications and Dimensional Drawings


4.1 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.1.1 Single-phase 100 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 4.1.2 Single-phase/Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 4.1.3 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4

4.2 SERVOPACK Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6 4.3 SERVOPACK Internal Block Diagrams - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
4.3.1 Single-phase 200 V, 30 W to 400 W, and 100 V, 30 W to 200 W Models- - - - - - - - - - - - - - - - 4-8 4.3.2 Three-phase 200 V, 500 W to 1.5 kW Models- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9 4.3.3 Three-phase 200 V, 2.0 kW to 5.0 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9 4.3.4 Three-phase 200 V, 6.0 kW to 15 kW Models- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10

4.4 SERVOPACKs Power Supply Capacities and Power Losses - - - - - - - - - - - - - 4-11 4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia 4-12
4.5.1 Overload Characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12 4.5.2 Starting and Stopping Time- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13 4.5.3 Load Moment of Inertia - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13

4.6 SERVOPACK Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16 4.7 Dimensional Drawings of Base-mounted SERVOPACK Model - - - - - - - - - - - - 4-17
4.7.1 Single-phase 100 V: 30 W to 100 W (A3BD to 01BD, A3BDA to 01BDA) Single-phase 200 V: 30 W to 200 W (A3AD to 02AD, A3ADA to 02ADA) - - - - - - - - - - - - - - 4-17 4.7.2 Single-phase 100 V: 200 W (02BD, 02BDA) Single-phase 200 V: 400 W (04AD, 04ADA) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18 4.7.3 Three-phase 200 V: 500 W/750 W/1.0 kW (05AD to 10AD, 05ADA to 10ADA) - - - - - - - - - - 4-19 4.7.4 Three-phase 200 V: 1.5 kW (15AD, 15ADA) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-20 4.7.5 Three-phase 200 V: 2.0 kW/3.0 kW (20AD to 30AD, 20ADA to 30ADA) - - - - - - - - - - - - - - - 4-21 4.7.6 Three-phase 200 V: 5.0 kW (50ADA) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-22 4.7.7 Three-phase 200 V: 6.0 kW/7.5 kW (60ADA to 75ADA) - - - - - - - - - - - - - - - - - - - - - - - - - - 4-23 4.7.8 Three-phase 200 V: 11.0 kW/15.0 kW (1AADA to 1EADA) - - - - - - - - - - - - - - - - - - - - - - - - 4-24

4.8 Dimensional Drawings of Rack-mounted SERVOPACK Model - - - - - - - - - - - - 4-25


4.8.1 Single-phase 100 V: 30 W/50 W/100 W (A3BD-R to 01BD-R, A3BDA-R to 01BDA-R) Single-phase 200 V: 30 W/50 W/100 W/200 W (A3AD-R to 02AD-R, A3ADA-R to 02ADA-R) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25 4.8.2 Single-phase 100 V: 200 W (02BD-R, 02BDA-R) Single-phase 200 V: 400 W (04AD-R, 04ADA-R) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-26 4.8.3 Three-phase 200 V: 500 W/750 W/1.0 kW (05AD-R to 10AD-R, 05ADA-R to 10ADA-R) - - - 4-27 4.8.4 Three-phase 200 V: 1.5 kW (15AD-R, 15ADA-R) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28 4.8.5 Three-phase 200 V: 2.0 kW/3.0 kW (20AD-R to 30AD-R, 20ADA-R to 30ADA-R) - - - - - - - - 4-29 4.8.6 Three-phase 200 V: 5.0 kW (50ADA-R) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-30

4.9 Dimensional Drawings of Duct-ventilated SERVOPACK Model - - - - - - - - - - - - 4-31


4.9.1 Three-phase 200 V: 6.0 kW/7.5 kW (60ADA-P to 75ADA-P) - - - - - - - - - - - - - - - - - - - - - - - 4-31 4.9.2 Three-phase 200 V: 11.0 kW/15.0 kW (1AADA-P/1EADA-P) - - - - - - - - - - - - - - - - - - - - - - - 4-32

xvii

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 - - - - - - - - - - - - - - - - - - - - - - -5-3 5.1.2 Cables for SGMAH and SGMPH Servomotors With Brakes - - - - - - - - - - - - - - - - - - - - - - - - -5-3 5.1.3 Flexible Cables for SGMAH and SGMPH Servomotors Without Brakes - - - - - - - - - - - - - - - - -5-4 5.1.4 Flexible Cables for SGMAH and SGMPH Servomotors With Brakes - - - - - - - - - - - - - - - - - - -5-5 5.1.5 Cables for SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-6

5.2 Servomotor Main Circuit Wire Size and Connectors - - - - - - - - - - - - - - - - - - - - - 5-8


5.2.1 Wire Size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-8 5.2.2 SGMAH and SGMPH Servomotor Connectors for Standard Environments- - - - - - - - - - - - - - -5-9 5.2.3 SGMGH, SGMSH, and SGMDH Servomotor Connector Configurations- - - - - - - - - - - - - - - - 5-12 5.2.4 SGMGH Servomotor (1500 min-1) Connectors for Standard Environments- - - - - - - - - - - - - - 5-13 5.2.5 SGMGH Servomotor (1000 min-1) Connectors for Standard Environments- - - - - - - - - - - - - - 5-15 5.2.6 SGMSH Servomotor (3000 min-1) Connectors for Standard Environments - - - - - - - - - - - - - - 5-17 5.2.7 SGMDH Servomotor (2000 min-1) Connectors for Standard Environments - - - - - - - - - - - - - - 5-18 5.2.8 SGMGH Servomotor (1500 min-1) Connectors Conforming to IP67 and European Safety Standards- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-19 5.2.9 SGMGH Servomotor (1000 min-1) Connectors Conforming to IP67 and European Safety Standards- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22 5.2.10 SGMSH Servomotors (3000 min-1) Connectors Conforming to IP67 and European Safety Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25 5.2.11 SGMDH Servomotors (2000 min-1) Connectors Conforming to IP67 and European Safety Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28 5.2.12 Connectors for SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29 5.2.13 Connector Dimensional Drawings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-31

5.3 SERVOPACK Main Circuit Wire Size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38


5.3.1 Cable Types- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38 5.3.2 Single-phase 100 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39 5.3.3 Single-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39 5.3.4 Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39

5.4 Encoder Cables for CN2 Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-40


5.4.1 Encoder Cable With Connectors For SGMAH and SGMPH Servomotors- - - - - - - - - - - - - - - 5-40 5.4.2 Encoder Cable With Connectors for SGMGH, SGMSH, and SGMDH Servomotors- - - - - - - - 5-40 5.4.3 Encoder Cable With a SERVOPACK Connector and Encoder Loose Leads for SGMAH and SGMPH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-41 5.4.4 Encoder Cable with a SERVOPACK Connector and Encoder Loose Leads for SGMGH, SGMSH, and SGMDH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42 5.4.5 Encoder Flexible Cables for SGMAH and SGMPH Servomotors - - - - - - - - - - - - - - - - - - - - - 5-44 5.4.6 Encoder Flexible Cables for SGMGH, SGMSH, and SGMDH Servomotors - - - - - - - - - - - - - 5-45 5.4.7 Encoder Cables for SGMCS Servomotors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-46

xviii

5.5 Connectors and Cables for Encoder Signals - - - - - - - - - - - - - - - - - - - - - - - - - 5-48


5.5.1 Connectors and Cables for SGMAH and SGMPH Servomotors - - - - - - - - - - - - - - - - - - - - - 5-48 5.5.2 Connectors and Cables for SGMGH, SGMSH, and SGMDH Servomotors - - - - - - - - - - - - - 5-50 5.5.3 Connectors and Cables for SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-52

5.6 Flexible Cables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-53 5.7 I/O Signal Cables for CN1 Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-54
5.7.1 Standard Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-54 5.7.2 Connector Type and Cable Size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-54 5.7.3 Connection Diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-56

5.8 Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-57


5.8.1 Cables for Connecting Personal Computers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-57 5.8.2 Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-58 5.8.3 Cables for Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-59 5.8.4 Connector Terminal Block Converter Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-60 5.8.5 Brake Power Supply Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-61 5.8.6 External Regenerative Resistor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-63 5.8.7 Regenerative Resistor Unit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-65 5.8.8 Absolute Encoder Battery- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-66 5.8.9 Molded-case Circuit Breaker (MCCB) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-68 5.8.10 Noise Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-69 5.8.11 Magnetic Contactor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-74 5.8.12 Surge Suppressor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-76 5.8.13 DC Reactor for Harmonic Suppression - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-78 5.8.14 Variable Resistor for Speed and Torque Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-80 5.8.15 Encoder Signal Converter Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-81

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

6.2 Wiring Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7


6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1) - - - - - - - - - 6-7 6.2.2 Encoder Connector (CN2) Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8

6.3 Examples of I/O Signal Connections- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9


6.3.1 Speed Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9 6.3.2 Position Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10 6.3.3 Torque Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11 6.3.4 I/O Signal Connector (CN1) Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12 6.3.5 I/O Signal (CN1) Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13 6.3.6 Interface Circuit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15

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6.4 Others - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18


6.4.1 Wiring Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18 6.4.2 Wiring for Noise Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-19 6.4.3 Installation Conditions of EMC Directives - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-22 6.4.4 Installation Conditions of UL Standards- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24 6.4.5 Using More Than One SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-25 6.4.6 Extending Encoder Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26 6.4.7 Operating Conditions on 400-V Power Supply Voltage - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-28 6.4.8 DC Reactor for Harmonic Suppression - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-29

6.5 Connecting Regenerative Resistors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31


6.5.1 Regenerative Power and Regenerative Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31 6.5.2 Connecting External Regenerative Resistors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31

7 Digital Operator/Panel Operator


7.1 Functions on Digital Operator/Panel Operator - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.1.1 Connecting the Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-2 7.1.2 Key Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-3 7.1.3 Basic Mode Selection and Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-4 7.1.4 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-6

7.2 Operation in Utility Function Mode (Fn

) - - - - - - - - - - - - - - - - - - - - - - - - - 7-8

7.2.1 List of Utility Function Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-8 7.2.2 Alarm Traceback Data Display (Fn000)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-9 7.2.3 Zero-point Search Mode (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-10 7.2.4 Parameter Settings Initialization (Fn005)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-11 7.2.5 Alarm Traceback Data Clear (Fn006) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-12 7.2.6 Automatic Offset-adjustment of Motor Current Detection Signal (Fn00E) - - - - - - - - - - - - - - - 7-13 7.2.7 Manual Offset-adjustment of Motor Current Detection Signal (Fn00F) - - - - - - - - - - - - - - - - - 7-14 7.2.8 Password Setting (Protects Parameters from Being Changed) (Fn010) - - - - - - - - - - - - - - - - 7-15 7.2.9 Motor Models Display (Fn011) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-16 7.2.10 Software Version Display (Fn012) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-17

7.3 Operation in Parameter Setting Mode (Pn

) - - - - - - - - - - - - - - - - - - - - - - 7-18

7.3.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-18 7.3.2 Input Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-22 7.3.3 Output Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-25

7.4 Operation in Monitor Mode (Un

) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27

7.4.1 List of Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27

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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

8.2 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-17 8.3 Setting Common Basic Functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-18
8.3.1 Setting the Servo ON Signal- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-18 8.3.2 Switching the Servomotor Rotation Direction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-19 8.3.3 Setting the Overtravel Limit Function- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-20 8.3.4 Setting for Holding Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-22 8.3.5 Selecting the Stopping Method After Servo OFF- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-25 8.3.6 Instantaneous Power Loss Settings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-26

8.4 Absolute Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-27


8.4.1 Interface Circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-28 8.4.2 Selecting an Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-29 8.4.3 Handling Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-29 8.4.4 Replacing Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30 8.4.5 Absolute Encoder Setup (Fn008) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30 8.4.6 Absolute Encoder Reception Sequence- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-32 8.4.7 Multiturn Limit Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-36 8.4.8 Multiturn Limit Setting When Multiturn Limit Disagreement (A.CC) Occurred - - - - - - - - - - - - 8-37

8.5 Operating Using Speed Control with Analog Reference - - - - - - - - - - - - - - - - - 8-38


8.5.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-38 8.5.2 Setting Input Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-39 8.5.3 Adjusting Offset- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-40 8.5.4 Soft Start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-43 8.5.5 Speed Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-43 8.5.6 Using the Zero Clamp Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-43 8.5.7 Encoder Signal Output- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-45 8.5.8 Speed Coincidence Output- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-47

8.6 Operating Using Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-48


8.6.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-48 8.6.2 Setting the Electronic Gear- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-50 8.6.3 Position Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-53 8.6.4 Smoothing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-57 8.6.5 Positioning Completed Output Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-58 8.6.6 Positioning Near Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-59 8.6.7 Reference Pulse Inhibit Function (INHIBIT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-60

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8.7 Operating Using Torque Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-61


8.7.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-61 8.7.2 Torque Reference Input- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-61 8.7.3 Adjusting the Reference Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-62 8.7.4 Limiting Servomotor Speed during Torque Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-64

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

8.9 Limiting Torque- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-69


8.9.1 Internal Torque Limit (Limiting Maximum Output Torque) - - - - - - - - - - - - - - - - - - - - - - - - - - 8-69 8.9.2 External Torque Limit (Output Torque Limiting by Input Signals) - - - - - - - - - - - - - - - - - - - - - 8-70 8.9.3 Torque Limiting Using an Analog Voltage Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-72 8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference - - - - - - - - - - 8-73 8.9.5 Checking Output Torque Limiting during Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-74

8.10 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-75


8.10.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-75 8.10.2 Switching the Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-75

8.11 Other Output Signals- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-77


8.11.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3) - - - - - - - - - - - - - 8-77 8.11.2 Warning Output (/WARN)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-78 8.11.3 Running Output Signal (/TGON) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-78 8.11.4 Servo Ready (/S-RDY) Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-79

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

9.2 Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5


9.2.1 Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-5 9.2.2 Online Autotuning Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-6 9.2.3 Selecting the Online Autotuning Execution Method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-7 9.2.4 Machine Rigidity Setting for Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-8 9.2.5 Method for Changing the Machine Rigidity Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-9 9.2.6 Saving the Results of Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10 9.2.7 Procedure for Saving the Results of Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-11

9.3 Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-12


9.3.1 Explanation of Servo Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-12 9.3.2 Servo Gain Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13 9.3.3 Position Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13 9.3.4 Speed Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-14

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9.3.5 Speed Loop Integral Time Constant - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-14

9.4 Servo Gain Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-15


9.4.1 Feed-forward Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-15 9.4.2 Torque Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-16 9.4.3 Speed Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-17 9.4.4 Proportional Control Operation (Proportional Operation Reference) - - - - - - - - - - - - - - - - - - 9-18 9.4.5 Using the Mode Switch (P/PI Switching) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-19 9.4.6 Setting the Speed Bias- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-22 9.4.7 Speed Feedback Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-22 9.4.8 Speed Feedback Compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-23 9.4.9 Switching Gain Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-25 9.4.10 Torque Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-26

9.5 Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-28

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

10.3 Additional Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4


10.3.1 SGMCS Direct-drive Motor Supporting Function- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4 10.3.2 Improvement of Dividing Output Resolution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-9 10.3.3 Reference Pulse Input Multiplication Switching Function - - - - - - - - - - - - - - - - - - - - - - - - 10-10 10.3.4 Second Stage Notch Filter and Changeable Q Value - - - - - - - - - - - - - - - - - - - - - - - - - - 10-12 10.3.5 Automatic Gain Switching Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-14

10.4 Improved Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-16


10.4.1 Moment of Inertia Ratio Setting Range - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-16 10.4.2 Adaptation to Single-turn Data Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-16 10.4.3 Serial Number and Manufactured Data Reading Function - - - - - - - - - - - - - - - - - - - - - - - 10-18

10.5 Additional and Improved Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-19


10.5.1 Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-19 10.5.2 Switches - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20 10.5.3 Input Signal Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20 10.5.4 Output Signal Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-21 10.5.5 Utility Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-21 10.5.6 Troubleshooting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-22

xxiii

11 Inspection, Maintenance, and Troubleshooting


11.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.1 Alarm Display Table- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2 11.1.2 Warning Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-5 11.1.3 Troubleshooting of Alarm and Warning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-6 11.1.4 Troubleshooting for Malfunction without Alarm Display - - - - - - - - - - - - - - - - - - - - - - - - - - 11-17

11.2 Inspection and Maintenance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-21


11.2.1 Servomotor Inspection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-21 11.2.2 SERVOPACK Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-21 11.2.3 SERVOPACKs Parts Replacement Schedule - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-22

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

12.2 Connection to Host Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-14


12.2.1 Example of Connection to MP920 4-axes Analog Module SVA-01 - - - - - - - - - - - - - - - - - - 12-14 12.2.2 Example of Connection to CP-9200SH Servo Controller Module SVA (SERVOPACK in Speed Control Mode) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-15 12.2.3 Example of Connection to MEMOCON GL120/130 Series Motion Module MC20 - - - - - - - 12-16 12.2.4 Example of Connection to MEMOCON GL60/70 Series Positioning Module B2813 (SERVOPACK in Position Control Mode) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-17 12.2.5 Example of Connection to OMRONs Motion Control Unit - - - - - - - - - - - - - - - - - - - - - - - - 12-18 12.2.6 Example of Connection to OMRONs Position Control Unit - - - - - - - - - - - - - - - - - - - - - - - 12-19 12.2.7 Example of Connection to OMRONs Position Control Unit C500-NC221 (SERVOPACK in Speed Control Mode)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-20 12.2.8 Example of Connection to OMRONs Position Control Unit C500-NC112 (SERVOPACK in Position Control Mode) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-21 12.2.9 Example of Connection to MITSUBISHIs AD72 Positioning Unit (SERVOPACK in Speed Control Mode)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-22 12.2.10 Example of Connection to MITSUBISHIs AD75 Positioning Unit (SERVOPACK in Position Control Mode) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-23

12.3 List of Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-24


12.3.1 Utility Functions List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-24 12.3.2 List of Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-25 12.3.3 Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-43

12.4 Parameter Recording Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-44

INDEX Revision History xxiv

1
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

1.2 Product Part Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4


1.2.1 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 1.2.2 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.3 Examples of Servo System Configurations - - - - - - - - - - - - - - - - - - - - - - - 1-7


1.3.1 Single-phase, 100 V and 200 V Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7 1.3.2 Three-phase, 200 V Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8 1.3.3 Connecting to SGMCS Servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9

1.4 Applicable Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10


1.4.1 North American Safety Standards (UL, CSA) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10 1.4.2 CE Marking - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10

1.5 -II Series SGDM SERVOPACK Upgraded Functions - - - - - - - - - - - - - - 1-11

1-1

1 Outline 1.1.1 Check Items

1.1 Checking Products


The following procedure is used to check the AC servodrives of - Series products on delivery.

1.1.1 Check Items


Check the following items when - Series products are delivered.
Check Items Are the delivered products the ones that were ordered? Does the servomotor shaft rotate smoothly? Is there any damage? 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 Servomotor model Ratings Order number Serial number
W N

SGMAH-02AAA21 V 200 A 2.1 200 min -1 3000 Ins. B 0.637

AC SERVO MOTOR

O/N 9271316-1 S/N DD 9964567890012


YASKAWA ELECTRIC CORPORATION JAPAN

SGMGH / SGMSH / SGMDH


AC SERVO MOTOR
Bauart .. gepruft

PURODUCT SERVICE

Servomotor model Ratings Order number Serial number

TYPE SGMSH-10ACA21 1000 W 3.18 N m 3000 min-1 5.7 A 200 V CONT ins F -039 O/N 9W0774 002A
S/N BB2 753000039 DATA 0002
YASKAWA ELECTRIC MADE IN JAPAN

Manufacturing date

SGMCS
Nameplate Servomotor model Ratings Order number Serial number
W N

SGMCS-04C3A11 V 200 A 2.1 84 min -1 200 Ins. A 4.0

AC SERVO MOTOR

O/N 9271316-1 S/N DD 9964567890012


YASKAWA ELECTRIC CORPORATION JAPAN

1-2

1.1 Checking Products

1.1.3 SERVOPACKs
SGDM for 30 W to 5.0 kW SGDM for 6.0 kW to 15.0 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)

Applicable motor capacity

S/N

412808-15-1

YASKAWA ELECTRIC
MADE IN JAPAN

1-3

1 Outline 1.2.1 Servomotors

1.2 Product Part Names


1.2.1 Servomotors
(1) SGMAH and SGMPH Without Gears and Brakes
Servomotor connector Servomotor main circuit cable Nameplate Flange Output shaft Encoder (Detecting section) Encoder connector

Encoder cable

(2) SGMGH/SGMSH/SGMDH Without Gears and Brakes


Servomotor connector Encoder connector

Nameplate Flange Encoder (Detecting section) Output shaft

(3) SGMCS Direct-drive Motor


Rotating axis Encoder connector Nameplate Servomotor connector

Nameplate

Frame

Mounting flange Encoder connector Servomotor connector

View A

1-4

1.2 Product Part Names

1.2.2 SERVOPACKs
(1) SGDM for 30 W to 5.0 kW
With the front cover open
Battery holder
Used to house the backup battery for an absolute encoder. Refer to 5.8.8 Absolute Encoder Battery, 8.4.3 Handing Batteries, and 8.4.4 Battery Replacement Procedure.

CN5 Analog monitor connector


Used to monitor motor speed, torque reference, and other values through a special cable. Refer to 5.8.3 Cables for Analog Monitor or 9.5 Analog Monitor.

CN8 Battery connector


MODE/SET DATA/

CHARGE

POWER

Used to connect to the backup battery for an absolute encoder. Refer to 5.8.8 Absolute Encoder Battery, 8.4.3 Handing Batteries, and 8.4.4 Battery Replacement Procedure.

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.

YASKAWA SERVOPACK YASKAWA

Front cover SERVOPACK model


Refer to 2.1 SERVOPACK Model Designations.

SGDM-

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.

Panel keys
MODE/SET CHARGE DATA/ POWER

Used to set parameters. Refer to 7.1.2 Key Names and Functions.

Power ON indicator
Lights when the control power supply is ON.

Main circuit power supply terminals


Used for main circuit power supply input. Refer to 6.1 Wiring Main Circuit.

CN3 Connector for personal computer monitoring and digital operator


Used to communicate with a personal computer or to connect a digital operator. Refer to 5.8.1 Cables for Connecting Personal Computer and 5.8.2 Digital Operator.

Control power supply terminals


Used for control power supply input. Refer to 6.1 Wiring Main Circuit.

CN1 I/O signal connector


Used for reference input signals and sequence I/O signals. Refer to 6.3 Examples of I/O Signal Connections.

Regenerative resistor connecting terminals


Used to connect external regenerative resistors. Refer to 6.5 Connecting Regenerative Resistors.

Nameplate (side view)


Indicates the SERVOPACK model and ratings. Refer to 1.1.3 SERVOPACKs.

Servomotor terminals
Connects to the servomotor power line. Refer to 6.1 Wiring Main Circuit.

CN2 Encoder connector


Connects to the encoder in the servomotor. Refer to 6.2 Wiring Encoders.

Ground terminal
Be sure to connect to protect against electrical shock. Refer to 6.1 Wiring Main Circuit.

INFO

Connecting terminal of DC Reactor For connecting a reactor, refer to 6.4.8 DC Reactor for Harmonic Suppression.

1-5

1 Outline 1.2.2 SERVOPACKs

(2) SGDM for 6.0 kW to 15.0 kW


Power indicator Panel operator

SERVOPACK 200V

Panel display CN8 Battery connector


CN8

SERVOPACK model CN3 Connector for personal computer monitoring and digital operator

SGDMVer.

YASKAWA

POWER

Battery holder
CN3
MODE/SET DATA/

CN5

BATTERY

CN5 Analog monitor connector Panel switch

Charge indicator

CHARGE

! WARNING

Control circuit terminal


L1C L2C

CN1

CN2 CN2 Encoder connector

CN1 I/O signal connector

L1

L2

L3

B1

B2

Nameplate (side view)

Main circuit power supply terminals: L1, L2, L3

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 Reference 4.7.7, 4.9.1 4.7.8, 4.9.2

1-6

1.3 Examples of Servo System Configurations

1.3 Examples of Servo System Configurations


This section describes examples of basic servo system configuration.

1.3.1 Single-phase, 100 V and 200 V Main Circuit


Power supply Single-phase 100/200 VAC
R 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.)

For connecting a DC reactor, refer to 6.4.8 DC Reactor for Harmonic Suppression.

1
SGDMAD SGDMADA SGDMBD SGDMBDA SERVOPACK
Magnetic contactor
Turns the servo ON and OFF. Install a surge suppressor. (Refer to 5.8.11.)
YASKAWA SERVOPACK 200V

Noise filter
Used to eliminate external noise from the power line. (Refer to 5.8.10.)

SGDM-

Digital operator
(Refer to 5.8.2.)

MODE/SET CHARGE

DATA/ POWER

(Refer to 5.8.2.)

Connection cable for digital operator

Personal computer

L1 L2 +1

C N 3

(Refer to 5.8.1.)
C N 1

Connection cable for personal computer

+2 L1C L2C B1 B2 U V W C N

I/O signal cable

Host controller

Turns the brake power supply ON or OFF. Install a surge protector. (Refer to 5.8.11.)

Magnetic contactor

(Refer to 5.7.)

Brake power Regenerative supply resistor


Used for a servomotor with a brake. (Refer to 5.8.5.)

Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient. (Refer to 5.8.6.)

Encoder cable

(Refer to 5.4, 5.5.)

(Refer to 5.1, 5.2.)

Servomotor main circuit cable

SGM H Servomotor

1-7

1 Outline 1.3.2 Three-phase, 200 V Main Circuit

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.)

The main circuit positive-side terminal is only available to use at three-phase 200 VAC, 6 kW SERVOPACK. Do not use 1 or 2. 2 Be sure to disconnect the lead between B2 and B3, before connecting an external regenerative registor to the SERVOPACK. 3 For connecting a DC reactor, refer to 6.4.8 DC Reactor for Harmonic Suppression.

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.)

SGDMAD SGDMADA SERVOPACK


Connection cable for digital operator

Digital operator
(Refer to 5.8.2.)

YASKAWA 200V SERVOPACK

(Refer to 5.8.2.)

Personal computer

SGDM-

MODE/SET CHARGE

DATA/ POWER

Connection cable for personal computer


(Refer to 5.8.1.)

L1 L2 L3

C N 3

1 3 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

1 2 C N 1

I/O signal cable

Host controller

L1C L2C

B3 U V W C N 2

(Refer to 5.7.)

Magnetic contactor

Turns the brake power supply ON and OFF. Install a surge protector. (Refer to 5.8.11.)

Brake power supply


Used for a servomotor with a brake. (Refer to 5.8.5.)

(Refer to 5.1, 5.2.)

Servomotor main circuit cable

(Refer to 5.4, 5.5.)

Encoder cable

SGM H Servomotor

1-8

1.3 Examples of Servo System Configurations

1.3.3 Connecting to SGMCS Servomotor


Power supply Single-phase or Three-phase 100/200VAC
R T
Note: For connecting a DC reactor, refer to 6.4.8 DC Reactor for Harmonic Suppression.

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.)

SGDMADA SERVOPACK

YASKAWA SERVOP ACK

200V

SGDM-

Magnetic contactor
Turns the servo ON and OFF. Install a surge suppressor. (Refer to 5.8.11.)

Digital operator
(Refer to 5.8.2.)

MODE/SET CHARGE

DATA/ POWER

Connection cable for digital operator


(Refer to 5.8.2.)

Personal computer

L1 L2 +1 +2 L1C L2C B1 B2 U V W

C N 3

Connection cable for personal computer

C N 1

(Refer to 5.8.1.)

I/O signal cable

Host controller

Regenerative resistor
Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient. (Refer to 5.8.6.)

C N

(Refer to 5.7.)

Nameplate Encoder cable Servomotor main circuit cable

SGMCS Servomotor
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)

1.4 Applicable Standards


-II Series servodrives conform to the following overseas standards.

1.4.1 North American Safety Standards (UL, CSA)

C
Model SERVOPACK SGDM SGMAH SGMPH SGMGH SGMSH SGMDH SGMCS

UL
R

US

LISTED
UL1 Standards (UL File No.) UL508C(E147823)

US
Certifications

CSA2 Standards CSA C22.2 No.14

Servomotor

UL1004(E165827)

CSA C22.2 No.100

UL

* 1. Underwriters Laboratories Inc. * 2. Canadian Standards Association.

1.4.2 CE Marking

Model SERVOPACK SGDM SGMAH SGMPH SGMGH SGMSH SGMDH SGMCS

Low Voltage Directive EN50178 IEC60034-1 IEC60034-5 IEC60034-8 IEC60034-9

EMC Directive EMI EMS

Certifications

Servomotor

EN55011 group 1 class A

EN50082-2 or EN61000-6-2

TV PS

* TV Product Services GmbH Note: For installation conditions, refer to 6.4.2 Wiring for Noise Control. Because SERVOPACKs and servomotors are built-in type, reconfirmation is required after being installed in the final product.

1-10

1.5 -II Series SGDM SERVOPACK Upgraded Functions

1.5 -II Series SGDM SERVOPACK Upgraded Functions


The added or improved functions differ depending on the SERVOPACK model or software version number: SGDM SGDM SGDMD 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.

1
DA with Software Version No. 32 or later Applicable Applicable Reference Section

-II Series SERVOPACK SGDMFunction Item Description D Applicable N/A DA Applicable Applicable

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

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. To enable the torque limit function using analog voltage reference only when either /P-CL or / N-CL signal is ON. To reverse the Enabled logic polarity of sequence input signal To reverse the Enabled logic polarity of sequence output signal To set the upper limit of multiturn data when using an absolute encoder. To detect the alarm A.CC when the multiturn limit value set in the encoder does not agree with that in the SERVOPACK. To filter the position reference pulse of constant frequency inside the SERVOPACK. Either acceleration/deceleration filter or average movement filter can be selected. Filtering function to suppress vibration according to the machines vibration frequency. A second stage notch filter is added. And the Q value (sharpness of notching) can be changed.

N/A

Applicable

Applicable

9.4.3

N/A

Applicable

Applicable

8.9.4

N/A N/A

Applicable Applicable

Applicable Applicable

7.3.2 7.3.3

N/A

Applicable

Applicable

8.4.7

N/A

Applicable

Applicable

8.4.8

N/A

Applicable

Applicable

8.6.4

Notch filter Second stage notch filter and changeable Q value

N/A

Applicable

Applicable

9.4.10

N/A

N/A

Applicable

10.3.4

1-11

1 Outline

(Contd) -II Series SERVOPACK SGDMFunction Item Description D DA DA with Software Version No. 32 or later Applicable Reference Section

Direct-drive motor for SGMCS Single-turn data for absolute encoder

Applicable to the SGMCS directdrive motors

N/A

N/A

10.3.1

Adapted to single-turn data absolute encoders that are mounted on direct-drive motors as standard The upper limit of diving output Enhanced divid- 16384 [P/R] (equivalent to 16ing output resolu- bit) of feedback pulse is tion increased to 262144 [P/R] (equivalent to 20-bit). Reference pulse The reference pulse multiplicainput multiplication can be selected from 1 to 99. tion switching Automatic gain switching Increase moment of inertia ratio range Read serial number and date of manufacture 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).

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

1-12

2
Selections
2

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

2.2 Selecting Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-14


2.2.1 Support Tool for the Capacity Selection of the AC Servomotors - - - - - - - - - - - - - - - - 2-14 2.2.2 Servomotor Capacity Selection Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-14

2.3 SERVOPACK Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-15 2.4 -II Series SERVOPACKs and Applicable Servomotors - - - - - - - - - - - - - 2-16
2.4.1 SGDM SERVOPACKs and SGM H Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - 2-16 2.4.2 SGDM SERVOPACKs and SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - 2-17

2.5 Selecting Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-18


2.5.1 Cables for SGMAH and SGMPH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-18 2.5.2 Cables for SGMGH/SGMSH/SGMDH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - 2-23 2.5.3 Cables for SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-27

2.6 Selecting Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-30


2.6.1 Special Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2.6.2 Molded-case Circuit Breaker and Fuse Capacity - - - - - - - - - - - - - - - - - - - - - - - - - 2.6.3 Noise Filters, Magnetic Conductors, Surge Suppressors and DC Reactors - - - - - - - 2.6.4 Regenerative Resistors and Brake Power Supply Units - - - - - - - - - - - - - - - - - - - - - 2-30 2-32 2-33 2-34

2-1

2 Selections 2.1.1 Model SGMAH (3000 min-1)

2.1 Servomotor Model Designations


This section explains how to check the servomotor model and ratings. The alphanumeric codes after SGM H indicate the specifications.

2.1.1 Model SGMAH (3000 min-1)


(1) Without Gears
1st + 2nd digits 3rd 4th 5th 6th 7th digit digit digit digit digit

SGMAH 02 A A A 2 1

7th digit: Brake and Oil Seal


Code Specifications Without brake With 90-VDC brake With 24-VDC brake With oil seal and 90-VDC brake With oil seal and 24-VDC brake With oil seal

1st + 2nd digits: Rated Output (kW) Code A3 A5 01 02 04 08


: Available

3rd digit:Voltage A:200V,B:100V A B

B C D E S

Rated Output

0.03 0.05 0.1 0.2 0.4 0.75


Code

6th digit: Shaft End


Specifications Straight without key Straight with key Straight with key and tap Straight with tap
Option

Remarks
Standard

2 4 6 8

4th digit: Serial Encoder


Code Specifications Remarks Standard Option

1 4 A B

16-bit absolute encoder 1 16-bit absolute encoder 1 with super capacitor

5th digit: Design Revision Order


Code Specifications Standard

13-bit incremental encoder 2 Standard 16-bit incremental encoder 1 Option

1. The number of encoder pulses: 16384 P/Rev. 2. The number of encoder pulses: 2048 P/Rev.

2-2

2.1 Servomotor Model Designations

(2) With Gears


1st + 2nd 3rd 4th 5th 6th 7th 8th 9th digits digit digit digit digit digit digit digit

SGMAH 01 A A A H 1 2 B
1st + 2nd digits: Rated Output (kW) Code Rated Output A3 A5 01 02 04 08
: Available

9th digit: Brake

3rd digit:Voltage

Code

Specifications

A:200V,B:100V A B

1 B C

Without brake With 90-VDC brake With 24-VDC brake

0.03 0.05 0.1 0.2 0.4 0.75


Code

8th digit: Shaft End


Specifications No shaft Straight without key Straight with key and tap Straight with tap

6th digit: Gear Type Code

0 2 6 8

4th digit: Serial Encoder


Code Specifications Remarks Standard Option

: Available

8th digit: (Shaft End Code): 0


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 1 G (Lowbacklash) 2 7 B C
: Available

1 4 A B
1 2

16-bit absolute encoder 1 16-bit absolute encoder 1 with super capacitor

13-bit incremental encoder 2 Standard 16-bit incremental encoder 1 Option

1/5 1/9 1/33 1/11 1/21

The number of encoder pulses: 16384 P/Rev. The number of encoder pulses: 2048 P/Rev.

5th digit: Design Revision Order Code Specifications Standard

8th digit: (Shaft End Code): 2, 6, 8


7th digit: 1st + 2nd + 3rd digits: 6th Gear Ratio Code of the Rated Output and Voltage digit; Gear A3A A5A 01A 02A 04A 08A Type Code Specifications A3B A5B 01B 02B Code 1 H (Lowbacklash) 2 7 B C
: Available

6th digit: Gear Type Code Specifications


HDS planetary low-backlash gear HDS planetary low-backlash gear

8th digit: Shaft End Code 0 2 6 8 2 6

1/5 1/9 1/33 1/11 1/21

G H J

Standard backlash gear

8th digit: (Shaft End Code): 2, 6

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 J (Standard) 1 3 7 C
: Available

1/5 3/31 1/33 1/21

2-3

2 Selections 2.1.2 Model SGMPH (3000 min-1)

2.1.2 Model SGMPH (3000 min-1)


(1) Without Gears
1st + 2nd 3rd 4th 5th 6th 7th digits digit digit digit digit digit

SGMPH 02 A A A 2 1
1st + 2nd digits: Rated Output 3rd digit: Voltage A:200V,B:100V (kW) Code Rated Output 01 02 04 08 15
: Available

7th digit: Brake and Oil Seal


Code 1 B C D E S Specifications Without options With 90-VDC brake With 24-VDC brake With oil seal and 90-VDC brake With oil seal and 24-VDC brake With oil seal

0.1 0.2 0.4 0.75 1.5

6th digit: Shaft End


Code Specifications Straight without key Straight with key Straight with key and tap Straight with tap
Option

4th digit: Serial Encoder Code Specifications


1

Remarks
Standard

Remarks
1 Standard

2 4 6 8

1 16-bit absolute encoder 4 16-bit absolute encoder


with super capacitor

Option

A 13-bit incremental encoder2 Standard B 16-bit incremental encoder1 Option


1 2

5th digits: Design Revision Order


Code Specifications Standard IP67 water-proof specifications

The number of encoder pulses: 16384 P/Rev. The number of encoder pulses: 2048 P/Rev.

A E

2-4

2.1 Servomotor Model Designations

(2) With Gears

SGMPH 01 A A A H 1 2 B
1st + 2nd digit:
Rated Output (kW)

1st + 2nd 3rd 4th 5th 6th 7th 8th 9th digits digit digit digit digit digit digit digit

3rd digit: Voltage


A:200V,B:100V A B

9th digit: Brake


Code Specifications

Code Rated Output


01 02 04 08 15 0.1 0.2 0.4 0.75 1.5

1 B C

Without brake With 90-VDC brake With 24-VDC brake 6th digit: Gear TypeCode
G H J

8th digit: Shaft End


Code
0 2 6 8

: Available

Specifications No shaft
Straight without key Straight with key and tap

4th digit: Serial Encoder


Code Specifications Remarks Standard Option

1 4 A B
1 2 The

16-bit absolute encoder 1 16-bit absolute encoder 1 with super capacitor

Straight with tap : Available

(1) Rated Output: 0.1 kW

0.75 kW

13-bit incremental encoder 2 Standard 16-bit incremental encoder 1 Option

8th digit (Shaft End Code): 0


1st + 2nd + 3rd digits: 6 digit: 7th digit: Code of the Rated Gear Gear Ratio Output and Voltage Type Specifi- 01A 02A 04A 08A Code Code cations

The number of encoder pulses: 16384 P/Rev. number of encoder pulses: 2048 P/Rev.

01B 02B

5th digit: Design Revision Order


Code Specifications Standard IP67 water-proof specifications

1/5 1/33 1/11 1/21

A E

(Low- 7 back- B lash) C


: Available

6th digit: Gear Type


Code Specifications
HDS planetary low-backlash gear HDS planetary low-backlash gear

8th digit:
Shaft End Code 0 2 6 8 2 6

8th digit (Shaft End Code): 2, 6, 8


6 digit: 7th digit: Code of the Rated Gear Ratio Output and Voltage Gear Type Specifi- 01A 02A 04A 08A Code Code cations 01B 02B
H 1 1/5 1/33 1/11 1/21
1st + 2nd + 3rd digits:

G H J

Standard backlash gear

(2) Rated Output1.5 kW

8th digit (Shaft End Code): 0

1st + 2nd + 3rd digits: 6 digit: 7th digit: Gear Gear Ratio Code of the Rated Output and Voltage Type Specifi15A Code Code cations
G 1 1/5 1/33 1/11 1/21

(Low- 7 back- B lash) C


: Available

8th digit (Shaft End Code): 2, 6


6 digit: 7th digit: Code of the Rated Output and Voltage Gear Gear Ratio Type Code Specifi- 01A 02A 04A 08A 15A cations 01B 02B Code
J 1 1/5 3/31 (Low- 3 back- 7 1/33 lash) C 1/21 : Available
1st + 2nd + 3rd digits:

(Low- 7 back- B lash)

: Available

8th digit (Shaft End Code): 2, 6, 8


1st + 2nd + 3rd digits: 6 digit: 7th digit: Gear Gear Ratio Code of the Rated Output and Voltage Type Specifi15A Code Code cations
H 1 1/5 1/33 1/11 1/21

(Low- 7 back- B lash)

: Available

2-5

2 Selections 2.1.3 Model SGMGH (1500 min-1)

2.1.3 Model SGMGH (1500 min-1)


(1) Without Gears
1st + 2nd 3rd 4th 5th 6th 7th digits digit digit digit digit digit

SGMGH 13 A C A 2 1
1st + 2nd digits: 3rd digit: Voltage Rated Output (kW) A:200V Code Rated Output 05 09 13 20 30 44 55 75 1A 1E
: Available

7th digit: Brake and Oil Seal Code 1 B C D E S Specifications Without options With 90-VDC brake With 24-VDC brake With oil seal and 90-VDC brake With oil seal and 24-VDC brake With oil seal 6th digit: Shaft End Code Specifications Straight without key Taper 1/10, with parallel key Taper 1/10, with woodruff key Option Straight with key and tap

0.45 0.85 1.3 1.8 2.9 4.4 5.5 7.5 11.0 15.0 2 3 5 6

Remarks

Standard

4th digit: Serial Encoder Code Specifications Remarks Standard

5th digit: Design Revision Order Code Specifications


Standard

2 C

17-bit absolute encoder 17-bit incremental encoder

A C

The number of encoder pulses: 32768 P/Rev.

For high-performance machine tool (4.4 kW or less)

2-6

2.1 Servomotor Model Designations

(2) With Gears


1st + 2nd 3rd 4th 5th 6th 7th 8th 9th digits digit digit digit digit digit digit digit

SGMGH 20 A C A L 1 4 B
1 B C

9th digit: Brake


Code Specifications

Without brake With 90-VDC brake With 24-VDC brake


6th digit: Gear Type Code
L S T

8th digit: Shaft End

1st + 2nd digits: Rated Output (kW)

3rd digit: Voltage A:200V


A

Code
4 6

Code
05 09 13 20 30 44 55 75 1A

Rated Output

Specifications Straight with key Straight with key and tap

0.45 0.85 1.3 1.8 2.9 4.4 5.5 7.5 11.0

: Available

Code
L S T

6th digit: Gear Type Specifications Planetary low-backlash gear (Flange type) Standard backlash gear (Foot mounting type) Standard backlash gear (Flange type)

: Available

5th digit: Design Revision Order Code Specifications A Standard C For high-performance machine tool 4th digit: Serial Encoder

Code
2 C

Specifications Remarks 17-bit absolute encoder Standard 17-bit incremental encoder

The number of encoder pulses: 32768 P/Rev.

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)
: Available

1 2 5 7 8

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 Code Code Specifications 13A 55A 75A 05A 09A 20A 30A 44A

S (Standard)
: Available

A B C 7

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 Code Code Specifications 13A 55A 75A 05A 09A 20A 30A 44A

T (Standard)
: Available

A B C 7

1/6 1/11 1/21 1/29

2-7

2 Selections 2.1.4 Model SGMGH (1000 min-1)

2.1.4 Model SGMGH (1000 min-1)


(1) Without Gears
1st + 2nd 3rd 4th 5th 6th 7th digits digit digit digit digit digit

SGMGH 12 A C B 2 1
1st + 2nd digits: Rated Output (kW) Code Rated Output 03 06 09 12 20 30 40 55
: Available

3rd digit: Voltage A: 200V A


1 B C D E S

7th digit: Brake and Oil Seal Code Specifications Without options With 90-VDC brake With 24-VDC brake With oil seal and 90-VDC brake With oil seal and 24-VDC brake With oil seal 6th digit: Shaft End Code Specifications Straight without key Taper 1/10, with parallel key Taper 1/10, with woodruff key Option Straight with key and tap

0.3 0.6 0.9 1.2 2.0 3.0 4.0 5.5 2 3


4th digit: Serial Encoder

Remarks

Standard

5
Remarks

Code

Specifications

2 C

17-bit absolute encoder 17-bit incremental encoder

Standard

The number of encoder pulses: 32768 P/Rev.

5th digit: Design Revision Order Code Specifications


Standard

B D

For high-performance machine tool

2-8

2.1 Servomotor Model Designations

(2) With Gears


1st + 2nd 3rd 4th 5th 6th 7th 8th 9th digits digit digit digit digit digit digit digit

SGMGH 20 A C B L B 4 B
1 B C

9th digit: Brake


Code Specifications

Without brake With 90-VDC brake With 24-VDC brake


6th digit: Gear Type Code

8th digit: Shaft End

1st + 2nd digits: Rated Output (kW)

Code

3rd digit: Voltage


A:200V A

Code
03 06 09 12 20 30 40 55

Rated Output

6 : Available

Specifications Straight with key Straight with key and tap

0.3 0.6 0.9 1.2 2.0 3.0 4.0 5.5

Code
L S T

6th digit: Gear Type Specifications Planetary low-backlash gear (Flange type) Standard backlash gear (Foot mounting type) Standard backlash gear (Flange type)

: Available

5th digit: Design Revision Order Code Specifications B Standard D For high-performance machine tool 4th digit: Serial Encoder

Code
2 C

Specifications Remarks 17-bit absolute encoder Standard 17-bit incremental encoder

The number of encoder pulses: 32768 P/Rev.

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)

2.1.5 Model SGMSH (3000 min-1)


(1) Without Gears
1st + 2nd 3rd 4th 5th 6th 7th digits digit digit digit digit digit

SGMSH 10 A C A 2 1
1st + 2nd digits: Rated Output (kW) 3rd digit: Voltage A:200V

7th digit: Brake and Oil Seal Code 1 B C D E S Specifications Without options With 90-VDC brake With 24-VDC brake With oil seal and 90-VDC brake With oil seal and 24-VDC brake With oil seal 6th digit: Shaft End Code Specifications Straight without key Taper 1/10, with parallel key Straight with key and tap Remarks Standard Option

Code 10 15 20 30 40 50

Rated Output

1.0 1.5 2.0 3.0 4.0 5.0

: Available

2 3
4th digit: Serial Encoder
Code Specifications Remarks

2 C

17-bit absolute encoder 17-bit incremental encoder

Standard

The number of encoder pulses: 32768 P/Rev.

5th digit: Design Revision Order Code Specifications Standard

2-10

2.1 Servomotor Model Designations

(2) With Gears


1st + 2nd 3rd 4th 5th 6th 7th 8th 9th digits digit digit digit digit digit digit digit

SGMSH 10 A C A L 1 4 B
9th digit: Brake 1st + 2nd digits: Rated Output (kW) 3rd digit: Voltage A:200V
Code Specifications

1 B C

Without brake With 90-VDC brake With 24-VDC brake

Code 10 15 20 30 40 50

Rated Output

1.0 1.5 2.0 3.0 4.0 5.0


4th digit: Serial Encoder
Code

8th digit: Shaft End

Specifications Straight with key


1st + 2nd + 3rd digits: Code of the Rated Output and Voltage

: Available

6th digit: Gear 7th digit: Gear Ratio Type Code Code Specifications

10A 15A 20A 30A 40A 50A

Code

Specifications

Remarks Standard

2 C

17-bit absolute encoder 17-bit incremental encoder

(Lowbacklash)

1 2 5 7 8

1/5 1/9 1/20 1/29 1/45

The number of encoder pulses: 32768 P/Rev.

: Available

5th digit: Design Revision Order Code Specifications Standard


Code

6th digit: Gear Type


Specifications

Planetary low-backlash gear (Flange type)

2-11

2 Selections 2.1.6 Model SGMDH (2000 min-1)

2.1.6 Model SGMDH (2000 min-1)


SGMDH servomotors are provided with 90-VDC brakes as standard. (The seventh digit: B) Servomotors with backlash gears are not available for the model SGMDH.
1st + 2nd 3rd 4th 5th 6th 7th digits digit digit digit digit digit

SGMDH 22 A C A 2 B
1st + 2nd digits: Rated Output (kW) 3rd digit: Voltage A:200V

7th digit: Brake and Oil Seal Code 1 B C D E S Specifications Without options With 90-VDC brake With 24-VDC brake With oil seal and 90-VDC brake With oil seal and 24-VDC brake With oil seal 6th digit: Shaft End Code Specifications Straight without key Straight with key and tap Remarks Standard Option

Code Rated Output 22 32 40


: Available

Remarks Standard

2.2 3.2 4.0

4th digit: Serial Encoder


Code Specifications Remarks Standard

2 C

17-bit absolute encoder 17-bit incremental encoder

The number of encoder pulses: 32768 P/Rev.

2 6

5th digit: Design Revision Order Code Specifications Standard

2-12

2.1 Servomotor Model Designations

2.1.7 Model SGMCS


1st + 2nd 3rd 4th 5th 6th 7th digits digit digit digit digit digit

SGMCS 02 B 3 A 1 1
SGMCS Direct-drive motor
1st + 2nd digits: Rated Torque (N m)

3rd digit: Motor Outer Diameter (mm) B C D E M N (135) (175) (230) (290) (280) (360)
Code 1 7th digit: Brake Specifications Without brake

Code

Specifications

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

6th digit: Flange Code 1 Specifications C face

5th digit: Design Revision Order Code A B Specifications 45 to 200N m 2 to 35N m

4th digit: Encoder Code 3 D Specifications Remarks Standard Option

20-bit absolute encoder (Single-turn data absolute encoder) 20-bit incremental encoder

2-13

2 Selections 2.2.1 Support Tool for the Capacity Selection of the AC Servomotors

2.2 Selecting Servomotors


2.2.1 Support Tool for the Capacity Selection of the AC Servomotors
For easy selection of the capacity of the AC servomotors, a CD-ROM is available as a support tool.

CD-ROM: Programming for the capacity selection on AC servomotor (a) The display examples of the capacity calculation

(b) The display example of the regenerative calculation

(c) The display example of the moment of inertia calculation

2.2.2 Servomotor Capacity Selection Examples


Refer to 12.1 Servomotor Capacity Selection Examples.

2-14

2.3 SERVOPACK Model Designations

2.3 SERVOPACK Model Designations


Select the SERVOPACK according to the applied servomotor.
1st + 2nd digits 3rd digit 4th 5th digit digit 6th digit

SGDM - 10 A D

1st + 2nd digits: Rated Output of Applicable Servomotor (kW) Code Rated Output Code Rated Output

6th digit: Option Code Specificatioins -P -R Base-mounted Duct-ventilated Rack-mounted


Rated Output of Applicable Servomotor (kW)

A3 A5 01 02 04 05 08 10

0.03 0.05 0.10 0.20 0.40 0.45 0.75 1.0

15 20 30 50 60 75 1A 1E

1.5 2.0 3.0 5.0 6.0 7.5 11.0 15.0

0.03 to 15.0kW 6.0 to 15.0kW 0.03 to 5.0kW

5th digit: Design Revision Order * Blank or A,


* Refer to 1.5 -II Series SGDM SERVOPACK Upguraded Functions for more information on the specification variances for different design revision order.

4th digit: Model (Fixed)


3rd digit: Power Supply Voltage Code Voltage

Code D

Remarks For torque, speed, and position control

A B

Single/Three-phase 200V Single-phase 100V *

* The SGMAH and SGMPH Servomotors of 200W or less can be used with a 100V SERVOPACK.

2-15

2 Selections 2.4.1 SGDM SERVOPACKs and SGM H Servomotors

2.4 -II Series SERVOPACKs and Applicable Servomotors


2.4.1 SGDM SERVOPACKs and SGM H Servomotors
-II Series SGM H Servomotor 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) -II Series SGDM SERVOPACK Single-phase Single-phase Three-phase 100 VAC 200 VAC 200 VAC A3BD, A3BDA A3AD, A3ADA 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

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

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

2.4 -II Series SERVOPACKs and Applicable Servomotors

2.4.2 SGDM SERVOPACKs and SGMCS Servomotors


The SGMCS SERVOPACK can be combined only with a SGDM SERVOPACK with software version 32 or later. Note that SGMCS SERVOPACK cant be used with the SGDMware version 32 or earlier.
-II Series SGMCS Servomotor 02B 05B 07B 04C 10C 14C 08D 17D 25D 16E 35E 45M 80M 1AM 80N 1EN 2ZN

D and SGDM SERVOPACK with soft-

-II Series SGDM SERVOPACK Single-phase 200 VAC Three-phase 200 VAC 02ADA 02ADA 02ADA 04ADA 04ADA 04ADA 04ADA 04ADA 04ADA 08ADA 08ADA 10ADA 15ADA 20ADA 15ADA 30ADA 30ADA

SGMCS (Direct-drive series) 150min-1 8 models 200min-1 9 models

2-17

2 Selections 2.5.1 Cables for SGMAH and SGMPH Servomotors

2.5 Selecting Cables


2.5.1 Cables for SGMAH and SGMPH Servomotors

YASKAWA 200V SERVOPACK

SGDM-

MODE/SET CHARGE

DATA/ POWER

L1 L2 L3 1 2

C N 3

L1C L2 B1 B2 B3 U V W

C N 1

C N 2

CN2

2-18

2.5 Selecting Cables

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) 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)

Type JZSP-CMP00-03 JZSP-CMP00-05 JZSP-CMP00-10 JZSP-CMP00-15 JZSP-CMP00-20 JZSP-CMP03-03 JZSP-CMP03-05 JZSP-CMP03-10 JZSP-CMP03-15 JZSP-CMP03-20 JZSP-CMP10-03 JZSP-CMP10-05 JZSP-CMP10-10 JZSP-CMP10-15 JZSP-CMP10-20

Specifications

Reference

Cable with connectors at both ends

SERVOPACK end

Encoder end

5.4.1

2
SERVOPACK end Encoder end

Cable with loose wire at encoder end

5.4.3

CN2

Encoder Cable

Flexible type cable with connectors at both ends

SERVOPACK end

Encoder end

5.4.5 JZSP-CMP13-03 JZSP-CMP13-05 JZSP-CMP13-10 JZSP-CMP13-15 JZSP-CMP13-20


SERVOPACK end Encoder end

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)

2-19

2 Selections 2.5.1 Cables for SGMAH and SGMPH Servomotors

Name SERVOPACK end connector kit

Length

Type Soldered JZSP-CMP9-1 Soldered

Specifications

Reference 5.5.1 5.4.3 5.4.5 5.5.1

Encoder end connector kit 5m (16.4 ft)


CN2

JZSP-CMP9-2

JZSP-CMP09-05 JZSP-CMP09-10 JZSP-CMP09-15 JZSP-CMP09-20 JZSP-CMP19-30 JZSP-CMP19-40 JZSP-CMP19-50


50 m (164.0 ft) max.

Encoder Cable (Contd) Cables

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)

20 m (65.6 ft) max.

5.5.1

2-20

2.5 Selecting Cables

Name

Servomotor Model

Length

Type JZSP-CMM00-03 JZSP-CMM00-05 JZSP-CMM00-10 JZSP-CMM00-15 JZSP-CMM00-20 JZSP-CMM20-03 JZSP-CMM20-05 JZSP-CMM20-10 JZSP-CMM20-15 JZSP-CMM20-20 JZSP-CMM40-03 JZSP-CMM40-05 JZSP-CMM40-10 JZSP-CMM40-15 JZSP-CMM40-20 JZSP-CMM01-03 JZSP-CMM01-05 JZSP-CMM01-10 JZSP-CMM01-15 JZSP-CMM01-20

Specifications

Reference

Servomotor Main Circuit Cables and Connectors

Without brakes

3m (9.84 ft) 5m SGMAH (16.4 ft) SGMPH 10 m 100V: 30 to 200 W (32.8 ft) 200V: 30 to 15 m 750 W (49.2 ft) 20 m (65.6 ft) 3m (9.84 ft) 5m (16.4 ft) 10 m SGMPH-15A 1.5 kW (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) 3m (9.84 ft) Flexible type 5m SGMAH (16.4 ft) SGMPH 10 m 100V: 30 to (32.8 ft) 200 W 15 m 200V: 30 to (49.2 ft) 750 W 20 m (65.6 ft)

SERVOPACK end

Servomotor end

5.1.1

2
SERVOPACK end Servomotor end

5.1.1

SERVOPACK end

Servomotor end

5.1.5

SERVOPACK end

Servomotor end

5.1.3

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

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)

Type JZSP-CMM10-03 JZSP-CMM10-05 JZSP-CMM10-10 JZSP-CMM10-15 JZSP-CMM10-20 JZSP-CMM30-03 JZSP-CMM30-05 JZSP-CMM30-10 JZSP-CMM30-15 JZSP-CMM30-20 JZSP-CMM50-03 JZSP-CMM50-05 JZSP-CMM50-10 JZSP-CMM50-15 JZSP-CMM50-20

Specifications

Reference

SGMAH SGMPH 100V: 30 to 200 W 200V: 30 to 750 W

SERVOPACK end

Servomotor end

5.1.2

SGMPH-15A 1.5 kW

SERVOPACK end

Servomotor end

5.1.2

Servomotor Main Circuit Cables and Connectors (Contd)

With brakes

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)

SERVOPACK end

Servomotor end

5.1.2

3m JZSP-CMM11-03 (9.84 ft) Flexible type SGMAH SGMPH 100 V: 30 to 200 W 200 V: 30 to 750 W 5m (16.4 ft) 10 m (32.8 ft) 15 m (49.2 ft) 20 m (65.6 ft) JZSP-CMM11-05 JZSP-CMM11-10 JZSP-CMM11-15 JZSP-CMM11-20
SERVOPACK end Servomotor end

5.1.4

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

2.5 Selecting Cables

Name For standard environment connector kit without brakes

Servomotor Model SGMAH 30 W to 750 W SGMPH 100 W to 750 W SGMPH 1.5 kW SGMAH 30 W to 750 W SGMPH 100 W to 750 W SGMPH 1.5 kW

Length

Type

Specifications

Reference

JZSP-CMM9-1

Servomotor Main Circuit Cables and Connectors (Contd)

JZSP-CMM9-3 5.2.2 JZSP-CMM9-2

For standard environment connector kit with brakes

JZSP-CMM9-4

2.5.2 Cables for SGMGH/SGMSH/SGMDH Servomotors


YASKAWA 200V SERVOPACK

SGDM-

MODE/SET CHARGE

DATA/ POWER

L1 L2 L3 1 2

C N 3

L1C L2 B1 B2 B3 U V W

C N 1

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) 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-CMP03-03 JZSP-CMP03-05

Specifications

Reference

Cable with loose wires at encoder end

SERVOPACK end

Encoder end

JZSP-CMP03-10 JZSP-CMP03-15 JZSP-CMP03-20 JZSP-CMP01-03 JZSP-CMP01-05 JZSP-CMP01-10 JZSP-CMP01-15 JZSP-CMP01-20 With an straight plug
SERVOPACK end Encoder end

5.4.4

CN2

Encoder Cables * Applicable for Cable with connectors at both ends every type and capacity.

5.4.2 JZSP-CMP02-03 JZSP-CMP02-05 JZSP-CMP02-10 JZSP-CMP02-15 JZSP-CMP02-20 MS3106B20-29S* Straight plug L-shaped plug MS3108B20-29S* Cable clamp MS3057-12A* With an L-shaped plug
SERVOPACK end Encoder end

For standard environment encoder end connector

5.4.4 5.5.2

* Contact DDK Electronics, Inc.

2-24

2.5 Selecting Cables

Name

Length

Type

Specifications Straight plug

Reference

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)
CN2

For IP67 specification encoder end connector

5.5.2 Cable clamp

Encoder Cables (Contd) * Applicable for SERVOPACK end every type connector kit and capacity. 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)

JL04-2022CKE (14) Cable diameter: 12.9 to 15.9 mm (0.51 to 0.63 in) Soldered JZSP-CMP9-1 5.5.2

JZSP-CMP09-05 JZSP-CMP09-10 JZSP-CMP09-15 JZSP-CMP09-20 JZSP-CMP19-30 JZSP-CMP19-40 JZSP-CMP19-50


50 m (164.0 ft) max.

20 m (65.6 ft) max.

Cables

5.5.2

2-25

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) 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-CMP11-03 JZSP-CMP11-05 JZSP-CMP11-10 JZSP-CMP11-15 JZSP-CMP11-20 JZSP-CMP12-03 JZSP-CMP12-05 JZSP-CMP12-10 JZSP-CMP12-15 JZSP-CMP12-20 JZSP-CMP13-03 JZSP-CMP13-05 JZSP-CMP13-10 JZSP-CMP13-15 JZSP-CMP13-20

Specifications

Reference

With a straight plug


SERVOPACK end Encoder end

Flexible type cable with connectors at both ends


CN2

Encoder Cables (Contd) * Applicable for every type and capacity.

With an L-shaped plug


SERVOPACK end Encoder end
L

5.4.6

Flexible type cable with loose wire at encoder end

SERVOPACK end

Encoder end

Servomotor Main Circuit Cables and Connectors

Cables and connectors

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

2.5 Selecting Cables

2.5.3 Cables for SGMCS Servomotors


Y ASKAW A SERVOP ACK SGDM 200V

MODE/SET

DATA/

CHARGE POWER

SGDM SERVOPACK

L1 L2 +1 +2 L1C L2C B1 B2 U V W

C N 3

C N 1

C N

SGMCS Servomotor

Encoder cable

Servomotor main circuit cable

Servomotor main circuit cable

View A Encoder cable A

Encoder cable extension from 20 m (65.5 ft) up to 50 m (164.04 ft)


YASKAWA SERVOP ACK 200V

SGDM-

MODE/SET CHARGE

DATA/ POWER

SGDM SERVOPACK

L1 L2 +1 +2 L1C L2C B1 B2 U V W

C N 3

C N 1

C N

SGMCS Servomotor

Relay encoder cable extension *


* To be assembled by the customer.

Encoder cable

Servomotor main circuit cable

Relay encoder cable (Encoder end)

View A

2-27

2 Selections 2.5.3 Cables for SGMCS Servomotors

Name

Servomotor Model

Type Length
3m (9.84 ft)

Standard type
JZSP-CMP60-03 JZSP-CMP60-05 JZSP-CMP60-10 JZSP-CMP60-15 JZSP-CMP60-20 JZSP-CMP03-03 JZSP-CMP03-05 JZSP-CMP03-10 JZSP-CMP03-15 JZSP-CMP03-20

Flexible Type*1
JZSP-CSP60-03 JZSP-CSP60-05

Specifications

Reference

Cable with connectors at both ends (Same for incremental and absolute encoder)

5m (16.4 ft) 10 m (32.8 ft) 15 m (49.2 ft) 20 m (65.6 ft) 3m (9.84 ft)

SERVOPACK end

Encoder end

JZSP-CSP60-10 JZSP-CSP60-15 JZSP-CSP60-20

5.4.7
JZSP-CMP13-03 JZSP-CMP13-05
SERVOPACK end Encoder end

CN2

Encoder Cables * Applicable for every type.

Cable with loose wires at encoder end (Same for incremental and absolute encoder)

5m (16.4 ft) 10 m (32.8 ft) 15 m (49.2 ft) 20 m (65.6 ft)

JZSP-CMP13-10 JZSP-CMP13-15 JZSP-CMP13-20

Solder type SERVOPACK-end Connector kit Encoder-end Connector (Straight plug) Encoder-end Connector (Socket contact)
5m (16.4 ft) 10 m (32.8 ft) 15 m (49.2 ft) 20 m (65.6 ft)

JZSP-CMP9-1 JN1DS10SL1*2 JN1-22-22S-PKG100*2


JZSP-CMP09-05 JZSP-CMP09-10 JZSP-CMP09-15 JZSP-CMP09-20 JZSP-CSP39-05 JZSP-CSP39-10 JZSP-CSP39-15 JZSP-CSP39-20

Crimping type

5.5.3

20 m (65.6 ft) max.

Cables

2-28

2.5 Selecting Cables

Name

Servomotor Model

Type Length
3m (9.84 ft)

Standard type
JZSP-CMM60-03 JZSP-CMM60-05 JZSP-CMM60-10 JZSP-CMM60-15 JZSP-CMM60-20

Flexible Type*1
JZSP-CSM60-03 JZSP-CSM60-05

Specifications

Reference

Without Brakes (For smallcapacity series)

5m (16.4 ft) SGMCSB,C,D,E 10 m (32.8 ft) 15 m (49.2 ft) 20 m (65.6 ft)

SERVOPACK end

Encoder end

JZSP-CSM60-10 JZSP-CSM60-15 JZSP-CSM60-20

5.1.5

Servomotor main circuit cables and connectors

Without Brakes (For middlecapacity series)

SGMCS-

M,N

Cables with connectors and cables/connector are not available. Refer to 5.2.12 Connectors for SGMCS Servomotors for details. Solder type
JN1DS04FK1*2

Servomotor-end Connector
5m (16.4 ft) SGMCSB,C,D,E 10 m (32.8 ft) 15 m (49.2 ft) 20 m (65.6 ft)

5.1.5 5.2.12

JZSP-CSM90-05 JZSP-CSM90-10 JZSP-CSM90-15 JZSP-CSM90-20

JZSP-CSM80-05 JZSP-CSM80-10 JZSP-CSM80-15 JZSP-CSM80-20

20 m (65.6 ft) max. 5.1.5

Cables

Relay Encoder Cables Wires and Connectors for Relay Encoder Cable Extensions

Encoder-end (Same for incremental and absolute encoder)

0.3 m (0.984 ft) 30m (98.4 ft) 40m (131.2 ft) 50m (164.0 ft)

JZSP-CSP13

SERVOPACK end

Encoder end

JZSP-CMP19-30 JZSP-CMP19-40

Wires and connectors for relay encoder cable extensions are available for assembly by the customer.

50 m (164.0 ft) max. 6.4.6

JZSP-CMP19-50

* 1. Use flexible cables for movable sections such as robot arms. Refer to 5.6 Flexible Cables. * 2. Contact Japan Aviation Electronics Industry, Ltd.

2-29

2 Selections 2.6.1 Special Options

2.6 Selecting Peripheral Devices


2.6.1 Special Options
Digital operator

Connection cable for digital operator

Personal computer

YASKAWA 200V SERVOPACK

SGDM-

Connection cable for personal computer CN3 I/O signal cable CN1 Host controller

MODE/SET CHARGE

DATA/ POWER

L1 L2 L3 1 2

C N 3

L1C L2 B1 B2 B3 U V W

C N 1

C N 2

Analog monitor cable


CN5 CN8

Battery for absolute encoder

Name

Length

Type

Specifications Terminal block and 0.5 m (1.64 ft) connection cable

Reference

Connector terminal block converter unit


CN1

JUSP-TA50P

5.8.4

I/O Signal Cables

Cable with loose wires at one end

1m JZSP-CKI01-1 (3.28 ft) 2m JZSP-CKI01-2 (6.56 ft) 3m JZSP-CKI01-3 (9.84 ft)

Loose wires at host controller end 5.7.1

2-30

2.6 Selecting Peripheral Devices

Name

Length

Type

Specifications With connection cable (1 m (3.28 ft))

Reference

Digital Operator

JUSP-OP02A-2

CN3
Connection Cable for Digital Operator

1m JZSP-CMS00-1 (3.28 ft) 1.5m JZSP-CMS00-2 (4.92 ft) 2m JZSP-CMS00-3 (6.56 ft) 2m JZSP-CMS01 (6.56 ft)

Only required when using series Digital Operator JUSP-OP02A-1.


SERVOPACK end Operator end

5.8.2

D-Sub 25-pin (For PC98)


SERVOPACK end Personal computer end

CN3
Connection Cable for Personal Computer

D-Sub 9-pin (For DOS/V) 2m JZSP-CMS02 (6.56 ft)


SERVOPACK end Personal computer end

5.8.1

Half-pitch 14-pin (For PC 98) 2m JZSP-CMS03 (6.56 ft)


SERVOPACK end Personal computer end

CN5
Analog Monitor Cable

1m JZSP-CA01 or (3.28 ft) DE9404559

SERVOPACK end

Monitor end

5.8.3

To mount in the SERVOPACK (30 W to 5.0 kW) JZSP-BA01

JZSP-BA01-1
CN8

To mount in the SERVOPACK (6.0 kW to 15.0 kW) 5.8.8 To connect to a host controller (provided by a customer) 3.6 V 2000 mAh, manufactured by Toshiba Battery Co., Ltd.

Battery for Absolute Encoder

ER6VC3

* For details, refer to the manuals of each application module.

2-31

2 Selections 2.6.2 Molded-case Circuit Breaker and Fuse Capacity

2.6.2 Molded-case Circuit Breaker and Fuse Capacity


Main Circuit Power Supply SERVOPACK Model 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 Current Capacity of the Molded-case Circuit Breaker and the Fuse (Arms)*1, *2 Refer to 5.8.9 Control CirMain Circuit cuit Power Power Supply Supply 4 6 0.26 Inrush Current Control Circuit Power Supply 30A

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 1.5 2.0 3.0 5.0 6.0 7.5 11.0 15.0

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

Main Circuit Power Supply

Singlephase 100 V

32A

Singlephase 200 V

4 8 4 7 10 13 17 28 32 41 60 81

0.13

63A

60A

118A 0.153 63A 67A 0.273 0.33 40A 80A 60A

Threephase 200 V

* 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

2.6 Selecting Peripheral Devices

IMPORTANT

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.

2.6.3 Noise Filters, Magnetic Conductors, Surge Suppressors and DC Reactors


Main Circuit Power Supply SERVOPACK Model 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 1.5 2.0 Three-phase 200 V 3.0 5.0 6.0 7.5 11.0 15.0 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 Recommended Noise Filter (Refer to 5.8.10.) Type FN2070-6/07 FN2070-10/07 Specifications Single-phase 250 VAC, 6 A Single-phase 250 VAC, 10 A Single-phase 250 VAC, 6 A Single-phase 250 VAC, 10 A Three-phase 480 VAC, 7 A Three-phase 480 VAC, 16 A Three-phase 480 VAC, 30 A Three-phase 440 VAC, 50 A Three-phase 440 VAC, 64 A Three-phase 480 VAC, 150 A Magnetic Contactor (Refer to 5.8.11.) Surge Suppressor (Refer to 5.8.12.) DC Reactor (Refer to 5.8.13.) HI-11J (20 A) TU-25C120 X5063 X5062 HI-11J (20 A) TU-25C240 X5071 X5070 X5069 HI-11J (20 A) X5061 HI-15J (35 A) TU-25C240 X5060 HI-20J (35 A) HI-25J (50 A) HI-35J (65 A) HI-50J (75 A) HI-65J (100 A) TU-65C240 X5059 X5068

Single-phase 100 V

Single-phase 200 V

FN2070-6/07

FN2070-10/07 FN258L-7/07

FN258L-16/07

FN258L-30/07 FMAC-0934-5010 FMAC-0953-6410 FS5559-150-35

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

2.6.4 Regenerative Resistors and Brake Power Supply Units


SERVOPACK Model Main Circuit Power Supply 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 1.5 2.0 3.0 5.0 6.0 7.5 11.0 15.0 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 Regenerative Resistor (Refer to 5.8.6, 5.8.7, and 6.5.) Built-in Resistance Capacity () (W) Externally connected Brake Power Supply Unit (Refer to 5.8.5.) 24 VDC brake (provided by a customer) 3 90 VDC brake LPDE-1H01 for 100 VAC input LPSE-2H01 for 200 VAC input

Single-phase 100 V

Single-phase 200 V

50 30 25 12.5 8 (6.251 (3.13)2

60 70 140 140 280 (880)1 (1760)2

Three-phase 200 V

JUSP-RA04 JUSP-RA05

* 1. For the optional JUSP-RA04 Regenerative Resistor Unit. * 2. For the optional JUSP-RA05 Regenerative Resistor Unit. * 3. Be careful when connecting the power supply for 24 VDC brake to the local power supply. The local power supply cannot apply the overvoltage such as surge to the output side, and the output side may be damaged even if the voltage is applied. Never fail to use the surge suppressor. Note: 1. If the SERVOPACK cannot process the regenerative power, an external regenerative resistor is required. Refer to 5.8.6 External Regenerative Resistor, 5.8.7 Regenerative Resistor Unit, and 6.5 Connecting Regenerative Resistors. 2. The following table shows the manufacturers of each device. Peripheral Device External Regenerative Resistor External Regenerative Unit Brake Power Supply Unit Manufacturer Iwaki Wireless Research Institute Yaskawa Electric Corporation Yaskawa Controls Co., Ltd.

2-34

3
Specifications and Dimensional Drawings
3.1 Ratings and Specifications of SGMAH (3000 min-1) - - - - - - - - - - - - - - - - 3-4
3.1.1 SGMAH Servomotors Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4 3.1.2 SGMAH Servomotors With Standard Backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - 3-7 3.1.3 SGMAH Servomotors With Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9

3.2 Ratings and Specifications of SGMPH (3000min-1) - - - - - - - - - - - - - - - - 3-11


3.2.1 SGMPH Servomotors Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11 3.2.2 SGMPH Servomotors With Standard Backlash Gears - - - - - - - - - - - - - - - - - - - - - - - 3-13 3.2.3 SGMPH Servomotors With Low-backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15

3.3 Ratings and Specifications of SGMGH (1500min-1) - - - - - - - - - - - - - - - - 3-17


3.3.1 SGMGH Servomotors (1500min-1) Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - 3-17 3.3.2 SGMGH Servomotors (1500min-1) With Standard Backlash Gears - - - - - - - - - - - - - - 3-20 3.3.3 SGMGH Servomotors (1500min-1) With Low-backlash Gears - - - - - - - - - - - - - - - - - 3-23

3.4 Ratings and Specifications of SGMGH (1000min-1) - - - - - - - - - - - - - - - - 3-25


3.4.1 SGMGH Servomotors (1000min-1) Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - 3-25 3.4.2 SGMGH servomotors (1000min-1) With Standard Backlash Gears - - - - - - - - - - - - - - 3-28 3.4.3 SGMGH Servomotors (1000 min-1) With Low-backlash Gears - - - - - - - - - - - - - - - - - 3-30

3.5 Ratings and Specifications of SGMSH (3000min-1) - - - - - - - - - - - - - - - - 3-32


3.5.1 SGMSH Servomotors (3000min-1) Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - 3-32 3.5.2 SGMSH Servomotors (3000min-1) With Low-backlash Gears - - - - - - - - - - - - - - - - - 3-35

3.6 Ratings and Specifications of SGMDH (2000min-1) - - - - - - - - - - - - - - - - 3-37


3.6.1 SGMDH Servomotors (2000min-1) With Holding Brakes - - - - - - - - - - - - - - - - - - - - - 3-37

3.7 Ratings and Specifications of SGMCS Servomotors - - - - - - - - - - - - - - - - 3-39


3.7.1 Small-capacity Series SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-39 3.7.2 Middle-capacity Series SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-43

3.8 Mechanical Specifications of SGMAH, SGMPH, SGMGH, SGMSH, and SGMDH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-45
3.8.1 Precautions on Servomotor Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-45 3.8.2 Mechanical Tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-46

3-1

3 Specifications and Dimensional Drawings

3.8.3 Direction of Servomotor Rotation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-47 3.8.4 Impact Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-47 3.8.5 Vibration Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-47 3.8.6 Vibration Class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-47

3.9 Mechanical Specifications of SGMCS Servomotors - - - - - - - - - - - - - - - - 3-48


3.9.1 Allowable Loads - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-48 3.9.2 Mechanical Tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-49 3.9.3 Direction of Servomotor Rotation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-50 3.9.4 Impact Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-50 3.9.5 Vibration Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-50 3.9.6 Vibration Class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-50 3.9.7 Protective Specification - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-50

3.10 Terms and Data for Servomotors With Gears - - - - - - - - - - - - - - - - - - - - 3-51 3.11 Servomotor Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-53 3.12 Dimensional Drawings of SGMAH Servomotors (3000 min-1) - - - - - - - - 3-54
3.12.1 SGMAH Servomotors (3000 min-1) Without Gears - - - - - - - - - - - - - - - - - - - - - - - - -3-54 3.12.2 SGMAH Servomotors (3000 min-1) Without Gears and With Brakes - - - - - - - - - - - -3-57 3.12.3 SGMAH Servomotors (3000 min-1) With Standard Backlash Gears - - - - - - - - - - - - -3-60 3.12.4 SGMAH Servomotors (3000 min-1) With Standard Backlash Gears and Brakes - - - -3-66 3.12.5 SGMAH Servomotors (3000 min-1) With Low-backlash Gears - - - - - - - - - - - - - - - - -3-71

3.13 Dimensional Drawings of SGMPH Servomotors (3000 min-1) - - - - - - - - 3-77


3.13.1 SGMPH Servomotors (3000 min-1) Without Gears and Brakes - - - - - - - - - - - - - - - -3-77 3.13.2 SGMPH Servomotors (3000 min-1) With Brakes - - - - - - - - - - - - - - - - - - - - - - - - - -3-79 3.13.3 SGMPH Servomotors (3000 min-1) With Standard Backlash Gears and Without Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-81 3.13.4 SGMPH Servomotors (3000 min-1) With Standard Backlash Gears and Brakes - - - -3-84 3.13.5 SGMPH Servomotors (3000 min-1) With Low-backlash Gears - - - - - - - - - - - - - - - - -3-88

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

3.15 Dimensional Drawings of SGMGH Servomotors (1500 min-1) - - - - - - - - 3-93


3.15.1 SGMGH Servomotors (1500 min-1) Without Gears and Brakes - - - - - - - - - - - - - - - -3-93 3.15.2 SGMGH Servomotors (1500 min-1) 200-V Specifications Without Gears and With Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-95 3.15.3 SGMGH Servomotors (1500min-1) With Standard Backlash Gears and Without Brakes (Foot-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-99 3.15.4 SGMGH Servomotors (1500min-1) With Standard Backlash Gears and Without Brakes (Flange-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-106 3.15.5 SGMGH Servomotors (1500min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-114

3-2

3.16 Dimensional Drawings of SGMGH Servomotors (1000 min-1) - - - - - - - 3-118


3.16.1 SGMGH Servomotors (1000 min-1) Without Gears and Brakes - - - - - - - - - - - - - - 3-118 3.16.2 SGMGH Servomotors (1000 min-1) Without Gears and With Brakes - - - - - - - - - - 3-120 3.16.3 SGMGH Servomotors (1000 min-1) With Standard Backlash Gears and Without Brakes (Foot-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-123 3.16.4 SGMGH Servomotors (1000 min-1) With Standard Backlash Gears and Without Brakes (Flange-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-129 3.16.5 SGMGH Servomotors (1000 min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-136

3.17 Dimensional Drawings of SGMSH Servomotors (3000min-1) - - - - - - - - 3-140


3.17.1 SGMSH Servomotors (3000min-1) Without Gears and Without Brakes - - - - - - - - - 3-140 3.17.2 SGMSH Servomotors (3000 min-1) 200-V Specifications Without Gears and With Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-142 3.17.3 SGMSH Servomotors (3000 min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-144

3.18 Dimensional Drawings of SGMDH Servomotors


3.18.1 SGMDH Servomotors (2000min-1)

(2000min-1)

- - - - - - - 3-149

Without Gears and With/Without Brakes - - - - - 3-149

3.19 Dimensional Drawings of SGMCS Servomotors - - - - - - - - - - - - - - - - - 3-151


3.19.1 SGMCS Servomotors 135 Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3.19.2 SGMCS Servomotors 175 Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3.19.3 SGMCS Servomotors 230 Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3.19.4 SGMCS Servomotors 290 Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3.19.5 SGMCS Servomotors 280 Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3.19.6 SGMCS Servomotors 360 Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3.19.7 Servomotor Connector for All Small-capacity Series Servomotors - - - - - - - - - - - 3.19.8 Servomotor Connector for All Middle-capacity Series Servomotors - - - - - - - - - - - 3-151 3-151 3-152 3-152 3-153 3-154 3-155 3-156

3.20 Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-157

3-3

3 Specifications and Dimensional Drawings 3.1.1 SGMAH Servomotors Without Gears

3.1 Ratings and Specifications of SGMAH (3000 min-1)


3.1.1 SGMAH Servomotors Without Gears
(1) Ratings and Specifications
Time Rating: Continuous Vibration Class: 15 m or below Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C (32 to 104F) Excitation: Permanent magnet Mounting: Flange method 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 A5B 01B 0.05 22.5 0.477 67.5 0.95 2.9 0.1 0.318 45.0 0.955 135 2.4 7.2 200 V 01A 02A 0.1 0.318 45.0 0.955 135 0.91 2.8 0.2 0.637 90.2 1.91 270 2.1 6.5

Voltage Servomotor Model SGMAHRated Output


1

A3B 0.03 13.5 0.286 40.5 0.66 2.0

02B 0.2 90.2 1.91 270 3.0 9.0

A3A 0.03 13.5 0.286 40.5 0.44 1.3

A5A 0.05 22.5 0.477 67.5 0.64 2.0

04A 0.4 1.27 180 3.82 541 2.8 8.5

08A 0.75 2.39 338 7.16 1010 4.4 13.4

kW Nm

ozin 3 Instantaneous Peak Nm Torque 1 ozin 3 Arms Rated Current 1 Instantaneous Max. Arms Current 1 Rated Speed 1 Max. Speed 1 Torque Constant min-1 min-1 Nm/Arms ozin/Arms x10-3 ozins2 3 kW/s rad/s2
3

Rated Torque 1,2

0.0955 0.159

0.637 0.0955 0.159

3000 5000 0.157 22.2 0.182 25.8 0.146 20.7 0.234 33.1 0.238 33.7 0.268 38.0 0.378 53.5 0.327 46.3 0.498 70.5 0.173 2.45 93.7 0.590 83.6 0.672 9.52 84.8

Rotor Moment of Inertia J Rated Power Rate


1

x10-4 kgm2

0.0166 0.0220 0.0364 0.106 0.0166 0.0220 0.0364 0.106 0.235 5.49 0.312 11.5 0.515 27.8 1.50 38.2 0.235 5.49 0.312 11.5 0.515 27.8 1.50 38.2

Rated Angular Acceleration 1

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

3.1 Ratings and Specifications of SGMAH (3000 min-1)

(2) Holding Brake Moment of Inertia


The moment of inertia of the servomotor with holding brake is expressed using the following equation. (The moment of inertia of the servomotor with holding brake) = (rotor moment of inertia) + (brake moment of inertia)
Servomotor Model SGMAHHolding Brake Moment of Inertia J 10-4 kg m2 10-3 oz in s2 A3A A5A A3B A5B 0.0085 0.120 01A 01B 02A 02B 04A 08A 0.14 1.98

0.058 0.821

* These values are reference values.

(3) Derating Rate for Servomotor With Oil Seal


For a motor with oil seal, use the following derating rate because of the higher friction torque.
Servomotor Model SGMAHDerating Rate (%) A3A A3B 70 A5A A5B 80 01A 01B 90 02A 02B 04A 95 08A

(4) Torque-motor Speed Characteristics


(a) 100-V Class
5000 4000 Motor 3000 A speed 2000 (min-1) 1000 0 B SGMAH-A3B 5000 4000 Motor 3000 A speed 2000 (min-1) 1000 0 B SGMAH-A5B 5000 4000 Motor 3000 A speed 2000 -1) (min 1000 0 B SGMAH-01B 5000 4000 Motor 3000 A speed 2000 -1) (min 1000 0 B SGMAH-02B

0 0.1 0.2 0.3 0.4 Torque (N m) 0 60 20 40 Torque (oz in)

0 0.15 0.3 0.45 0.6 Torque (N m) 0 20 40 60 80 100 Torque (oz in)

0 0.25 0.5 0.75 1 Torque (N m) 0 50 100 150 Torque (oz in)

0 0.5 1 1.5 2 Torque (N m) 0 100 200 300 Torque (oz in)

(b) 200-V Class


5000 4000 Motor 3000 speed A 2000 -1) (min 1000 0 B SGMAH-A3A 5000 4000 Motor 3000 speed A 2000 -1) (min 1000 0 B SGMAH-A5A 5000 4000 Motor 3000 A speed 2000 (min-1) 1000 0 B SGMAH-01A 5000 4000 Motor 3000 A speed 2000 (min-1) 1000 0 B SGMAH-02A

0 0.1 0.2 0.3 0.4 Torque (N m) 0 20 60 40 Torque (oz in) SGMAH-04A

0 0.15 0.3 0.45 0.6 Torque (N m)

0 0.25 0.5 0.75 1 Torque (N m) 50 100 150 Torque (oz in)

0 0.5 1 1.5 2 Torque (N m) 0 100 200 300 Torque (oz in)

0 20 40 60 80 100 Torque (oz in) 5000 4000 SGMAH-08A

5000 4000 Motor 3000 speed A 2000 (min-1) 1000 0 0 0

Motor 3000 A speed 2000 (min-1) 1000 0 0 0

1 2 3 4 Torque (N m) 200 400 600 Torque (oz in)

2 4 6 8 Torque (N m) 400 800 1200 Torque (oz in)

A B

Continuous Duty Zone Intermittent Duty Zone

3-5

3 Specifications and Dimensional Drawings 3.1.1 SGMAH Servomotors Without Gears

(5) Holding Brake Electrical Specifications


Servomotor Capacity W 30 50 100 200 400 750 30 50 100 200 400 750 Holding Brake Specifications Coil Holding Resistance Torque (at 20C N m (oz in) (68 F)) 0.0955 (13.5) 1350 0.159 (22.5) 1350 0.318 (45.0) 1350 0.637 (90.2) 1095 1.27 (180) 1095 2.39 (338) 900 0.0955 (13.5) 96 0.159 (22.5) 96 0.318 (45.0) 96 0.637 (90.2) 89 1.27 (180) 89 2.39 (338) 75.2 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 0.27 0.27 0.32

Holding Brake Rated Voltage

Servomotor Model SGMAH-A3 SGMAH-A5 SGMAH-01 SGMAH-02 SGMAH-04 SGMAH-08 SGMAH-A3 SGMAH-A5 SGMAH-01 SGMAH-02 SGMAH-04 SGMAH-08

Capacity W 6 6 6 7.4 7.4 9 6 6 6 6.5 6.5 7.7

90 VDC

24 VDC

Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor.

3-6

3.1 Ratings and Specifications of SGMAH (3000 min-1)

3.1.2 SGMAH Servomotors With Standard Backlash Gears


Time Rating: Continuous Vibration Class: 15 m or below Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C (32 to 104F) Excitation: Permanent magnet Mounting: Flange method Gear Mechanism: Planetary gear mechanism 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 Servomotor Model SGMAHRated Torque/ Efficiency2 Nm/% (ozin/%) 0.238/50 (33.7/50) 0.687/70 (97.3/70) 1.60/80 (227/80) 2.51/80 (355/80) 0.557/70 (78.9/70) 1.15/70 (163/70) 2.67/80 (378/80) 4.20/80 (595/80) 1.27/80 (180/80) 2.63/80 (372/80) 5.34/80 (756/80) 8.40/80 (1190/80)

Gear Output Instantaneous Peak Torque Nm (ozin) 1.16 (164) 2.37 (336) 5.48 (776) 8.61 (1220) 1.92 (272) 3.95 (559) 9.07 (1280) 14.3 (2030) 4.32 (612) 8.88 (1260) 18.1 (2560) 28.4 (4020)

Moment of Inertia J 10-4 kgm2 (x 10-3 ozins2)

Output W

Rated Speed min-1

Rated Torque Nm (oz in)

Gear Ratio

Rated Speed min-1

Max. Speed 1 min-1

Motor + Gears

Gears

A3 A3 A3 A3 A5 A5 A5 A5 01 01 01 01

AJ1 AJ3 30 AJC AJ7 AJ1 AJ3 50 AJC AJ7 AJ1 AJ3 100 AJC AJ7 0.318 (45.0) 3000 0.159 (22.5) 0.095 (13.45)

1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33

600 290 143 91 600 290 143 91 600 290 143 91

800 387 190 121 800 387 190 121 800 387 190 121

0.044 (0.623) 0.033 (0.467) 0.023 (0.326) 0.021 (0.297) 0.050 (0.708) 0.040 (0.566) 0.036 (0.510) 0.032 (0.453) 0.099 (1.40) 0.054 (0.765) 0.071 (1.00) 0.057 (0.807)

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

3 Specifications and Dimensional Drawings 3.1.2 SGMAH Servomotors With Standard Backlash Gears

(Contd) Servomotor Servomotor Model SGMAHRated Torque/ Efficiency Nm/% (ozin/%) 2.55/80 (361/80) 5.27/80 (746/80) 10.7/80 (1520/80) 16.8/80 (2380/80) 5.08/80 (719/80) 10.5/80 (1490/80) 21.3/80 (3020/80) 33.5/80 (4740/80) 9.56/80 (1350/80) 19.8/80 (2800/80) 40.2/80 (5690/80) 63.1/80 (8940/80)
2

Gear Output Instantaneous Peak Torque Nm (ozin) 8.60 (1220) 17.8 (2520) 36.1 (5110) 56.7 (8030) 17.2 (2440) 35.5 (5030) 72.2 (10200) 113.0 (16000) 32 (4530) 66.6 (9430) 134 (19000) 213 (30000)

Moment of Inertia J 10-4 kgm2 (x 10-3 ozins2)

Output W

Rated Speed min-1

Rated Torque Nm (oz in)

Gear Ratio

Rated Speed min-1

Max. Speed 1 min-1

Motor + Gears

Gears

02 02 02 02

AJ1 AJ3 200 AJC AJ7 0.637 (90.2)

1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33

600 290 143 91 600 290 143 91 600 290 143 91

800 387 190 121 800 387 190 121 800 387 190 121

0.299 (4.23) 0.196 (2.78) 0.211 (2.99) 0.181 (2.56) 0.366 (5.18) 0.353 (5.00) 0.403 (5.71) 0.338 (4.79) 1.12 (15.9) 1.10 (15.6) 1.15 (15.3) 0.972 (13.8)

04A AJ1 04A AJ3 400 04A AJC 04A AJ7 08A AJ1 08A AJ3 750 08A AJC 08A AJ7 2.39 (338) 3000 1.27 (179.8)

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)

* 1. Maximum motor speed is up to 4000 min-1 at the shaft. * 2. Gear output torque is expressed using the following equation. (Gear output torque) = (servomotor output torque) ( gear1ratio ) (efficiency) 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.

3-8

3.1 Ratings and Specifications of SGMAH (3000 min-1)

3.1.3 SGMAH Servomotors With Low-backlash Gears


Time Rating: Continuous Vibration Class: 15 m or below Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C (32 to 104F) Excitation: Permanent magnet Mounting: Flange method Gear Mechanism: Planetary gear mechanism 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 SGMAHRated Torque/Efficiency Nm/% (ozin/%) 0.238/50 (33.7/50) 0.599/70 (84.8/70) 1.60/80 (227/80) 2.51/80 (355/80) 0.557/70 (78.9/70) 1.00/70 (142/70) 2.67/80 (378/80) 4.20/80 (595/80) 1.27/80 (180/80) 2.80/80 (396/80) 5.34/80 (756/80) 8.40/80 (1190/80)
2

Gear Output Instantaneous Peak Torque Nm (ozin) 1.16 (164) 2.35 (333) 5.48 (776) 8.61 (1220) 1.92 (272) 3.89 (551) 9.12 (1290) 14.3 (2030) 4.34 (615) 9.55 (1350) 18.2 (2580) 28.7 3 (4060)

Moment of Inertia J 10-4 kgm2 (x 10-3 ozins2) Rated Speed min-1 Max. Speed 1 min-1

Output W

Rated Speed min-1

Rated Torque Nm (oz in)

Gear Ratio

Motor + Gears

Gears

A3 A3 A3 A3 A5 A5 A5 A5 01 01 01 01

AH1 AH2 30 AHC AH7 AH1 AH2 50 AHC AH7 AH1 AHB 100 AHC AH7 3000 0.159 (22.5) 0.159 (22.5)

1/5 1/9 1/21 1/33 1/5 1/9 1/21 1/33 1/5 1/11 1/21 1/33

600 333 143 91 600 333 143 91 600 273 143 91

800 444 190 121 800 444 190 121 800 363 190 121

0.053 (0.751) 0.029 (0.411) 0.025 (0.354) 0.023 (0.326) 0.058 (0.821) 0.055 (0.779) 0.040 (0.566) 0.035 (0.496) 0.114 (1.61) 0.084 (1.19) 0.079 (1.12) 0.069 (0.977)

0.318 (45.0)

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) 0.033 (0.467)

3-9

3 Specifications and Dimensional Drawings 3.1.3 SGMAH Servomotors With Low-backlash Gears

(Contd) Servomotor Servomotor Model SGMAHRated 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) 33.5/80 (4740/80) 10.2/85 (1440/85) 22.3/85 (3160/85) 42.7/85 (6050/85) 67/85 (9490/85) Gear Output 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) 713 (10100) 140 (19800) 2063 (29200) Moment of Inertia J 10-4 kgm2 (x 10-3 ozins2) Rated Speed min-1 Max. Speed 1 min-1

Output W

Rated Speed min-1

Rated Torque Nm (oz in)

Gear Ratio

Motor + Gears

Gears

02 02 02 02

AH1 AHB 200 AHC AH7

1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 750 2.39 (338) 1/21 1/33

600 273 143 91 600 273 143 91 600 273 143 91

800 363 190 121 800 363 190 121 800 363 190 121

0.637 (90.2)

0.441 (6.25) 0.191 (2.70) 0.216 (3.06) 0.171 (2.42) 0.508 (7.19) 0.368 (5.21) 0.368 (5.21) 0.346 (4.90) 1.25 (17.7) 1.20 (17.0) 1.26 (17.8) 0.935 (13.2)

0.335 (4.74) 0.085 (1.20) 0.110 (1.56) 0.065 (0.920) 0.335 (4.74) 0.195 (2.76) 0.195 (2.76) 0.173 (2.45) 0.583 (8.26) 0.528 (7.48) 0.593 (8.40) 0.263 (3.72)

04A AH1 04A AHB 400 04A AHC 04A AH7 08A AH1 08A AHB 08A AHC 08A AH7 3000

1.27 (179.8)

* 1. Maximum motor speed is up to 4000 min-1 at the shaft. * 2. Gear output torque is expressed using the following equation. (Gear output torque) = (servomotor output torque) ( gear1ratio ) (efficiency) * 3. The instantaneous peak torque values indicated with 3 are limited by the gear, so use the following servomotor instantaneous peak torque. In this case, set torque limit parameters Pn402 and 403 for the SERVOPACK at 250%. 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.

3-10

3.2 Ratings and Specifications of SGMPH (3000min-1)

3.2 Ratings and Specifications of SGMPH (3000min-1)


3.2.1 SGMPH Servomotors Without Gears
(1) Ratings and Specifications
Time Rating: Continuous Vibration Class: 15 m or below Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C (32 to 104F) Excitation: Permanent magnet Mounting: Flange method Voltage Servomotor Model SGMPHRated Output 1 Rated Torque 1,2 Instantaneous Peak Torque 1 Rated Current 1 Instantaneous Max. Current 1 Rated Speed 1 Max. Speed 1 Torque Constant Rotor Moment of Inertia J Rated Power Rate 1 Rated Angular Acceleration 1 kW Nm ozin Nm ozin 3 Arms Arms min-1 min-1 Nm/Arms ozin /Arms
3 3

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 01B 0.1 0.318 45.0 0.955 135 2.2 7.1 02B 0.2 0.637 90.2 1.91 270 2.7 8.4 01A 0.1 0.318 45.1 0.955 135 0.89 2.8 02A 0.2 0.637 90.2 1.91 270 2.0 6.0 3000 5000 0.160 22.7 0.0491 0.695 20.6 64800 0.258 36.5 0.193 2.73 21.0 33000 0.392 55.5 0.0491 0.695 20.6 64800 0.349 49.4 0.193 2.73 21.0 33000

200 V 04A 0.4 1.27 180 3.82 541 2.6 8.0 08A 0.75 2.39 338 7.16 1010 4.1 13.9 15A 1.5 4.77 675 14.3 2030 7.5 23.0

0.535 75.8 0.331 4.69 49.0 38500

0.641 90.8 2.10 29.7 27.1 11400

0.687 97.3 4.02 56.9 56.7 11900

x10-4 kgm2 x10-3 ozins2 3 kW/s rad/s2

* 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

3 Specifications and Dimensional Drawings 3.2.1 SGMPH Servomotors Without Gears

(2) Holding Brake Moment of Inertia


The moment of inertia of the servomotor with holding brake is expressed using the following equation. (The moment of inertia of the servomotor with holding brake) = (rotor moment of inertia) + (brake moment inertia)
Servomotor Model SGMPHHolding Brake Moment of Inertia J 10-4 kg m2 10-3 oz in s2 01A 01B 0.029 0.411 02A 02B 1.54 04A 08A 15A

0.109

0.875 12.4

* These values are reference values.

(3) Derating Rate for Servomotor With Oil Seal


For a motor with oil seal, use the following derating rate because of the higher friction torque.
Servomotor Model SGMPHDerating Rate (%) 01A 01B 90 02A 02B 04A 08A 95 15A

(4) Torque-motor Speed Characteristics


(a) 100-V Class
SGMPH-01B 5000 4000 Motor 3000 speed A 2000 (min-1) 1000 0 B 5000 4000 Motor 3000 A speed 2000 -1) (min 1000 0 B SGMPH-02B

0 0.25 0.5 0.75 1 Torque (N m) 0 50 100 150 Torque (oz in)

0 0.5 0.1 1.5 2 Torque (N m) 0 100 200 300 Torque (oz in)

(b) 200-V Class


5000 4000 Motor 3000 speed A 2000 -1) (min 1000 0 B SGMPH-01A 5000 4000 Motor 3000 A speed 2000 (min-1) 1000 0 B SGMPH-02A 5000 4000 Motor 3000 A speed 2000 (min-1) 1000 0 0 B SGMPH-04A 5000 4000 Motor 3000 A speed 2000 -1) (min 1000 0 0 0 B SGMPH-08A

0 0.25 0.5 0.75 1 Torque (N m) 0 50 100 150 Torque (oz in) SGMPH-15A

0 0.5 1 1.5 2 Torque (N m) 0 100 200 300 Torque (oz in)

1 2 3 4 Torque (N m) 200 400 600 Torque (oz in)

2 4 6 8 Torque (N m) 400 800 1200 Torque (oz in)

5000 4000 Motor 3000 A speed 2000 (min-1) 1000 0 0 0

A : Continuous Duty Zone

B : Intermittent Duty Zone

4 8 12 16 Torque (N m) 800 1600 2400 Torque (oz in)

3-12

3.2 Ratings and Specifications of SGMPH (3000min-1)

(5) Holding Brake Electrical Specifications


Holding Brake Rated Voltage Servomotor Model SGMPH-01 SGMPH-02 90 VDC SGMPH-04 SGMPH-08 SGMPH-15 SGMPH-01 SGMPH-02 24 VDC SGMPH-04 SGMPH-08 SGMPH-15 Servomotor Capacity W 100 200 400 750 1500 100 200 400 750 1500 Holding Brake Specifications Capacity W 8.1 7.6 7.2 7.5 10 6 5 7.6 7.5 10 Holding Torque Nm (ozin) 0.318 (45.1) 0.637 (90.2) 1.27 (180) 2.39 (338) 4.77 (675) 0.318 (45.1) 0.637 (90.2) 1.27 (180) 2.39 (338) 4.77 (675) Coil Resistance (at 20 C) 1000 1062 1125 1083 832 114 115 76 76.8 57.6 Rated Current A (at 20 C) 0.09 0.085 0.08 0.083 0.108 0.25 0.21 0.32 0.31 0.42

Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor.

3.2.2 SGMPH Servomotors With Standard Backlash Gears


Time Rating: Continuous Vibration Class: 15 m or below Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C (32 to 104F) Excitation: Permanent magnet Mounting: Flange method Gear Mechanism: Planetary gear mechanism 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

3 Specifications and Dimensional Drawings 3.2.2 SGMPH Servomotors With Standard Backlash Gears

Moment of Inertia J Servomotor Servomotor Model SGMPHRated Torque/ Efficiency2 Nm/% (ozin/%) 1.27/80 (180/80) 2.63/80 (372/80) 5.34/80 (756/80) 8.40/80 (1190/80) 2.55/80 (361/80) 5.27/80 (746/80) 10.7/80 (1520/80) 16.8/80 (2380/80) 5.08/80 (719/80) 10.5/80 (1490/80) 21.3/80 (3020/80) 33.5/80 (4740/80) 9.56/80 (1350/80) 19.8/80 (2800/80) 40.2/80 (5690/80) 63.1/80 (8940/80) 19.1/80 (2710/80) 42.5/80 (6020/80) 80.1/80 (11300/80) 126/80 (17800/80) Gear Output Instantaneous Peak Torque Nm (ozin) 4.32 (612) 8.88 (1257) 18.1 (2560) 28.4 (4020) 8.6 (1220) 17.8 (2520) 36.1 (5110) 56.7 (8030) 17.2 (2440) 35.5 (5030) 72.2 (10200) 113 (16000) 32 (4530) 66.6 (9430) 134 (19000) 213 (30200) 64.4 (9120) 144 (20100) 270 (38200) 425 (60200) 10-4 kgm2 (x 10-3 ozins2) Output W Rated Speed min-1 Rated Torque Nm (oz in) Rated Speed min-1 Max. Speed 1 min-1

Gear Ratio

Motor + Gears

Gears

01 01 01 01 02 02 02 02 04 04 04 04 08 08 08 08 15 15 15 15

J1 J3 100 JC J7 J1 J3 200 JC J7 J1 J3 400 JC J7 J1 J3 750 JC J7 J1 J3 1500 JC J7 4.77 (675) 2.39 (338) 3000 1.27 (179.8) 0.637 (90.2) 0.318 (45.0)

1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 1/5 1/11 1/21 1/33

600 290 143 91 600 290 143 91 600 290 143 91 600 290 143 91 600 269 143 91

800 387 190 121 800 387 190 121 800 387 190 121 800 387 190 121 800 359 190 121

0.112 (1.59) 0.067 (0.949) 0.084 (1.19) 0.070 (0.991) 0.386 (5.47) 0.283 (4.01) 0.298 (4.22) 0.268 (3.79) 0.524 (7.42) 0.511 (7.24) 0.561 (7.94) 0.496 (7.02) 2.55 (36.1) 2.53 (35.8) 2.58 (36.5) 2.40 (34.0) 4.97 (70.4) 5.27 (74.6) 5.33 (75.5) 4.82 (68.3)

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)

* 1. Maximum motor speed is up to 4000 min-1 at the shaft. * 2. Gear output torque is expressed using the following equation. (Gear output torque) = (servomotor output torque) ( gear1ratio ) (efficiency)

3-14

3.2 Ratings and Specifications of SGMPH (3000min-1)

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.

3.2.3 SGMPH Servomotors With Low-backlash Gears


Time Rating: Continuous Vibration Class: 15 m or below Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C (32 to 104F) Excitation: Permanent magnet Mounting: Flange method Gear Mechanism: Planetary gear mechanism 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 SGMPHRated Torque/Efficiency2 Nm/% (ozin/%) 1.27/80 (180/80) 2.80/80 (396/80) 5.34/80 (756/80) 8.40/80 (1190/80) 2.55/80 (361/80) 5.96/85 (844) 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) 33.5/80 (4744/80) Gear Output 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) 58.63 (8300) 17.6 (2490) 39.13 (5540) 72.2 (10200) 1153 (16300) Moment of Inertia J 10-4 kgm2 (10-3 ozins2) Rated Speed min-1 Max. Speed 1 min-1

Output W

Rated Speed min-1

Rated Torque Nm (oz in)

Gear Ratio

Motor + Gears

Gears

01 01 01 01 02 02 02 02 04 04 04 04

H1 HB 100 HC H7 H1 HB 200 HC H7 H1 HB 400 HC H7 3000

1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33

600 273 143 91 600 273 143 91 600 273 143 91

800 363 190 121 800 363 190 121 800 363 190 121

0.318 (45.0)

0.142 (2.01) 0.097 (1.37) 0.092 (1.30) 0.082 (1.16) 0.553 (7.83) 0.281 (3.98) 0.303 (4.29) 0.258 (3.65) 0.691 (9.79) 0.526 (7.45) 0.526 (7.45) 0.504 (7.13)

0.093 (1.32) 0.048 (0.68) 0.043 (0.61) 0.033 (0.47) 0.360 (5.10) 0.088 (1.25) 0.110 (1.56) 0.065 (0.920) 0.360 (5.10) 0.195 (2.76) 0.195 (2.76) 0.172 (2.44)

0.637 (90.2)

1.27 (179.8)

3-15

3 Specifications and Dimensional Drawings 3.2.3 SGMPH Servomotors With Low-backlash Gears

Servomotor Servomotor Model SGMPHRated Torque/Efficiency2 Nm/% (ozin/%) 10.2/85 (1440/85) 22.3/85 (3160/85) 42.7/85 (6050/85) 67/85 (9490/85) 20.3/85 (2880/85) 44.6/85 (6320/85) 80.1/80 (11300/80) 126/80 (17800/80)

Gear Output Instantaneous Peak Torque Nm (ozin) 33.3 (4720) 713 (10100) 140 (19800) 2063 (29200) 33.3 (4720) 71 (10100) 270 (38200) 353 3 (50000)

(Contd) Moment of Inertia J 10-4 kgm2 (10-3 ozins2) Rated Speed min-1 Max. Speed 1 min-1

Output W

Rated Speed min-1

Rated Torque Nm (oz in)

Gear Ratio

Motor + Gears

Gears

08 08 08 08 15 15 15 15

H1 HB 750 HC H7 3000 H1 HB 1500 GC G7 4.77 (675)

1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33

600 273 143 91 600 273 143 91

800 363 190 121 800 363 190 121

2.87 (40.6) 2.62 (37.1) 2.76 (39.1) 2.56 (36.3) 5.56 (78.7) 6.11 (86.5) 6.00 (85.0) 5.14 (72.8)

0.765 (10.8) 0.523 (7.41) 0.663 (9.39) 0.455 (6.44) 1.54 (21.8) 2.09 (29.6) 1.98 (28.0) 1.12 (15.8)

2.39 (338)

* 1. Maximum motor speed is up to 4000 min-1 at the shaft. * 2. Gear output torque is expressed using the following equation. (Gear output torque) = (servomotor output torque) ( gear1ratio ) (efficiency) * 3. The instantaneous peak torque values indicated with 3 are limited by the gear, so use the following servomotor instantaneous peak torque. In this case, set torque limit parameters Pn402 and 403 for the SERVOPACK at 250%. 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.

3-16

3.3 Ratings and Specifications of SGMGH (1500min-1)

3.3 Ratings and Specifications of SGMGH (1500min-1)


3.3.1 SGMGH Servomotors (1500min-1) Without Gears
(1) Ratings and Specifications
Time Rating: Continuous Vibration Class: 15 m or below Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C (32 to 104F) Excitation: Permanent magnet Mounting: Flange method 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
1

kW Nm lbin Nm lbin Arms Arms min-1 min-1 Nm/Arms lbin/Arms


3 3

0.45 2.84 25 8.92


3

0.85 5.39 48 13.8 122 7.1 17

1.3 8.34 74 23.3 207 10.7 28

1.8 11.5 102 28.7 254 16.7 42

2.9 18.6 165 45.1 404 23.8 56 1500 3000

4.4 28.4 252 71.1 630 32.8 84

5.5 35.0 310 87.6 775 42.1 110

7.5 48.0 425 119 1050 54.7 130

11 70.0 620 175 1550 58.6 140

15 95.4 844 224 1980 78.0 170

Rated Torque 1 Instantaneous Peak Torque 1 Rated Current


1

79 3.8 11

Instantaneous Max. Current 1 Rated Speed 1 Max. Speed 1 Torque Constant

2000 0.83 7.35 46.0 0.91 8.05 67.5 (76.0) 59.8 (67.3) 120 4210 0.88 7.79 89.0 (97.5) 78.8 (86.3) 137 3930 0.93 8.23 125 (134) 111 (119) 184 3850 1.25 11.1 281 (300) 249 (266) 174 2490 1.32 11.7 315 (353) 279 (312) 289 3030

0.82 7.26 7.24 (9.34) 6.41 (8.28) 11.2 3930

0.83 7.35 13.9 (16.0) 12.3 (14.2) 20.9 3880

0.84 7.43 20.5 (22.6) 18.2 (20.1) 33.8 4060

0.73 6.46 31.7 (40.2) 28.1 (35.6) 41.5 3620

Rotor Moment of Inertia J2 Rated Power Rate 1 Rated Angular Acceleration 1

10-4 kgm2 x10-3 lbins2 kW/s rad/s2

(54.5) 40.7 (48.2) 75.3 4050

* 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

3 Specifications and Dimensional Drawings 3.3.1 SGMGH Servomotors (1500min-1) Without Gears

(2) Holding Brake Moment of Inertia


The moment of inertia of the servomotor with holding brake is expressed using the following equation. (The moment of inertia of the servomotor with holding brake) = (rotor moment of inertia) + (brake moment of inertia)
Servomotor Model SGMGH10-4 kg m2 Holding Brake Moment of Inertia J 10-3 lb in s2 Servomotor Model SGMGH10-4 kg m2 Holding Brake Moment of Inertia J 10-3 lb in s2 05A A 09A A 13A A 20A A 30A A 44A A 55A A 75A A 2.10 1.86 1AA A 1EA A 18.8 16.7 37.5 33.2 8.50 7.53

* These values are reference values.

(3) Torque-motor Speed Characteristics


3000 Motor 2000 speed (min-1) 1000 0 SGMGH-05A A 3000 Motor 2000 speed (min-1) 1000 0 SGMGH-09A A 3000 Motor 2000 speed (min-1)1000 0 SGMGH-13A A 3000 Motor 2000 speed A (min-1) 1000 0 SGMGH-20A A

0 0

2 4 6 8 10 Torque (N m) 20 40 60 80 Torque (lb in) SGMGH-30A A

0 0

5 10 15 20 Torque (N m) 50 100 150 Torque (lb in) SGMGH-44A A

10 20 30 Torque (N m)

0 0

10 20 30 40 Torque (N m) 100 200 300 Torque (lb in) SGMGH-75A A

0 50 100 150 200 250 Torque (lb in) SGMGH-55A A

3000 Motor 2000 speed A (min-1) 1000 0

3000 Motor 2000 speed (min-1) 1000 0

3000 Motor 2000 speed (min-1)1000 0

3000 Motor 2000 speed (min-1) 1000 0

10 20 30 40 50 Torque (N m)

0 0

20 40 60 80 Torque (N m) 200 400 600 Torque (lb in) SGMGH-1EA A

20 40 60 80 100 Torque (N m)

0 0

50 100 150 Torque (N m) 500 1000 Torque (lb in)

0 100 200 300 400 Torque (lb in) SGMGH-1AA A

0 200 400 600 800 Torque (lb in)

3000 Motor 2000 speed (min-1) 1000 0

3000 Motor 2000 speed A (min-1) 1000 0

B A : Continuous Duty Zone B : Intermittent Duty Zone

0 0

50 100 150 200 Torque (N m) 500 1000 1500 Torque (lb in)

50 100 150 200 250 Torque (N m)

0 500 1000 1500 2000 Torque (lb in)

3-18

3.3 Ratings and Specifications of SGMGH (1500min-1)

(4) Holding Brake Electrical Specifications


Holding Brake Specifications Holding Brake Rated Voltage Servomotor Model Servomotor Capacity W 450 850 1300 1800 2900 4400 5500 7500 11000 15000 450 850 1300 1800 2900 4400 5500 7500 11000 15000 Capacity W 10.1 10.1 10.1 18.5 18.5 18.5 23.5 23.5 32.0 35.0 9.85 9.85 9.85 18.5 18.5 18.5 23.5 23.5 32.0 35.0 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)) 804 804 804 438 438 438 327 327 253 231 58.7 58.7 58.7 31.1 31.1 31.1 22.8 22.8 18.0 16.4 Rated Current A (at 20 C (68 F)) 0.11 0.11 0.11 0.21 0.21 0.21 0.28 0.28 0.36 0.39 0.41 0.41 0.41 0.77 0.77 0.77 1.05 1.05 1.33 1.46

SGMGH-05 SGMGH-09 SGMGH-13 SGMGH-20 SGMGH-30 90 VDC SGMGH-44 SGMGH-55 SGMGH-75 SGMGH-1A SGMGH-1E SGMGH-05 SGMGH-09 SGMGH-13 SGMGH-20 SGMGH-30 24 VDC SGMGH-44 SGMGH-55 SGMGH-75 SGMGH-1A SGMGH-1E

Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor.

3-19

3 Specifications and Dimensional Drawings 3.3.2 SGMGH Servomotors (1500min-1) With Standard Backlash Gears

3.3.2 SGMGH Servomotors (1500min-1) With Standard Backlash Gears


Time Rating: Continuous Vibration Class: 15 m or below Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C (32 to 104F) Excitation: Permanent magnet Mounting: Foot and flange-mounted Type 4095 to 4115: Omni-directional mounting Type 4130 to 4190: Horizontal mounting to shaft Gear Mechanism: Planetary gear mechanism 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 Servomotor Model SGMGHGear Output 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) 10-4 kgm2 (10-3lbins2) Rated Torque Nm (lb in) 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)

Output W

Rated Speed min-1

Gear Ratio

Rated Speed min-1

Max. Speed min-1

Motor + Gears

Gears

05A A A6 05A A B6 0.45 05A A C6 05A A 76 09A A A6 09A A B6 0.85 09A A C6 09A A 76 13A A A6 13A A B6 1.3 13A A C6 13A A 76 8.34 (74) 1500 5.39 (48) 2.84 (25)

1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/29

250 136 71 51 250 136 71 51 250 136 71 51

500 272 142 103 500 272 142 103 500 272 142 103

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)

3-20

3.3 Ratings and Specifications of SGMGH (1500min-1)

(Contd) Moment of Inertia J Servomotor Servomotor Model SGMGHGear Output 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) 10-4 kgm2 (10-3lbins2) Rated Torque Nm (lb in) 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)

Output W

Rated Speed min-1

Gear Ratio

Rated Speed min-1

Max. Speed min-1

Motor + Gears

Gears

20A A A6 20A A B6 1.8 20A A C6 20A A 76 30A A A6 30A A B6 2.9 30A A C6 30A A 76 44A A A6 44A A B6 4.4 44A A C6 44A A 76 55A A A6 55A A B6 5.5 55A A C6 55A A 76 75A A B6 75A A C6 75A A 76 7.5 48.0 (425) 35.0 (310) 1500 28.4 (252) 18.6 (165) 11.5 (102)

1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/29 1/11 1/21 1/29

250 136 71 51 250 136 71 51 250 136 71 51 250 136 71 51 136 71 51

500 272 142 103 500 272 142 103 500 272 142 103 500 272 142 103 272 142 103

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

3 Specifications and Dimensional Drawings 3.3.2 SGMGH Servomotors (1500min-1) With Standard Backlash Gears

(Contd) Moment of Inertia J Servomotor Servomotor Model SGMGHGear Output Instantaneous Peak Torque/ Effective Nm/% (lbin/%) 1550/80 (13700/80) 2950/80 (26100/80) 4070/80 (36000/80) 10-4 kgm2 (10-3lbins2) Rated Torque Nm (lb in) Rated Torque/ Efficiency Nm/% (lbin/%) 615/80 (5440/80) 1180/80 (10400/80) 1630/80 (14400/80)

Output W

Rated Speed min-1

Gear Ratio

Rated Speed min-1

Max. Speed min-1

Motor + Gears

Gears

1AA A B6 1AA A C6 1AA A 76 11 1500 70

1/11 1/21 1/29

136 71 51

182 95 69

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 Efficiency

Output torque

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

3.3 Ratings and Specifications of SGMGH (1500min-1)

3.3.3 SGMGH Servomotors (1500min-1) With Low-backlash Gears


Time Rating: Continuous Vibration Class: 15 m or below Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C (32 to 104F) Excitation: Permanent magnet Mounting: Flange-mounted (Omni-directional mounting) Gear Lubricating Method: Grease Gear Mechanism: Planetary gear mechanism 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 Servomotor Model SGMGHGear Output 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) 10-4 kgm2 (10-3 lbins2) Rated Torque Nm (lb in) 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)

Output W

Rated Speed min-1

Gear Ratio

Rated Speed min-1

Max. Speed 1 min-1

Motor + Gears

Gears

05A AL14 05A AL24 05A AL54 05A AL74 05A AL84 09A AL14 09A AL24 09A AL54 09A AL74 09A AL84 13A AL14 13A AL24 13A AL54 13A AL74 13A AL84 1.3 8.34 (74) 0.85 1500 5.39 (48) 0.45 2.84 (25)

1/5 1/9 1/20 1/29 1/45 1/5 1/9 1/20 1/29 1/45 1/5 1/9 1/20 1/29 1/45

300 167 75 51 33 300 167 75 51 33 300 167 75 51 33

600 334 150 102 66 600 334 150 102 66 600 334 150 102 66

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) 16.7 (14.8) 18.4 (16.3) 27.7 (24.5) 25.3 (22.4) 27.4 (24.3) 30.9 (27.3) 27.2 (24.1)

1.26 (1.12) 0.94 (0.832) 4.66 (4.12) 2.76 (2.44) 1.81 (1.60) 1.30 (1.15) 0.90 (0.797) 4.70 (4.16) 2.80 (2.48) 4.50 (3.98) 7.20 (6.37) 4.80 (4.25) 6.90 (6.11) 10.4 (9.21) 6.70 (5.93)

3-23

3 Specifications and Dimensional Drawings 3.3.3 SGMGH Servomotors (1500min-1) With Low-backlash Gears

(Contd) Moment of Inertia J Servomotor Servomotor Model SGMGHGear Output 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) 10-4 kgm2 (10-3 lbins2) Rated Torque Nm (lb in) 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)

Output W

Rated Speed min-1

Gear Ratio

Rated Speed min-1

Max. Speed 1 min-1

Motor + Gears

Gears

20A AL14 20A AL24 1.8 20A AL54 20A AL74 30A AL14 30A AL24 30A AL54 44A AL14 4.4 44A AL24 28.4 (251) 2.9 1500 18.6 (165) 11.5 (102)

1/5 1/9 1/20 1/29 1/5 1/9 1/20 1/5 1/9

300 167 75 51 300 167 75 300 167

600 334 150 102 600 334 150 600 334

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)

* 1. The maximum input motor speed of the gears is 4000 min-1. * 2. Output torque and motor speed produce the following trends in efficiency. Values in the table are at the rated motor speed.
Efficiency Efficiency

Output torque

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

3.4 Ratings and Specifications of SGMGH (1000min-1)

3.4 Ratings and Specifications of SGMGH (1000min-1)


3.4.1 SGMGH Servomotors (1000min-1) Without Gears
(1) Ratings and Specifications
Time Rating: Continuous Vibration Class: 15 m or below Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C (32 to 104F) Excitation: Permanent magnet Mounting: Flange method 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

Voltage Servomotor Model SGMGHRated Output 1 Rated Torque 1 Instantaneous Peak Torque 1 Rated Current Instantaneous Max. Current 1 Max. Speed 1 Torque Constant
1

200 V 03A B 0.3 2.84 06A B 0.6 5.68 50 14.1 125 5.7 13.9 09A B 0.9 8.62 76 19.3 171 7.6 16.6 12A B 1.2 11.5 102 28.0 248 11.6 28 1000 2000 1.03 9.12 7.24 (9.34) 6.41 (8.28) 11.2 3930 1.06 9.38 13.9 (16.0) 12.3 (14.2) 23.2 4080 1.21 10.7 20.5 (22.6) 18.2 (20.1) 36.3 4210 1.03 9.12 31.7 (40.2) 28.1 (35.6) 41.5 3620 1.07 9.47 46.0 (54.5) 40.7 (48.2) 79.4 4150 1.19 10.5 67.5 (76.0) 59.8 (67.3) 120 4210 1.34 11.9 89.0 (97.5) 78.8 (86.3) 164 4290 1.26 11.2 125 (134) 111 (119) 221 4200 20A B 2.0 19.1 169 44.0 390 18.5 42 30A B 3.0 28.4 252 63.7 564 24.8 56 40A B 4.0 38.2 338 107 947 30 84 55A B 5.5 52.6 466 136.9 1210 43.2 110

kW Nm lbin Nm lbin Arms Arms min-1 min-1 Nm/Arms lbin/Arms 3 x10-4 kgm2 x10-3 lbins2 3 kW/s2 rad/s2
3

25 7.17 63 3.0 7.3

Rated Speed 1

Rotor Moment of Inertia J2 Rated Power Rate 1 Rated Anglar Acceleration 1

* 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

3 Specifications and Dimensional Drawings 3.4.1 SGMGH Servomotors (1000min-1) Without Gears

(2) Holding Brake Moment of Inertia


The moment of inertia of the servomotor with holding brake is expressed using the following equation. (The moment of inertia of the servomotor with holding brake) = (rotor moment of inertia) + (brake moment of inertia)
Servomotor Model SGMGHHolding Brake Moment of Inertia J 10-4 kg m2 10-3 lb in s2 03A B 06A B 09A B 12A B 20A B 30A B 40A B 55A B 2.10 1.86 8.50 7.52

* These values are referece values.

(3) Torque-motor Speed Characteristics


2000 Motor speed (min-1) 500 0 0 2 4 6 Torque (N m) 8 1500 1000 A B SGMGH-03A B 2000 Motor speed (min-1) 1500 1000 500 0 0 A B SGMGH-06A B 2000 Motor speed (min-1) 1500 1000 500 0 0 5 10 15 20 Torque (N m) A B SGMGH-09A B 2000 Motor speed (min-1) 1500 1000 500 0 0 10 20 30 Torque (N m) A B SGMGH-12A B

5 10 15 Torque (N m)

0
2000 1500 Motor speed 1000 (min-1) 500 0 0

20 40 60 Torque (lb in)


SGMGH-20A B 2000 1500 A B Motor speed 1000 (min-1) 20 40 60 Torque (N m) 500 0

50 100 Torque (lb in)


SGMGH-30A B

0
2000 1500

50 100 150 Torque (lb in)


SGMGH-40A B

0
2000 1500

100 200 Torque (lb in)


SGMGH-55A B

Motor 1000 speed (min-1) 500 0 0

Motor 1000 speed (min-1) 500 0 0

0 0

20 40 60 80 Torque (N m) 200 400 600

50 100 150 Torque (N m)

50 100 150 Torque (N m)

200 400 Torque (lb in)

A : Continuous Duty Zone

Torque (lb in) B : Intermittent Duty Zone

500 1000 Torque (lb in)

500 1000 Torque (lb in)

3-26

3.4 Ratings and Specifications of SGMGH (1000min-1)

(4) Holding Brake Electrical Specifications


Holding Brake Specifications Holding Brake Rated Voltage Servomotor Model Servomotor Capacity W 300 600 900 1200 2000 3000 4000 5500 300 600 900 1200 2000 3000 4000 5500 Capacity W 10.1 10.1 10.1 18.5 18.5 18.5 23.5 23.5 9.85 9.85 9.85 18.5 18.5 18.5 23.5 23.5 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)) 804 804 804 438 438 438 327 327 58.7 58.7 58.7 31.1 31.1 31.1 22.8 22.8 Rated Current A (at 20 C (68 F)) 0.11 0.11 0.11 0.21 0.21 0.21 0.28 0.28 0.41 0.41 0.41 0.77 0.77 0.77 1.05 1.05

SGMGH-03 SGMGH-06 SGMGH-09 SGMGH-12 90 VDC SGMGH-20 SGMGH-30 SGMGH-40 SGMGH-55 SGMGH-03 SGMGH-06 SGMGH-09 SGMGH-12 24 VDC SGMGH-20 SGMGH-30 SGMGH-40 SGMGH-55

Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor.

3-27

3 Specifications and Dimensional Drawings 3.4.2 SGMGH servomotors (1000min-1) With Standard Backlash Gears

3.4.2 SGMGH servomotors (1000min-1) With Standard Backlash Gears


Time Rating: Continuous Vibration Class: 15 m or below Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C (32 to 104F) Mounting: Foot and flange-mounted Type 4095 to 4115: Omni-directional mounting Type 4130 to 4190: Horizontal mounting to shaft Gear Lubricating Method: Type 4095 to 4115: Grease Type 4130 to 4190: Oil Excitaton: Permanent magnet 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: Roughly 0.6 to 2 at gear output shaft Gear Rotation Direction: Reverse direction of servomotor Gear Mechanism: Planetary gear mechanism

* 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 Servomotor Model SGMGHGear Output 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) 10-4 kgm2 (10-3 lbins2) Rated Torque Nm (lb in) 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)

Output W

Rated Speed min-1

Gear Ratio

Rated Speed min-1

Max. Speed min-1

Motor + Gears

Gears

03A B A6 03A B B6 0.3 03A B C6 03A B 76 06A B A6 06A B B6 0.6 06A B C6 06A B 76 09A B A6 09A B B6 0.9 09A B C6 09A B 76 8.62 (76) 1000 5.68 (50) 2.84 (25)

1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/29

166 90 47 34 166 90 47 34 166 90 47 34

333 181 95 68 333 181 95 68 333 181 95 68

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)

3-28

3.4 Ratings and Specifications of SGMGH (1000min-1)

(Contd) Moment of Inertia J Servomotor Servomotor Model SGMGHGear Output 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) 10-4 kgm2 (10-3 lbins2) Rated Torque Nm (lb in) 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)

Output W

Rated Speed min-1

Gear Ratio

Rated Speed min-1

Max. Speed min-1

Motor + Gears

Gears

12A B A6 12A B B6 1.2 12A B C6 12A B 76 20A B A6 20A B B6 2.0 20A B C6 20A B 76 30A B A6 30A B B6 3.0 30A B C6 30A B 76 40A B A6 40A B B6 4.0 40A B C6 40A B 76 55A B B6 55A B C6 55A B 76 5.5 52.6 (466) 38.2 (338) 1000 28.4 (251) 19.1 (169) 11.5 (102)

1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/29 1/11 1/21 1/29

166 90 47 34 166 90 47 34 166 90 47 34 166 90 47 34 90 47 34

333 181 95 68 333 181 95 68 333 181 95 68 333 181 95 68 181 95 68

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.

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3 Specifications and Dimensional Drawings 3.4.3 SGMGH Servomotors (1000 min-1) With Low-backlash Gears

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.

3.4.3 SGMGH Servomotors (1000 min-1) With Low-backlash Gears


Time Rating: Continuous Vibration Class: 15 m or below Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C (32 to 104F) Excitation: Permanent magnet Mounting: Flange method (can be mounted in any direction) Gear Mechanism: Planetary gear mechanism 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 Servomotor Model SGMGHGear Output 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) 10-4 kgm2 (10-3 lbins2) Rated Torque Nm (lb in) 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)

Output W

Rated Speed min-1

Gear Ratio

Rated Speed min-1

Max. Speed min-1

Motor + Gears

Gears

03A BL14 03A BL24 03A BL54 03A BL74 03A BL84 1000 06A BL14 06A BL24 06A BL54 06A BL74 06A BL84 0.6 5.68 (50) 0.3 2.84 (25)

1/5 1/9 1/20 1/29 1/45 1/5 1/9 1/20 1/29 1/45

200 111 50 34 22 200 111 50 34 22

400 222 100 68 44 400 222 100 68 44

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)

3-30

3.4 Ratings and Specifications of SGMGH (1000min-1)

(Contd) Moment of Inertia J Servomotor Servomotor Model SGMGHGear Output 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) 10-4 kgm2 (10-3 lbins2) Rated Torque Nm (lb in) Rated Torque/ Efficiency Nm/% (lbin/%) 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)

Output W

Rated Speed min-1

Gear Ratio

Rated Speed min-1

Max. Speed min-1

Motor + Gears

Gears

09A BL14 09A BL24 09A BL54 09A BL74 09A BL84 12A BL14 12A BL24 12A BL54 12A BL74 12A BL84 20A BL14 20A BL24 20A BL54 30A BL14 3.0 30A BL24 28.4 (251) 2.0 19.1 (169) 1.2 1000 11.5 (102) 0.9 8.62 (76)

1/5 1/9 1/20 1/29 1/45 1/5 1/9 1/20 1/29 1/45 1/5 1/9 1/20 1/5 1/9

200 111 50 34 22 200 111 50 34 22 200 111 50 200 111

400 222 100 68 44 400 222 100 68 44 400 222 100 400 222

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 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.

3-31

3 Specifications and Dimensional Drawings 3.5.1 SGMSH Servomotors (3000min-1) Without Gears

3.5 Ratings and Specifications of SGMSH (3000min-1)


3.5.1 SGMSH Servomotors (3000min-1) Without Gears
(1) Ratings and Specifications
Time Rating: Continuous Vibration Class: 15 m or below Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C (32 to 104F) Excitation: Permanent magnet Mounting: Flange method 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 kW Nm lbin Nm lbin Arms Arms min-1 min-1 Nm/Arms lbin/Arms
3 3

Voltage Servomotor Model SGMSHRated Output 1 Rated Torque 1 Instantaneous Peak Torque 1 Rated Current 1 Instantaneous Max. Current 1 Rated Speed 1 Max. Speed 1 Torque Constant

15A A 1.5 4.9 43 14.7 130 9.7 28

20A A 2.0 6.36 56.4 19.1 169 12.7 42

30A A 3.0 9.8 87 29.4 260 18.8 56

40A A 4.0 12.6 112 37.8 336 25.4 77

50A A 5.0 15.8 140 47.6 422 28.6 84

1.0 3.18 28.2 9.54


3

84.4 5.7 17

3000 5000 0.636 5.63 1.74 (2.07) 1.54 (1.83) 57.9 18250 0.561 4.97 2.47 (2.80) 2.19 (2.48) 97.2 19840 0.544 4.81 3.19 (3.52) 2.82 (3.11) 127 19970 0.573 5.07 7.00 (9.10) 6.20 (8.06) 137 14000 0.53 4.69 9.60 (11.7) 8.50 (10.4) 166 13160 0.60 5.31 12.3 (14.4) 10.9 (12.8) 202 12780

x10-4 kgm2 Rotor Moment of Inertia J 2 x10-3 lbins2 3 kW/s rad/s2

Rated Power Rate 1 Rated Angular Acceleration 1

* 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

3.5 Ratings and Specifications of SGMSH (3000min-1)

(2) Holding Brake Moment of Inertia


The moment of inertia of the servomotor with holding brake is expressed using the followtin equation. (The moment of inertia of the servomotor with holding brake) = (rotor moment of inertia) + (brake moment of inertia) Servomotor SGMSHBrake Moment of Inertia kgm2 10-4 lbins x10
2 -3

10A A

15A A 0.325 0.288

20A A

30A A

40A A 2.10 1.86

50A A

* These values are reference values.

(3) Torque-motor Speed Characteristics


5000 4000 Motor 3000 speed 2000 (min-1) 1000 0 0 0 A B SGMSH-10A A 5000 4000 Motor 3000 speed 2000 (min-1) 1000 10 80 0 0 0 A B SGMSH-15A A 5000 4000 Motor 3000 speed 2000 (min-1) 1000 15 0 0 0 A B SGMSH-20A A 5000 4000 Motor 3000 speed 2000 (min-1) 1000 0 0 0 A B SGMSH-30A A

3
200

2 4 6 8 Torque (N m) 20

5 10 Torque (N m)

5 10 15 20 Torque (N m)

10 20 30 Torque (N m)

Torque (lb in)

40

60

Torque (lb in)


SGMSH-50A A

50

100

Torque (lb in)

50

100

150

Torque (lb in)

100

5000 4000 Motor 3000 speed 2000 (min-1) 1000 0 0

SGMSH-40A

5000 4000

3000 Motor speed 2000 (min-1) 1000

B A : Continuous Duty Zone B : Intermittent Duty Zone

10 20 30 Torque (N m)

40

10 20 30 40 50 Torque (N m)

100 200 300 Torque (lb in)

100 200 300 400 Torque (lb in)

3-33

3 Specifications and Dimensional Drawings 3.5.1 SGMSH Servomotors (3000min-1) Without Gears

(4) Holding Brake Electrical Specifications


Holding Brake Specifications Holding Brake Rated Voltage Servomotor Model Servomotor Capacity W 1000 Capacity W 7.0 Holding Torque Nm (lbin) Coil Resistance (at 20 C (68 F)) 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

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

3.5 Ratings and Specifications of SGMSH (3000min-1)

3.5.2 SGMSH Servomotors (3000min-1) With Low-backlash Gears


Time Rating: Continuous Vibration Class: 15 m or below Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C (32 to 104F) Excitation: Permanent magnet Mounting: Flange method (can be mounted in any direction) Gear Lubricating Method: Grease Gear Mechanism: Planetary gear mechanism 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 Servomotor Model SGMSHGear Output 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) 10-4 kgm2 (10-3lbins2) Rated Torque Nm (lb in) 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)

Output W

Rated Speed min-1

Gear Ratio

Rated Speed min-1

Max. Speed 1 min-1

3
Motor + Gears Gears

10A AL14 10A AL24 10A AL54 10A AL74 10A AL84 15A AL14 15A AL24 15A AL54 15A AL74 15A AL84 20A AL14 20A AL24 20A AL54 20A AL74 20A AL84 2.0 6.36 (56.4) 1.5 3000 4.9 (43) 1.0 3.18 (28.2)

1/5 1/9 1/20 1/29 1/45 1/5 1/9 1/20 1/29 1/45 1/5 1/9 1/20 1/29 1/45

600 333 150 103 66 600 333 150 103 66 600 333 150 103 66

800 444 200 138 89 800 444 200 138 89 800 444 200 138 89

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

3 Specifications and Dimensional Drawings 3.5.2 SGMSH Servomotors (3000min-1) With Low-backlash Gears

(Contd) Moment of Inertia J Servomotor Servomotor Model SGMSHGear Output 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) 10-4 kgm2 (10-3lbins2) Rated Torque Nm (lb in) Rated Torque/Efficiency 2 Nm/% (lbin/%) 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)

Output W

Rated Speed min-1

Gear Ratio

Rated Speed min-1

Max. Speed 1 min-1

Motor + Gears

Gears

30A AL14 30A AL24 30A AL54 30A AL74 30A AL84 40A AL14 3000 40A AL24 4.0 40A AL54 40A AL74 50A AL14 50A AL24 50A AL54 5.0 15.8 (140) 12.6 (112) 3.0 9.8 (87)

1/5 1/9 1/20 1/29 1/45 1/5 1/9 1/20 1/29 1/5 1/9 1/20

600 333 150 103 66 600 333 150 103 600 333 150

800 444 200 138 89 800 444 200 138 800 444 200

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)

* 1. The maximum input motor speed of the gears is 4000 min-1. * 2. Output torque and motor speed produce the following trends in efficiency. Values in the table are at the rated motor speed.
Efficiency Efficiency

Output torque

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

3.6 Ratings and Specifications of SGMDH (2000min-1)

3.6 Ratings and Specifications of SGMDH (2000min-1)


3.6.1 SGMDH Servomotors (2000min-1) With Holding Brakes
(1) Ratings and Specifications
Time Rating: Continuous Vibration Class: 15 m or below Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C (32 to 104F) Excitation: Permanent magnet Mounting: Flange method Voltage Servomotor Model SGMDHRated Output 1 Rated Torque 1 Instantaneous Peak Torque 1 Rated Current Instantaneous Max. Current 1 Rated Speed 1 Max. Speed 1 Torque Constant Rotor Moment of Inertia J (Including Holding Brake Moment of Inertia) Rated Power Rate 1 Rated Angular Acceleration 1
1

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 200 V

22A A B 2.2 10.5

32A A B 3.2 15.3 135 53.5 474 20.9 73 2000 3000

40A A B 4.0 19.1 169 66.9 592 23.2 77

kW Nm lbin Nm lbin Arms Arms min-1 min-1 Nm/Arms lbin/Arms 2 x10-4 kgm2 x10-3 lbins2 2 kW/s rad/s2
2

92.9 36.7 325 15.7 54

0.72 6.4 56.6 50.1 19.5 1850

0.78 6.9 74.2 65.7 31.5 2060

0.92 8.1 91.8 81.3 39.7 2080

* 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

3 Specifications and Dimensional Drawings 3.6.1 SGMDH Servomotors (2000min-1) With Holding Brakes

(2) Torque-motor Speed Characteristics


3000 Motor 2000 speed (min-1) 1000 0 SGMDH-22A A B 3000 Motor 2000 speed (min-1) 1000 0 SGMDH-32A A B 3000 SGMDH-40A A B

Motor 2000 speed A (min-1) 1000 0

A : Continuous Duty Zone B B : Intermittent Duty Zone

0 0

10 20 30 Torque (N m) 100 200 300 Torque (lb in)

40

20 40 Torque (N m) 200 400 Torque (lb in)

60

0 0

20 40 60 80 Torque (N m) 200 400 600 Torque (lb in)

(3) Holding Brake Electrical Specifications


Holding Brake Specifications Holding Brake Rated Voltage Servomotor Model Servomotor Capacity W 2200 3200 4000 2200 3200 4000 Capacity W 16.0 16.0 16.0 16.0 16.0 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)) 505 505 505 36.0 36.0 36.0 Rated Current A (at 20 C (68 F)) 0.18 0.18 0.18 0.67 0.67 0.67

SGMDH-22 90VDC SGMDH-32 SGMDH-40 SGMDH-22 24VDC SGMDH-32 SGMDH-40

Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor.

3-38

3.7 Ratings and Specifications of SGMCS Servomotors

3.7 Ratings and Specifications of SGMCS Servomotors


3.7.1 Small-capacity Series SGMCS Servomotors
(1) Ratings and Specifications
Time Rating: Continuous Vibration Class: 15 m or below Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C (32 to 104F) Excitation: Permanent magnet Mounting: Flange method Voltage Servomotor Model SGMCSRated Output
1

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

Ratings and Specifications for Small-capacity Series SGMCS Servomotors 02B B W Nm oz in Nm oz in Nm oz in Arms Arms min-1 min-1 N m/Arms oz in/Arms kg m210-4 s210-2 oz in 42 2.00 283 6.00 850 2.03 287 1.8 5.1 200 500 1.28 181 25.0 35.4 1.60 800 05B B 105 5.00 708 15.0 2120 5.03 712 1.8 5.1 200 500 3.12 442 51.0 72.2 4.90 980 15 1.3 02 200 V 07B B 04C B 147 7.00 991 21.0 2970 7.06 999 1.4 4.1 200 500 5.51 780 77.0 109 6.36 910 84 4.00 566 12.0 1700 4.09 579 2.1 6.0 200 500 2.16 306 77.0 109 2.08 520 10C B 209 10.0 1420 30.0 4250 10.1 1430 2.0 5.8 200 400 5.56 787 140 198 7.14 710 15 1.3 04 14C B 293 14.0 1980 42.0 5950 14.2 2010 2.0 5.9 200 300 7.60 1080 220 311 8.91 640

Rated Torque1, 2 Instantaneous Peak Torque 1 Stall torque 1 Rated Current1 Instantaneous Max. Current 1 Rated Speed1 Max. Speed1 Torque Constant Rotor Moment of Inertia Rated Power Rate
1

KW/s rad/s2 second second SGDM-

Rated Angular Absolute Accuracy Repeatability Applicable SERVOPACK

Acceleration1

3-39

3 Specifications and Dimensional Drawings 3.7.1 Small-capacity Series SGMCS Servomotors

Ratings and Specifications for SGMCS Servomotor without Gears (contd) Voltage Servomotor Model SGMCSRated Output Rated Torque
1 1, 2

08D B W Nm oz in Nm oz in Nm oz in Arms Arms min-1 min-1 N m/Arms oz in/Arms kg m210-4 oz in s210-2 KW/s rad/s2 second second SGDM168 8.00 1130 24.0 3400 8.23 1160 2.0 5.9 200 500 4.46 632 285 479 2.25 280

17D B 356 17.0 2410 51.0 7220 17.4 2460 2.3 6.6 200 350 8.28 1170 510 879 5.67 330 15 1.3 04

200 V 25D B 393 25.0 3540 75.0 10600 25.4 3590 2.7 7.9 150 250 10.3 1460 750 1290 8.33 330

16E B 335 16.0 2270 48.0 6800 16.5 2330 3.3 9.4 200 500 5.58 790 930 1530 2.75 170

35E B 550 35.0 4960 105 14900 35.6 5040 3.5 10.0 150 250 11.1 1570 1430 2110 8.57 240

Instantaneous Peak Torque 1 Stall torque 1 Rated Current 1 Instantaneous Max. Current Rated Speed
1 1

Max. Speed Torque Constant Rotor Moment of Inertia Rated Power Rate 1 Rated Angular Acceleration 1 Absolute Accuracy Repeatability Applicable SERVOPACK

15 1.3 08

Note: 1. SGMCS servomotor with holding brake is not available. 2. For the bearings used in SGMCS servomotors, loss varies according to the bearing temperature. At low temperatures, the amount of heat loss will be large. * 1. These items and torque-motor speed characteristics quoted in combination with an SGDM SERVOPACK are at an armature winding temperature of 100C (212F). Other values quoted at 20C (66.2F). * 2. Rated torques are continuous allowable torque values at 40C (104F) with a iron heat sink attached. Servomotor Model SGMCSHeat Sink Units: mm (in) B 350 350 12
(13.78) (13.78) (0.47)

C 450 450 12
(17.71) (17.71) (0.47)

D 550 550 12
(21.65) (21.65) (0.47)

E 650 650 12
(25.59) (25.59) (0.47)

3-40

3.7 Ratings and Specifications of SGMCS Servomotors

(2) Torque-motor Speed Characteristics


SGMCS-02B
500 Motor speed (min-1) 400 300 200 100 0 0 0 1.5 3.0 4.5 6.0 7.5 Torque (N m) 400 800 Torque (oz in) A B Motor speed (min-1) 500 400 300 200 100 0 0 0 3 9 12 6 Torque (N m) 800 1600 Torque (oz in) 15 A B

SGMCS-05B

SGMCS-07B
500 Motor speed (min-1) 400 300 200 100 0 0 0 5 10 15 20 Torque (N m) 2000 Torque (oz in) 25 A B Motor speed (min-1) 500 400 300 200 100 0 0 0 3 A

SGMCS-04C

9 12 6 Torque (N m) 1500 Torque (oz in)

15

SGMCS-10C
500 Motor speed (min-1) 400 300 200 100 0 0 6 12 18 24 Torque (N m) 30 A B A : Continuous Duty Zone B : Intermittent Duty Zone

2000 4000 Torque (oz in)

3-41

3 Specifications and Dimensional Drawings 3.7.1 Small-capacity Series SGMCS Servomotors

SGMCS-14C
500 Motor speed (min-1) 400 300 200 100 0 0 10 20 30 40 Torque(N m) 50 A B 500 Motor speed 400 (min-1) 300 200 100 0 0 0 6 A

SGMCS-08D

12 18 24 Torque(N m)

30

3000 6000 Torque (oz in)

2000 4000 Torque (oz in)

SGMCS-17D
500 Motor speed (min-1) 400 300 200 100 0 0 0 12 24 36 48 Torque(N m) 60 A B 500 400 Motor speed -1) (min 300 200 100 0 0 0 A

SGMCS-25D

15

30

45 60 Torque(N m)

75

8000 4000 Torque (oz in)

4000 8000 Torque (oz in)

SGMCS-16E
500 Motor speed (min-1) 400 300 200 100 0 0 9 18 27 36 Torque(N m) 45 A B 500 Motor speed 400 (min-1) 300 200 100 0 0 0 A

SGMCS-35E

20

40

80 100 60 Torque(N m)

3000 6000 Torque (oz in)

6000 12000 Torque (oz in) A: Continuous Duty Zone B: Intermittent Duty Zone

3-42

3.7 Ratings and Specifications of SGMCS Servomotors

3.7.2 Middle-capacity Series SGMCS Servomotors


(1) Ratings and Specifications
Thermal Class: F Time Rating: Continuous Withstand Voltage: 1500 VAC for one minute Vibration Class: 15 m or below Enclosure: Totally enclosed, IP42 self-cooled Insulation Resistance: 500 VDC, 10 M min. (except for shaft opening) Ambient Temperature: 0 to 40C (32 to 104F) Ambient Humidity: 20% to 80% (no condensation) Excitation: Permanent magnet Drive Method: Direct drive Mounting: Flange method Ratings and Specifications for Middle-capacity Series SGMCS Servomotors Voltage Servomotor Model SGMCSRated Output1 W Nm oz in Nm oz in Nm Arms Arms min-1 min-1 N m/Arms oz in/Arms kg m210-4 oz in s210-2 KW/s rad/s2 SGDM45M A 707 45 6370 135 19100 45 5.80 17 150 300 8.39 1190 388 549 52.2 1160 10 80M A 1260 80 11300 240 34000 80 9.74 28 150 300 8.91 1260 627 888 102 1280 15 200 V 1AM A 80N A 1730 110 15600 330 46700 110 13.4 42 150 300 8.45 1200 865 1220 140 1270 20 1260 80 11300 240 34000 80 9.35 28 150 300 9.08 1290 1360 1930 47.1 588 15 1EN A 2360 150 21200 450 63700 150 17.4 56 150 250 9.05 1280 2470 3500 91.1 607 30 2ZN A 3140 200 28300 600 85000 200 18.9 56 150 250 11.5 1630 3060 4330 131 654 30

Rated Torque1, 2 Instantaneous Peak Torque 1 Stall torque 1 Rated Current1 Instantaneous Max. Current
1

Rated Speed1 Max. Speed1

Torque Constant Rotor Moment of Inertia Rated Power Rate1 Rated Angular Acceleration1 Applicable SERVOPACK

Note: 1. SGMCS servomotor with holding brake is not available. 2. For the bearings used in SGMCS servomotors, loss varies according to the bearing temperature. At low temperatures, the amount of heat loss will be large. * 1. These items and torque-motor speed characteristics quoted in combination with an SGDM SERVOPACK are at an armature winding temperature of 20C (66.2F). * 2. Rated torques are continuous allowable torque values at 40C (104F) with a iron heat sink attached. Servomotor Model SGMCSHeat Sink Units: mm (in) 45M,80M,1AM,80N,1EN, and 2ZN 75075045

3-43

3 Specifications and Dimensional Drawings 3.7.2 Middle-capacity Series SGMCS Servomotors

(2) Torque-Motor Speed Characteristics


300

SGMCS-45M

300

SGMCS-80M

Motor speed (min-1)

200

Motor speed (min-1) A B

200

100

100

0 0

50 100 Torque(N m) 10000 Torque (oz in)

150 20000

0 0

100 200 Torque(N m) 20000 Torque (oz in)

300 40000

300

SGMCS-1AM

300

SGMCS-80N

Motor speed (min-1)

200

Motor speed 200 (min-1) A 100 A

100

0 0

100

200 300 Torque(N m) 25000 Torque (oz in)

400 50000

0 0

100 200 Torque(N m) 20000 Torque (oz in)

300 40000

300

SGMCS-1EN

300

SGMCS-2ZN

Motor speed 200 (min-1) 100

Motor speed 200 (min-1) A B 100 A B

0 0

100

200 300 400 Torque(N m) 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

3.8 Mechanical Specifications of SGMAH, SGMPH, SGMGH, SGMSH, and SGMDH Servomotors
3.8.1 Precautions on Servomotor Installation
Servomotors can be installed either horizontally or vertically. The service life of the servomotor will be shortened or unexpected problems will occur if the servomotor is installed incorrectly or in an inappropriate location. Always observe the following installation instructions.

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 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.)

Installation Site

Alignment

Orientation

Servomotors can be installed either horizontally or vertically.

3-45

3 Specifications and Dimensional Drawings 3.8.2 Mechanical Tolerance

Flange Through shaft section:


This refers to the gap where the shaft protrudes from the end of the motor.

Handling Oil and Water

If the servomotor is used in a location that is subject to water drops, make sure of the servomotor protective specifications (except for through shaft section). If the servomotor is used in a location that is subject to water or oil mist, use a servomotor with an oil seal to seal the through shaft section. Precautions on Using Servomotor With Oil Seal The oil surface must be under the oil seal lip. Use an oil seal in favorably lubricated condition. When using a servomotor with its shaft pointed upward, be sure that oil will not stay in the oil seal lips.

Shaft

Cable Stress

Connectors

Make sure there are no bends or tension on the power lines. Especially be careful to wire signal line cables so that they are not subject to stress because the core wires are very thin at only 0.2 to 0.3 mm (0.0079 to 0.012 in). Observe the following precautions: Make sure there is no foreign matters such as dust and metal chips in the connector before connecting. When the connectors are connected to the motor, be sure to connect the end of servomotor main circuit cables before connecting the encoder cables end. If the encoder cables end is connected first, the encoder may be damaged because of the voltage differences between FGs. Make sure of the pin arrangement. Do not apply shock to resin connectors. Otherwise, they may be damaged. When handling a servomotor with its cables connected, hold the servomotor or the connectors. Otherwirse, the cables will be damaged. When bending cables are used, wiring must be performed so that excessive stress will not be applied to the connector section. Failure to observe this caution may damage the connector.

IMPORTANT

1. Before starting installation, thoroughly remove the anticorrosive paint that coats the end of the motor shaft.
Anticorrosive paint is coated here.

2. Vibration from improper alignment of shafts will damage the bearings. 3. Do not allow direct impact to be applied to the shafts when installing the coupling as the encoder mounted on the opposite end of the shaft may be damaged.

3.8.2 Mechanical Tolerance


The following table shows tolerances for the servomotors output shaft and installation area. For more details on tolerances, refer to the dimensional drawing of the individual servomotor.
Tolerance T. I. R. (Total Indicator Reading) Perpendicularity between the flange face and output shaft: 0.04 mm (0.00157 in) Mating concentricity of the flange O.D.: 0.04 (0.00157 in) 30 W to 5.0 kW: 0.02 mm (0.000787 in) Run-out at the end of the shaft 5.5 kW to 15.0 kW: 0.04 mm (0.00157 in) Reference Diagram

A B C

3-46

3.8 Mechanical Specifications of SGMAH, SGMPH, SGMGH, SGMSH, and SGMDH Servomotors

3.8.3 Direction of Servomotor Rotation


Positive rotation of the servomotor is counterclockwise when viewed from the load. (Same as for servomotors with gears.)

Positive direction

3.8.4 Impact Resistance


Mount the servomotor with the axis horizontal. The servomotor will withstand the following vertical impacts: Impact acceleration: 490 m/s2 Impact occurrences: 2
Vertical

3.8.5 Vibration Resistance


Mount the servomotor with the axis horizontal. The servomotor will withstand the following vibration acceleration in three directions: Vertical, side to side, and front to back.
Vibration Acceleration at Flange 49 m/s2 24.5 m/s2
Side to side Vertical Front to back

Servomotor Model SGMAH, SGMPH SGMGH, SGMSH, SGMDH

Horizontal shaft

Impact applied to the servomotor

3.8.6 Vibration Class


The vibration class 1for the servomotors at rated motor speed is 15 m or below.

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

3 Specifications and Dimensional Drawings 3.9.1 Allowable Loads

3.9 Mechanical Specifications of SGMCS Servomotors


3.9.1 Allowable Loads
The loads applied while a servomotor is running are roughly classified in the following patterns. Design the machine so that the thrust load and moment load will not exceed the values in the table.
F Where F is external force, Thrust load: Fa = F + Load mass Moment load: M=0
L F

Where F is external force, Thrust load: Fa = F + Load mass Moment load: M = F L

F L A 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.

Servomotor Model SGMCSDimensions A Units: mm (in) (N) Allowable Thrust Load Fa (lb) Allowable Moment Load M (N m) (oz in)

02B

05B 0 (0) 1500 337

07B

04C

10C 0 (0) 3300 741

14C

08D

17D 0 (0) 4000 899

25D

16E

35E

0 (0) 11000 2470 135 250 320

40 5660

50 7080

64 9060

70 9910

75

90

93

103

10600 12700 13100 14500 19100 35400 45300

Servomotor Model SGMCSDimensions A Units: mm (in) (N) Allowable Thrust Load Fa (lb) Allowable Moment Load M (N m) (oz in)

45M

80M 33 (1.30) 9000 2020 180 25400

1AM

80N

1EN 37.5 (1.48) 16000 3590 350 49500

2ZN

Note: For small-capacity series SGMCS Servomotors (02B to 35E), set dimensions A to 0 (zero).

3-48

3.9 Mechanical Specifications of SGMCS Servomotors

3.9.2 Mechanical Tolerance


The following table shows tolerances for the servomotors output shaft and installation area. See the dimensional drawing of the individual servomotor for more details on tolerances.
Mechanical Tolerance Tolerance T. I. R. (Total Indicator Reading) Units: mm (in) Run-out of the surface of the shaft Run-out at the end of the shaft Perpendicularity between the flange face and output shaft Coaxiality of output axis and mounting socket joint Right angle between flange face and output shaft Reference figure Tolerance T. I. R. (Total Indicator Reading) Units: mm (in) Run-out of the surface of the shaft Run-out at the end of the shaft Perpendicularity between the flange face and output shaft Coaxiality of output axis and mounting socket joint Right angle between flange face and output shaft Reference figure Servomotor Model SGMCS02B 05B 07B 04C 10C 14C 08D 17D 25D 0.02 (0.00079) 0.04 (0.0016) 0.08 (0.0031) 0.08 (0.0031) Fig.1 16E 35E

0.02 (0.00079) 0.04 (0.0016) 0.07 (0.0028) 0.07 (0.0028) Fig.1

0.02 (0.00079) 0.04 (0.0016) 0.07 (0.0028) 0.07 (0.0028) Fig.1

0.02 (0.00079) 0.04 (0.0016) 0.08 (0.0031) 0.08 (0.0031) Fig.1

Servomotor Model SGMCS45M 80M 1AM 80N 1EN 2ZN 0.02 (0.00079) 0.04 (0.0016) 0.08 (0.0031) 0.08 (0.0031) Fig.2 0.02 (0.00079) 0.04 (0.0016) 0.08 (0.0031) 0.08 (0.0031) Fig.2

A Drive end

AB A Drive end

B AB

Opposite drive end A B

Opposite drive end

Fig.1

Fig.2

3-49

3 Specifications and Dimensional Drawings 3.9.3 Direction of Servomotor Rotation

3.9.3 Direction of Servomotor Rotation


Positive rotation of the servomotor is counterclockwise when viewed from the load.

3.9.4 Impact Resistance


Mount the servomotor with the axis horizontal. The servomotor will withstand the following vertical impacts:
Vertical

Impact Acceleration: 490 m/s2 Number of Impacts: 2


Impact applied to the servomotor

3.9.5 Vibration Resistance


Mount the servomotor with the axis horizontal. The servomotor will withstand the following vibration acceleration in three directions: Vertical, side to side, and front to back.
Motor Type Small-capacity Series Middle-capacity Series Vibration Acceleration at Flange 49 m/s2 24.5 m/s2
side to side Horizontal shaft Vertical Front to back

Vibration applied to the servomotor

3.9.6 Vibration Class


The vibration class at rated motor speed is as follows: Vibration Class: 15 m or below

3.9.7 Protective Specification


Motor Type Protective Specification Small-capacity Series IP42 * Middle-capacity Series IP44

* Excluding the shaft opening.

3-50

3.10 Terms and Data for Servomotors With Gears

3.10 Terms and Data for Servomotors With Gears


(1) Terms for Servomotors With Standard Backlash Gears and Low-backlash Gears
Terminology for Servomotors with Gears Typical Value Standard Low-backBacklash lash Gears Gears 3000 4000 3000 4000

Item Rated Input Motor Speed (min-1) Max. Allowable Input Motor Speed (min-1) Rated Torque (N m) Lost Motion (arc-min) Torsion Rigidity (arc-min) Angular Transmission Error Accuracy (arc-min)

Measurement Method/Definition

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.

20 max. 27 max. 15 max.

3 max. 10 max. 6 max.

* See the following graph for lost motion and torsion rigidity.
Torsion rigidity Torsion rigidity + Torque 5% Rated torque Rated torque Rated torque

Lost motion

Torsion rigidity

- Torque

(2) Noise Data


The following noise data for a servomotor with a gear is for reference only and may slightly vary with the capacity and gear ratio of the servomotor.
Measurement Conditions: Scale A: 50 cm (19.7 in) Ground Noise: 28 dB

100

Initial Noise Level (dB) 50

1000

2000 Input speed (min )


-1

3000

4000

3-51

3 Specifications and Dimensional Drawings

(3) Efficiency
The output torque and motor speed produce the following trends in efficiency. The values in the tables, Ratings and Specifications of SGM H Servomotors with Gears, are at the rated motor torque and rated motor speed (3000 min-1).

Efficiency

Efficiency

Output torque

Motor speed

3-52

3.11 Servomotor Dimensional Drawings

3.11 Servomotor Dimensional Drawings


Dimensional drawings for the SGM H servomotors are broadly grouped using the following categories: With or without gears or brakes.
Series Motor Capacity Groups of Servomotor Dimensional Drawings 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

SGMAH (3000 min-1)

SGMPH (3000 min-1)

SGMGH (1500 min-1)

Without gears and brakes 100 VAC: With brakes 0.03 / 0.05 / 0.1 / 0.2 kW With standard backlash gears 200 VAC: 0.03 / 0.05 / 0.1 / 0.2 / 0.4 / 0.75 kW With standard backlash gears and brakes With low-backlash gears Without gears and brakes 100 VAC With brakes 0.1 / 0.2kW With standard backlash gears 200 VAC With standard backlash gears and brakes 0.1 / 0.2 / 0.4 / 0.75 / 1.5 kW With low-backlash gears Without gears and brakes 200-V specifications with brakes 200 VAC: 0.45 / 0.85 / 1.3 / 1.8 / 2.9 / 4.4 / 5.5 Foot-mounted type with standard backlash gears / 7.5 / 11.0 / 15.0 kW Flange-type with standard backlash gears Flange-type with low-backlash gears 200 VAC: 0.3 / 0.6 / 0.9 / 1.2 / 2.0 / 3.0 / 4.0 / 5.5 kW Without gears and brakes With brakes Foot-mounted type with standard backlash gears Flange-type with standard backlash gears Flange-type with low-backlash gears Without gears and brakes 200-V specifications with brakes Flange-type with low-backlash gears Without gears and brakes With brakes 135 model 175 model 230 model 290 model 280 model 360 model

SGMGH (1000 min-1)

SGMSH (3000 min-1) SGMDH (2000 min-1)

200 VAC: 1.0 / 1.5 / 2.0 / 3.0 / 4.0 / 5.0 kW 200 VAC: 2.2 / 3.2 / 4.0 kW 200 VAC (small-capacity): 2 / 5 / 7 / 4 / 10 / 14 / 8 / 17 / 25 / 16 / 35 N m 200 VAC (middle-capacity): 45 / 80 / 110 / 150 / 200 N m

SGMCS

Note: Servomotors SGMDH (2000min-1) and SGMCS (direct-drive series) do not have any models provided with gears.

3-53

3 Specifications and Dimensional Drawings 3.12.1 SGMAH Servomotors (3000 min-1) Without Gears

3.12 Dimensional Drawings of SGMAH Servomotors (3000 min-1)


3.12.1 SGMAH Servomotors (3000 min-1) Without Gears
(1) 30 W, 50 W, 100 W
Encoder cable, 6 (0.24) UL20276 300 (11.81) 30 (1.18) Motor cable 7 (0.28) (35) (1.38) Encoder plug

Motor plug

Shaft End U
W

300 (11.81) 30 (1.18) 0.04 (0.0016) A L LL LM 22 (0.87) 20 (0.79)


15.2 (0.60)

9.6 (0.38)

25 (0.98) 2.5 (0.10) Sh6 14


(0.55)

0.04 (0.0016) A

40 ( 1.57) 21.5 (0.85)


11(0.43)

5 (0.20)

2-4.3 (0.17)

4
(0.16)

30h7

30

0 0.021

Serial encoder

(1.181

0 0.00083

0.02 (0.0008)

1 .81 ) Tap Depth (See the following table.)

6(

Units: mm (in) Model SGMAHA3 A3 A3 A5 A5 A5 01 01 01 A21 A41 A61 A21 A41 A61 A21 A41 A61 L LL LM S Tap Depth No tap M2.5 5L No tap M2.5 5L No tap M3 6L U W 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) T Approx. Mass kg (lb) 0.3 (0.66) 0.4 (0.88) 0.5 (1.1) Allowable Radial Load N (lbf) 68 (15) 68 (15) 78 (18) Allowable Thrust Load N (lbf) 54 (12) 54 (12) 54 (12)

94.5
(3.72)

69.5
(2.74)

36.5
(1.44)

6
(0.24)

102.0
(4.02)

77.0
(3.03)

44.0
(1.73)

6
(0.24)

119.5
(4.70)

94.5
(3.72)

61.5
(2.42)

8
(0.31)

INFO

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

3.12 Dimensional Drawings of SGMAH Servomotors (3000 min-1)

Dimensional Tolerances
Units: mm (in) Shaft-end Dimensions S 6
0 0.236 0 0.008 0.0003

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 0.315 0 0.009 0.0004

(2) 200 W, 400 W


Encoder cable 6 (0.24) UL20276 300 (11.81) 30 (1.18) Motor cable 7 (0.28) 35 (1.38) W Motor plug Encoder plug Shaft End U

300 (11.81) 30 (21.18) L LL LM LG


QK

T (0.0016) 0.04 A 0.04 A (0.0016) 14h6 14 -0.011


11
0

9.5

(0.37)

26.5 (1.04) 13 20 (0.79)


(0.51)

LR LE

LC 21.5 (0.85)

0 ( 0.5512 -0.00043 )

50h7

0 ( 1.9685 -0.00098 )

50 -0.025

A Serial encoder 0.02 (0.0008) 4-LZ

Tap Depth (See the following table.)

Units: mm (in) Model SGMAH02 A21 02 A41 02 A61 04A A21 04A A41 04A A61 L 126.5
(4.98)

LL 96.5
(3.80)

LM 63
(2.48)

LR 30
(1.18)

LE 3
(0.12)

LG 6
(0.24)

LA 70
(2.76)

LC 60
(2.36)

LZ 5.5
(0.22)

154.5 124.5
(6.08) (4.90)

91
(3.58)

30
(1.18)

3
(0.12)

6
(0.24)

70
(2.76)

60
(2.36)

5.5
(0.22)

3-55

3 Specifications and Dimensional Drawings 3.12.1 SGMAH Servomotors (3000 min-1) Without Gears

Model SGMAH02 A21 02 A41 02 A61 04A A21 04A A41 04A A61

Tap Depth No tap M58L No tap M58L

QK

Approx. Mass kg (lb) 1.1 (2.4) 1.7 (3.7)

Allowable Radial Load N (lbf) 245 (55) 245 (55)

Units: mm (in) Allowable Thrust Load N (lbf) 74 (17) 74 (17)

No key 20
(0.79)

3
(0.12)

5
(0.20)

5
(0.20)

No key 20
(0.79)

3
(0.12)

5
(0.20)

5
(0.20)

INFO

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) 2. The working point of the SGMAH servomotor radial load is at the position of minus 5 mm from the shaft end.

(3) 750W
Encoder cable 6(0.24) 300(11.81)30(1.18) UL20276 Motor cable 7(0.28) (35) (1.38) Encoder plug

Motor plug W 0.04 A (0.0016) 40(1.57) 3(0.12)


QK

300(11.81) 30(1.18) 185(7.28) 145(5.71) 111.1(4.37) 15(0.59) 8(0.31)

Shaft End U T

33.5(1.32) 13(0.51) 23(0.91) 7(0.28)

11 (0.43)

0.02 A (0.0008) 0.04 A (0.0016)


70 -0.030 0 (2.756 -0.00012) 16 -0.011
0 0

80( 3.15) 21.5(0.85)


4)

Y 16h6 70h7

0( 9

3.5

Y 35(1.38) Serial encoder

0 (0.6299 -0.00043 )

4-7 (0.28)

4-R 8 .2 3 (0. 2)

Tap Depth (See the following table.)

Model SGMAH08A A21 08A A41 08A A61

Tap Depth No tap M58L

QK

Approx. Mass kg (lb) 3.4 (7.50)

Allowable Radial Load N (lbf) 392 (88)

Units: mm (in) Allowable Thrust Load N (lbf) 147 (33)

No key 30
(1.18)

3
(0.12)

5
(0.20)

5
(0.20)

INFO

1. The dimensions for L and LL of a servomotor incorporating an encoder with super-capacitor (model: SGMAH4) are as shown below. 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.

3-56

3.12 Dimensional Drawings of SGMAH Servomotors (3000 min-1)

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

300 (11.81) 30 (1.18)

Encoder plug

Motor cable 7 (0.28)

(35) (1.38)

Shaft End
Motor plug

U W

9.6 ( 0.37 )

300 (11.81) 30 (1.18) 0.04 A (0.0016) L LL 25 (0.98) 22 (0.87) LM 2.5 (0.098) 20 (0.79) 5 (0.20) 15.2
(0.55)

11 (0.43)

0.04 A (0.0016) Sh6 2-4.3 (0.17)

40 ( 1.57) 21.5 (0.85)


4 (0.16)

(0.60)

14

Serial encoder

30h7 Holding brake (de-energization operation) Power supply: 90 VDC or 24 VDC A 0.02 (0.0008)

0 -0.021

(1.19

0 -0.0008

( 1. 81 ) Tap Depth (See the following table.)

3
6

Units: mm (in) Model SGMAHA3 A3 A3 A5 A5 A5 01 01 01 A2 A4 A6 A2 A4 A6 A2 A4 A6 L LL LM S TapDepth

W No key

Approx. Mass kg (lb) 0.6 (1.32) 0.7 (1.54) 0.8 (1.76)

Allowable Radial Load N (lbf) 68 (15) 68 (15) 78 (18)

Allowable Thrust Load N (lbf) 54 (12) 54 (12) 54 (12)

126.0 101.0 36.5


(4.96) (3.98) (1.44)

6
(0.24)

No tap M2.55L No tap M2.55L No tap M36L

1.2
(0.047)

2
(0.079)

2
(0.079)

133.5 108.5 44.0


(5.26) (4.27) (1.73)

6
(0.24)

No key 1.2
(0.047)

2
(0.079)

2
(0.079)

160.0 135.0 61.5


(6.30) (5.31) (2.42)

8
(0.31)

No key 1.8
(0.071)

3
(0.12)

3
(0.12)

INFO

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

3 Specifications and Dimensional Drawings 3.12.2 SGMAH Servomotors (3000 min-1) Without Gears and With Brakes

Dimensional Tolerances
Units: mm (in) Shaft-end Dimensions mm (in) S 6
0 0.236 0 0.008 0.0003

Model SGMAHA3 A3 A3 A5 A5 A5 01 01 01 A2 A4 A6 A2 A4 A6 A2 A4 A6

0 0.235 0 0.008 0.0003

0 0.315 0 0.009 0.0004

(2) 200 W, 400 W


Encoder cable 6 (0.24) UL20276

300 (11.81) 30 (1.18)

Encoder plug Shaft End U Motor plug W T

Motor cable 7 (0.28) (35) (1.38)

300 (11.81)30 (1.18) L LL LR 26.5 (1.04) 13 (0.51) 9.5 (0.37) 27 20 (1.06) (0.79) LM LG 3 (0.12) QK
Y

(0.0016) 0.04 A

LC
11 (0.43)

14h6

0.04 A (0.0016)
0 ( 0.5512 -0.00043 )

21.5 (0.85)
A

14 -0.011
0

50h7

0 ( 1.9685 -0.00098 )

50 -0.025

Serial encoder

Holding brake (de-energizing operation) Power supply: 90 VDC or 24 VDC A 0.02 (0.0008)

4-LZ

Tap Depth (See the following table.)

Units: mm (in) Model SGMAH02 A2 02 A4 02 A6 04A A2 04A A4 04A A6 L 166 (6.54) 194 (7.64) LL 136 (5.35) 164 (6.46) LM 62.5 (2.46) 90.5 (3.56) LR 30 (1.18) 30 (1.18) LG 6 (0.24) 6 (0.24) LC 60 (2.36) 60 (2.36) LA 70 (2.76) 70 (2.76) LZ 5.5 (0.22) 5.5 (0.22)

3-58

3.12 Dimensional Drawings of SGMAH Servomotors (3000 min-1)

Model SGMAH02 A2 02 A4 02 A6 04A A2 04A A4 04A A6

Tap Depth No tap M58L No tap M58L

QK

Approx. Mass kg (lb) 1.6 (3.53) 2.2 (4.85)

Allowable Radial Load N (lbf) 245 (55) 245 (55)

Units: mm (in) Allowable Thrust Load N (lbf) 74 (17) 74 (17)

No key 20
(0.79)

3
(0.12)

5
(0.20)

5
(0.20)

No key 20
(0.79)

3
(0.12)

5
(0.20)

5
(0.20)

INFO

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) 2. The working point of the SGMAH servomotor radial load is at the position of minus 5 mm from the shaft end.

(3) 750W
Encoder Cable 6(0.24) 300(11.81)30(1.18) UL20276 Encoder plug Shaft End U Motor plug W T
300(11.81)30(1.18) 229.5(9.04) 189.5(7.46) 111.5(4.39) 40(1.57) 0.04 A (0.0016) 0.02 A A (0.0008)

Motor cable 7(0.28)

35 (1.38)

33.5(1.32) 44.5(1.75) 7(0.28) 13(0.51) 27(1.06) 4.5(0.18)

80( 3.15) 11 (0.43)


21.5(0.85)

15(0.59) 3(0.12) 8(0.31) QK

0.04 A (0.0016)

70h7

Y 16h6

0 ( 2.756 -0.00012 ) 0 ( 0.6299 -0.00043 )

70

0 -0.030 0

0 9

(3

.54

Y 35(1.38) Serial encoder Holding blake (de-energizing operation) Power supply: 90 VDC or 24 VDC

16 -0.011

4 -R

4-7 (0.28)

Tap Depth (See the following table.)

8.2 (0. 32 )

Model SGMAH08A A2 08A A4 08A A6

Tap Depth No tap M58L

QK

Approx. Mass kg (lb) 4.3 (9.48)

Allowable Radial Load N (lbf) 392 (88)

Units: mm (in) Allowable Thrust Load N (lbf) 147 (33)

No key 30
(1.18)

3
(0.12)

5
(0.20)

5
(0.20)

INFO

1. The dimensions for L and LL of a servomotor incorporating an encoder with super-capacitor (model: SGMAH4) are as shown below. 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.

3-59

3 Specifications and Dimensional Drawings 3.12.3 SGMAH Servomotors (3000 min-1) With Standard Backlash Gears

3.12.3 SGMAH Servomotors (3000 min-1) With Standard Backlash Gears


(1) 30 W, 50 W, 100 W
Encoder cable 6 (0.24) UL20276 300 (11.81) 30 (1.18) Motor cable 7 (0.28) (35) (1.38) Motor plug Encoder plug Shaft End W U T LC

300 (11.81)30 (1.18) L LL LM LG 20 (0.79) 4 15.2 (0.60) (0.16) 11 0.06 A (0.0024) LR 0.04 L1 L2 A (0.0016) L3 Q QK 0.05 A (0.0020)

9.5 (0.37)

22
(0.87)

LD LBh7

Sh7

L
4-LZ

Serial encoder

Rotating section (Hatching section)

Tap Depth (See the following table.)

Units: mm (in) Model SGMAHA3 A3 A3 A3 A5 A5 A5 A5 01 01 01 01 AJ1 1 AJ3 1 AJC 1 AJ7 1 AJ1 1 AJ3 1 AJC 1 AJ7 1 AJ1 1 AJ3 1 AJC 1 AJ7 1 Gear Ratio 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 L 156.5 (6.16) 156.5 (6.16) 171.5 (6.75) 171.5 (6.75) 164 (6.46) 174 (6.85) 191 (7.52) 191 (7.52) 191.5 (7.54) 191.5 (7.54) 227 (8.94) 227 (8.94) LL 101.5 (4.00) 101.5 (4.00) 116.5 (4.59) 116.5 (4.59) 109 (4.29) 114 (4.49) 131 (5.16) 131 (5.16) 131.5 (5.18) 131.5 (5.18) 153 (6.02) 153 (6.02) LM 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) LR 55 (2.17) 55 (2.17) 55 (2.17) 55 (2.17) 55 (2.17) LG 8 (0.31) 8 (0.31) 8 (0.31) 8 (0.31) 8 (0.31) B 47 (1.85) 47 (1.85) 47 (1.85) 47 (1.85) 47 (1.85) LD 55.5 (2.19) 55.5 (2.19) 55.5 (2.19) 55.5 (2.19) 55.5 (2.19) LB 56 (2.20) 56 (2.20) 56 (2.20) 56 (2.20) 56 (2.20) L1 28 (1.10) 28 (1.10) 28 (1.10) 28 (1.10) 28 (1.10) L2 27 (1.06) 27 (1.06) 27 (1.06) 27 (1.06) 27 (1.06) L3 17 (0.67) 17 (0.67) 17 (0.67) 17 (0.67) 17 (0.67) Q 25 (0.98) 25 (0.98) 25 (0.98) 25 (0.98) 25 (0.98) QK 20 (0.79) 20 (0.79) 20 (0.79) 20 (0.79) 20 (0.79) S 14 (0.55) 14 (0.55) 14 (0.55) 14 (0.55) 14 (0.55)

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)

57 63 65 30 30 14.5 28 25 16 98.5 60 9 (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 63 65 30 30 14.5 28 25 16 98.5 60 9 (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 36 32 20 120 74 10 69 83 85 36 38 (4.72) (2.91) (0.39) (2.72) (3.27) (3.35) (1.42) (1.50) (0.77) (1.42) (1.26) (0.79) 19.5 36 32 20 120 74 10 69 83 85 36 38 (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

3.12 Dimensional Drawings of SGMAH Servomotors (3000 min-1)

Model SGMAHA3 A3 A3 A3 A5 A5 A5 A5 01 01 01 01 AJ1 1 AJ3 1 AJC 1 AJ7 1 AJ1 1 AJ3 1 AJC 1 AJ7 1 AJ1 1 AJ3 1 AJC 1 AJ7 1

Gear Ratio 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33

TapDepth M48L M48L M48L M48L M48L M48L M48L M48L M48L M48L M510L M510L

LC 60
(2.36)

LA 70
(2.76)

LZ 5.5
(0.22)

U 3
(0.12)

W 5
(0.20)

T 5
(0.20)

60
(2.36)

70
(2.76)

5.5
(0.22)

3
(0.12)

5
(0.20)

5
(0.20)

60
(2.36)

70
(2.76)

5.5
(0.22)

3
(0.12)

5
(0.20)

5
(0.20)

60
(2.36)

70
(2.76)

5.5
(0.22)

3
(0.12)

5
(0.20)

5
(0.20)

60
(2.36)

70
(2.76)

5.5
(0.22)

3
(0.12)

5
(0.20)

5
(0.20)

70
(2.76)

80
(3.15)

6.6
(0.26)

3
(0.12)

5
(0.20)

5
(0.20)

70
(2.76)

80
(3.15)

6.6
(0.26)

3
(0.12)

5
(0.20)

5
(0.20)

70
(2.76)

80
(3.15)

6.6
(0.26)

3
(0.12)

5
(0.20)

5
(0.20)

70
(2.76)

80
(3.15)

6.6
(0.26)

3
(0.12)

5
(0.20)

5
(0.20)

70
(2.76)

80
(3.15)

6.6
(0.26)

3
(0.12)

5
(0.20)

5
(0.20)

90
(3.54)

105
(4.13)

9
(0.35)

3.5
(0.14)

6
(0.24)

6
(0.24)

90
(3.54)

105
(4.13)

9
(0.35)

3.5
(0.14)

6
(0.24)

6
(0.24)

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) 145 (33)

Allowable Thrust Load N (lbf)

185 (42)

125 (28)

145 (33) 215 (49) 230 (52) 245 (56) 175 (40) 215 (49) 455 (103) 480 (109)

3
145 (33)

235 (53)

INFO

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

3 Specifications and Dimensional Drawings 3.12.3 SGMAH Servomotors (3000 min-1) With Standard Backlash Gears

Dimensional Tolerances
Units: mm (in) Shaft-end Dimensions S 14 14 14 14 14 16 16 16 16 16 20 20
0 0.55 0 0.018 0.0007 0 0.55 0 0.018 0.0007 0 0.55 0 0.018 0.0007 0 0.55 0 0.018 0.0007 0 0.55 0 0.018 0.0007 0 0.63 0 0.018 0.0007 0 0.63 0 0.018 0.0007 0 0.63 0 0.018 0.0007 0 0.63 0 0.018 0.0007 0 0.63 0 0.018 0.0007 0 0.79 0 0.021 0.0008 0 0.79 0 0.021 0.0008

Model SGMAHA3 A3 A3 A3 A5 A5 A5 A5 01 01 01 01 AJ1 1 AJ3 1 AJC 1 AJ7 1 AJ1 1 AJ3 1 AJC 1 AJ7 1 AJ1 1 AJ3 1 AJC 1 AJ7 1

Flange Face Dimensions LB 56


0 2.20 0 0.030 0.0012 0 2.20 0 0.030 0.0012 0 2.20 0 0.030 0.0012 0 2.20 0 0.030 0.0012 0 2.20 0 0.030 0.0012 0 2.56 0 0.030 0.0012 0 2.56 0 0.030 0.0012 0 2.56 0 0.030 0.0012 0 2.56 0 0.030 0.0012 0 2.56 0 0.030 0.0012 0 3.35 0 0.035 0.0014 0 3.35 0 0.035 0.0014

56 56 56 56 65 65 65 65 65 85 85

3-62

3.12 Dimensional Drawings of SGMAH Servomotors (3000 min-1)

(2) 200 W, 400 W, 750 W


Encoder cable 7 (0.28) UL20276 300 (11.81)30 (1.18) Motor cable 7 (0.28) (35) (1.38) Encoder plug Shaft End 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 U B LD LBh7 T

300 (11.81) 30 (1.18)

9.5 (0.37)

13 (0.51) 20

(0.79)

11 (0.43)

26.5 (1.04)

Q QK Sh7

L
4-LZ

Serial encoder

Rotating section Hatching section

Tap Depth (See the following table.)

Units: mm (in) Model SGMAH02 02 02 02 04 04 04 04 08 08 08 08 AJ1 1 AJ3 1 AJC 1 AJ7 1 AJ1 1 AJ3 1 AJC 1 AJ7 1 AJ1 1 AJ3 1 AJC 1 AJ7 1 Gear Ratio 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 L 212
(8.35)

LL 138
(5.43)

LM 104.5
(4.11)

LR 74
(2.91)

LE 4
(0.16)

LG 10
(0.39)

B 69
(2.72)

LD 83
(3.27)

LB 85
(3.35)

L1 36
(1.42)

L2 38
(1.50)

L3 19.5
(0.77)

Q 36
(1.42)

QK 32
(1.26)

S 20
(0.79)

212
(8.35) (9.82) (9.82)

138
(5.43) (6.52) (6.52)

104.5
(4.11)

74
(2.91)

4
(0.16)

10
(0.39)

69
(2.72)

83
(3.27)

85
(3.35)

36
(1.42)

38
(1.50)

19.5
(0.77)

36
(1.42)

32
(1.26)

20
(0.79)

249.5 165.5 249.5 165.5 240


(9.45) (10.10) (12.03) (12.03)

132
(5.20)

84
(3.31)

4
(0.16)

12
(0.47)

82
(3.23)

98
(3.86)

100
(3.94)

40
(1.57)

44
(1.73)

23
(0.91)

42
(1.65)

36
(1.42)

25
(0.98)

132
(5.20)

84
(3.31)

4
(0.16)

12
(0.47)

82
(3.23)

98
(3.86)

100
(3.94)

40
(1.57)

44
(1.73)

23
(0.91)

42
(1.65)

36
(1.42)

25
(0.98)

166
(6.54) (6.79) (7.89) (7.89)

133
(5.24)

74
(2.91)

4
(0.16)

10
(0.39)

69
(2.72)

83
(3.27)

85
(3.35)

36
(1.42)

38
(1.50)

19.5
(0.77)

36
(1.42)

32
(1.26)

20
(0.79)

256.5 172.5 305.5 200.5 305.5 200.5 277


(10.91)

139
(5.47)

84
(3.31)

4
(0.16)

12
(0.47)

82
(3.23)

98
(3.86)

100
(3.94)

40
(1.57)

44
(1.73)

23
(0.91)

42
(1.65)

36
(1.42)

25
(0.98)

167
(6.57)

105
(4.13)

5
(0.20)

13
(0.51)

93
(3.66)

112
(4.41)

115
(4.53)

45
(1.77)

60
(2.36)

26.5
(1.04)

58
(2.28)

50
(1.97)

32
(1.26)

167
(6.57)

105
(4.13)

5
(0.20)

13
(0.51)

93
(3.66)

112
(4.41)

115
(4.53)

45
(1.77)

60
(2.36)

26.5
(1.04)

58
(2.28)

50
(1.97)

32
(1.26)

193
(7.60)

159.5
(6.28)

84
(3.31)

4
(0.16)

12
(0.47)

82
(3.23)

98
(3.86)

100
(3.94)

40
(1.57)

44
(1.73)

23
(0.91)

42
(1.65)

36
(1.42)

25
(0.98)

301
(11.85)

196
(7.72)

162.5
(6.40)

105
(4.13)

5
(0.20)

13
(0.51)

93
(3.66)

112
(4.41)

115
(4.53)

45
(1.77)

60
(2.36)

26.5
(1.04)

58
(2.28)

50
(1.97)

32
(1.26)

330
(12.99)

223
(8.78)

189.5
(7.46)

107
(4.21)

10
(0.39)

15
(0.59)

107
(4.21)

134
(5.28)

140
(5.51)

44
(1.73)

63
(2.48)

42
(1.65)

60
(2.36)

45
(1.77)

40
(1.57)

330
(12.99)

223
(8.78)

189.5
(7.46)

107
(4.21)

10
(0.39)

15
(0.59)

107
(4.21)

134
(5.28)

140
(5.51)

44
(1.73)

63
(2.48)

42
(1.65)

60
(2.36)

45
(1.77)

40
(1.57)

3-63

3 Specifications and Dimensional Drawings 3.12.3 SGMAH Servomotors (3000 min-1) With Standard Backlash Gears

Model SGMAH02 02 02 02 04 04 04 04 08 08 08 08 AJ1 1 AJ3 1 AJC 1 AJ7 1 AJ1 1 AJ3 1 AJC 1 AJ7 1 AJ1 1 AJ3 1 AJC 1 AJ7 1

Gear Ratio 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33

LC

LA

LZ

TapDepth M510L M510L M612L M612L M510L M612L M816L M816L M612L M816L M1020L M1020L

T 6 (0.24) 6 (0.24) 7 (0.28) 7 (0.28) 6 (0.24) 7 (0.28) 8 (0.31) 8 (0.31) 7 (0.28) 8 (0.31) 8 (0.31) 8 (0.31)

90 105 9 (3.54) (4.13) (0.35) 90 105 9 (3.54) (4.13) (0.35) 105 120 9 (4.13) (4.72) (0.35) 105 120 9 (4.13) (4.72) (0.35) 90 105 9 (3.54) (4.13) (0.35) 105 120 9 (4.13) (4.72) (0.35) 120 135 11 (4.72) (5.31) (0.43) 120 135 11 (4.72) (5.31) (0.43) 105 120 9 (4.13) (4.72) (0.35) 120 135 11 (4.72) (5.31) (0.43) 145 165 14 (5.71) (6.50) (0.55) 145 165 14 (5.71) (6.50) (0.55)

3.5 6 (0.14) (0.24) 3.5 6 (0.14) (0.24) 4 8 (0.16) (0.31) 4 8 (0.16) (0.31) 3.5 6 (0.14) (0.24) 4 8 (0.16) (0.31) 5 10 (0.20) (0.39) 5 10 (0.20) (0.39) 4 8 (0.16) (0.31) 5 10 (0.20) (0.39) 5 12 (0.20) (0.47) 5 12 (0.20) (0.47)

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)

INFO

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

3.12 Dimensional Drawings of SGMAH Servomotors (3000 min-1)

Dimensional Tolerances
Units: mm (in) Shaft-end Dimensions S 20 20 25 25 20 25 32 32 25 32 40 40
0 0.79 0 0.021 0.0008 0 0.79 0 0.021 0.0008 0 0.98 0 0.021 0.0008 0 0.98 0 0.021 0.0008 0 0.79 0 0.021 0.0008 0 0.98 0 0.021 0.0008 1.26 0 0.025 0.0010 0 1.26 0 0.025 0.0010 0 0.98 0 0.021 0.0008 0 1.26 0 0.025 0.0010 0 1.57 0 0.025 0.0010 0 1.57 0 0.025 0.0010 0

Model SGMAH02 02 02 02 04 04 04 04 08 08 08 08 AJ1 1 AJ3 1 AJC 1 AJ7 1 AJ1 1 AJ3 1 AJC 1 AJ7 1 AJ1 1 AJ3 1 AJC 1 AJ7 1

Flange Face Dimensions LB 85 85


0 3.35 0 0.035 0.0014 0 3.35 0 0.035 0.0014 0 3.94 0 0.035 0.0014 0 3.94 0 0.035 0.0014

100 100 85

0 3.35 0 0.035 0.0014 0 3.94 0 0.035 0.0014 4.53 0 0.035 0.0014 0 4.53 0 0.035 0.0014 0 3.94 0 0.035 0.0014 0 4.53 0 0.035 0.0014 0 5.51 0 0.040 0.0016 0 5.51 0 0.040 0.0016 0

100 115 115 100 115 140 140

3-65

3 Specifications and Dimensional Drawings 3.12.4 SGMAH Servomotors (3000 min-1) With Standard Backlash Gears and Brakes

3.12.4 SGMAH Servomotors (3000 min-1) With Standard Backlash Gears and Brakes
(1) 30 W, 50 W, 100 W
Encoder cable 6 (0.24) UL20276 300 (11.81)30(1.18) Encoder plug Shaft End Motor plug 300(11.81) 30(1.18) L LL LM LG 4 U (0.0024) 0.06 A LR L1 L3 L2 Q QK 0.04 A (0.0016) 9.5 (0.37) 11 (0.43) 22 (0.87) 20 (0.79) 15.2
(0.60)

Motor cable 7 (0.28) (35) (1.38)

W T LC

0.05 A (0.0020)

Sh7

B LD LBh7

L
4-LZ

Serial encoder

Holding brake (de-energizing operation) Power supply: 90 VDC or 24 VDC

Rotating section (Hatching section)

Tap Depth (See the following table.)

Units: mm (in) Model SGMAHA3 A3 A3 A3 A5 A5 A5 A5 01 01 01 01 AJ1 AJ3 AJC AJ7 AJ1 AJ3 AJC AJ7 AJ1 AJ3 AJC AJ7 Gear Ratio 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 L
188.5 (7.42) 188.5 (7.42) 203.5 (8.01) 203.5 (8.01) 196 (7.72) 206 (8.11) 223 (8.78) 223 (8.78) 232 (9.13) 232 (9.13) 268 (10.6) 268 (10.6)

LL
133.5 (5.26) 133.5 (5.26) 148.5 (5.85) 148.5 (5.85) 141 (5.55) 146 (5.75) 163 (6.42) 163 (6.42) 172 (6.77) 172 (6.77) 194 (7.64) 194 (7.64)

LM
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) 98.5 (3.88) 98.5 (3.88) 120 (4.72) 120 (4.72)

LR
55 (2.17) 55 (2.17) 55 (2.17) 55 (2.17) 55 (2.17) 60 (2.36) 60 (2.36) 60 (2.36) 60 (2.36) 60 (2.36) 74 (2.91) 74 (2.91)

LG
8 (0.31) 8 (0.31) 8 (0.31) 8 (0.31) 8 (0.31) 9 (0.35) 9 (0.35) 9 (0.35) 9 (0.35) 9 (0.35) 10 (0.39) 10 (0.39)

B
47 (1.85) 47 (1.85) 47 (1.85) 47 (1.85) 47 (1.85) 57 (2.24) 57 (2.24) 57 (2.24) 25 (0.98) 25 (0.98) 69 (2.72) 69 (2.72)

LD
55.5 (2.19) 55.5 (2.19) 55.5 (2.19) 55.5 (2.19) 55.5 (2.19) 63 (2.48) 63 (2.48) 63 (2.48) 63 (2.48) 63 (2.48) 83 (3.27) 83 (3.27)

LB
56 (2.20) 56 (2.20) 56 (2.20) 56 (2.20) 56 (2.20) 65 (2.56) 65 (2.56) 65 (2.56) 65 (2.56) 65 (2.56) 85 (3.35) 85 (3.35)

L1

L2

L3

QK

28 17 27 25 20 14 (1.10) (1.06) (0.67) (0.98) (0.79) (0.55) 28 17 27 25 20 14 (1.10) (1.06) (0.67) (0.98) (0.79) (0.55) 28 17 27 25 20 14 (1.10) (1.06) (0.67) (0.98) (0.79) (0.55) 28 17 27 25 20 14 (1.10) (1.06) (0.67) (0.98) (0.79) (0.55) 28 17 27 25 20 14 (1.10) (1.06) (0.67) (0.98) (0.79) (0.55) 14.5 30 30 28 25 16 (1.18) (1.18) (0.57) (1.10) (0.98) (0.63) 14.5 30 30 28 25 16 (1.18) (1.18) (0.57) (1.10) (0.98) (0.63) 14.5 30 30 28 25 16 (1.18) (1.18) (0.57) (1.10) (0.98) (0.63) 14.5 30 30 28 25 16 (1.18) (1.18) (0.57) (1.10) (0.98) (0.63) 14.5 30 30 28 25 16 (1.18) (1.18) (0.57) (1.10) (0.98) (0.63) 36 38 19.5 36 32 20 (1.42) (1.50) (0.77) (1.42) (1.26) (0.79) 36 38 19.5 36 32 20 (1.42) (1.50) (0.77) (1.42) (1.26) (0.79)

3-66

3.12 Dimensional Drawings of SGMAH Servomotors (3000 min-1)

Model SGMAHA3 A3 A3 A3 A5 A5 A5 A5 01 01 01 01 AJ1 AJ3 AJC AJ7 AJ1 AJ3 AJC AJ7 AJ1 AJ3 AJC AJ7

Gear Ratio 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33

LC 60 (2.36) 60 (2.36) 60 (2.36) 60 (2.36) 60 (2.36) 70 (2.76) 70 (2.76) 70 (2.76) 70 (2.76) 70 (2.76) 90 (3.54) 90 (3.54)

LA

LZ

TapDepth

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)

70 5.5 (2.76) (0.22) 70 5.5 (2.76) (0.22) 70 5.5 (2.76) (0.22) 70 5.5 (2.76) (0.22) 70 5.5 (2.76) (0.22) 80 6.6 (3.15) (0.26) 80 6.6 (3.15) (0.26) 80 6.6 (3.15) (0.26) 80 6.6 (3.15) (0.26) 80 6.6 (3.15) (0.26) 105 9 (4.13) (0.35) 105 9 (4.13) (0.35)

M48L M48L M48L M48L M48L M48L M48L M48L M48L M48L M510L M510L

3 5 5 (0.12) (0.20) (0.20) 3 5 5 (0.12) (0.20) (0.20) 3 5 5 (0.12) (0.20) (0.20) 3 5 5 (0.12) (0.20) (0.20) 3 5 5 (0.12) (0.20) (0.20) 3 5 5 (0.12) (0.20) (0.20) 3 5 5 (0.12) (0.20) (0.20) 3 5 5 (0.12) (0.20) (0.20) 3 5 5 (0.12) (0.20) (0.20) 3 5 5 (0.12) (0.20) (0.20) 3.5 6 6 (0.14) (0.24) (0.24) 3.5 6 6 (0.14) (0.24) (0.24)

Allowable Radial Load N (lbf) 145 (33)

Allowable Thrust Load N (lbf)

185 (42)

125 (28)

145 (33) 215 (49) 230 (52) 245 (56) 175 (40) 215 (49) 455 (103) 480 (109)

3
145 (33)

235 (53)

INFO

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
Units: mm (in) Shaft-end Dimensions S 14 14 14 14 14 16
0 0.55 0 0.018 0.0007 0 0.55 0 0.018 0.0007 0 0.55 0 0.018 0.0007 0 0.55 0 0.018 0.0007 0 0.55 0 0.018 0.0007 0 0.63 0 0.018 0.0007

Model SGMAHA3 A3 A3 A3 A5 A5 AJ1 AJ3 AJC AJ7 AJ1 AJ3

Flange Face Dimensions LB 56 56 56 56 56 65


0 2.20 0 0.030 0.0012 0 2.20 0 0.030 0.0012 0 2.20 0 0.030 0.0012 0 2.20 0 0.030 0.0012 0 2.20 0 0.030 0.0012 0 2.56 0 0.030 0.0012

3-67

3 Specifications and Dimensional Drawings 3.12.4 SGMAH Servomotors (3000 min-1) With Standard Backlash Gears and Brakes

Model SGMAHA5 A5 01 01 01 01 AJC AJ7 AJ1 AJ3 AJC AJ7

Flange Face Dimensions LB 65 65 65 65 85 85


0 2.56 0 0.030 0.0012 0 2.56 0 0.030 0.0012 0 2.56 0 0.030 0.0012 0 2.56 0 0.030 0.0012 0 3.35 0 0.035 0.0014 0 3.35 0 0.035 0.0014

Units: mm (in) Shaft-end Dimensions S 16 16 16 16 20 20


0 0.63 0 0.018 0.0007 0 0.63 0 0.018 0.0007 0 0.63 0 0.018 0.0007 0 0.63 0 0.018 0.0007 0 0.79 0 0.021 0.0008 0 0.79 0 0.021 0.0008

(2) 200 W, 400 W, 750 W


Encoder cable 6(0.24) UL20276 300(11.81) 30(1.18) Motor cable 7(0.28) (35) (1.38)
300(11.81)30(1.18)

Encoder plug

Shaft End W U T LC
L
A

Motor plug (0.0024) 0.06 A L1 L3 LR L2 Q QK 0.04 A(0.0016) 0.05 A (0.0020)

9.5(0.37)

26.5 (1.04)
11 (0.43)

13 (0.51)

27 (1.06) 20 (0.79)

L LL LM LG LE

Sh7

B LD LBh7

Serial encoder

Holding brake (de-energizing operation) Power supply: 90 VDC or 24 VDC

Rotating section (Hatching section)

4-LZ

Tap Depth (See the following table.)

Units: mm (in) Model SGMAH02 02 02 02 04 04 04 04 08 08 08 AJ1 AJ3 AJC AJ7 AJ1 AJ3 AJC AJ7 AJ1 AJ3 AJC Gear Ratio 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 1/5 3/31 1/21 L
251.5 (9.90 251.5 (9.90 289 (11.38) 289 (11.38) 297.5 (11.71) 296 (11.65) 345 (13.58) 345 (13.58) 321.5 (12.66) 345.5 (13.60) 374.5 (14.74)

LL
177.5 (6.99) 177.5 (6.99) 205 (8.07) 205 (8.07) 223.5 (8.80) 212 (8.35) 240 (9.45) 240 (9.45) 237.5 (9.35) 240.5 (9.47) 267.5 (10.53)

LM
104.5 (4.11) 104.5 (4.11) 132 (5.20) 132 (5.20) 150.5 (5.93 139 (5.47) 167 (6.57) 167 (6.57) 158.5 (6.24) 162.5 (6.40) 189.5 (7.46)

LR
74 (2.91) 74 (2.91) 84 (3.31) 84 (3.31) 74 (2.91) 84 (3.31) 105 (4.13) 105 (4.13) 84 (3.31) 105 (4.13) 107 (4.21)

LE
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) 5 (0.20) 10 (0.39)

LG

LD

LB

L1

L2

L3

QK

S
20 (0.79) 20 (0.79) 25 (0.98) 25 (0.98) 20 (0.79) 25 (0.98) 32 (1.26) 32 (1.26) 25 (0.98) 32 (1.26) 40 (1.57)

10 69 (0.39) (2.72) 10 69 (0.39) (2.72) 82 12 (0.47) (3.23) 82 12 (0.47) (3.23) 10 69 (0.39) (2.72) 82 12 (0.47) (3.23) 93 13 (0.51) (3.66) 93 13 (0.51) (3.66) 82 12 (0.47) (3.23) 93 13 (0.51) (3.66) 134 15 (0.59) (5.28)

83 85 36 38 19.5 36 32 (3.27) (3.35) (1.42) (1.50) (0.77) (1.42) (1.26) 83 85 36 36 19.5 36 32 (3.27) (3.35) (1.42) (1.42) (0.77) (1.42) (1.26) 98 100 40 44 19.5 42 36 (3.86) (3.94) (1.57) (1.73) (0.77) (1.65) (1.42) 98 100 40 44 19.5 42 36 (3.86) (3.94) (1.57) (1.73) (0.77) (1.65) (1.42) 83 85 36 (3.27) (3.35) (1.42) 38 (1.50 19.5 36 32 (0.77) (1.42) (1.26) 23 (0.91 42 36 (1.65) (1.42)

98 100 40 44 (3.86) (3.94) (1.57) (1.73)

60 26.5 112 115 45 58 50 (4.41) (4.53) (1.77) (2.36) (1.04) (2.28) (1.97) 26.5 112 115 45 80 58 50 (4.41) (4.53) (1.77) (3.15) (1.04) (2.28) (1.97) 98 100 40 44 (3.86) (3.94) (1.57) (1.73) 23 (0.91 42 36 (1.65) (1.42)

26.5 112 115 45 60 58 50 (4.41) (4.53) (1.77) (2.36) (1.04) (2.28) (1.97) 134 140 44 63 42 60 45 (5.28) (5.51) (1.73) (2.48) (1.65) (2.36) (1.77)

3-68

3.12 Dimensional Drawings of SGMAH Servomotors (3000 min-1)

Units: mm (in) (Contd) Model SGMAH08 AJ7 Gear Ratio 1/33 L


374.5 (14.74)

LL
267.5 (10.53)

LM
189.5 (7.46)

LR
107 (4.21)

LE
10 (0.39)

LG

LD

LB

L1

L2

L3

QK

S
40 (1.57)

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)

Units: mm (in) Model SGMAH02 02 02 02 04 04 04 04 08 08 08 08 AJ1 AJ3 AJC AJ7 AJ1 AJ3 AJC AJ7 AJ1 AJ3 AJC AJ7 Gear Ratio 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 LC LA LZ TapDepth M510L M510L M612L M612L M510L M612L M816L M816L M612L M816L M1020L M1020L

Approx. Mass kg (lb) 3.3 (7.3) 3.3 (7.3) 4.7 (10.4) 4.7 (10.4) 3.9 (8.6) 4.8 (10.6) 6.9 (15.2) 6.9 (15.2) 6.9 (15.2) 8.4 (18.5) 13.3 (29.3) 13.3 (29.3)

90 105 9 (3.54) (4.13) (0.35) 90 105 9 (3.54) (4.13) (0.35) 105 120 9 (4.13) (4.72) (0.35) 105 120 9 (4.13) (4.72) (0.35) 90 105 9 (3.54) (4.13) (0.35) 105 120 9 (4.13) (4.72) (0.35) 120 135 11 (4.72) (5.31) (0.43) 120 135 11 (4.72) (5.31) (0.43) 105 120 9 (4.13) (4.72) (0.35) 120 135 11 (4.72) (5.31) (0.43) 145 165 14 (5.71) (6.50) (0.55) 145 165 14 (5.71) (6.50) (0.55)

3.5 6 6 (0.14) (0.24) (0.24) 3.5 6 6 (0.14) (0.24) (0.24) 4 8 7 (0.16) (0.31) (0.28) 4 8 7 (0.16) (0.31) (0.28) 3.5 6 6 (0.14) (0.24) (0.24) 4 8 7 (0.16) (0.31) (0.28) 5 10 8 (0.20) (0.39) (0.31) 5 10 8 (0.20) (0.39) (0.31) 4 8 7 (0.16) (0.31) (0.28) 5 10 8 (0.20) (0.39) (0.31) 5 12 8 (0.20) (0.47) (0.31) 5 12 8 (0.20) (0.47) (0.31)

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)

INFO

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

3 Specifications and Dimensional Drawings 3.12.4 SGMAH Servomotors (3000 min-1) With Standard Backlash Gears and Brakes

Dimensional Tolerances
Units: mm (in) Shaft-end Dimensions S 20 20 25 25 20 25 32 32 25 32 40 40
0 0.79 0 0.021 0.0008 0 0.79 0 0.021 0.0008 0 0.98 0 0.021 0.0008 0 0.98 0 0.021 0.0008 0 0.79 0 0.021 0.0008 0 0.98 0 0.021 0.0008 0 1.26 0 0.025 0.0010 0 1.26 0 0.025 0.0010 0 0.98 0 0.021 0.0008 0 1.26 0 0.025 0.0010 0 1.57 0 0.025 0.0010 0 1.57 0 0.025 0.0010

Model SGMAH02 02 02 02 04 04 04 04 08 08 08 08 AJ1 AJ3 AJC AJ7 AJ1 AJ3 AJC AJ7 AJ1 AJ3 AJC AJ7

Flange Face Dimensions LB 85 85


0 3.35 0 0.035 0.0014 0 3.35 0 0.035 0.0014 0 3.94 0 0.035 0.0014 0 3.94 0 0.035 0.0014

100 100 85

0 3.35 0 0.035 0.0014 0 3.94 0 0.035 0.0014 0 4.53 0 0.035 0.0014 0 4.53 0 0.035 0.0014 0 3.94 0 0.035 0.0014 0 4.53 0 0.035 0.0014 0 5.51 0 0.040 0.0016 0 5.51 0 0.040 0.0016

100 115 115 100 115 140 140

3-70

3.12 Dimensional Drawings of SGMAH Servomotors (3000 min-1)

3.12.5 SGMAH Servomotors (3000 min-1) With Low-backlash Gears


(1) 30 W, 50 W, 100 W
Encoder cable 6 (0.24) UL20276 300(11.81)30(1.18) Encoder plug

Motor cable 7(0.28)

(35) (1.38) Motor plug

Shaft End W U T LC

300(11.81)30(1.18) L LL LM 22 (0.87) 9.5(0.37) 20 (0.79) 15.2 (0.60) LG 0.06 A (0.0024) LR L1 L3 LE L2 Q QK 0.04 A (0.0016) 0.05 A (0.0020)

11(0.43)

LBh7

B LD

Sh7

L
4-LZ

3
A

Serial encoder Rotating section (Hatching section)

Tap Depth (See the following table.)

Units: mm (in) Model SGMAHA3 A3 A3 A3 A5 A5 A5 A5 01 01 01 01 AH1 1 AH2 1 AHC 1 AH7 1 AH1 1 AH2 1 AHC 1 AH7 1 AH1 1 AHB 1 AHC 1 AH7 1 Gear Ratio 1/5 1/9 1/21 1/33 1/5 1/9 1/21 1/33 1/5 1/11 1/21 1/33 L
152.5 (6.00) 152.5 (6.00) 167.5 (6.59) 167.5 (6.59) 160 (6.30) 166 (6.54) 183 (7.20) 183 (7.20) 183.5 (7.22) 200.5 (7.89) 223.5 (8.80) 223.5 (8.80)

LL
97.5 (3.84) 97.5 (3.84) 112.5 (4.43) 112.5 (4.43) 105 (4.13) 106 (4.17) 123 (4.84) 123 (4.84) 123.5 (4.86) 140.5 (5.53) 149.5 (5.89) 149.5 (5.89)

LM
64.5 (2.54) 64.5 (2.54) 79.5 (3.13) 79.5 (3.13) 72.0 (2.83) 73.0 (2.87) 90.0 (3.54) 90.0 (3.54) 90.5 (3.56) 107.5 (4.23) 116.5 (4.59) 116.5 (4.59)

LR

LE

LG

LD

LB

L1

L2

L3

QK

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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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

3 Specifications and Dimensional Drawings 3.12.5 SGMAH Servomotors (3000 min-1) With Low-backlash Gears

Units: mm (in) Model SGMAHA3 A3 A3 A3 A5 A5 A5 A5 01 01 01 01 AH1 1 AH2 1 AHC 1 AH7 1 AH1 1 AH2 1 AHC 1 AH7 1 AH1 1 AHB 1 AHC 1 AH7 1 Gear Ratio 1/5 1/9 1/21 1/33 1/5 1/9 1/21 1/33 1/5 1/11 1/21 1/33 LC LA LZ TapDepth U W T 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) Allowable Thrust Load N (lbf)

60 70 5.5 (2.36) (2.76) (0.22) 60 70 5.5 (2.36) (2.76) (0.22) 60 70 5.5 (2.36) (2.76) (0.22) 60 70 5.5 (2.36) (2.76) (0.22) 60 70 5.5 (2.36) (2.76) (0.22) 70 80 6.6 (2.76) (3.15) (0.26) 70 80 6.6 (2.76) (3.15) (0.26) 70 80 6.6 (2.76) (3.15) (0.26) 70 80 6.6 (2.76) (3.15) (0.26) 70 80 6.6 (2.76) (3.15) (0.26) 90 105 9 (3.54) (4.13) (0.35) 90 105 9 (3.54) (4.13) (0.35)

M48L M48L M48L M48L M48L M48L M48L M48L M48L M48L M510L M510L

3 5 5 (0.12) (0.20) (0.20) 3 5 5 (0.12) (0.20) (0.20) 3 5 5 (0.12) (0.20) (0.20) 3 5 5 (0.12) (0.20) (0.20) 3 5 5 (0.12) (0.20) (0.20) 3 5 5 (0.12) (0.20) (0.20) 3 5 5 (0.12) (0.20) (0.20) 3 5 5 (0.12) (0.20) (0.20) 3 5 5 (0.12) (0.20) (0.20) 3 5 5 (0.12) (0.20) (0.20) 3.5 6 6 (0.14) (0.24) (0.24) 3.5 6 6 (0.14) (0.24) (0.24)

176 (40)

127 (29)

137 (31) 206 (47) 235 (53) 167 (38) 216 (49) 392 (89) 431 (98)

127 (29)

147 (33)

147 (33)

235 (53)

INFO

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

3.12 Dimensional Drawings of SGMAH Servomotors (3000 min-1)

Dimensional Tolerances
Units: mm (in) Shaft-end Dimensions S 14 14 14 14 14 16 16 16 16 16 20 20
0 0.55 0 0.018 0.00071 0 0.55 0 0.018 0.00071 0 0.55 0 0.018 0.00071 0 0.55 0 0.018 0.00071 0 0.55 0 0.018 0.00071 0 0.63 0 0.018 0.00071 0 0.63 0 0.018 0.00071 0 0.63 0 0.018 0.00071 0 0.63 0 0.018 0.00071 0 0.63 0 0.018 0.00071 0 0.79 0 0.021 0.00083 0 0.79 0 0.021 0.00083

Model SGMAHA3 A3 A3 A3 A5 A5 A5 A5 01 01 01 01 AH1 1 AH2 1 AHC 1 AH7 1 AH1 1 AH2 1 AHC 1 AH7 1 AH1 1 AHB 1 AHC 1 AH7 1

Flange Face Dimensions LB 56 56 56 56 56 65 65 65 65 65 85 85


0 2.20 0 0.030 0.0012 0 2.20 0 0.030 0.0012 0 2.20 0 0.030 0.0012 0 2.20 0 0.030 0.0012 0 2.20 0 0.030 0.0012 0 2.56 0 0.030 0.0012 0 2.56 0 0.030 0.0012 0 2.56 0 0.030 0.0012 0 2.56 0 0.030 0.0012 0 2.56 0 0.030 0.0012 0 3.35 0 0.035 0.0014 0 3.35 0 0.035 0.0014

3-73

3 Specifications and Dimensional Drawings 3.12.5 SGMAH Servomotors (3000 min-1) With Low-backlash Gears

(2) 200 W, 400 W, 750 W


Encoder cable 7 (0.28) UL20276 300(11.81)30(1.18) Motor cable (35)(1.38) 7(0.28) 30030 L LL LM 11(0.43) LG LE Encoder plug Shaft End W Motor plug (0.0024) 0.06 A L1 L3 LR L2 Q QK A 0.04 (0.0016) 0.05 A (0.0020) LC U B LD LBh7 T

26.5 (1.04)
9.5(0.37) 20 13 (0.51) (0.79)

Sh7

L
4-LZ

Serial encoder

Rotating section (Hatching section)

Tap Depth (See the following table.)

Units: mm (in) Model SGMAH02 02 02 02 04 04 04 04 08 08 08 08 AH1 1 AHB 1 AHC 1 AH7 1 AH1 1 AHB 1 AHC 1 AH7 1 AH1 1 AHB 1 AHC 1 AH7 1 Gear Ratio 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 L
208.5 (8.21) 225.5 (8.88) 243.5 (9.59) 243.5 (9.59) 236.5(9 .31) 271.5(1 0.69) 300.5 (11.83) 300.5 (11.83) 271 (10.67) 321 (12.64) 365 (14.37) 365 (14.37)

LL
134.5 (5.30) 151.5 (5.97) 159.5 (6.28) 159.5 (6.28) 162.5( 6.40) 187.5( 7.38) 195.5 (7.70) 195.5 (7.70) 187 (7.36) 216 (8.50) 223 (8.78) 223 (8.78)

LM
101 (3.98) 118 (4.65) 126 (4.96) 126 (4.96) 129 (5.08) 154 (6.06) 162 (6.38) 162 (6.38) 153.5 (6.04) 182.5 (7.19) 189.5 (7.46) 189.5 (7.46)

LR

LE

LG

LD

LB

L1

L2

L3

QK

S
20 (0.79) 20 (0.79) 25 (0.98) 25 (0.98) 20 (0.79) 25 (0.98) 32 (1.26) 32 (1.26) 25 (0.98) 32 (1.26) 40 (1.57) 40 (1.57)

74 7.5 10 (2.91) (0.30) (0.39) 74 7.5 10 (2.91) (0.30) (0.39) 84 12 12 (3.31) (0.47) (0.47) 84 12 12 (3.31) (0.47) (0.47) 74 7.5 10 (2.91) (0.30) (0.39) 84 12 12 (3.31) (0.47) (0.47) 105 14 13 (4.13) (0.55) (0.51) 105 12.5 13 (4.13) (0.49) (0.51) 84 12 12 (3.31) (0.47) (0.47) 105 14 13 (4.13) (0.55) (0.51) 142 10 15 (5.59) (0.39) (0.59) 142 10 15 (5.59) (0.39) (0.59)

59 84 85 36 38 26 36 32 (2.32) (3.31) (3.35) (1.42) (1.50) (1.02) (1.42) (1.26) 59 84 85 36 38 26 36 32 (2.32) (3.31) (3.35) (1.42) (1.50) (1.02) (1.42) (1.26) 59 96 100 40 44 29 42 36 (2.32) (3.78) (3.94) (1.57) (1.73) (1.14) (1.65) (1.42) 59 96 100 40 44 29 42 36 (2.32) (3.78) (3.94) (1.57) (1.73) (1.14) (1.65) (1.42) 59 84 85 36 38 26 36 32 (2.32) (3.31) (3.35) (1.42) (1.50) (1.02) (1.42) (1.26) 59 96 100 40 44 29 42 36 (2.32) (3.78) (3.94) (1.57) (1.73) (1.14) (1.65) (1.42) 59 112 115 45 60 33 58 50 (2.32) (4.41) (4.53) (1.77) (2.36) (1.30) (2.28) (1.97) 84 114 115 45 60 33 58 50 (3.31) (4.49) (4.53) (1.77) (2.36) (1.30) (2.28) (1.97) 59 96 100 40 44 29 42 36 (2.32) (3.78) (3.94) (1.57) (1.73) (1.14) (1.65) (1.42) 59 112 115 45 60 33 58 50 (2.32) (4.41) (4.53) (1.77) (2.36) (1.30) (2.28) (1.97) 84 134 140 57 85 40 82 70 (3.31) (5.28) (5.51) (2.24) (3.35) (1.57) (3.23) (2.76) 84 134 140 57 85 40 82 70 (3.31) (5.28) (5.51) (2.24) (3.35) (1.57) (3.23) (2.76)

3-74

3.12 Dimensional Drawings of SGMAH Servomotors (3000 min-1)

Units: mm (in) Model SGMAH02 02 02 02 04 04 04 04 08 08 08 08 AH1 1 AHB 1 AHC 1 AH7 1 AH1 1 AHB 1 AHC 1 AH7 1 AH1 1 AHB 1 AHC 1 AH7 1 Gear Ratio 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 LC LA LZ TapDepth U W T Approx. Mass kg (lb) 3.0 (6.6) 3.5 (7.7) 3.7 (8.2) 3.8 (8.4) 3.6 (7.9) 4.3 (9.5) 4.7 (10.4) 7.1 (15.7) 5.8 (12.8) 6.6 (14.6) 9.9 (21.8) 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)

90 105 9 (3.54) (4.13) (0.35) 90 105 9 (3.54) (4.13) (0.35) 105 120 9 (4.13) (4.72) (0.35) 105 120 9 (4.13) (4.72) (0.35) 90 105 9 (3.54) (4.13) (0.35) 105 120 9 (4.13) (4.72) (0.35) 120 135 11 (4.72) (5.31) (0.43) 120 135 11 (4.72) (5.31) (0.43) 105 120 9 (4.13) (4.72) (0.35) 120 135 11 (4.72) (5.31) (0.43) 145 165 14 (5.71) (6.50) (0.55) 145 165 14 (5.71) (6.50) (0.55)

M510L M510L M612L M612L M510L M612L M816L M816L M612L M816L M1020L M1020L

3.5 6 6 (0.14) (0.24) (0.24) 3.5 6 6 (0.14) (0.24) (0.24) 4 8 7 (0.16) (0.31) (0.28) 4 8 7 (0.16) (0.31) (0.28) 3.5 6 6 (0.14) (0.24) (0.24) 4 8 7 (0.16) (0.31) (0.28) 5 10 8 (0.20) (0.39) (0.31) 5 10 8 (0.20) (0.39) (0.31) 4 8 7 (0.16) (0.31) (0.28) 5 10 8 (0.20) (0.39) (0.31) 5 12 8 (0.20) (0.47) (0.31) 5 12 8 (0.20) (0.47) (0.31)

294 (67) 235 (53) 294 (67) 314 (71) 294 (67) 314 (71) 490 (111)

INFO

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 2. The working point of the SGMAH servomotor radial load is at the position of minus 5 mm from the shaft end.

4)

3-75

3 Specifications and Dimensional Drawings 3.12.5 SGMAH Servomotors (3000 min-1) With Low-backlash Gears

Dimensional Tolerances
Units: mm (in) Shaft-end Dimensions S 20 20 25 25 20 25 32 32 25 32 40 40
0 0.79 0 0.021 0.0008 0 0.79 0 0.021 0.0008 0 0.98 0 0.021 0.0008 0 0.98 0 0.021 0.0008 0 0.79 0 0.021 0.0008 0 0.98 0 0.021 0.0008 0 1.26 0 0.025 0.0010 0 1.26 0 0.025 0.0010 0 0.98 0 0.021 0.0008 0 1.26 0 0.025 0.0010 0 1.57 0 0.025 0.0010 0 1.57 0 0.025 0.0010

Model SGMAH02 02 02 02 04 04 04 04 08 08 08 08 AH1 1 AHB 1 AHC 1 AH7 1 AH1 1 AHB 1 AHC 1 AH7 1 AH1 1 AHB 1 AHC 1 AH7 1

Flange Face Dimensions LB 85 85


0 3.35 0 0.035 0.0014 0 3.35 0 0.035 0.0014 0 3.94 0 0.035 0.0014 0 3.94 0 0.035 0.0014

100 100 85

0 3.35 0 0.035 0.0014 0 3.94 0 0.035 0.0014 0 4.53 0 0.035 0.0014 0 4.53 0 0.035 0.0014 0 3.94 0 0.035 0.0014 0 4.53 0 0.035 0.0014 0 5.51 0 0.040 0.0016 0 5.51 0 0.040 0.0016

100 115 115 100 115 140 140

3-76

3.13 Dimensional Drawings of SGMPH Servomotors (3000 min-1)

3.13 Dimensional Drawings of SGMPH Servomotors (3000 min-1)


3.13.1 SGMPH Servomotors (3000 min-1) Without Gears and Brakes
Encoder cable 5 (0.20) UL20276 300(11.81)30(1.18) (35) (1.38) Motor cable 7 (0.28) 300(11.81) 30(1.18) 0.04 A (0.0016) LR LE LG 0.04 A (0.0016) Encoder plug Shaft End U W T Motor plug

18(0.71)

9.5(0.37)

13
(0.51)

LH

21(0.83)

38(1.50)

28(1.10)

LF

L LL LM

Dimensions of SGMPH-01 to 04 LC

Dimensions of SGMPH-08 and 15 LC

LBh7

Serial encoder

Sh6

QK

LA

LA

A 0.02 (0.0008) 4-L 4-L Tap Depth (See the following table.) Tap Depth (See the following table.)

Units: mm (in) Model SGMPH01 21 01 41 01 02 02 02 04 04 04 08 08 08 15 15 15 61 21 41 61 21 41 61 21 41 61 21 41 61 154.5 114.5 94.7 40 3.5 10 12.8 19 110 10.5 (6.08) (4.51) (3.73) (1.57) (0.14) (0.39) (0.50) (0.75) (4.33) (0.41) L LL LM LR LE LG LF S LB LH TapDepth No tap M36L No tap M58L No tap M58L No tap M58L No tap M610L 4)

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) 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)

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) 2. The working point of the SGMPH servomotor radial load is at the position of minus 5 mm from the shaft end.

3-77

3 Specifications and Dimensional Drawings 3.13.1 SGMPH Servomotors (3000 min-1) Without Gears and Brakes

Units: mm (in) Model SGMPH01 01 01 02 02 02 04 04 04 08 08 08 15 15 15 21 41 61 21 41 61 21 41 61 21 41 61 21 41 61 LC LA LZ QK U No key 14 1.8 3 3 (0.55) (0.071) (0.12) (0.12) No key 16 (0.63) 16 (0.63) 22 (0.87) 22 (0.87) 3 (0.12) 3 (0.12) 3 (0.12) 3.5 (0.14) 5 5 (0.20) (0.20) 5 5 (0.20) (0.20) 5 5 (0.20) (0.20) 6 6 (0.24) (0.24) W T Approx. Mass kg (lb) 0.7 (1.5) 1.4 (3.1) 2.1 (4.6) 4.2 (9.3) 6.6 (14.6) Allowable Allowable Radial Load Thrust Load N (lbf) N (lbf) 78 (18) 245 (55) 245 (55) 392 (88) 490 (110) 49 (11) 68 (15) 68 (15) 147 (33) 147 (33)

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)

No key

No key

120 145 10 (4.72) (5.71) (0.39)

No key

Dimensional Tolerances
Units: mm (in) Flange Face Dimensions LB 50
0 1.97 0.0015 0.025 0.0025

Model SGMPH01 01 01 02 02 02 04 04 04 08 08 08 15 15 15 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

14

0 0.551+ 0.0001 0.011 0.0002

70

0 2.756 0.0001 0.030 0.0013

14

0 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

0 4.33+ 0.0007 0.035 0.0007

19

0 0.75 0.0020 0.013 0.0024

110

0 4.33+ 0.0007 0.035 0.0007

3-78

3.13 Dimensional Drawings of SGMPH Servomotors (3000 min-1)

3.13.2 SGMPH Servomotors (3000 min-1) With Brakes


Encoder cable 6 (0.24) UL20276 300(11.81)30(1.18) Encoder plug Shaft End W Motor plug U

Motor cable 7 (0.28)

(35) (1.38)

300(11.81)30(1.18) Dimensions of SGMPH-01 to 04 18(0.71) 0.04 A (0.0016) LR LE 0.04 A (0.0016) Sh6 LC 21(0.83) Dimensions of SGMPH-08 and -15 LC 38(1.50) 28(1.10)
LA

L LL LF 9.5(0.37)
13(0.51) LH

LM LG

LA

QK

LBh7

Serial encoder

3
A 0.02 (0.0008) 4-L 4-L Tap Depth (See the following table.) Tap Depth (See the following table.)

Model SGMPH01 01 01 02 02 02 04 04 04 08 08 08 15 15 15 2 4 6 2 4 6 2 4 6 2 4 6 2 4 6

LL

LM

LR

LE

LG

LF

LB

LH

Units: mm (in) Tap Depth No tap M36L No tap M58L No tap M58L No tap M58L No tap M610L 4)

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)

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) 2. The working point of the SGMPH servomotor radial load is at the position of minus 5 mm from the shaft end.

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3 Specifications and Dimensional Drawings 3.13.2 SGMPH Servomotors (3000 min-1) With Brakes

Units: mm (in) Model SGMPH01 01 01 02 02 02 04 04 04 08 08 08 15 15 15 2 4 6 2 4 6 2 4 6 2 4 6 2 4 6 LC LA LZ QK U W T Approx. Mass kg (lb) 0.9 (2.0) 1.9 (4.2) 2.6 (5.7) 5.7 (12.6) 8.1 (17.8) Allowable Radial Load N (lbf) 78 (18) 245 (55) 245 (55) 392 (88) 490 (110) Allowable Thrust Load N (lbf) 49 (11) 68 (15) 68 (15) 147 (33) 147 (33)

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)

No key 14 1.8 3 3 (0.55) (0.071) (0.12) (0.12) No key 16 (0.63) 16 (0.63) 22 (0.87) 22 (0.87) 3 (0.12) 3 (0.12) 3 (0.12) 3.5 (0.14) 5 5 (0.20) (0.20) 5 5 (0.20) (0.20) 5 5 (0.20) (0.20) 6 6 (0.24) (0.24)

No key

No key

No key

Dimensional Tolerances
Units: mm (in) Flange Face Dimensions LB 50
0 1.97 0.0015 0.025 0.0025

Model SGMPH01 01 01 02 02 02 04 04 04 08 08 08 15 15 15 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

14

0 0.551+ 0.0001 0.011 0.0002

70

0 2.756 0.0001 0.030 0.0013

14

0 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

0 4.33+ 0.0007 0.035 0.0007

19

0 0.75 0.0020 0.013 0.0024

110

0 4.33+ 0.0007 0.035 0.0007

3-80

3.13 Dimensional Drawings of SGMPH Servomotors (3000 min-1)

3.13.3 SGMPH Servomotors (3000 min-1) With Standard Backlash Gears and Without Brakes
300(11.81)30(1.18) Encoder cable 6 (0.24) UL20276 (35) (1.38) Motor cable 7 (0.28) Encoder plug Motor plug Shaft End W U 0.05 A (0.0020) LC B LD LBh7 T

13 (0.51) LF 9.5(0.37) 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

L
4-LZ

Rotating section (Hatching section)

Tap Depth (See the following table.)

3
Units: mm (in) Q QK S

Model SGMPH01 01 01 01 02 02 02 02 04 04 04 04 08 08 08 08 15 15 15 15 AJ1 1 AJ3 1 AJC 1 AJ7 1 AJ1 1 AJ3 1 AJC 1 AJ7 1 AJ1 1 AJ3 1 AJC 1 AJ7 1 AJ1 1 AJ3 1 AJC 1 AJ7 1 AJ1 1 AJ3 1 AJC 1 AJ7 1

Gear Ratio 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 1/5 1/11 1/21 1/33

L
177 (6.97) 177 (6.97) 196 (7.72) 196 (7.72) 200.5 (7.89) 200.5 (7.89) 221 (8.70) 221 (8.70) 220.5 (8.68) 241 (9.49) 269 (10.59) 269 (10.59) 240.5 (9.47) 268.5 (10.57) 281.5 (11.08) 281.5 (11.08) 296.5 (11.67) 309.5 (12.19) 325.5 (12.81) 325.5 (12.81)

LL
117 (4.61) 117 (4.61) 122 (4.80) 122 (4.80) 126.5 (4.98) 126.5 (4.98) 137 (5.39) 137 (5.39) 146.5 (5.77) 157 (6.18) 164 (6.46) 164 (6.46) 156.5 (6.16) 163.5 (6.44) 174.5 (6.87) 174.5 (6.87) 191.5 (7.54) 202.5 (7.97) 209 (8.23) 209 (8.23)

LM
97.5 (3.84) 97.5 (3.84) 102 (4.02) 102 (4.02) 107.6 (4.24) 107.6 (4.24) 118.1 (4.65) 118.1 (4.65) 127.6 (5.02) 138.1 (5.44) 145.1 (5.71) 145.1 (5.71) 136.7 (5.38) 143.7 (5.66) 154.7 (6.09) 154.7 (6.09) 171.7 (6.76) 182.7 (7.19) 188.7 (7.43) 188.7 (7.43)

LR

LE

LG

LD

LB

L1

L2

L3

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) 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) 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) 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) 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) 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) 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) 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) 74 4 10 (2.91) (0.16) (0.39) 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)

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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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)

3-81

3 Specifications and Dimensional Drawings 3.13.3 SGMPH Servomotors (3000 min-1) With Standard Backlash Gears and Without Brakes

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) 2. The working point of the SGMPH servomotor radial load is at the position of minus 5 mm from the shaft end.

4)

Units: mm (in) Model SGMPH01 01 01 01 02 02 02 02 04 04 04 04 08 08 08 08 15 15 15 15 AJ1 1 AJ3 1 AJC 1 AJ7 1 AJ1 1 AJ3 1 AJC 1 AJ7 1 AJ1 1 AJ3 1 AJC 1 AJ7 1 AJ1 1 AJ3 1 AJC 1 AJ7 1 AJ1 1 AJ3 1 AJC 1 AJ7 1 Gear Ratio 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 1/5 1/11 1/21 1/33 LC LA LF LZ LH TapDepth U W T 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) 1690 (380) Allowable Thrust Load N (lbf) 145 (33)

70 70 90 90 90 90

80 80

12.5 6.6 10.55 12.5 6.6 10.55 9 9 9 9 9 9 9 9 11 11 9 11 10.55 10.55 8.25 8.25 8.25 8.25 8.25 8.25 8.25 8.25 10.5 10.5 10.5 10.5 10.5 10.5 10.5 10.5

M4 8L M4 8L M5 10L M5 10L M5 10L M5 10L M6 12L M6 12L M5 10L M6 12L M8 16L M8 16L M6 12L M8 16L M10 20L M10 20L M8 16L M10 20L M10 20L M10 20L

3 3 3.5 3.5 3.5 3.5 4 4 3.5 4 5 5 4 5 5 5 5 5 5.5 5.5

5 5 6 6 6 6 8 8 6 8 10 10 8 10 12 12 10 12 14 14

5 5 6 6 6 6 7 7 6 7 8 8 7 8 8 8 8 8 9 9

105 12.5 105 12.5 105 11.9 105 11.9

235 (53)

235 (53)

105 120 11.9 105 120 11.9 90 105 11.9

290 (65) 235 (53) 290 (65) 310 (70) 290 (65) 310 (70) 490 (110) 310 (70) 490 (110) 880 (198)

105 120 11.9 120 135 11.9 120 135 11.9 105 120 12.8 120 135 12.8

145 165 12.8 14 145 165 12.8 14 120 135 12.8 11

145 165 12.8 14 170 190 12.8 14 170 190 12.8 14

3-82

3.13 Dimensional Drawings of SGMPH Servomotors (3000 min-1)

Dimensional Tolerances
Units: mm (in) Shaft-end Dimensions S 16 16 20 20 20 20 25 25 20 25 32 32 25 32 40 40 32 40 45 45
0 0.63 0 0.011 0.0004 0 0.63 0 0.011 0.0004 0 0.79 0 0.013 0.0005 0 0.79 0 0.013 0.0005 0 0.79 0 0.013 0.0005 0 0.79 0 0.013 0.0005 0 0.98 0 0.013 0.0005 0 0.98 0 0.013 0.0005 0 0.79 0 0.013 0.0005 0 0.98 0 0.013 0.0005 0 1.26 0 0.016 0.0006 0 1.26 0 0.016 0.0006 0 0.98 0 0.013 0.0005 0 1.26 0 0.016 0.0006 0 1.57 0 0.016 0.0006 0 1.57 0 0.016 0.0006 0 1.26 0 0.016 0.0006 0 1.57 0 0.016 0.0006 0 1.77 0 0.016 0.0006 0 1.77 0 0.016 0.0006

Model SGMPH01 01 01 01 02 02 02 02 04 04 04 04 08 08 08 08 15 15 15 15 AJ1 1 AJ3 1 AJC 1 AJ7 1 AJ1 1 AJ3 1 AJC 1 AJ7 1 AJ1 1 AJ3 1 AJC 1 AJ7 1 AJ1 1 AJ3 1 AJC 1 AJ7 1 AJ1 1 AJ3 1 AJC 1 AJ7 1

Flange Face Dimensions LB 65 65 85 85 85 85


0 2.56 0 0.030 0.0012 0 2.56 0 0.030 0.0012 0 3.35 0 0.035 0.0014 0 3.35 0 0.035 0.0014 0 3.35 0 0.035 0.0014 0 3.35 0 0.035 0.0014 0 3.94 0 0.035 0.0014 0 3.94 0 0.035 0.0014

100 100 85

0 3.35 0 0.035 0.0014 0 3.94 0 0.035 0.0014 0 4.53 0 0.035 0.0014 0 4.53 0 0.035 0.0014 0 3.94 0 0.035 0.0014 0 4.53 0 0.035 0.0014 0 5.51 0 0.040 0.0016 0 5.51 0 0.040 0.0016 0 4.53 0 0.035 0.0014 0 5.51 0 0.040 0.0016 0 6.50 0 0.040 0.0016 0 6.50 0 0.040 0.0016

100 115 115 100 115 140 140 115 140 165 165

3-83

3 Specifications and Dimensional Drawings 3.13.4 SGMPH Servomotors (3000 min-1) With Standard Backlash Gears and Brakes

3.13.4 SGMPH Servomotors (3000 min-1) With Standard Backlash Gears and Brakes
Encoder cable 6 (0.24) 300(11.81)30(1.18) UL20276 Motor cable 7(0.28) (35) (1.38) Encoder plug

Motor plug

Shaft End W U T LC

300(11.81)30(1.18)

0.06 A (0.0024)

LF 9.5(0.37)
13 (0.51)

L LL LM LH Z LG

LR L1 L2 L3 LE
Q QK

0.04 A (0.0016) 0.05 A (0.0020)

Sh6

B LD LBh7

Serial encoder

Holding brake (de-energizing operation) Power supply: 90 VDC or 24 VDC

4-LZ Rotating section (Hatching section)

Tap Depth (See the following table.)

Units: mm (in) Model SGMPH01 01 01 01 02 02 02 02 04 04 04 04 AJ1 AJ3 AJC AJ7 AJ1 AJ3 AJC AJ7 AJ1 AJ3 AJC AJ7 Gear Ratio 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 L
206 (8.11) 206 (8.11) 224.5 (8.84) 224.5 (8.84) 232 (9.13) 232 (9.13) 252.5 (9.94) 252.5 (9.94) 252 (9.92) 272.5 (10.73) 300.5 (11.83) 300.5 (11.83)

LL
146 (5.75) 146 (5.75) 150.5 (5.93) 150.5 (5.93) 158 (6.22) 158 (6.22) 168.5 (6.63) 168.5 (6.63) 178 (7.01) 188.5 (7.42) 195.5 (7.70) 195.5 (7.70)

LM

LR

LE

LG

LD

LB

L1

L2

L3

QK

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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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

3.13 Dimensional Drawings of SGMPH Servomotors (3000 min-1)

Units: mm (in) (Contd) Model SGMPH08 08 08 08 15 15 15 15 AJ1 AJ3 AJC AJ7 AJ1 AJ3 AJC AJ7 Gear Ratio 1/5 3/31 1/21 1/33 1/5
1/11

L
274 (10.79) 302 (11.89) 315 (12.40) 315 (12.40) 330 (12.99) 343 (13.50) 359 (14.13) 359 (14.13)

LL
190 (7.48) 197 (7.76) 208 (8.19) 208 (8.19) 225 (8.86) 236 (9.29) 242 (9.53) 242 (9.53)

LM

LR

LE

LG

LD

LB

L1

L2

L3

QK

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) 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) 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) 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) 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) 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) 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) 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)

1/21 1/33

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) 2. The working point of the SGMPH servomotor radial load is at the position of minus 5 mm from the shaft end.

4)

3-85

3 Specifications and Dimensional Drawings 3.13.4 SGMPH Servomotors (3000 min-1) With Standard Backlash Gears and Brakes

Units: mm (in) Model SGMPH01 01 01 01 02 02 02 02 04 04 04 04 08 08 08 08 15 15 15 15 AJ1 AJ3 AJC AJ7 AJ1 AJ3 AJC AJ7 AJ1 AJ3 AJC AJ7 AJ1 AJ3 AJC AJ7 AJ1 AJ3 AJC AJ7 Gear Ratio 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 1/5 3/31 1/21 1/33 1/5 1/11 1/21 1/33 LC LA LF LZ LH TapDepth U W T Approx. Mass kg (lb) 1.8 (4.0) 1.8 (4.0) 2.8 (6.2) 2.8 (6.2) 3.4 (7.5) 3.4 (7.5) 5.2 (11.5) 5.2 (11.5) 4.6 (10.1) 5.6 (12.3) 7.4 (16.3) 7.4 (16.3) 9.0 (19.8) 10.5 (23.1) 15.7 (34.6) 15.7 (34.6) 12.9 (28.4) 18.1 (39.9) 23.1 (50.9) 23.1 (50.9) 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) 1690 (383) Allowable Thrust Load N (lbf) 145 (33)

70 (2.76) 70 (2.76) 90 (3.54) 90 (3.54) 90 (3.54) 90 (3.54) 105 (4.13) 105 (4.13) 90 (3.54) 105 (4.13) 120 (4.72) 120 (4.72) 105 (4.13) 120 (4.72) 145 (5.71) 145 (5.71) 120 (4.72) 145 (5.71) 170 (6.69) 170 (6.69)

80 12.5 (3.15) (0.49) 80 12.5 (3.15) (0.49) 105 12.5 (4.13) (0.49) 105 12.5 (4.13) (0.49) 105 11.9 (4.13) (0.47) 105 11.9 (4.13) (0.47) 120 11.9 (4.72) (0.47) 120 11.9 (4.72) (0.47) 105 11.9 (4.13) (0.47) 120 11.9 (4.72) (0.47) 120 11.9 (4.72) (0.47) 105 11.9 (4.13) (0.47) 120 12.8 (4.72) (0.50) 135 12.8 (5.31) (0.50) 135 12.8 (5.31) (0.50) 120 12.8 (4.72) (0.50) 135 12.8 (5.31) (0.50) 165 12.8 (6.50) (0.50) 190 12.8 (7.48) (0.50) 190 12.8 (7.48) (0.50)

6.6 (0.26) 6.6 (0.26) 9 (0.35) 9 (0.35) 9 (0.35) 9 (0.35) 9 (0.35) 9 (0.35) 9 (0.35) 9 (0.35) 11 (0.43) 11 (0.43) 9 (0.35) 11 (0.43) 14 (0.55) 14 (0.55) 11 (0.43) 14 (0.55) 14 (0.55) 14 (0.55)

10.55 (0.42) 10.55 (0.42) 10.55 (0.42) 10.55 (0.42) 8.25 (0.32) 8.25 (0.32) 8.25 (0.32) 8.25 (0.32) 8.25 (0.32) 8.25 (0.32) 8.25 (0.32) 8.25 (0.32) 10.5 (0.41) 10.5 (0.41) 10.5 (0.41) 10.5 (0.41) 10.5 (0.41) 10.5 (0.41) 10.5 (0.41) 10.5 (0.41)

M4 8L M4 8L M5 10L M5 10L M5 10L M5 10L M6 12L M6 12L M5 10L M6 12L M8 16L M8 16L M6 12L M8 16L M10 20L M10 20L M8 16L M10 20L M10 20L M10 20L

3 (0.12) 3 (0.12) 3.5 (0.14) 3.5 (0.14) 3.5 (0.14) 3.5 (0.14) 4 (0.16) 4 (0.16) 3.5 (0.14) 4 (0.16) 5 (0.20) 5 (0.20) 4 (0.16) 5 (0.20) 5 (0.20) 5 (0.20) 5 (0.20) 5 (0.20) 5.5 (0.22) 5.5 (0.22)

5 (0.20) 5 (0.20) 6 (0.24) 6 (0.24) 6 (0.24) 6 (0.24) 8 (0.31) 8 (0.31) 6 (0.24) 8 (0.31) 10 (0.39) 10 (0.39) 8 (0.31) 10 (0.39) 12 (0.47) 12 (0.47) 10 (0.39) 12 (0.47) 14 (0.55) 14 (0.55)

5 (0.20) 5 (0.20) 6 (0.24) 6 (0.24) 6 (0.24) 6 (0.24) 7 (0.28) 7 (0.28) 6 (0.24) 7 (0.28) 8 (0.31) 8 (0.31) 7 (0.28) 8 (0.31) 8 (0.31) 8 (0.31) 8 (0.31) 8 (0.31) 9 (0.35) 9 (0.35)

235 (53)

235 (53)

290 (66) 235 (53) 290 (66) 310 (70) 290 (70) 310 (111) 490 (70) 310 (111) 490 (70) 880 (200)

3-86

3.13 Dimensional Drawings of SGMPH Servomotors (3000 min-1)

Dimensional Tolerances
Units: mm (in) Shaft-end Dimensions S 16 16 20 20 20 20 25 25 20 25 32 32 25 32 40 40 32 40 45 45
0 0.63 0 0.018 0.0004 0 0.63 0 0.018 0.0004 0 0.79 0 0.021 0.0005 0 0.79 0 0.021 0.0005 0 0.79 0 0.021 0.0005 0 0.79 0 0.021 0.0005 0 0.98 0 0.021 0.0005 0 0.98 0 0.021 0.0005 0 0.79 0 0.021 0.0005 0 0.98 0 0.021 0.0005 0 1.26 0 0.025 0.0006 0 1.26 0 0.025 0.0006 0 0.98 0 0.021 0.0005 0 1.26 0 0.025 0.0006 0 1.57 0 0.025 0.0006 0 1.57 0 0.025 0.0006 0 1.26 0 0.025 0.0006 0 1.57 0 0.025 0.0006 0 1.77 0 0.025 0.0006 0 1.77 0 0.025 0.0006

Model SGMPH01 01 01 01 02 02 02 02 04 04 04 04 08 08 08 08 15 15 15 15 AJ1 AJ3 AJC AJ7 AJ1 AJ3 AJC AJ7 AJ1 AJ3 AJC AJ7 AJ1 AJ3 AJC AJ7 AJ1 AJ3 AJC AJ7

Flange Face Dimensions LB 65 65 85 85 85 85


0 2.56 0 0.030 0.0012 0 2.56 0 0.030 0.0012 0 3.35 0 0.035 0.0014 0 3.35 0 0.035 0.0014 0 3.35 0 0.035 0.0014 0 3.35 0 0.035 0.0014 0 3.94 0 0.035 0.0014 0 3.94 0 0.035 0.0014

100 100 85

0 3.35 0 0.035 0.0014 0 3.94 0 0.035 0.0014 0 4.53 0 0.035 0.0014 0 4.53 0 0.035 0.0014 0 3.94 0 0.035 0.0014 0 4.53 0 0.035 0.0014 0 5.51 0 0.040 0.0016 0 5.51 0 0.040 0.0016 0 4.53 0 0.035 0.0014 0 5.51 0 0.040 0.0016 0 6.50 0 0.040 0.0016 0 6.50 0 0.040 0.0016

100 115 115 100 115 140 140 115 140 165 165

3-87

3 Specifications and Dimensional Drawings 3.13.5 SGMPH Servomotors (3000 min-1) With Low-backlash Gears

3.13.5 SGMPH Servomotors (3000 min-1) With Low-backlash Gears


Encoder cable 6 (0.24) UL20276 300(11.81)30(1.18) Motor cable 7 (0.28) (35) (1.38) 300(11.81)30(1.18) 0.06 A (0.0024) LR L1 L2 L3 LE Q QK Sh6 0.04 A (0.0016) Encoder plug

Motor plug

Shaft End W U T LC

LF 9.5 (0.37)

LH 13(0.51)

L LL LM LG Z

0.05 A (0.0020)

L
B LD LBh7

Serial encoder

Rotating section (Hatching section)

4-LZ

Tap Depth (See the following table.)

Units: mm (in) Model SGMPH01 01 01 01 02 02 02 02 04 04 04 04 AH1 1 AHB 1 AHC 1 AH7 1 AH1 1 AHB 1 AHC 1 AH7 1 AH1 1 AHB 1 AHC 1 AH7 1 Gear Ratio 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 L
168 (6.61) 168 (6.61) 191 (7.52) 191 (7.52) 197 (7.76) 197 (7.76) 215 (8.46) 215 (8.46) 217 (8.54) 235 (9.25) 263 (10.35) 264 (10.39)

LL
108 (4.25) 108 (4.25) 117 (4.61) 117 (4.61) 123 (4.84) 123 (4.84) 131 (5.16) 131 (5.16) 143 (5.63) 151 (5.94) 158 (6.22) 159 (6.26)

LM
88.5 (3.48) 88.5 (3.48) 97.5 (3.84) 97.5 (3.84) 104.1 (4.10) 104.1 (4.10) 112.1 (4.41) 112.1 (4.41) 124.1 (4.89) 132.1 (5.20) 139.1 (5.48) 140.1 (5.52)

LR

LE

LG

LD

LB

L1

L2
30 (1.18) 30 (1.18) 38 (1.50) 38 (1.50) 38 (1.50) 38 (1.50) 44 (1.73) 44 (1.73) 38 (1.50) 44 (1.73) 60 (2.36) 60 (2.36)

L3
21 (0.83) 21 (0.83) 26 (1.02) 26 (1.02) 26 (1.02) 26 (1.02) 29 (1.14) 29 (1.14) 26 (1.02) 29 (1.14) 33 (1.30) 33 (1.30)

QK

60 8 9 40 64.5 65 30 (2.36) (0.31) (0.35) (1.57) (2.54) (2.56) (1.18) 60 8 9 40 64.5 65 30 (2.36) (0.31) (0.35) (1.57) (2.54) (2.56) (1.18) 74 7.5 10 59 84 85 36 (2.91) (0.30) (0.39) (2.32) (3.31) (3.35) (1.42) 74 7.5 10 59 84 85 36 (2.91) (0.30) (0.39) (2.32) (3.31) (3.35) (1.42) 74 7.5 10 59 84 85 36 (2.91) (0.30) (0.39) (2.32) (3.31) (3.35) (1.42) 74 7.5 10 59 84 85 36 (2.91) (0.30) (0.39) (2.32) (3.31) (3.35) (1.42) 84 12 12 59 96 100 40 (3.31) (0.47) (0.47) (2.32) (3.78) (3.94) (1.57) 84 12 12 59 96 100 40 (3.31) (0.47) (0.47) (2.32) (3.78) (3.94) (1.57) 74 7.5 10 59 84 85 36 (2.91) (0.30) (0.39) (2.32) (3.31) (3.35) (1.42) 84 12 12 59 96 100 40 (3.31) (0.47) (0.47) (2.32) (3.78) (3.94) (1.57) 105 14 13 59 112 115 45 (4.13) (0.55) (0.51) (2.32) (4.41) (4.53) (1.77) 105 12.5 13 84 114 115 45 (4.13) (0.49) (0.51) (3.31) (4.49) (4.53) (1.77)

28 25 16 (1.10) (0.98) (0.63) 28 25 16 (1.10) (0.98) (0.63) 36 32 20 (1.42) (1.26) (0.79) 36 32 20 (1.42) (1.26) (0.79) 36 32 20 (1.42) (1.26) (0.79) 36 32 20 (1.42) (1.26) (0.79) 42 36 25 (1.65) (1.42) (0.98) 42 36 25 (1.65) (1.42) (0.98) 36 32 20 (1.42) (1.26) (0.79) 42 36 25 (1.65) (1.42) (0.98) 58 50 32 (2.28) (1.97) (1.26) 58 50 32 (2.28) (1.97) (1.26) 18 (0.71) 18 (0.71)

3-88

3.13 Dimensional Drawings of SGMPH Servomotors (3000 min-1)

Units: mm (in) (Contd) Model SGMPH08 08 08 08 15 15 15 15 AH1 1 AHB 1 AHC 1 AH7 1 AH1 1 AHB 1 AGC 1 AG7 1 Gear Ratio 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 L
234.5 (9.23) 263.5 (10.37) 316.5 (12.46) 316.5 (12.46) 328.5 (12.93) 344.5 (13.56) 364.5 (14.35) 364.5 (14.35)

LL
150.5 (5.93) 158.5 (6.24) 174.5 (6.87) 174.5 (6.87) 186.5 (7.34) 202.5 (7.97) 208.5 (8.21) 208.5 (8.21)

LM
130.7 (5.15) 138.7 (5.46) 154.7 (6.09) 154.7 (6.09) 166.7 (6.56) 182.7 (7.19) 188.7 (7.43) 188.7 (7.43)

LR

LE

LG

LD

LB

L1

L2
44 (1.73) 60 (2.36) 85 (3.35) 85 (3.35) 60 (2.36) 85 (3.35) 86 (3.39) 86 (3.39)

L3
29 (1.14) 33 (1.30) 40 (1.57) 40 (1.57) 33 (1.30) 40 (1.57) 51 (2.01) 51 (2.01)

QK

84 12 12 59 96 100 40 (3.31) (0.47) (0.47) (2.32) (3.78) (3.94) (1.57) 105 14 13 59 112 115 45 (4.13) (0.55) (0.51) (2.32) (4.41) (4.53) (1.77) 142 10 15 84 134 140 57 (5.59) (0.39) (0.59) (3.31) (5.28) (5.51) (2.24) 142 10 15 84 134 140 57 (5.59) (0.39) (0.59) (3.31) (5.28) (5.51) (2.24) 142 12.5 13 84 114 115 45 (5.59) (0.49) (0.51) (3.31) (4.49) (4.53) (1.77) 142 10 15 84 134 140 57 (5.59) (0.39) (0.59) (3.31) (5.28) (5.51) (2.24) 156 16 16 135 163 165 70 (6.14) (0.63) (0.63) (5.31) (6.42) (6.50) (2.76) 156 16 16 135 163 165 70 (6.14) (0.63) (0.63) (5.31) (6.42) (6.50) (2.76)

42 36 25 (1.65) (1.42) (0.98) 58 50 32 (2.28) (1.97) (1.26) 82 70 40 (3.23) (2.76) (1.57) 82 70 40 (3.23) (2.76) (1.57) 58 50 32 (2.28) (1.97) (1.26) 82 70 40 (3.23) (2.76) (1.57) 82 70 45 (3.23) (2.76) (1.77) 82 70 45 (3.23) (2.76) (1.77) 28 (1.10)

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) 2. The working point of the SGMPH servomotor radial load is at the position of minus 5 mm from the shaft end.

4)

3-89

3 Specifications and Dimensional Drawings 3.13.5 SGMPH Servomotors (3000 min-1) With Low-backlash Gears

Units: mm (in) Model SGMPH01 01 01 01 02 02 02 02 04 04 04 04 08 08 08 08 15 15 15 15 AH1 1 AHB 1 AHC 1 AH7 1 AH1 1 AHB 1 AHC 1 AH7 1 AH1 1 AHB 1 AHC 1 AH7 1 AH1 1 AHB 1 AHC 1 AH7 1 AH1 1 AHB 1 AGC 1 AG7 1 Gear Ratio 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 LC LA LZ LF LH TapDepth U W T 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)

70 (2.76) 70 (2.76) 90 (3.54) 90 (3.54) 90 (3.54) 90 (3.54) 105 (4.13) 105 (4.13) 90 (3.54) 105 (4.13) 120 (4.72) 120 (4.72) 105 (4.13) 120 (4.72) 145 (5.71) 145 (5.71) 120 (4.72) 145 (5.71) 170 (6.69) 170 (6.69)

80 (3.15) 80 (3.15) 105 (4.13) 105 (4.13) 105 (4.13) 105 (4.13) 120 (4.72) 120 (4.72) 105 (4.13) 120 (4.72) 135 (5.31) 135 (5.31) 120 (4.72) 135 (5.31) 165 (6.50) 165 (6.50) 135 (5.31) 165 (6.50) 190 (7.48) 190 (7.48)

6.6 (0.26) 6.6 (0.26) 9 (0.35) 9 (0.35) 9 (0.35) 9 (0.35) 9 (0.35) 9 (0.35) 9 (0.35) 9 (0.35) 11 (0.43) 11 (0.43) 9 (0.35) 11 (0.43) 14 (0.55) 14 (0.55) 11 (0.43) 14 (0.55) 14 (0.55) 14 (0.55)

12.5 (0.49) 12.5 (0.49) 12.5 (0.49) 12.5 (0.49) 11.9 (0.47) 11.9 (0.47) 11.9 (0.47) 11.9 (0.47) 11.9 (0.47) 11.9 (0.47) 11.9 (0.47) 11.9 (0.47) 12.8 (0.50) 12.8 (0.50) 12.8 (0.50) 12.8 (0.50) 12.8 (0.50) 12.8 (0.50) 12.8 (0.50) 12.8 (0.50)

10.5 (0.41) 10.5 (0.41) 10.5 (0.41) 10.5 (0.41) 8.5 (0.33) 8.5 (0.33) 8.5 (0.33) 8.5 (0.33) 8.5 (0.33) 8.5 (0.33) 8.5 (0.33) 8.5 (0.33) 10.5 (0.41) 10.5 (0.41) 10.5 (0.41) 10.5 (0.41) 10.5 (0.41) 10.5 (0.41) 10.5 (0.41) 10.5 (0.41)

M4 8L M4 8L M5 10L M5 10L M5 10L M5 10L M6 12L M6 12L M5 10L M6 12L M8 16L M8 16L M6 12L M8 16L M10 20L M10 20L M8 16L M10 20L M10 20L M10 20L

3 (0.12) 3 (0.12) 3.5 (0.14) 3.5 (0.14) 3.5 (0.14) 3.5 (0.14) 4 (0.16) 4 (0.16) 3.5 (0.14) 4 (0.16) 5 (0.20) 5 (0.20) 4 (0.16) 5 (0.20) 5 (0.20) 5 (0.20) 5 (0.20) 5 (0.20) 5.5 (0.22) 5.5 (0.22)

5 5 (0.20) (0.20) 5 5 (0.20) (0.20) 6 6 (0.24) (0.24) 6 6 (0.24) (0.24) 6 6 (0.24) (0.24) 6 6 (0.24) (0.24) 8 7 (0.31) (0.28) 8 7 (0.31) (0.28) 6 6 (0.24) (0.24) 8 7 (0.31) (0.28) 10 8 (0.39) (0.31) 10 8 (0.39) (0.31) 8 7 (0.31) (0.28) 10 8 (0.39) (0.31) 12 8 (0.47) (0.31) 12 8 (0.47) (0.31) 10 8 (0.39) (0.31) 12 8 (0.47) (0.31) 14 9 (0.55) (0.35) 14 9 (0.55) (0.35)

235 (53)

235 (53)

294 (67) 235 (53) 294 (67) 314 (71) 294 (67) 314 (71) 490 (111) 314 (71) 490 (111) 882 (200)

3-90

3.13 Dimensional Drawings of SGMPH Servomotors (3000 min-1)

Dimensional Tolerances
Units: mm (in) Shaft-end Dimensions S 16 16 20 20 20 20 25 25 20 25 32 32 25 32 40 40 32 40 45 45
0 0.63 0 0.018 0.0004 0 0.63 0 0.018 0.0004 0 0.79 0 0.021 0.0005 0 0.79 0 0.021 0.0005 0 0.79 0 0.021 0.0005 0 0.79 0 0.021 0.0005 0 0.98 0 0.021 0.0005 0 0.98 0 0.021 0.0005 0 0.79 0 0.021 0.0005 0 0.98 0 0.021 0.0005 0 1.26 0 0.025 0.0006 0 1.26 0 0.025 0.0006 0 0.98 0 0.021 0.0005 0 1.26 0 0.025 0.0006 0 1.57 0 0.025 0.0006 0 1.57 0 0.025 0.0006 0 1.26 0 0.025 0.0006 0 1.57 0 0.025 0.0006 0 1.77 0 0.025 0.0006 0 1.77 0 0.025 0.0006

Model SGMPH01 01 01 01 02 02 02 02 04 04 04 04 08 08 08 08 15 15 15 15 AH1 1 AHB 1 AHC 1 AH7 1 AH1 1 AHB 1 AHC 1 AH7 1 AH1 1 AHB 1 AHC 1 AH7 1 AH1 1 AHB 1 AHC 1 AH7 1 AH1 1 AHB 1 AGC 1 AG7 1

Flange Face Dimensions LB 65 65 85 85 85 85


0 2.56 0 0.030 0.0012 0 2.56 0 0.030 0.0012 0 3.35 0 0.035 0.0014 0 3.35 0 0.035 0.0014 0 3.35 0 0.035 0.0014 0 3.35 0 0.035 0.0014 0 3.94 0 0.035 0.0014 0 3.94 0 0.035 0.0014

100 100 85

0 3.35 0 0.035 0.0014 0 3.94 0 0.035 0.0014 0 4.53 0 0.035 0.0014 0 4.53 0 0.035 0.0014 0 3.94 0 0.035 0.0014 0 4.53 0 0.035 0.0014 0 5.51 0 0.040 0.0016 0 5.51 0 0.040 0.0016 0 4.53 0 0.035 0.0014 0 5.51 0 0.040 0.0016 0 6.50 0 0.040 0.0016 0 6.50 0 0.040 0.0016

100 115 115 100 115 140 140 115 140 165 165

3-91

3 Specifications and Dimensional Drawings 3.14.1 SGMAH Servomotors

3.14 Dimensional Drawing of Output Shafts With Oil Seals for SGMAH and SGMPH Servomotors
For the SGMAH and SGMPH servomotors with oil seals, the external dimensions of output shafts differ as shown below.

3.14.1 SGMAH Servomotors


Model Capacity Dimensions of Output Shaft mm (in) LO DO QK LB SGMAH-A3, A5, 01 30 W, 50 W, 100 W 7.5 (0.30) 28 (1.10) 14 (0.55) SGMAH-02, 04 200, 400 W 10 (0.39) 48 (1.89) 14 (0.55)
0 50 -0.025 (1.9685-0.00098 ) 0 0

SGMAH-08 750 W 11 (0.43) 66 (2.60) 25 (0.98)

30 -0.021 (1.181 -0.00083)

70 -0.030 (2.756-0.00012)

LO

DO Oil Seal

3.14.2 SGMPH Servomotors


Model Capacity Dimensions of Output Shaft mm (in) LO DO QK LB SGMPH-01 100 W 7 (0.28) 39 (1.54) 14 (0.55)
-0.0015

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)

LB

Dimensional Drawing

QK

SGMPH-15 1500 W 10.5 (0.41) 77 (3.03) 22 (0.87)

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

QK

DO Oil Seal

Dimensional Drawing

3-92

LB

3.15 Dimensional Drawings of SGMGH Servomotors (1500 min-1)

3.15 Dimensional Drawings of SGMGH Servomotors (1500 min-1)


3.15.1 SGMGH Servomotors (1500 min-1) Without Gears and Brakes
Models with oil seals are of the same configuration.
L LT LL LM LG 100( 3.94) KL1 88 (3.46) LR (0.0016) 0.04 A 0.06 A * 0.04 A (0.0016) L * For 1A A to 1E A only Shaft End LE S LC SGMGH-05
LA

A to 13 LR

SGMGH-20 LR LE LF2 LF1

A to 1E

LE LB LF1 IE S1 S LJ1 (0.0008) 0.02 0.04 * (0.0016) * For 55 A to 1E

KB1 KB2

4-LZ Mounting holes

S1

S LJ2 LJ1

A only

Note: For the specifications of the other shaft ends, refer to 3.20 Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors.

Shaft-end Dimensions Model SGMGHL LL LM LR LT KB1 KB2 IE KL1 S


19 0

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)

0.013 0.75 0 0.0005 0.013 0.75 0 0.0005 0 0.013 0.87 0 0.0005 22 35 19 0

30 (1.18) 30 (1.18) 30 (1.18) 45 (1.77) 45 (1.77) 45 (1.77) 45 (1.77)

S1

Approx. Mass kg (lb) 5.5 (12.1) 7.6 (16.8) 9.6 (21.2) 14 (30.9) 18 (39.7) 23 (50.7) 30 (66.1)

Allowable Radial Load N (lbf) 490 (110) 490 (110) 686 (154) 1180 (265) 1470 (331) 1470 (331) 1760 (397)

Units: mm (in) Allowable Thrust Load N (lbf) 98 (22) 98 (22) 343 (77) 490 (110) 490 (110) 490 (110) 588 (132)

40 (1.57)

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)

40 (1.57)

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)

40 (1.57)

+ 0.01
0 0 0

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)

1.38 35

+ 0.0004 + 0.01

76 (2.99)

30A A21

271 192 (10.7) (7.56)

145 (5.71)

79 47 115 (3.11) (1.85) (4.53)

170 (6.69)

140 (5.51)

1.38+ 0.0004 0 35

76 (2.99)

+ 0.01
0

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)

1.38+ 0.0004 0 0.016 1.65 0 0.0006 42 0

76 (2.99)

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)

110 (4.33)

3-93

3 Specifications and Dimensional Drawings 3.15.1 SGMGH Servomotors (1500 min-1) Without Gears and Brakes

Units: mm (in) (Contd) Shaft-end Dimensions Model SGMGHL LL LM LR LT KB1 KB2 IE KL1 S
42 0

S1 45 (1.77) 45 (1.77)

Approx. Mass kg (lb) 40 (88.2) 57.5 (126) 86 (189)

Allowable Radial Load N (lbf) 1760 (397) 1760 (397) 5000 (1130)

Allowable Thrust Load N (lbf) 588 (132) 588 (132) 2160 (485)

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)

0.016 1.65 0 0.0006 0.016 1.65 0 0.0006 55 42 0

110 (4.33)

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)

110 (4.33)

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

Units: mm (in) Model SGMGH05A A21 LA 145 (5.71) 145 (5.71) 145 (5.71) 200 (7.87) 200 (7.87) 200 (7.87) 200 (7.87) 200 (7.87) 235 (9.25)
110

LB
0 0.035 4.33 0 0.0014 0.035 4.33 0 0.0014 0 0.035 4.33 0 0.0014 110 0.025 4.50 0 0.0010 0.025 4.50 0 0.0010 0.025 4.50 0 0.0010 0.025 4.50 0 0.0010 0.025 4.50 0 0.0010 0.046 7.87 0 0.0018 200 0 114.3 0 114.3 0 114.3 0 114.3 0 114.3 0 110 0

LC

Flange Face Dimensions LE LF1 LF2 LG

LH

LJ1

LJ2

LZ 9 (0.35) 9 (0.35) 9 (0.35)

130 6 6 (5.12) (0.24) (0.24) 130 6 6 (5.12) (0.24) (0.24) 130 6 6 (5.12) (0.24) (0.24)

12 165 45 (0.47) (6.50) (1.77) 12 165 45 (0.47) (6.50) (1.77) 12 165 45 (0.47) (6.50) (1.77)

09A A21

13A A21

20A A21

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)

30A A21

44A A21

55A A21

75A A21

1AA A21

3-94

3.15 Dimensional Drawings of SGMGH Servomotors (1500 min-1)

Units: mm (in) (Contd) Model SGMGH1EA A21 LA 235 (9.25)


200

LB
0 0.046 7.87 0 0.0018

LC

Flange Face Dimensions LE LF1 LF2 LG

LH

LJ1

LJ2

LZ 13.5 (0.53)

220 4 4 (8.66) (0.16) (0.16)

20 270 85 (0.79) (10.6) (3.35)

Cable Specifications for Detector Connectors (17-bit Encoder)


L K J M A B C T NP D S R E H G F

Cable Specifications for Servomotor Connectors


D A

Receptacle: MS3102A20-29P Applicable plug (purchased by the customer) Plug: MS3108B20-29S Cable clamp: MS3057-12A

A B C D

Phase U Phase V Phase W FG (Frame ground)

With an Absolute Encoder A B DATA+ C D DATA E F 0V G H +5VDC J FG (Frame ground)

L M N P R S T

BATTBATT+

With an Incremental Encoder A B L DATA+ C M N D DATA P E R F 0V S G T H +5VDC J FG (Frame ground)

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.
L LL LT LM LE LG 100( 3.94) KL1 88(3.46) S LR (0.0016) 0.04 A 0.06 A * LC * For 1A A to 1E A only Shaft End SGMGH-05 LR A to -13 A SGMGH-20 LR LE LF2 LJ1 S1 S LF1 LJ2 LJ1 A to 44 A

0.04 A (0.0016) LB

LA
LF1
H

LE

S1

A KB1 KB2

(0.0008) 0.02 0.04 * (0.0016) * For 55 A to 1E

4-LZ Mounting holes

A only

Note: For the specifications of the other shaft ends, refer to 3.20 Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors.

Cable Specifications for Servomotor Connectors


F E D G C A B

A B C D

Phase U Phase V Phase W FG (Frame ground)

E Brake terminal F Brake terminal G

S
R 1

R 1

3-95

3 Specifications and Dimensional Drawings 3.15.2 SGMGH Servomotors (1500 min-1) 200-V Specifications Without Gears and With Brakes

Units: mm (in) Shaft-end Dimensions Model SGMGHL LL LM LR LT KB 1 KB KL1 2


19

S
0

S1

Approx. Mass kg (lb) 7.5 (16.5) 9.6 (21.2) 12 (26.5) 19 (41.9) 23.5 (51.8) 28.5 (62.8)

Allowable Allowable Radial Thrust Load N Load N (lbf) (lbf) 490 (110) 490 (110) 686 (154) 1180 (265) 1470 (331) 1470 (331) 98 (22) 98 (22) 343 (77) 490 (110) 490 (110) 490 (110)

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)

0.013 0.75 0 0.0005 0.013 0.75 0 0.0005 0.013 0.87 0 0.0005 35 22 0 19 0

30 (1.18)

40 (1.57)

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)

30 (1.18)

40 (1.57)

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)

30 (1.18)

40 (1.57)

+ 0.01
0 0 0 45 (1.77) 76 (2.99)

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)

1.38 35

+ 0.0004

45 (1.77)

76 (2.99)

+ 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)

1.38+ 0.0004 0 35

+ 0.01
0 45 (1.77) 76 (2.99)

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)

1.38+ 0.0004 0

Units: mm (in) Model SGMGH05A A2 LA 145 (5.71) 145 (5.71) 145 (5.71) 200 (7.87) 200 (7.87) 200 (7.87) LB
0 110 0.035 4.33 0 0.0014 0.035 4.33 0 0.0014 0.035 4.33 0 0.0014 0.025 4.50 0 0.0010 0.025 4.50 0 0.0010 0.025 4.50 0 0.0010 114.3 0 114.3 0 114.3 0 110 0 110 0

LC 130 (5.12) 130 (5.12) 130 (5.12) 180 (7.09) 180 (7.09) 180 (7.09)

Flange Face Dimensions LE LF1 LF2 LG 6 (0.24) 6 (0.24) 6 (0.24) 3.2 (0.13) 3.2 (0.13) 3.2 (0.13) 6 (0.24) 6 (0.24) 6 (0.24) 3 (0.12) 3 (0.12) 3 (0.12) 12 (0.47) 12 (0.47) 12 (0.47) 18 (0.71) 18 (0.71) 18 (0.71)

LH 165 (6.50) 165 (6.50) 165 (6.50) 230 (9.06) 230 (9.06) 230 (9.06)

LJ1 45 (1.77) 45 (1.77) 45 (1.77) 76 (2.99) 76 (2.99) 76 (2.99)

LJ2

LZ 9 (0.35) 9 (0.35) 9 (0.35) 13.5 (0.53) 13.5 (0.53) 13.5 (0.53)

09A A2

13A A2

20A A2

0.5 (0.02) 0.5 (0.02) 0.5 (0.02)

62 (2.44) 62 (2.44) 62 (2.44)

30A A2

44A A2

3-96

3.15 Dimensional Drawings of SGMGH Servomotors (1500 min-1)

(2) 5.5kW to 15kW


Models with oil seals are of the same configuration.
* For 1A L LL LT LM LE LG S 100( 3.94) KL1 KL3 88 LR (0.0016) 0.04 A 0.06 A * Shaft End A to 1E A only

LC

LR LE LF2 S1 LF1 S LJ2 LJ1


R 1

0.04 A (0.0016) LB

LA

A KB1 KB3 KB2 0.04 (0.0016)

4-13.5 Mounting holes

IE

110

Note: For the specifications of the other shaft ends, refer to 3.20 Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors.

Cable Specifications for Servomotor Connectors


D A

Cable Specifications for Brake Connectors


A C B

A B C D

Phase U Phase V Phase W FG (Frame ground)

A Brake terminal B Brake terminal C

Units: mm (in) Model SGMGHL LL LM LR LT KB1 KB2 KB3 IE KL1 KL3 Shaft-end Dimensions S S1
0.016 1.65 0 0.0006 0.016 1.65 0 0.0006 0.016 1.65 0 0.0006 55 42 0 42 0 42 0

Approx. Mass kg (lb) 35 (77.2) 45.5 (100) 65 (143) 100 (220)

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) 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) 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) 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)

45 (1.77) 45 (1.77) 45 (1.77) 65 (2.56)

75A A2

1AA A2

1EA A2

2.17 + 0.0004

+0.030 + 0.011 + 0.0012

3-97

3 Specifications and Dimensional Drawings 3.15.2 SGMGH Servomotors (1500 min-1) 200-V Specifications Without Gears and With Brakes

Units: mm (in) Model SGMGHFlange Face Dimensions LA 200 (7.87) 200 (7.87) 235 (9.25) 235 (9.25) LB
0.025 4.50 0 0.0010 0 0.025 4.50 0 0.0010 114.3 0.046 7.87 0 0.0018 0 0.046 7.87 0 0.0018 200 200 0 114.3 0

LC

LE

LF1

LF2

LG

LH

LJ1

LJ2

Allowable Radial Load N (lbf) 1760 (397) 1760 (397) 1760 (397) 5000 (1130)

Allowable Thrust Load N (lbf) 588 (132) 588 (132) 588 (132) 2160 (485)

55A A2

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) 180 3.2 3 0.5 18 230 76 62 (7.09) (0.13) (0.12) (0.02) (0.71) (9.06) (2.99) (2.44 220 4 4 (8.66) (0.16) (0.16) 220 4 4 (8.66) (0.16) (0.16) 18 270 62 (0.71) (10.6) (2.44) 20 270 85 (0.79) (10.6) (3.35)

75A A2

1AA A2

1EA A2

3-98

3.15 Dimensional Drawings of SGMGH Servomotors (1500 min-1)

3.15.3 SGMGH Servomotors (1500min-1) With Standard Backlash Gears and Without Brakes (Foot-mounted Type)
(1) Grease Lubricating Type
LT LL LM L R B Q KL1 88(3.46) Sh6 QK
T Shaft End Tap Depth (See the following table.)

KB2 KB1

F N

XC XR

4-Z Mounting holes

E M

Units: mm (in) Model SGMGH05A ASA6 05A ASB6 05A ASC6 05A AS76 09A ASA6 09A ASB6 09A ASC6 09A AS76 13A ASA6 13A ASB6 13A ASC6 20A ASA6 20A ASB6 30A ASA6 30A ASB6 Gear Model CNHX4095 CNHX4095 CNHX4105 CNHX4105 CNHX4105 CNHX4105 CNHX4115 CNHX4115 CNHX4105 CNHX4115 CNHX4115 CNHX4115 CNHX4115 CNHX4115 CNHX4115 Gear Ratio 1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/6 1/11 1/6 1/11 L LL LM LT KB1 KB2 KL1 R A B C 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)

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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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

* The tolerances for all models are

3-99

3 Specifications and Dimensional Drawings 3.15.3 SGMGH Servomotors (1500min-1) With Standard Backlash Gears and Without Brakes (Foot-mounted Type)

Model SGMGH05A ASA6 05A ASB6 05A ASC6 05A AS76 09A ASA6 09A ASB6 09A ASC6 09A AS76 13A ASA6 13A ASB6 13A ASC6 20A ASA6 20A ASB6 30A ASA6 30A ASB6

Gear Ratio 1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/6 1/11 1/6 1/11

Foot-mounted Dimensions mm (in) E F G K M N XR XC Z Q QK

Shaft-end Dimensions mm (in) S T U W Tap Depth M8 19 M8 19 M8 19 M8 19 M8 19 M8 19 M10 22 M10 22 M8 19 M10 22 M10 22 M10 22 M10 22 M10 22 M10 22

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)

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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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)

3-100

3.15 Dimensional Drawings of SGMGH Servomotors (1500 min-1)

Dimensional Tolerances
Model SGMGH05A ASA6 05A ASB6 05A ASC6 05A AS76 09A ASA6 09A ASB6 09A ASC6 09A AS76 13A ASA6 13A ASB6 13A ASC6 20A ASA6 20A ASB6 30A ASA6 30A ASB6 Units: mm (in) Shaft-end Dimensions S 28 28
0 1.10 0 0.013 0.0005 0 1.10 0 0.013 0.0005 0 1.10 0 0.013 0.0005

28 28 28 28 38 38 28 38 38 38 38 38 38

0 1.10 0 0.013 0.0005 0 1.10 0 0.013 0.0005 0 1.10 0 0.013 0.0005 0 1.50 0 0.016 0.0006 0 1.50 0 0.016 0.0006 0 1.10 0 0.013 0.0005 0 1.50 0 0.016 0.0006 0 1.50 0 0.016 0.0006 0 1.50 0 0.016 0.0006 0 1.50 0 0.016 0.0006 0 1.50 0 0.016 0.0006 0 1.50 0 0.016 0.0006

INFO

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

3 Specifications and Dimensional Drawings 3.15.3 SGMGH Servomotors (1500min-1) With Standard Backlash Gears and Without Brakes (Foot-mounted Type)

(2) Oil Lubricating Type


L LT KB2 KB1 KL1 88(3.46) LL LM R Hydraulic plug Q QK B Shaft End Sh6 T Oil supply plug C A Tap Depth (See the following table.)

F N

XC XR 4Z Mounting holes

E M

Units: mm (in) Model SGMGH13A AS76 20A ASC6 20A AS76 30A ASC6 30A AS76 44A ASA6 44A ASB6 44A ASC6 44A AS76 55A ASA6 55A ASB6 55A ASC6 55A AS76 75A ASB6 75A ASC6 75A AS76 Gear Model CHHX4135 CHHX4130 CHHX4135 CHHX4145 CHHJ4160 CHHX4130 CHHX4135 CHHJ4160 CHHJ4170 CHHX4135 CHHX4145 CHHJ4170 CHHJ4175 CHHJ4160 CHHJ4175 CHHJ4180 Gear Ratio 1/29 1/21 1/29 1/21 1/29 1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/29 1/11 1/21 1/29 L LL LM LT KB1 KB2 KL1 R A B C 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)

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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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

3.15 Dimensional Drawings of SGMGH Servomotors (1500 min-1)

Units: mm (in) (Contd) Model SGMGH1AA ASB6 1AA ASC6 1AA AS76 Gear Model CHHJ4170 CHHJ4185 CHHJ4190 Gear Ratio 1/11 1/21 1/29 L LL LM LT KB1 KB2 KL1 R A B

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) 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) 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)
0 -0.5

Shaft Center Allowable Radial Load N (lbf) 13800 (3110) 23010 (5180) 35810 (8060)

* The tolerances for all models are

.
Units: mm (in)

Model SGMGH13A AS76 20A ASC6 20A AS76 30A ASC6 30A AS76 44A ASA6 44A ASB6 44A ASC6 44A AS76 55A ASA6 55A ASB6 55A ASC6 55A AS76 75A ASB6 75A ASC6 75A AS76 1AA ASB6

Gear Ratio 1/29 1/21 1/29 1/21 1/29 1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/29 1/11 1/21 1/29 1/11

Foot-mounted Dimensions mm (in) E F G K M N XR XC Z Q QK

Shaft-end Dimensions mm (in) S T U W Tap Depth M10 18 M10 18 M10 18 M10 18 M10 18 M10 18 M10 18 M10 18 M12 24 M10 18 M10 18 M12 24 M12 24 M10 18 M12 24 M12 24 M12 24

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)

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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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)

3-103

3 Specifications and Dimensional Drawings 3.15.3 SGMGH Servomotors (1500min-1) With Standard Backlash Gears and Without Brakes (Foot-mounted Type)

Units: mm (in) (Contd) Model SGMGH1AA ASC6 1AA AS76 Gear Ratio 1/21 1/29 Foot-mounted Dimensions mm (in) E F G K M N XR XC Z Q QK Shaft-end Dimensions mm (in) S T U W Tap Depth M12 24 M20 34 Approx. Mass kg (lb) 276.5 (610) 357.5 (788)

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) 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)

Dimensional Tolerances
Model SGMGH13A AS76 20A ASC6 20A AS76 30A ASC6 30A AS76 44A ASA6 44A ASB6 44A ASC6 44A AS76 55A ASA6 55A ASB6 55A ASC6 55A AS76 75A ASB6 75A ASC6 75A AS76 1AA ASB6 1AA ASC6 1AA AS76 Units: mm (in) Shaft-end Dimensions S 50 50 50 50 60 50 50 60 70 50 50 70 70 60 70 80 70 80
0 1.97 0 0.016 0.0006 0 1.97 0 0.016 0.0006 0 1.97 0 0.016 0.0006 0 1.97 0 0.016 0.0006 0 2.36 0 0.019 0.0007 0 1.97 0 0.016 0.0006 0 1.97 0 0.016 0.0006 0 2.36 0 0.019 0.0007 0 2.76 0 0.019 0.0007 0 1.97 0 0.016 0.0006 0 1.97 0 0.016 0.0006 0 2.76 0 0.019 0.0007 0 2.76 0 0.019 0.0007 0 2.36 0 0.019 0.0007 0 2.76 0 0.019 0.0007 0 3.15 0 0.019 0.0007 0 2.76 0 0.019 0.0007 0 3.15 0 0.019 0.0007 0 3.74 0 0.022 0.009

95

3-104

3.15 Dimensional Drawings of SGMGH Servomotors (1500 min-1)

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

The following shows approximate oil amount to be supplied. Units: liter Frame No. Horizontal type 4130 4135 0.7 4145 0.7 4155 0.7 4160 4165 1.4 4170 4175 1.9 4180 4185 2.5 4190 4.0

3-105

3 Specifications and Dimensional Drawings 3.15.4 SGMGH Servomotors (1500min-1) With Standard Backlash Gears and Without Brakes (Flange-mounted Type)

3.15.4 SGMGH Servomotors (1500min-1) With Standard Backlash Gears and Without Brakes (Flange-mounted Type)
(1) Grease Lubricating Type
L LT LL LM R Sh6 LG LR LE Q Shaft End
LA LA

KL1 88(3.46)

LBf8

QK

KB1 KB2

N-11 Mounting holes

Tap Depth (See the following table.)

4 Mounting holes

6 Mounting holes

Units: mm (in) Model SGMGH05A ATA6 05A ATB6 05A ATC6 05A AT76 09A ATA6 09A ATB6 09A ATC6 09A AT76 13A ATA6 13A ATB6 13A ATC6 20A ATA6 20A ATB6 30A ATA6 30A ATB6 Gear Model Gear Ratio 1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/6 1/11 1/6 1/11 L LL LM LT KB1 KB2 KL1 R 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)

CNVX-4095 CNVX-4095 CNVX-4105 CNVX-4105 CNVX-4105 CNVX-4105 CNVX-4115 CNVX-4115 CNVX-4105 CNVX-4115 CNVX-4115 CNVX-4115 CNVX-4115 CNVX-4115 CNVX-4115

380 138 92 46 73 21 109 242 (15.0) (5.43) (3.62) (1.81) (2.87) (0.83) (4.29) (9.53) 380 138 92 46 73 21 109 242 (15.0) (5.43) (3.62) (1.81) (2.87) (0.83) (4.29) (9.53) 394 138 92 46 73 21 109 256 (15.5) (5.43) (3.62) (1.81) (2.87) (0.83) (4.29) (10.1) 394 138 92 46 73 21 109 256 (15.5) (5.43) (3.62) (1.81) (2.87) (0.83) (4.29) (10.1) 417 161 115 46 73 21 109 256 (16.4) (6.34) (4.53) (1.81) (2.87) (0.83) (4.29) (10.1) 417 161 115 46 73 21 109 256 (16.4) (6.34) (4.53) (1.81) (2.87) (0.83) (4.29) (10.1) 449 161 115 46 73 21 109 288 (17.7) (6.34) (4.53) (1.81) (2.87) (0.83) (4.29) (11.3) 449 161 115 46 73 21 109 288 (17.7) (6.34) (4.53) (1.81) (2.87) (0.83) (4.29) (11.3) 441 185 139 46 73 21 109 256 (17.4) (7.28) (5.47) (1.81) (2.87) (0.83) (4.29) (10.1) 473 185 139 46 73 21 109 288 (18.6) (7.28) (5.47) (1.81) (2.87) (0.83) (4.29) (11.3) 473 185 139 46 73 21 109 288 (18.6) (7.28) (5.47) (1.81) (2.87) (0.83) (4.29) (11.3) 477 166 119 47 77 22 140 311 (18.8) (6.54) (4.69) (1.85) (3.03) (0.87) (5.51) (12.2) 477 166 119 47 77 22 140 311 (18.8) (6.54) (4.69) (1.85) (3.03) (0.87) (5.51) (12.2) 503 192 145 47 77 22 140 311 (19.8) (7.56) (5.71) (1.85) (3.03) (0.87) (5.51) (12.2) 503 192 145 47 77 22 140 311 (19.8) (7.56) (5.71) (1.85) (3.03) (0.87) (5.51) (12.2)

3-106

3.15 Dimensional Drawings of SGMGH Servomotors (1500 min-1)

Model SGMGH05A ATA6 05A ATB6 05A ATC6 05A AT76 09A ATA6 09A ATB6 09A ATC6 09A AT76 13A ATA6 13A ATB6 13A ATC6 20A ATA6 20A ATB6 30A ATA6 30A ATB6

Gear Ratio 1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/6 1/11 1/6 1/11

Flange Face Dimensions mm (in) LA


134 (5.28) 134 (5.28) 134 (5.28) 134 (5.28) 134 (5.28) 134 (5.28) 180 (7.09) 180 (7.09) 134 (5.28) 180 (7.09) 180 (7.09) 180 (7.09) 180 (7.09) 180 (7.09) 180 (7.09)

Shaft-end Dimensions mm (in) Q


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) 55 (2.17) 55 (2.17) 55 (2.17) 55 (2.17) 55 (2.17) 55 (2.17)

LB
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) 140 (5.51) 140 (5.51) 140 (5.51) 140 (5.51) 140 (5.51) 140 (5.51)

LC
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) 210 (8.27) 210 (8.27) 210 (8.27) 210 (8.27) 210 (8.27) 210 (8.27)

LE
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) 4 (0.16) 4 (0.16) 4 (0.16) 4 (0.16) 4 (0.16) 4 (0.16)

LG
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) 13 (0.51) 13 (0.51) 13 (0.51) 13 (0.51) 13 (0.51) 13 (0.51)

LR
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) 69 (2.72) 69 (2.72) 69 (2.72) 69 (2.72) 69 (2.72) 69 (2.72)

N
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) 6 (0.24) 6 (0.24) 6 (0.24) 6 (0.24) 6 (0.24) 6 (0.24)

QK
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) 50 (1.97) 50 (1.97) 50 (1.97) 50 (1.97) 50 (1.97) 50 (1.97)

S
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) 38 (1.50) 38 (1.50) 38 (1.50) 38 (1.50) 38 (1.50) 38 (1.50)

T
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) 8 (0.31) 8 (0.31) 8 (0.31) 8 (0.31) 8 (0.31) 8 (0.31)

U
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) 5 (0.20) 5 (0.20) 5 (0.20) 5 (0.20) 5 (0.20) 5 (0.20)

W
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) 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 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) 35.6 (78.5) 35.6 (78.5) 42 (92.6) 42 (92.6) 46 (101) 46 (101)

3-107

3 Specifications and Dimensional Drawings 3.15.4 SGMGH Servomotors (1500min-1) With Standard Backlash Gears and Without Brakes (Flange-mounted Type)

Dimensional Tolerances
Model SGMGH05A ATA6 05A ATB6 05A ATC6 05A AT76 09A ATA6 09A ATB6 09A ATC6 09A AT76 13A ATA6 13A ATB6 13A ATC6 20A ATA6 20A ATB6 30A ATA6 30A ATB6 Flange Face Dimensions LB 110 0.036 4.33 0.0014
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

Units: mm (in) Shaft-end Dimensions S 28 28 28 28 28 28 38 38 28 38 38 38 38 38 38


0 1.10 0 0.013 0.0005 0 1.10 0 0.013 0.0005 0 1.10 0 0.013 0.0005 0 1.10 0 0.013 0.0005 0 1.10 0 0.013 0.0005 0 1.10 0 0.013 0.0005 0 1.50 0 0.016 0.0006 0 1.50 0 0.016 0.0006 0 1.10 0 0.013 0.0005 0 1.50 0 0.016 0.0006 0 1.50 0 0.016 0.0006 0 1.50 0 0.016 0.0006 0 1.50 0 0.016 0.0006 0 1.50 0 0.016 0.0006 0 1.50 0 0.016 0.0006

110 0.036 4.33 0.0014 110 0.036 4.33 0.0014 110 0.036 4.33 0.0014 110 0.036 4.33 0.0014 110 0.036 4.33 0.0014 140 0.043 5.51 0.0017 140 0.043 5.51 0.0017 110 0.036 4.33 0.0014 140 0.043 5.51 0.0017 140 0.043 5.51 0.0017 140 0.043 5.51 0.0017 140 0.043 5.51 0.0017 140 0.043 5.51 0.0017 140 0.043 5.51 0.0017

INFO

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.

3-108

3.15 Dimensional Drawings of SGMGH Servomotors (1500 min-1)

(2) Small Oil Lubricating Type


L LL LT LM 15 R S (50h6)

30 2

4 Q QK

Hydrant LB (200f8)

(
Oil scavenging plug

9.

06

LR

209 (8.23)

Shaft End 9(0.35) Tap Depth 14(0.55)

KL1 88(3.46)

4 .2 10 ( 60 2

5.5(0.22)

KB1 KB2

6-11 Mounting holes

Oil scavenging plug

Units: mm (in) Model SGMGH13A AT76 20A ATC6 20A AT76 30A ATC6 44A ATA6 44A ATB6 55A ATA6 55A ATB6 Gear Model Gear Ratio 1/29 1/21 1/29 1/21 1/6 1/11 1/6 1/11 L LL LM LT KB1 KB2 KL1 R Shaft Center Allowable Radial Load N (lbf) 9900 (2230) 8940 (2010) 9900 (2230) 11590 (2610) 5870 (1320) 7190 (1620) 5870 (1320) 9500 (2140)

CHVX-4135 CHVX-4130 CHVX-4135 CHVX-4145 CHVX-4130 CHVX-4135 CHVX-4135 CHVX-4145

532 185 139 46 73 21 109 347 (20.9) (7.28) (5.47) (1.81) (2.87) (0.83) (4.29) (13.7) 536 166 119 47 77 22 140 370 (21.1) (6.54) (4.69) (1.85) (3.03) (0.87) (5.51) (14.6) 536 166 119 47 77 22 140 370 (21.1) (6.54) (4.69) (1.85) (3.03) (0.87) (5.51) (14.6) 582 192 145 47 77 22 140 390 (22.9) (7.56) (5.71) (1.85) (3.03) (0.87) (5.51) (15.4) 596 226 179 47 77 22 140 370 (23.5) (8.90) (7.05) (1.85) (3.03) (0.87) (5.51) (14.6) 596 226 179 47 77 22 140 370 (23.5) (8.90) (7.05) (1.85) (3.03) (0.87) (5.51) (14.6) 664 260 213 47 86 22 150 404 (26.1) (10.2) (8.39) (1.85) (3.39) (0.87) (5.91) (15.9) 684 260 213 47 86 22 150 424 (26.9) (10.2) (8.39) (1.85) (3.39) (0.87) (5.91) (16.7) Shaft-end Dimensions mm (in) Q 70 (2.76) 70 (2.76) 70 (2.76) 90 (3.54) 70 (2.76) 70 (2.76) QK 56 (2.20) 56 (2.20) 56 (2.20) 80 (3.15) 56 (2.20) 56 (2.20) TapDepth M10 18 M10 18 M10 18 M10 18 M10 18 M10 18 Approx. Mass kg (lb) 56.6 (125) 66 (146) 66 (146) 71 (157) 75 (165) 75 (165)

Model SGMGH13A AT76 20A ATC6 20A AT76 30A ATC6 44A ATA6 44A ATB6

Gear Ratio 1/29 1/21 1/29 1/21 1/6 1/11

Flange Face Dimensions mm (in) LR 76 (2.99) 76 (2.99) 76 (2.99) 96 (3.78) 76 (2.99) 76 (2.99)

3-109

3 Specifications and Dimensional Drawings 3.15.4 SGMGH Servomotors (1500min-1) With Standard Backlash Gears and Without Brakes (Flange-mounted Type)

Model SGMGH55A ATA6 55A ATB6

Gear Ratio 1/6 1/11

Flange Face Dimensions mm (in) LR 76 (2.99) 96 (3.78) Q

Shaft-end Dimensions mm (in) QK 56 (2.2) 80 (3.15) TapDepth M10 18 M10 18

Approx. Mass kg (lb) 87 (192) 88 (194)

70 (2.76) 90 (3.54)

Dimensional Tolerances
Model SGMGH13A AT76 20A ATC6 20A AT76 30A ATC6 44A ATA6 44A ATB6 55A ATA6 55A ATB6 Flange Face Dimensions LB 200 0.050 7.87 0.0020
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

Units: mm (in) Shaft-end Dimensions S 50 50 50 50 50 50 50 50


0 1.97 0 0.016 0.0006 0 1.97 0 0.016 0.0006 0 1.97 0 0.016 0.0006 0 1.97 0 0.016 0.0006 0 1.97 0 0.016 0.0006 0 1.97 0 0.016 0.0006 0 1.97 0 0.016 0.0006 0 1.97 0 0.016 0.0006

200 0.050 7.87 0.0020 200 0.050 7.87 0.0020 200 0.050 7.87 0.0020 200 0.050 7.87 0.0020 200 0.050 7.87 0.0020 200 0.050 7.87 0.0020 200 0.050 7.87 0.0020

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

The following shows approximate oil amount to be supplied. Units: liter Frame No. Horizontal type 4130 4135 0.7 4145 0.7 4155 0.7 4160 4165 1.4 4170 4175 1.9 4180 4185 2.5 4190 4.0

3-110

3.15 Dimensional Drawings of SGMGH Servomotors (1500 min-1)

(3) Large Oil Lubricating Type


L 47 LL LM R LR LG LE Sh6 QK Q KL1 88(3.46) Hydrant LBf8
A

Oil scavenging plug T

Shaft End Tap Depth (See the following table.) U

KB1 KB2

N-LZ Mounting holes

Oil scavenging plug

W
L C

Units: mm (in) Model SGMGH30A AT76 Gear Model Gear Ratio 1/29 1/21 1/29 1/21 1/29 1/11 1/21 1/29 1/11 1/21 1/29 L LL LM KB1 KB2 KL1 R A 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)

CHVJ-4160

687 192 145 77 22 140 495 228 (27.1) (7.56) (5.71) (3.03) (0.87) (5.51) (19.5) (8.98) 721 226 179 77 22 140 495 228 (28.4) (8.90) (7.05) (3.03) (0.87) (5.51) (19.5) (8.98) 785 226 179 77 22 140 559 243 (30.9) (8.90) (7.05) (3.03) (0.87) (5.51) (22.0) (9.57) 853 260 213 86 22 150 593 243 (33.6) (10.2) (8.39) (3.39) (0.87) (5.91) (23.3) (9.57) 853 260 213 86 22 150 593 243 (33.6) (10.2) (8.39) (3.39) (0.87) (5.91) (23.3) (9.57) 863 334 287 86 22 150 529 228 (34.0) (13.1) (11.3) (3.39) (0.87) (5.91) (20.8) (8.98) 927 334 287 86 22 150 593 243 (36.5) (13.1) (11.3) (3.39) (0.87) (5.91) (23.3) (9.57) 977 334 287 86 22 150 643 258 (38.5) (13.1) (11.3) (3.39) (0.87) (5.91) (25.3) (10.2) 934 338 291 87 21 168 596 243 (36.8) (13.3) (11.5) (3.43) (0.83) (6.61) (23.5) (9.57) 984 338 291 87 21 168 646 258 (38.7) (13.3) (11.5) (3.43) (0.83) (6.61) (25.4) (10.2) 1077 338 291 87 21 168 739 285 (42.4) (13.3) (11.5) (3.43) (0.83) (6.61) (29.1) (11.2)

44A ATC6 CHVJ-4160 44A AT76 CHVJ-4170

55A ATC6 CHVJ-4170 55A AT76 75A ATB6 CHVJ-4175 CHVJ-4160

75A ATC6 CHVJ-4175 75A AT76 CHVJ-4180

1AA ATB6 CHVJ-4170 1AA ATC6 CHVJ-4185 1AA AT76 CHVJ-4190

3-111

3 Specifications and Dimensional Drawings 3.15.4 SGMGH Servomotors (1500min-1) With Standard Backlash Gears and Without Brakes (Flange-mounted Type)

Model SGMGH30A AT76 44A ATC6 44A AT76 55A ATC6 55A AT76 75A ATB6 75A ATC6 75A AT76 1AA ATB6 1AA ATC6 1AA AT76

Gear Ratio 1/29 1/21 1/29 1/21 1/29 1/11 1/21 1/29 1/11 1/21 1/29

Flange Face Dimensions mm (in) LA LB LC LE LG LR N LZ Q QK

Shaft-end Dimensions mm (in) S T U W Tap Depth M10 18 M10 18 M12 24 M12 24 M12 24 M10 18 M12 24 M12 24 M12 24 M12 24 M20 34

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)

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) 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) 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) 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) 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) 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) 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) 7.5 (0.3) 20 (0.79)

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) 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) 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) 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)

Dimensional Tolerances
Model SGMGH30A AT76 44A ATC6 44A AT76 55A ATC6 55A AT76 75A ATB6 75A ATC6 75A AT76 1AA ATB6 1AA ATC6 1AA AT76 Flange Face Dimensions LB 270 0.056 10.6 0.0022
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

Units: mm (in) Shaft-end Dimensions S 60 60 70 70 70 60 70 80 70 80 95


0 2.36 0 0.019 0.0007 0 2.36 0 0.019 0.0007 0 2.76 0 0.019 0.0007 0 2.76 0 0.019 0.0007 0 2.76 0 0.019 0.0007 0 2.36 0 0.019 0.0007 0 2.76 0 0.019 0.0007 0 3.15 0 0.019 0.0007 0 2.76 0 0.019 0.0007 0 3.15 0 0.019 0.0007 0 3.74 0 0.022 0.0009

270 0.056 10.6 0.0022 316 0.062 12.4 0.0024 316 0.062 12.4 0.0024 316 0.062 12.4 0.0024 270 0.056 10.6 0.0020 316 0.062 12.4 0.0024 345 0.062 13.6 0.0024 316 0.062 12.4 0.0024 345 0.062 13.6 0.0024 400 0.062 15.7 0.0024

3-112

3.15 Dimensional Drawings of SGMGH Servomotors (1500 min-1)

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

The following shows approximate oil amount to be supplied. Units: liter Frame No. Horizontal type 4130 4135 0.7 4145 0.7 4155 0.7 4160 4165 1.4 4170 4175 1.9 4180 4185 2.5 4190 4.0

3-113

3 Specifications and Dimensional Drawings 3.15.5 SGMGH Servomotors (1500min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type)

3.15.5 SGMGH Servomotors (1500min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type)
(1) Grease Lubricating Type for Small
L LL 46(1.81) LM R Sh6 12(0.47) 100(3.94) 3(0.12) 140( 5.51)
0) 6.3 0( 6 1 185 ) .28 ( 7

Applied Specifications of Shaft-end Tap


Q Shaft End 8(0.31) 10(0.39) Frame No. 5(0.20) S d-tapL

130h7

Q 47(1.85) 109(4.29) 88(3.46)

Dia.S

Length Q d L mm

ANFJ-L20 35 (1.38) 55 (2.17) M8 16 ANFJ-L30 50 (1.97) 75 (2.95) M10 20 ANFJ-L40 60 (2.36) 90 (3.54) M12 24

1 (0.04) 73(2.87) 4-12 Mounting holes

21(0.83)

Detailed Dimensions of Gears


Sh6 45(1.77) 91(3.58) 94(3.70) LBh7 140( 5.51) Sh6 70(2.76) 130(5.12) 135(5.31) LBh7 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)

ANFJ-L20
132(5.20) 126(4.96) 132(5.20)

ANFJ-L30
184(7.24) 190(7.48) 245(9.65) A 11 (0.43) 38 (1.50) 52 (2.05) 190(7.48) Gear Ratio 1/5 1/9 1/45

(Motor)

(Motor)

R3 44 (1.73) A
17(0.67) 12(0.47) 3(0.12) Gear Ratio 1/5 1/9 1/45 A 6 (0.24) 18 (0.71) 47 (1.85)

55(2.17) 2(0.08) 20(0.79) 20(0.79) Units: mm (in) Flange LB Shaft End S 130 (5.12) 35 (1.38)

52 (2.05) A

23 (0.91) 15 (0.59) 5 (0.20)

1/20, 1/29 37 (1.46)

1/20, 1/29 42 (1.65)

240(9.45)

234(9.21) 240(9.45) 310(12.2)

(Motor)

60 (2.36)

R3
A 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)

27(1.06) 18(0.71) 5(0.20) Gear Ratio 1/5 1/9 1/45 A 16 (0.63) 48 (1.89) 58 (2.28)

1/20, 1/29 48 (1.89)

3-114

90(3.54) 182(7.17) 186(7.32) LBh7

ANFJ-L40

Sh6

R3

3.15 Dimensional Drawings of SGMGH Servomotors (1500 min-1)

Dimensional Tolerances
Flange Face Dimensions LB 130 190 240
0 5.12 0 0.040 0.0016 0 7.48 0 0.046 0.0018 0 9.45 0 0.046 0.0018

IMT Gear ANFJ-L20 ANFJ-L30 ANFJ-L40

Units: mm (in) Shaft-end Dimensions S 35 50 60


0 1.38 0 0.016 0.0006 0 1.97 0 0.016 0.0006 0 2.36 0 0.019 0.0007

Model SGMGH05A AL14 05A AL24

Gear Model

Gear Ratio 1/5 1/9

LL

LM

394 138 92 256 (15.5) (5.43) (3.62) (10.1) 406 138 92 268 (16.0) (5.43) (3.62) (10.6) 417 161 115 256 (16.4) (6.34) (4.53) (10.1) 429 161 115 268 (16.9) (6.34) (4.53) (10.6)

ANFJ-L20 09A AL14 09A AL24 1/5 1/9

Units: mm (in) Shaft Center Approx. Allowable Mass Radial Load kg (lb) N (lbf) 833 14 (187) (30.9) 980 14 (221) (30.9) 833 16 (187) (35.3) 980 16 (221) (35.3)

INFO

Lubrication Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.

(2) Large Grease Lubricating Type


L LL LT LM R LG LR 5 Q Sh6 QK KL1 88(3.46)

L
LBh7

Shaft End T

L
KB1 KB2 1 6-LZ

3-115

3 Specifications and Dimensional Drawings 3.15.5 SGMGH Servomotors (1500min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type)

Units: mm (in) Model SGMGH05A AL54 05A AL74 05A AL84 09A AL54 09A AL74 09A AL84 13A AL14 13A AL24 13A AL54 13A AL74 ANFJ-L40 13A AL84 20A AL14 ANFJ-L30 20A AL24 20A AL54 20A AL74 30A AL14 30A AL24 30A AL54 44A AL14 44A AL24 ANFJ-L40 1/9 1/20 1/29 1/5 1/9 1/20 1/5 1/9 1/45 1/5 ANFJ-L30 ANFJ-L40 ANFJ-L30 Gear Model Gear Ratio 1/20 1/29 1/45 1/20 1/29 1/45 1/5 1/9 1/20 1/29 L LB LL LM LR LT KB1 KB2 KL1 R 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)

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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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)

3-116

3.15 Dimensional Drawings of SGMGH Servomotors (1500 min-1)

Model SGMGH05A AL54 05A AL74 05A AL84 09A AL54 09A AL74 09A AL84 13A AL14 13A AL24 13A AL54 13A AL74 13A AL84 20A AL14 20A AL24 20A AL54 20A AL74 30A AL14 30A AL24 30A AL54 44A AL14 44A AL24

Gear Ratio 1/20 1/29 1/45 1/20 1/29 1/45 1/5 1/9 1/20 1/29 1/45 1/5 1/9 1/20 1/29 1/5 1/9 1/20 1/5 1/9

Flange Face Dimensions Shaft-end Dimensions mm (in) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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)

INFO

Lubrication Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.

3-117

3 Specifications and Dimensional Drawings 3.16.1 SGMGH Servomotors (1000 min-1) Without Gears and Brakes

3.16 Dimensional Drawings of SGMGH Servomotors (1000 min-1)


3.16.1 SGMGH Servomotors (1000 min-1) Without Gears and Brakes
Models with oil seals are of the same configuration.
L LL LT LM LG S 100( 3.94) KL1 88(3.46) LR LE (0.0016) 0.04 A 0.04 A (0.0016) LB LC Shaft End SGMGH-03A B to 09A B LR LE LF1 S1 S
L

SGMGH-12A B to 55A B LR LE LF2 LJ1 S1 LF1 S LJ2 LJ1


1

LA

KB1 KB2

(0.0008) 0.02 0.04 (0.0016) For 40A B (For 55A B only)

IE

4-LZ 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 SGMGHShaft-end Dimensions L LL LM LR LT KB1 KB2 IE KL1


19

S
0 0.013 0.75 0 0.0005 0.013 0.75 0 0.0005 0.013 0.87 0 0.0005 35 22 0 19 0

S1

Approx. Mass kg (lb) 5.5 (12.1) 7.6 (16.8) 9.6 (21.2) 14 (30.9) 18 (39.7) 23 (50.7) 30 (66.1) 40 (88.2)

196 138 92 58 46 65 117 03A B21 (7.72) (5.43) (3.62) (2.28) (1.81) (2.56) (4.61) 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) 109 (4.29) 140 (5.51) 140 (5.51) 140 (5.51)

30 40 (1.18) (1.57) 30 40 (1.18) (1.57) 30 40 (1.18) (1.57) 45 76

06A B21

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) 271 192 145 79 47 115 170 20A B21 (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)

+ 0.01
0

1.38 35

+ 0.0004 (1.77) (2.99)


0 0

+ 0.01

1.38+ 0.0004 0 35

45 76 (1.77) (2.99) 45 76

+ 0.01
0

1.38 42

+ 0.0004 (1.77) (2.99)


0 0

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)

0.016 1.65 0 0.0006 0.016 1.65 0 0.0006 42 0

45 110 (1.77) (4.33) 45 110 (1.77) (4.33)

3-118

3.16 Dimensional Drawings of SGMGH Servomotors (1000 min-1)

Model SGMGH-

LA 145 (5.71)

LB
0.035 4.33 0 0.0014 0.035 4.33 0 0.0014 0.035 4.33 0 0.0014 0.025 4.50 0 0.0010 0.025 4.50 0 0.0010 0.025 4.50 0 0.0010 0.025 4.50 0 0.0010 0.025 4.50 0 0.0010 114.3 0 114.3 0 114.3 0 114.3 0 114.3 0 110 0 110 0 110 0

LC

Flange Face Dimensions mm (in) LE LF1 LF2 LG

LH

LJ1

LJ2

LZ 9 (0.35) 9 (0.35) 9 (0.35)

Allowable Radial Load N (lbf) 490 (110) 490 (110) 686 (154) 1180 (265) 1470 (331) 1470 (331) 1760 (397) 1760 (397)

Allowable Thrust Load N (lbf) 98 (22) 98 (22) 343 (77) 490 (110) 490 (110) 490 (110) 588 (132) 588 (132)

03A B21

130 6 6 (5.12) (0.24) (0.24) 130 6 6 (5.12) (0.24) (0.24) 130 6 6 (5.12) (0.24) (0.24)

45 12 165 (0.47) (6.50) (1.77) 12 165 45 (0.47) (6.50) (1.77) 12 165 45 (0.47) (6.50) (1.77)

145 06A B21 (5.71) 145 09A B21 (5.71) 200 12A B21 (7.87) 200 (7.87)

62 180 3.2 3 0.5 18 230 76 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)

20A B21

200 30A B21 (7.87) 200 40A B21 (7.87) 200 55A B21 (7.87)

Cable Specifications for Detector Connectors (17-bit Encoder)


L K J M A B C T NP D S R E H G F

Cable Specifications for Servomotor Connectors


D A

Receptacle: MS3102A20-29P Applicable plug (Purchased by the customer) Plug: MS3108B20-29S Cable clamp: MS3057-12A

A B C D

Phase U Phase V Phase W FG (Frame ground)

With an Absolute Encoder A B C D E F G H J DATA+ DATA 0V +5VDC FG (Frame ground) K L M N P R S T BATTBATT+

With an Incremental Encoder 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 Specifications and Dimensional Drawings 3.16.2 SGMGH Servomotors (1000 min-1) Without Gears and With Brakes

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.
L LL 48(1.89) LM LE LG 100( 3.94) KL1 88(3.46) S LR (0.0016) 0.04 A 0.04 A (0.0016) LC Shaft End SGMGH-03A B to 09A B SGMGH-12A B to 30A B LR LR LE LF2 S LJ1 S1 LF1 S LJ2 LJ1
R 1

LA
LF1 LB
L

LE

A KB1 KB2

4-LZ Mounting holes 0.02 (0.0008)

S1

Note: For the specifications of the other shaft ends, refer to 3.20 Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors.

R 1

Units: mm (in) Model SGMGHShaft-end Dimensions L LL LM LR KB1 KB2 KL1


19

S
0 0.013 0.75 0 0.0005 0.013 0.75 0 0.0005 0.013 0.87 0 0.0005 35 22 0 19 0

S1 30 (1.18) 30 (1.18) 30 (1.18) 45 (1.77) 45 (1.77) 45 (1.77)

Q 40 (1.57) 40 (1.57) 40 (1.57) 76 (2.99) 76 (2.99) 76 (2.99)

Approx. Mass kg (lb) 7.5 (16.5) 9.6 (21.2) 12 (26.5) 19 (41.9) 23.5 (51.8) 28.5 (62.8)

03A B2

234 (9.21) 257 (10.1) 281 (11.1) 296 (11.7) 322 (12.7) 356 (14.0)

176 (6.93) 199 (7.83) 223 (8.78) 217 (8.54) 243 (9.57) 277 (10.9)

130 (5.12) 153 (6.02) 177 (6.97) 169 (6.65) 195 (7.68) 229 (9.02)

58 (2.28) 58 (2.28) 58 (2.28) 79 (3.11) 79 (3.11) 79 (3.11)

56 (2.20) 79 (3.11) 103 (4.06) 79 (3.11) 105 (4.13) 139 (5.47)

154 (6.06) 177 (6.97) 201 (7.91) 195 (7.68) 221 (8.70) 255 (10.0)

120 (4.72) 120 (4.72) 120 (4.72) 146 (5.75) 146 (5.75) 146 (5.75)

06A B2

09A B2

+ 0.01
0 0 0

12A B2

1.38 35

+ 0.0004 + 0.01

20A B2

1.38+ 0.0004 0 35

+ 0.01
0 0

30A B2

1.38

+ 0.0004

3-120

3.16 Dimensional Drawings of SGMGH Servomotors (1000 min-1)

Model SGMGH-

LA 145 (5.71) 145 (5.71) 145 (5.71) 200 (7.87) 200 (7.87) 200 (7.87)

LB
0.035 4.33 0 0.0014 0.035 4.33 0 0.0014 0.035 4.33 0 0.0014 0.025 4.50 0 0.0010 0.025 4.50 0 0.0010 0.025 4.50 0 0.0010 114.3 0 114.3 0 114.3 0 110 0 110 0 110 0

LC

Flange Face Dimensions mm (in) LE LF1 LF2 LG

LH

LJ1

LJ2

LZ 9 (0.35) 9 (0.35) 9 (0.35)

Allowable Radial Load N (lbf) 490 (110) 490 (110) 686 (154) 1180 (265) 1470 (331) 1470 (331)

Allowable Thrust Load N (lbf) 98 (22) 98 (22) 343 (77) 490 (110) 490 (110) 490 (110)

03A B2

130 6 6 (5.12) (0.24) (0.24) 130 6 6 (5.12) (0.24) (0.24) 130 6 6 (5.12) (0.24) (0.24)

12 165 45 (0.47) (6.50) (1.77) 12 165 45 (0.47) (6.50) (1.77) 12 165 45 (0.47) (6.50) (1.77)

06A B2

09A B2

12A B2

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)

20A B2

30A B2

Cable Specifications for Detector Connectors (17-bit Encoder)


L K J M A B C T NP D S R E H G F

Cable Specifications for Servomotor Connectors


A G C B

Receptacle: MS3102A20-29P Applicable plug (Purchased by the customer) Plug: MS3108B20-29S Cable clamp: MS3057-12A

F E D

A B C D

Phase U Phase V Phase W FG (Frame ground)

E Brake terminal F Brake terminal G

With an Absolute Encoder A B DATA+ C D DATA E F 0V G H +5VDC J FG (Frame ground)

K L M N P R S T

BATTBATT+

With an Incremental Encoder A K B L DATA+ M C N D DATA E P F R 0V G S H T +5VDC J FG (Frame ground)

3-121

3 Specifications and Dimensional Drawings 3.16.2 SGMGH Servomotors (1000 min-1) Without Gears and With Brakes

(2) 4.0 kW to 5.5 kW


Models with oil seals are of the same configuration.
L LL 48(1.89) LM 18(0.71) 113(4.45)
0 0 42 -0.016 (1.65 -0.0006 )

3.2(0.13)

(0.0016) 0.04 A
0 -0.0010

Shaft End 180( 7.09)


0 20 .87) (7 0.5 (0.02)

100( 3.94) 150(5.91) 123(4.84) 88(3.46)

0.04 A 23 0 (0.0016)(9.0 6)

113(4.45) 3.2(0.13)
0 42 -0.016 (1.65 -0.0006 ) 62(2.44) 76(2.99)

(4.50

3(0.12)

123 (4.84)

KB1 KB3 KB2

114.3

4-13.5 Mounting holes 0.04 (0.0016)

45(1.77)

0 -0.025

110(4.33)

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 SGMGH40A B2 55A B2 L LL LM KB1 KB2 KB3 Approx. Mass kg (lb) 35 (77.2) 45.5 (100) Allowable Radial Load N (lbf) 1760 (397) Allowable Thrust Load N (lbf) 588 (132)

424 311 263 174 289 231 (16.7) (12.2) (10.4) (6.85) (11.4) (9.09) 498 385 337 248 363 305 (19.6) (15.2) (13.3) (9.76) (14.3) (12.0)

Cable Specifications for Detector Connectors (17-bit Encoder)


L K J 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 With an Incremental Encoder A K B L DATA+ C M D N DATA E P F R 0V S G H T +5VDC J FG (Frame ground)

With an Absolute Encoder A B DATA+ C D DATA E F 0V G H +5VDC J FG (Frame ground)

K L M N P R S T

BATTBATT+

Cable Specifications for Servomotor Connectors


D A

Cable Specifications for Brake Connectors


A C B

A B C D

Phase U Phase V Phase W FG (Frame ground)

A Brake terminal B Brake terminal C

R 1

3-122

3.16 Dimensional Drawings of SGMGH Servomotors (1000 min-1)

3.16.3 SGMGH Servomotors (1000 min-1) With Standard Backlash Gears and Without Brakes (Foot-mounted Type)
(1) Grease Lubricating Type
L LL KB2 KB1 KL1 88(3.46) LT LM R B

Q QK Sh6 A

Shaft End Tap Depth C T W

F N

XC XR

4-Z Mounting holes

E M

Units: mm (in) Model SGMGH03A BSA6 03A BSB6 03A BSC6 03A BS76 06A BSA6 06A BSB6 06A BSC6 06A BS76 09A BSA6 09A BSB6 09A BSC6 09A BS76 12A BSA6 12A BSB6 20A BSA6 Gear Model CNHX4095 CNHX4095 CNHX4105 CNHX4105 CNHX4105 CNHX4105 CNHX4115 CNHX4115 CNHX4105 CNHX4105 CNHX4115 CNHX4115 CNHX4115 CNHX4115 CNHX4115 Gear Ratio 1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/29 1/6 1/11 1/6 L LL LM LT KB1 KB2 KL1 R A B C 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)

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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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)

3-123

3 Specifications and Dimensional Drawings 3.16.3 SGMGH Servomotors (1000 min-1) With Standard Backlash Gears and Without Brakes (Foot-mounted Type)

Units: mm (in) (Contd) Model SGMGH20A BSB6 Gear Model CNHX4115 Gear Ratio 1/11 L LL LM LT KB1 KB2 KL1 R A B

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)

* The tolerances for all models are

.
Shaft-end Dimensions mm (in) XC Z Q QK S T U W Tap Depth M819 M819 M819 M819 M819 M819 M1022 M1022 M819 M819 M1022 M1022 M1022 M1022 M1022 M1022 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)

Model SGMGH03A BSA6 03A BSB6 03A BSC6 03A BS76 06A BSA6 06A BSB6 06A BSC6 06A BS76 09A BSA6 09A BSB6 09A BSC6 09A BS76 12A BSA6 12A BSB6 20A BSA6 20A BSB6

Gear Ratio 1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/29 1/6 1/11 1/6 1/11

Foot-mounted Dimensions mm (in) E F G K M N XR

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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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)

3-124

3.16 Dimensional Drawings of SGMGH Servomotors (1000 min-1)

Dimensional Tolerances
Model SGMGH03A BSA6 03A BSB6 03A BSC6 03A BS76 06A BSA6 06A BSB6 06A BSC6 06A BS76 09A BSA6 09A BSB6 09A BSC6 09A BS76 12A BSA6 12A BSB6 20A BSA6 20A BSB6 Units: mm (in) Shaft-end Dimensions S 28 28 28 28 28 28 38 38 28 28 38 38 38 38 38 38
0 1.10 0 0.013 0.0005 0 1.10 0 0.013 0.0005 0 1.10 0 0.013 0.0005 0 1.10 0 0.013 0.0005 0 1.10 0 0.013 0.0005 0 1.10 0 0.013 0.0005 0 1.50 0 0.016 0.0006 0 1.50 0 0.016 0.0006 0 1.10 0 0.013 0.0005 0 1.10 0 0.013 0.0005 0 1.50 0 0.016 0.0006 0 1.50 0 0.016 0.0006 0 1.50 0 0.016 0.0006 0 1.50 0 0.016 0.0006 0 1.50 0 0.016 0.0006 0 1.50 0 0.016 0.0006

INFO

Lubrication Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.

3-125

3 Specifications and Dimensional Drawings 3.16.3 SGMGH Servomotors (1000 min-1) With Standard Backlash Gears and Without Brakes (Foot-mounted Type)

(2) Oil Lubricating Type


LL 47(1.85) LM 22(0.87) KB1 KL1 88(3.46) L R Oil supply plug Sh6 Q QK B

Hydrant Shaft End Oil supply plug Tap Depth T W

F N

XC XR

4-Z Mounting holes

Units: mm (in) Model SGMGHGear Model Gear Ratio 1/21 1/29 1/21 1/29 1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/29 1/11 1/21 1/29 L LL LM KB1 KL1 R A B C 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)

12A BSC6 CHHX-4130 12A BS76 CHHX-4135

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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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)

20A BSC6 CHHX-4145 20A BS76 CHHJ-4160

30A BSA6 CHHX-4130 30A BSB6 CHHX-4135 30A BSC6 CHHJ-4160 30A BS76 CHHJ-4170

40A BSA6 CHHX-4135 40A BSB6 CHHX-4145 40A BSC6 CHHJ-4170 40A BS76 55A BSB6 CHHJ-4175 CHHJ-4160

55A BSC6 CHHJ-4175 55A BS76 CHHJ-4185

3-126

3.16 Dimensional Drawings of SGMGH Servomotors (1000 min-1)

Model SGMGH12A BSC6 12A BS76 20A BSC6 20A BS76 30A BSA6 30A BSB6 30A BSC6 30A BS76 40A BSA6 40A BSB6 40A BSC6 40A BS76 55A BSB6 55A BSC6 55A BS76

Gear Ratio 1/21 1/29 1/21 1/29 1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/29 1/11 1/21 1/29

Dimensions with Feet mm (in) E F G K M N XR XC Z Q QK

Shaft-end Dimensions mm (in) S T U W Tap Depth M10 18 M10 18 M10 18 M10 18 M10 18 M10 18 M10 18 M12 24 M10 18 M10 18 M12 24 M12 24 M10 18 M12 24 M12 24

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)

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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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)

3-127

3 Specifications and Dimensional Drawings 3.16.3 SGMGH Servomotors (1000 min-1) With Standard Backlash Gears and Without Brakes (Foot-mounted Type)

Dimensional Tolerances
Model SGMGH12A BSC6 12A BS76 20A BSC6 20A BS76 30A BSA6 30A BSB6 30A BSC6 30A BS76 40A BSA6 40A BSB6 40A BSC6 40A BS76 55A BSB6 55A BSC6 55A BS76 Units: mm (in) Shaft-end Dimensions S 50 50 50 60 50 50 60 70 50 50 70 70 60 70 80
0 1.97 0 0.016 0.0006 0 1.97 0 0.016 0.0006 0 1.97 0 0.016 0.0006 0 2.36 0 0.019 0.0007 0 1.97 0 0.016 0.0006 0 1.97 0 0.016 0.0006 0 2.36 0 0.019 0.0007 0 2.76 0 0.019 0.0007 0 1.97 0 0.016 0.0006 0 1.97 0 0.016 0.0006 0 2.76 0 0.019 0.0007 0 2.76 0 0.019 0.0007 0 2.36 0 0.019 0.0007 0 2.76 0 0.019 0.0007 0 3.15 0 0.019 0.0007

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

The following shows approximate oil amount to be supplied. Units: liter Frame No. Horizontal type 4130 4135 0.7 4145 0.7 4155 0.7 4160 4165 1.4 4170 4175 1.9 4180 4185 2.5 4190 4.0

3-128

3.16 Dimensional Drawings of SGMGH Servomotors (1000 min-1)

3.16.4 SGMGH Servomotors (1000 min-1) With Standard Backlash Gears and Without Brakes (Flange-mounted Type)
(1) Grease Lubricating Type
LT LL LM L R LR LG LE Q LBf8 QK KL1 88(3.46) 4 Mounting holes 6 Mounting holes Shaft End
LA LA

T W

Tap Depth (See the following table.) U

Sh6

L C
N-11 Mounting holes

L C

KB1 KB2

N-11 Mounting holes

Units: mm (in) Model SGMGH03A BTA6 03A BTB6 03A BTC6 03A BT76 06A BTA6 06A BTB6 06A BTC6 06A BT76 09A BTA6 09A BTB6 09A BTC6 09A BT76 12A BTA6 12A BTB6 20A BTA6 20A BTB6 Gear Model Gear Ratio 1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/29 1/6 1/11 1/21 1/29 1/6 1/11 1/6 1/11 L LL LM LT KB1 KB2 KL1 R 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)

CNVX-4095 CNVX-4095 CNVX-4105 CNVX-4105 CNVX-4105 CNVX-4105 CNVX-4115 CNVX-4115 CNVX-4105 CNVX-4105 CNVX-4115 CNVX-4115 CNVX-4115 CNVX-4115 CNVX-4115 CNVX-4115

380 138 92 46 73 21 109 242 (15.0) (5.43) (3.62) (1.81) (2.87) (0.83) (4.29) (9.53) 380 138 92 46 73 21 109 242 (15.0) (5.43) (3.62) (1.81) (2.87) (0.83) (4.29) (9.53) 394 138 92 46 73 21 109 256 (15.5) (5.43) (3.62) (1.81) (2.87) (0.83) (4.29) (10.1) 394 138 92 46 73 21 109 256 (15.5) (5.43) (3.62) (1.81) (2.87) (0.83) (4.29) (10.1) 417 161 115 46 73 21 109 256 (16.4) (6.34) (4.53) (1.81) (2.87) (0.83) (4.29) (10.1) 417 161 115 46 73 21 109 256 (16.4) (6.34) (4.53) (1.81) (2.87) (0.83) (4.29) (10.1) 449 161 115 46 73 21 109 288 (17.7) (6.34) (4.53) (1.81) (2.87) (0.83) (4.29) (11.3) 449 161 115 46 73 21 109 288 (17.7) (6.34) (4.53) (1.81) (2.87) (0.83) (4.29) (11.3) 441 185 139 46 73 21 109 256 (17.4) (7.28) (5.47) (1.81) (2.87) (0.83) (4.29) (10.1) 441 185 139 46 73 21 109 256 (17.4) (7.28) (5.47) (1.81) (2.87) (0.83) (4.29) (10.1) 473 185 139 46 73 21 109 288 (18.6) (7.28) (5.47) (1.81) (2.87) (0.83) (4.29) (11.3) 473 185 139 46 73 21 109 288 (18.6) (7.28) (5.47) (1.81) (2.87) (0.83) (4.29) (11.3) 477 166 119 47 77 22 140 311 (18.8) (6.54) (4.69) (1.85) (3.03) (0.87) (5.51) (12.2) 477 166 119 47 77 22 140 311 (18.8) (6.54) (4.69) (1.85) (3.03) (0.87) (5.51) (12.2) 503 192 145 47 77 22 140 311 (19.8) (7.56) (5.71) (1.85) (3.03) (0.87) (5.51) (12.2) 503 192 145 47 77 22 140 311 (19.8) (7.56) (5.71) (1.85) (3.03) (0.87) (5.51) (12.2)

3-129

3 Specifications and Dimensional Drawings 3.16.4 SGMGH Servomotors (1000 min-1) With Standard Backlash Gears and Without Brakes (Flange-mounted Type)

Model SGMGH03A BTA6

Flange Face Dimensions mm (in) LA LB 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) LC 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) LE 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) LG 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) LR 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) N 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) Q 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) QK 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)

Shaft-end Dimensions mm (in) S 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) T 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) U 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) W 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)

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)

3-130

3.16 Dimensional Drawings of SGMGH Servomotors (1000 min-1)

Dimensional Tolerances
Model SGMGH03A BTA6 03A BTB6 03A BTC6 03A BT76 06A BTA6 06A BTB6 06A BTC6 06A BT76 09A BTA6 09A BTB6 09A BTC6 09A BT76 12A BTA6 12A BTB6 20A BTA6 20A BTB6 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. Flange Face Dimensions LB 110 0.036 4.33 0.0014
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

Units: mm (in) Shaft-end Dimensions S 28 28 28 28 28 28 38 38 28 28 38 38 38 38 38 38


0 1.10 0 0.013 0.0005 0 1.10 0 0.013 0.0005 0 1.10 0 0.013 0.0005 0 1.10 0 0.013 0.0005 0 1.10 0 0.013 0.0005 0 1.10 0 0.013 0.0005 0 1.50 0 0.016 0.0006 0 1.50 0 0.016 0.0006 0 1.10 0 0.013 0.0005 0 1.10 0 0.013 0.0005 0 1.50 0 0.016 0.0006 0 1.50 0 0.016 0.0006 0 1.50 0 0.016 0.0006 0 1.50 0 0.016 0.0006 0 1.50 0 0.016 0.0006 0 1.50 0 0.016 0.0006

110 0.036 4.33 0.0014 110 0.036 4.33 0.0014 110 0.036 4.33 0.0014 110 0.036 4.33 0.0014 110 0.036 4.33 0.0014 140 0.043 5.51 0.0017 140 0.043 5.51 0.0017 110 0.036 4.33 0.0014 110 0.036 4.33 0.0014 140 0.043 5.51 0.0017 140 0.043 5.51 0.0017 140 0.043 5.51 0.0017 140 0.043 5.51 0.0017 140 0.043 5.51 0.0017 140 0.043 5.51 0.0017

INFO

3-131

3 Specifications and Dimensional Drawings 3.16.4 SGMGH Servomotors (1000 min-1) With Standard Backlash Gears and Without Brakes (Flange-mounted Type)

(2) Small Oil Lubricating Type


L LL 47(1.85) LM 15 (0.59) Q QK KL1 88(3.46) R S (50h6)

Hydrant LB (200f8)

2 3

0(

9 .

06

LR

209(8.23)

Shaft End Tap Depth 9(0.35) (See the following table.) 5.5(0.22)

KB1 22(0.87)

4 (0.16) 6-11 Mounting holes

Oil scavenging plug

14(0.55)

Oil scavenging plug


) 60 24 2 10. (

Units: mm (in) Shaft Center Allowable Radial Load N 10200 (2290) 11300 (2550) 13000 (2930) 6740 (1520) 8240 (1850) 6740 (1520) 10700 (2420) 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) Shaft-end Dimensions Approx. Mass kg (lb) Tap Q QK Depth 70 56 66 M1018 (2.76) (2.20) (146) 70 56 M1018 (2.76) (2.20) 90 80 M1018 (3.54) (3.15) 70 56 M1018 (2.76) (2.20) 70 56 M1018 (2.76) (2.20) 70 56 M1018 (2.76) (2.20) 90 80 M1018 (3.54) (3.15) 66 (146) 71 (157) 75 (165) 75 (165) 87 (192) 88 (194)

Model SGMGH-

Gear Gear Model Ratio

LL

LM

KB1 KL1

12A BTC6 12A BT76 20A BTC6 30A BTA6 30A BTB6 40A BTA6 40A BTB6

CHVX1/21 4130 CHVX1/29 4135 CNVX1/21 4145 CHVX4130 1/6

536 (21.1) 536 (21.1) 582 (22.9) 596 (23.5) 596 (23.5) 664 (26.1) 684 (26.9)

166 (6.54) 166 (6.54) 192 (7.56) 226 (8.90) 226 (8.90) 260 (10.2) 260 (10.2)

119 (4.69) 119 (4.69) 145 (5.71) 179 (7.05) 179 (7.05) 213 (8.39) 213 (8.39)

77 (3.03) 77 (3.03) 77 (3.03) 77 (3.03) 77 (3.03) 86 (3.39) 86 (3.39)

140 (5.51) 140 (5.51) 140 (5.51) 140 (5.51) 140 (5.51) 150 (5.91) 150 (5.91)

370 (14.6) 370 (14.6) 390 (15.4) 370 (14.6) 370 (14.6) 404 (15.9) 424 (16.7)

CHVX1/11 4135 CHVX4135 1/6

CHVX1/11 4145

3-132

3.16 Dimensional Drawings of SGMGH Servomotors (1000 min-1)

Dimensional Tolerances
Model SGMGH12A BTC6 12A BT76 20A BTC6 30A BTA6 30A BTB6 40A BTA6 40A BTB6 Flange Face Dimensions LB 200 0.050 7.87 0.0020
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

Units: mm (in) Shaft-end Dimensions S 50 50 50 50 50 50 50


0 1.97 0 0.016 0.0006 0 1.97 0 0.016 0.0006 0 1.97 0 0.016 0.0006 0 1.97 0 0.016 0.0006 0 1.97 0 0.016 0.0006 0 1.97 0 0.016 0.0006 0 1.97 0 0.016 0.0006

200 0.050 7.87 0.0020 200 0.050 7.87 0.0020 200 0.050 7.87 0.0020 200 0.050 7.87 0.0020 200 0.050 7.87 0.0020 200 0.050 7.87 0.0020

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

The following shows approximate oil amount to be supplied. Units: liter Frame No. Horizontal type 4130 4135 0.7 4145 0.7 4155 0.7 4160 4165 1.4 4170 4175 1.9 4180 4185 2.5 4190 4.0

3-133

3 Specifications and Dimensional Drawings 3.16.4 SGMGH Servomotors (1000 min-1) With Standard Backlash Gears and Without Brakes (Flange-mounted Type)

(3) Large Oil Lubricating Type


L LL 47(1.85) LM R LG LR Hydrant QK Q KL1 88(3.46)
A

Oil scavenging plug

A
L

22.5

L
LBf8

Shaft End Tap Depth* T W U

Sh6

KB1 22(0.87)

N-LZ Mounting holes LE

Oil scavenging plug N-LZ Mounting holes 8 Mounting holes

L A

L C
6 Mounting holes

* See the following table.

Model SGMGH20A BT76 30A BTC6 30A BT76 40A BTC6 40A BT76 55A BTB6 55A BTC6 55A BT76

Gear Model

Gear Ratio 1/29 1/21 1/29 1/21 1/29 1/11 1/21 1/29

LL

LM

KB1

KL1

CHVJ-4160 CHVJ-4160 CHVJ-4170 CHVJ-4170 CHVJ-4175 CHVJ-4160 CHVJ-4175 CHVJ-4185

687 192 145 77 140 495 228 (27.0) (7.56) (5.71) (3.03) (5.51) (19.5) (8.98) 721 226 179 77 140 495 228 (28.4) (8.90) (7.05) (3.03) (5.51) (19.5) (8.98) 785 226 179 77 140 559 243 (30.9) (8.90) (7.05) (3.03) (5.51) (22.0) (9.57) 853 260 213 86 150 593 243 (33.6) (10.2) (8.39) (3.39) (5.91) (23.3) (9.57) 853 260 213 86 150 593 243 (33.6) (10.2) (8.39) (3.39) (5.91) (23.3) (9.57) 863 334 287 86 150 529 228 (34.0) (13.1) (11.3) (3.39) (5.91) (20.8) (8.98) 927 334 287 86 150 593 243 (36.5) (13.1) (11.3) (3.39) (5.91) (23.3) (9.57) 977 334 287 86 150 643 258 (38.5) (13.1) (11.3) (3.39) (5.91) (25.3) (10.2)

Units: mm (in) Shaft Center Allowable Radial Load N (lbf) 18500 (4170) 16700 (3770) 21800 (4900) 19600 (4400) 21800 (4890) 13500 (3030) 19600 (4400) 29200 (6570)

Model SGMGH20A BT76 30A BTC6 30A BT76 40A BTC6 40A BT76 55A BTB6

Gear Ratio 1/29 1/21 1/29 1/21 1/29 1/11

Flange Face Dimensions mm (in) LA


310 (12.2) 310 (12.2) 360 (14.2) 360 (14.2) 360 (14.2) 310 (12.2)

Shaft-end Dimensions mm (in) N


6 (0.24) 6 (0.24) 8 (0.31) 8 (0.31) 8 (0.31) 6 (0.24)

LB
270 (10.6) 270 (10.6) 316 (12.4) 316 (12.4) 316 (12.4) 270 (10.6)

LC
340 (13.4) 340 (13.4) 400 (15.7) 400 (15.7) 400 (15.7) 340 (13.4)

LE
4 (0.16) 4 (0.16) 5 (0.20) 5 (0.20) 5 (0.20) 4 (0.16)

LG
20 (0.79) 20 (0.79) 22 (0.87) 22 (0.87) 22 (0.87) 20 (0.79)

LR
89 (3.50) 89 (3.50) 94 (3.70) 94 (3.70) 94 (3.70) 89 (3.50)

LZ
11 (0.43) 11 (0.43) 14 (0.55) 14 (0.55) 14 (0.55) 11 (0.43)

Q
90 (3.54) 90 (3.54) 90 (3.54) 90 (3.54) 90 (3.54) 90 (3.54)

QK
80 (3.15) 80 (3.15) 80 (3.15) 80 (3.15) 80 (3.15) 80 (3.15)

S
60 (2.36) 60 (2.36) 70 (2.76) 70 (2.76) 70 (2.76) 60 (2.36)

T
11 (0.43) 11 (0.43) 12 (0.47) 12 (0.47) 12 (0.47) 11 (0.43)

U
7 (0.28) 7 (0.28) 7.5 (0.30) 7.5 (0.30) 7.5 (0.30) 7 (0.28)

W
18 (0.71) 18 (0.71) 20 (0.79) 20 (0.79) 20 (0.79) 18 (0.71)

Tap Depth M1018 M1018 M1224 M1224 M1224 M1018

Approx. Mass kg (lb) 121 (267) 126 (278) 176 (388) 191 (421) 191 (421) 150 (331)

3-134

3.16 Dimensional Drawings of SGMGH Servomotors (1000 min-1)

Model SGMGH55A BTC6 55A BT76

Gear Ratio 1/21 1/29

Flange Face Dimensions mm (in) LA


360 (14.2) 390 (15.4)

Shaft-end Dimensions mm (in) N


8 (0.31) 8 (0.31)

LB
316 (12.4) 345 (13.6)

LC
400 (15.7) 430 (16.9)

LE
5 (0.20) 5 (0.20)

LG
22 (0.87) 22 (0.87)

LR
94 (3.70) 110 (4.33)

LZ
14 (0.55) 18 (0.71)

Q
90 (3.54) 110 (4.33)

QK
80 (3.15) 100 (3.94)

S
70 (2.76) 80 (3.15)

T
12 (0.47) 14 (0.55)

U
7.5 (0.30) 9 (0.35)

W
20 (0.79) 22 (0.87)

Tap Depth M1224 M1224

Approx. Mass kg (lb) 201 (443) 232 (511)

Dimensional Tolerances
Model SGMGH20A BT76 30A BTC6 30A BT76 40A BTC6 40A BT76 55A BTB6 55A BTC6 55A BT76 Flange Face Dimensions LB 270 0.056 10.6 0.0022
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

Units: mm (in) Shaft-end Dimensions S 60 60 70 70 70 60 70 80


0 2.36 0 0.019 0.0007 0 2.36 0 0.019 0.0007 0 2.76 0 0.019 0.0007 0 2.76 0 0.019 0.0007 0 2.76 0 0.019 0.0007 0 2.36 0 0.019 0.0007 0 2.76 0 0.019 0.0007 0 3.15 0 0.019 0.0007

270 0.056 10.6 0.0022 316 0.062 12.4 0.0024 316 0.062 12.4 0.0024 316 0.062 12.4 0.0024 270 0.056 10.6 0.0022 316 0.062 12.4 0.0024 345 0.062 13.6 0.0024

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

The following shows approximate oil amount to be supplied. Units: liter Frame No. Horizontal type 4130 4135 0.7 4145 0.7 4155 0.7 4160 4165 1.4 4170 4175 1.9 4180 4185 2.5 4190 4.0

3-135

3 Specifications and Dimensional Drawings 3.16.5 SGMGH Servomotors (1000 min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type)

3.16.5 SGMGH Servomotors (1000 min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type)
(1) Small Grease Lubricating Type
L LL 46(1.81) LM R 100(3.94) 55 (2.17) 35h6 140( 5.51)

Applied Specifications for Shaft-end Tap


0) 6.3 0( 6 1 185 ) .28 ( 7
Q Shaft End 8(0.31) 10(0.39) S d-tapL

130h7

47(1.85) 109(4.29) 88(3.46)

Frame No. Dia.S 5(0.20)

Length Q d L mm

ANFJ-L20 35 (1.38) 55 (2.17) M8 16 ANFJ-L30 50 (1.97) 75 (2.95) M10 20 ANFJ-L40 60 (2.36) 90 (3.54) M12 24

R1 3(0.12) 73(2.87) 4-12 Mounting holes

21(0.83)

Detailed Dimensions of Gears


45(1.77) 91(3.58) 94(3.70) LBh7 140( 5.51)

(Motor)

(Motor)

R3 44 (1.73) A
17(0.67) 12(0.47) 3(0.12) Gear Ratio 1/5 1/9 1/45

55(2.17) 2(0.08) 20(0.79) 20(0.79) A 6 (0.24) 18 (0.71) 47 (1.85) 90(3.54) 182(7.17) 186(7.32) LBh7

52 (2.05) A

R3

75(2.95) 2(0.078) 25(0.98) 33(1.30) A 11 (0.43) 38 (1.50) 42 (1.65) 52 (2.05)

Units: mm (in) Flange LB Shaft End S 130 (5.12) 35 (1.38)

23(0.91) 15 (0.59) 5(0.20) Gear Ratio 1/5 1/9 1/20, 1/29 1/45

Flange LB Shaft End S 190 (7.48) 50 (1.97)

1/20, 1/29 37 (1.46)

ANFJ-L40

234(9.21) 240(9.45) 310(12.2)

240(9.45)

(Motor)

R3 60 (2.36) A
27(1.06) 18(0.71) 5(0.20) Gear Ratio 1/5 1/9 1/45 A 16 (0.63) 48 (1.89) 58 (2.28)

90(3.54) 2(0.08) 25(0.98) 38(1.50)

Units: mm (in) Flange LB Shaft End S 60 (2.36)

240 (9.45)

1/20, 1/29 48 (1.89)

3-136

Sh6

70(2.76) 130(5.12) 135(5.31) LBh7 Units: mm (in)

ANFJ-L20
126(4.96) 132(5.20) 132(5.20)

ANFJ-L30
184(7.24) 190(7.48) 245(9.65) 190(7.48)

Sh6

Sh6

3.16 Dimensional Drawings of SGMGH Servomotors (1000 min-1)

Dimensional Tolerances
Flange Face Dimensions LB 130 190 240
0 5.12 0 0.040 0.0016 0 7.48 0 0.046 0.0018 0 9.45 0 0.046 0.0018

IMT Gear ANFJ-L20 ANFJ-L30 ANFJ-L40

Units: mm (in) Shaft-end Dimensions S 35 50 60


0 1.38 0 0.016 0.0006 0 1.97 0 0.016 0.0006 0 2.36 0 0.019 0.0007

Model SGMGH03A BL14 03A BL24 03A BL54

Gear Type

Gear Ratio 1/5 1/9 1/20

LL

LM

Approx. Mass kg (lb) 14 (30.9) 14 (30.9) 16 (35.3) 16 (35.3) 16 (35.3) 18 (39.7)

394 138 92 256 (15.5) (5.43) (3.62) (10.1) 406 138 92 268 (16.0) (5.43) (3.62) (10.6) 425 138 92 287 (16.7) (5.43) (3.62) (11.3) 417 161 115 256 (16.4) (6.34) (4.53) (10.1) 429 161 115 268 (16.9) (6.34) (4.53) (10.6) 441 185 139 256 (17.4) (7.28) (5.47) (10.1)

ANFJ-L20 06A BL14 06A BL24 09A BL14 1/5 1/9 1/5

Units: mm (in) Shaft Center Allowable Radial Load N (lbf) 833 (187) 980 (221) 1270 (286) 833 (187) 980 (221) 833 (187)

INFO

Lubrication Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.

(2) Large Grease Lubricating Type


L LL LT LM R Sh6 LG LR Q QK KL1 88(3.46) LBh7 Shaft End T

R1 KB1 KB2 5 (0.20) 6-LZ Mounting holes

Applied Specifications of Shaft-end Tap


Q S Frame No. ANFJ-L20 ANFJ-L30 ANFJ-L40 Dia.S Length Q d L mm 35 50 60 55 75 90 M8 16 M10 20 M12 24 d-tapL

3-137

3 Specifications and Dimensional Drawings 3.16.5 SGMGH Servomotors (1000 min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type)

Units: mm (in) Model SGMGH03A BL74 03A BL84 ANFJ-L30 06A BL54 06A BL74 06A BL84 09A BL24 ANFJ-L30 09A BL54 09A BL74 ANFJ-L40 09A BL84 12A BL14 ANFJ-L30 12A BL24 12A BL54 12A BL74 12A BL84 20A BL14 ANFJ-L30 20A BL24 20A BL54 30A BL14 30A BL24 ANFJ-L40 1/9 1/20 1/5 1/9 ANFJ-L40 1/9 1/20 1/29 1/45 1/5 1/45 1/5 1/20 1/29 ANFJ-L40 1/20 1/29 1/45 1/9 Gear Model Gear Ratio 1/29 1/45 L LL LM LR LT KB1 KB2 KL1 R 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)

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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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) 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)

Model SGMGH03A BL74 03A BL84

Gear Ratio 1/29 1/45

Flange Face Dimensions Shaft-end Dimensions mm (in) 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)

Approx. Mass kg (lb) 31 (68.3) 31 (68.3)

3-138

3.16 Dimensional Drawings of SGMGH Servomotors (1000 min-1)

(Contd) Model SGMGH06A BL54 06A BL74 06A BL84 09A BL24 09A BL54 09A BL74 09A BL84 12A BL14 12A BL24 12A BL54 12A BL74 12A BL84 20A BL14 20A BL24 20A BL54 30A BL14 30A BL24 Gear Ratio 1/20 1/29 1/45 1/9 1/20 1/29 1/45 1/5 1/9 1/20 1/29 1/45 1/5 1/9 1/20 1/5 1/9 Flange Face Dimensions mm (in) LA LB LC LG LZ Shaft-end Dimensions mm (in) QK S T U 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)

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)

INFO

Lubrication Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.

3-139

3 Specifications and Dimensional Drawings 3.17.1 SGMSH Servomotors (3000min-1) Without Gears and Without Brakes

3.17 Dimensional Drawings of SGMSH Servomotors (3000min-1)


3.17.1 SGMSH Servomotors (3000min-1) Without Gears and Without Brakes
Models with oil seals are of the same configuration.
L LL LM LG 100( 3.94) KL1 88(3.46) LE S LR (0.0016) 0.04 A 0.04 A (0.0016) LB Shaft End LC LE
LA

46(1.81)

LR

LF 45 (1.77)

LH
0.02 (0.0008) 4-LZ Mounting holes

30(1.18)

A KB1 KB2

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) Models SGMSH10A A21 L 194 (7.64) 220 (8.66) 243 (9.57) 262 (10.3) 299 (11.8) 339 (13.3) LL 149 (5.87) 175 (6.89) 198 (7.80) 199 (7.83) 236 (9.29) 276 (10.9) LM 103 (4.06) 129 (5.08) 152 (5.98) 153 (6.02) 190 (7.48) 230 (9.06) LR 45 (1.77) 45 (1.77) 45 (1.77) 63 (2.48) 63 (2.48) 63 (2.48) KB1 76 (2.99) 102 (4.02) 125 (4.92) 124 (4.88) 161 (6.34) 201 (7.91) KB2 128 (5.04) 154 (6.06) 177 (6.97) 178 (7.01) 215 (8.46) 255 (10.0) KL1 96 (3.78) 96 (3.78) 96 (3.78) 114 (4.49) 114 (4.49) 114 (4.49) Shaft-end Dimensions S Q
0.013 0.94 0 0.0005 0.013 0.94 0 0.0005 0.013 0.94 0 0.0005 0.013 1.10 0 0.0005 0.013 1.10 0 0.0005 0.013 1.10 0 0.0005 28 0 28 0 28 0 24 0 24 0 24 0

Approx. Mass kg (lb) 4.6 (10.1) 5.8 (12.8) 7.0 (15.4) 11 (24.3) 14 (30.9) 17 (37.5)

40 (1.57) 40 (1.57) 40 (1.57) 55 (2.17) 55 (2.17) 55 (2.17)

15A A21

20A A21

30A A21

40A A21

50A A21

3-140

S
R 1

3.17 Dimensional Drawings of SGMSH Servomotors (3000min-1)

Model SGMSH-

LA 115 (4.53) 115 (4.53) 115 (4.53) 145 (5.71) 145 (5.71) 145 (5.71)
95

LB
0

Flange Face Dimensions mm (in) LC LE LF LG

LH

LZ

Allowable Radial Load N (lbf) 686 (154) 686 (154) 686 (154) 980 (221) 1180 (265) 1180 (265)

Allowable Thrust Load N (lbf) 196 (44) 196 (44) 196 (44) 392 (88) 392 (88) 392 (88)

10A A21

0.035 3.74 0 0.0014 0.035 3.74 0 0.0014 0.035 3.74 0 0.0014 0.035 4.33 0 0.0014 0.035 4.33 0 0.0014 0 0.035 4.33 0 0.0014 110 110 0 110 0

100 3 3 10 130 7 (3.94) (0.12) (0.12) (0.39) (5.12) (0.28) 100 3 3 10 130 7 (3.94) (0.12) (0.12) (0.39) (5.12) (0.28) 100 3 3 10 130 7 (3.94) (0.12) (0.12) (0.39) (5.12) (0.28) 130 6 6 12 165 9 (5.12) (0.24) (0.24) (0.47) (6.50) (0.35) 130 6 6 12 165 9 (5.12) (0.24) (0.24) (0.47) (6.50) (0.35) 130 6 6 12 165 9 (5.12) (0.24) (0.24) (0.47) (6.50) (0.28)

95

15A A21

95

20A A21

30A A21

40A A21

50A A21

Cable Specifications for Detector Connectors (17-bit Encoder)


L K J M A B C T NP D S R E H G F

Cable Specifications for Servomotor Connectors


D A

Receptacle: MS3102A20-29P Applicable plug (Purchased by the customer) Plug: MS3108B20-29S Cale clamp: MS3057-12A

A B C D

Phase U Phase V Phase W FG (Frame ground)

With an Absolute Encoder A B DATA+ C D DATA E F 0V G H +5VDC J FG(Frame ground)

K L M N P R S T

BATTBATT+

With an Incremental Encoder A K B L DATA+ C M D N DATA E P F R 0V S G H T +5VDC J FG(Frame ground)

3-141

3 Specifications and Dimensional Drawings 3.17.2 SGMSH Servomotors (3000 min-1) 200-V Specifications Without Gears and With Brakes

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.
L LL LM LG 100( 3.94) KL1 88(3.46) LE S LR (0.0016) 0.04 A 0.04 A (0.0016) LB Shaft End LC LE
LA

46(1.81)

LR

LF 45 (1.77)

30

LH
(0.0008) 0.02 KB1 KB2 A 4-LZ 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 SGMSHShaft-end Dimensions L LL LM LR KB1 KB2 KL1


24

S
0 0.013 0.94 0 0.0005 0.013 0.94 0 0.0005 0.013 0.94 0 0.0005 0.013 1.10 0 0.0005 0.013 1.10 0 0.0005 0.013 1.10 0 0.0005 28 0 28 0 28 0 24 0 24 0

Q 40
(1.57)

Approx. Mass kg (lb) 6.0 (13.2) 7.5 (16.5) 8.5 (18.7) 14 (30.9) 17 (37.5) 20 (44.1)

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) 287 242 (11.3) (9.53) 196 (7.72) 45 116 220 102 (1.77) (4.57) (8.66) (4.02)

40
(1.57)

20A A2B

40
(1.57)

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)

55
(2.17)

55
(2.17)

55
(2.17)

3-142

S
R 1

3.17 Dimensional Drawings of SGMSH Servomotors (3000min-1)

Units: mm (in) Model SGMSHFlange Face Dimensions mm (in) LB LC LE LF LG


0.035 3.74 0 0.0014 0.035 3.74 0 0.0014 0.035 3.74 0 0.0014 0.035 4.33 0 0.0014 0.035 4.33 0 0.0014 0.035 4.33 0 0.0014 110 0 110 0 110 0

LA 115
(4.53)

LH 130
(5.12)

LZ 7
(0.28)

Allowable Radial Load N (lbf) 686 (154) 686 (154) 686 (154) 980 (221) 1180 (265) 1180 (265)

Allowable Thrust Load N (lbf) 196 (44) 196 (44) 196 (44) 392 (88) 392 (88) 392 (88)

95

10A A2B

100
(3.94)

3
(0.12)

3
(0.12)

10
(0.39)

15A A2B

115
(4.53)

95

100
(3.94)

3
(0.12)

3
(0.12)

10
(0.39)

130
(5.12)

7
(0.28)

20A A2B

115
(4.53)

95

100
(3.94)

3
(0.12)

3
(0.12)

10
(0.39)

130
(5.12)

7
(0.28)

30A A2B

145
(5.71)

130
(5.12)

6
(0.24)

6
(0.24)

12
(0.47)

165
(6.50)

9
(0.35)

40A A2B

145
(5.71)

130
(5.12)

6
(0.24)

6
(0.24)

12
(0.47)

165
(6.50)

9
(0.35)

50A A2B

145
(5.71)

130
(5.12)

6
(0.24)

6
(0.24)

12
(0.47)

165
(6.50)

9
(0.35)

Cable Specifications for Detector Connectors (17-bit Encoder)


L K J M A B C T NP D S R E H G F

Cable Specifications for Servomotor Connectors


A B C D Phase U Phase V Phase W FG (Frame ground) E Brake terminal F Brake terminal G

Receptacle: MS3102A20-29P Applicable plug (Purchased by the customer) Plug: MS3108B20-29S Cale clamp: MS3057-12A

F E D G

A B C

With an Absolute Encoder A B DATA+ C D DATA E F 0V G H +5VDC J FG (Frame ground)

K L M N P R S T

BATTBATT+

With an Incremental Encoder A K L B DATA+ C M D N DATA E P R F 0V G S H T +5VDC J FG(Frame ground)

3-143

3 Specifications and Dimensional Drawings 3.17.3 SGMSH Servomotors (3000 min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type)

3.17.3 SGMSH Servomotors (3000 min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type)
(1) Small Grease Lubricating Type
L 46
(1.81)

LL LM

R 12(0.47) 3(0.12) 100(3.94) Sh6 140( 5.51) Q

Applied Specifications for Shaft-end Tap


0) 6.3 0( 6 1 185 28) (7.
Q Shaft End 8 S d-tapL

47(1.85) 130h7 96(3.78) 88(3.46)

Frame No. Dia.S 10 5

Length Q d L mm

R1

ANFJ-L20 35 (1.38) 55 (2.17) M8 16 ANFJ-L30 50 (1.97) 75 (2.95) M10 20 ANFJ-L40 60 (2.36) 90 (3.54) M12 24

73(2.87) 21(0.83)

4-12 Mounting holes

Detailed Dimensions of IMT Gears


45(1.77) 91(3.58) 94(3.70) LBh7 140( 5.51) 70(2.76) 130(5.12) 135(5.31) LBh7

ANFJ-L20
132(5.20) 126(4.96) 132(5.20)

ANFJ-L30
184(7.24) 190(7.48) 245(9.65) 190(7.48)

Sh6

(Motor)

(Motor)

R3 44 (1.73) A
17(0.67) 12(0.47) 3(0.12) Gear Ratio 1/5 1/9 1/45 A 6 (0.24) 18 (0.71) 47 (1.85)

55 (2.17) 2(0.08) 20(0.79) 20(0.79) Units: mm (in) Flange LB Shaft End S 130 (5.12) 35 (1.38)

52 (2.05) A

R3

75(2.95) 2(0.08) 25(0.98) 33(1.30)

23(0.91) 15(0.59) 5(0.20) Gear Ratio 1/5 1/9 1/45 A 11 (0.43) 38 (1.50) 52 (2.05)

Units: mm (in) Flange LB Shaft End S 50 (1.97)

190 (7.48)

1/20, 1/29 39 (1.54)

1/20, 1/29 46 (1.81)

234(9.21) 240(9.45) 310(12.2)

240(9.45)

(Motor)

60 (2.36)

R3
A 90(3.54)

27(1.06) 18(0.71)

Gear Ratio 1/5 1/9 1/45

2(0.08) 25(0.98) 38(1.50) 5(0.20) Units: mm (in) Flange LB Shaft End S A 240 (9.45) 60 (2.36)

16 (0.63) 48 (1.89) 58 (2.28)

1/20, 1/29 55 (2.17)

3-144

90(3.54) 182(7.17) 186(7.32) LBh7

ANFJ-L40

Sh6

Sh6

3.17 Dimensional Drawings of SGMSH Servomotors (3000min-1)

Dimensional Tolerances
Flange Face Dimensions LB 130 190 240
0 5.12 0 0.040 0.0016 0 7.48 0 0.046 0.0018 0 9.45 0 0.046 0.0018

IMT Gear ANFJ-L20 ANFJ-L30 ANFJ-L40

Units: mm (in) Shaft-end Dimensions S 35 50 60


0 1.38 0 0.016 0.0006 0 1.97 0 0.016 0.0006 0 2.36 0 0.019 0.0007

Model SGMSH10A AL14 10A AL24

Gear Model

Gear Ratio 1/5 1/9

LL

LM

403 149 103 254 (15.9) (5.87) (4.06) (10.0) 415 149 103 266 (16.3) (5.87) (4.06) (10.5) 429 175 129 254 (16.9) (6.89) (5.08) (10.0) 452 198 152 254 (17.8) (7.80) (5.98) (10.0)

Units: mm (in) Shaft Center Approx. Allowable Mass Radial Load kg (lb) N (lbf) 833 13 (28.7) (187) 980 (221) 833 (187) 833 (187) 13 (28.7) 14 (30.9) 15 (33.1)

ANFJ-L20 15A AL14 20A AL14 1/5 1/5

INFO

Lubrication Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.

3-145

3 Specifications and Dimensional Drawings 3.17.3 SGMSH Servomotors (3000 min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type)

(2) Large Grease Lubricating Type


L LL 46(1.81) LM R Q QK 88(3.46) LBh7 Sh6 LG LR

Shaft End T

KL1

L
KB1 KB2 1(0.04) 5(0.20) 6-LZ Mounting holes

Units: mm (in) Model SGMSH10A AL54 10A AL74 10A AL84 ANFJ-L30 15A AL24 15A AL54 15A AL74 15A AL84 20A AL24 ANFJ-L30 20A AL54 20A AL74 ANFJ-L40 20A AL84 30A AL14 ANFJ-L30 30A AL24 30A AL54 30A AL74 30A AL84 ANFJ-L40 1/9 1/20 1/29 1/45 1/45 1/5 1/20 1/29 ANFJ-L40 1/9 1/20 1/29 1/45 1/9 Gear Model Gear Ratio 1/20 1/29 1/45 L LL LM LR KB1 KB2 KL1 R 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)

496 149 103 140 73 21 96 347 (19.5) (5.87) (4.06) (5.51) (2.87) (0.83) (3.78) (13.7) 496 149 103 140 73 21 96 347 (19.5) (5.87) (4.06) (5.51) (2.87) (0.83) (3.78) (13.7) 506 149 103 140 73 21 96 357 (19.9) (5.87) (4.06) (5.51) (2.87) (0.83) (3.78) (14.1) 518 175 129 140 73 21 96 343 (20.4) (6.89) (5.08) (5.51) (2.87) (0.83) (3.78) (13.5) 522 175 129 140 73 21 96 347 (20.6) (6.89) (5.08) (5.51) (2.87) (0.83) (3.78) (13.7) 522 175 129 140 73 21 96 347 (20.6) (6.89) (5.08) (5.51) (2.87) (0.83) (3.78) (13.7) 573 175 129 160 73 21 96 398 (22.6) (6.89) (5.08) (6.30) (2.87) (0.83) (3.78) (15.7) 541 198 152 140 73 21 96 343 (21.3) (7.80) (5.98) (5.51) (2.87) (0.83) (3.78) (13.5) 545 198 152 140 73 21 96 347 (21.5) (7.80) (5.98) (5.51) (2.87) (0.83) (3.78) (13.7) 586 198 152 160 73 21 96 388 (23.1) (7.80) (5.98) (6.30) (2.87) (0.83) (3.78) (15.3) 596 198 152 160 73 21 96 398 (23.5) (7.80) (5.98) (6.30) (2.87) (0.83) (3.78) (15.7) 540 199 153 140 77 22 114 341 (21.3) (7.83) (6.02) (5.51) (3.03) (0.87) (4.49) (13.4) 567 199 153 140 77 22 114 368 (22.3) (7.83) (6.02) (5.51) (3.03) (0.87) (4.49) (14.5) 612 199 153 160 77 22 114 413 (24.1) (7.83) (6.02) (6.30) (3.03) (0.87) (4.49) (16.3) 612 199 153 160 77 22 114 413 (24.1) (7.83) (6.02) (6.30) (3.03) (0.87) (4.49) (16.3) 622 199 153 160 77 22 114 423 (24.5) (7.83) (6.02) (6.30) (3.03) (0.87) (4.49) (16.7)

3-146

3.17 Dimensional Drawings of SGMSH Servomotors (3000min-1)

Units: mm (in) (Contd) Model SGMSH40A AL14 40A AL24 40A AL54 40A AL74 ANFJ-L40 50A AL14 50A AL24 50A AL54 1/5 1/9 1/20 Gear Model Gear Ratio 1/5 1/9 1/20 1/29 L LL LM LR KB1 KB2 KL1 R Shaft Center Allowable Radial Load N (lbf) 1670 (376) 4700 (1060) 6080 (1370) 6860 (1540) 3820 (860) 4700 (1060) 6080 (1370)

ANFJ-L30

577 236 190 140 77 22 114 341 (22.7) (9.29) (7.48) (5.51) (3.03) (0.87) (4.49) (13.4) 649 236 190 160 77 22 114 413 (25.6) (9.29) (7.48) (6.30) (3.03) (0.87) (4.49) (16.3) 649 236 190 160 77 22 114 413 (25.6) (9.29) (7.48) (6.30) (3.03) (0.87) (4.49) (16.3) 649 236 190 160 77 22 114 413 (25.6) (9.29) (7.48) (6.30) (3.03) (0.87) (4.49) (16.3) 657 276 230 160 77 22 114 381 (25.9) (10.9) (9.06) (6.30) (3.03) (0.87) (4.49) (15.0) 689 276 230 160 77 22 114 413 (27.1) (10.9) (9.06) (6.30) (3.03) (0.87) (4.49) (16.3) 689 276 230 160 77 22 114 413 (27.1) (10.9) (9.06) (6.30) (3.03) (0.87) (4.49) (16.3)

Model SGMSH10A AL54 10A AL74 10A AL84 15A AL24 15A AL54 15A AL74 15A AL84 20A AL24 20A AL54 20A AL74 20A AL84 30A AL14 30A AL24 30A AL54 30A AL74

Gear Ratio 1/20 1/29 1/45 1/9 1/20 1/29 1/45 1/9 1/20 1/29 1/45 1/5 1/9 1/20 1/29

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

3 Specifications and Dimensional Drawings 3.17.3 SGMSH Servomotors (3000 min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type)

(Contd) Model SGMSH30A AL84 40A AL14 40A AL24 40A AL54 40A AL74 50A AL14 50A AL24 50A AL54 Gear Ratio 1/45 1/5 1/9 1/20 1/29 1/5 1/9 1/20 Flange Face Dimensions mm (in) LA 280 (11.0) 220 (8.66) 280 (11.0) 280 (11.0) 280 (11.0) 280 (11.0) 280 (11.0) 280 (11.0) 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) Approx. Mass kg (lb) 56 (123) 32 (70.5) 59 (130) 59 (130) 59 (130) 52 (115) 62 (137) 62 (137)

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)

INFO

Lubrication Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.

3-148

3.18 Dimensional Drawings of SGMDH Servomotors (2000min-1)

3.18 Dimensional Drawings of SGMDH Servomotors (2000min-1)


These Servomotors are not provided with gears.

3.18.1 SGMDH Servomotors (2000min-1) Without Gears and With/Without Brakes


Models with oil seals are of the same configuration.
L

LL 43 (1.69)

LR

LM 4(0.16) 18(0.71) (7.87-0.0018 ) S 200-0.046

(0.016) 0.04 A 0.04 A (0.016) 220( 8.66)


35 2 25) . (9

Shaft End LR 4 (0.16) 4 (0.16) 62 (2.44) 45 (1.77) S


R 1

100( 4.29) 161(6.34) 88 (3.46)

27 (10 0 .63)
4-13.5 Mounting holes

KB1 KB2

0.02 (0.0008)

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 SGMDHShaft-end Dimensions S 242 187 144 55 70 165 (9.53) (7.36) (5.67) (2.17) (2.76) (6.50) 254 199 156 55 82 177 (10.0) (7.83) (6.14) (2.17) (3.23) (6.97) 274 209 166 65 92 187 (10.8) (8.23) (6.54) (2.56) (3.62) (7.36)
28 0 -0.013 0 1.10 -0.0005 0 -0.013 0 1.10 -0.0005

LL

LM

LR

KB1

KB2

Q 50 (1.97) 50 (1.97) 60 (2.36)

Approx. Mass kg (lb) Without With Brakes Brakes 15.5 (34.2) 18.5 (40.8) 21 (46.3) 20.5 (45.2) 23.5 (51.8) 26 (57.3)

Allowable Allowable Radial Load Thrust Load N (lbf) N (lbf) 1180 (265) 1180 (265) 1180 (265) 490 (110) 490 (110) 490 (110)

22A A21

32A A21

28

40A A21

32

0 -0.016 0 1.26 -0.0006

* 1. The detector is a 17-bit encoder (absolute/incremental). * 2. For Servomotors with brakes, B is appended to the end of each model name.

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3 Specifications and Dimensional Drawings 3.18.1 SGMDH Servomotors (2000min-1) Without Gears and With/Without Brakes

Cable Specifications for Detector Connectors (17-bit Encoder)


L K J 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

With an Absolute Encoder A B DATA+ C D DATA E F 0V G H +5VDC J FG (Frame ground)

K L M N P R S T

BATTBATT+

With an Incremental Encoder A K L B DATA+ M C N D DATA E P F R 0V S G T H +5VDC J FG (Frame ground)

Cable Specifications for Brake Connectors Wihtout brakes


A B C D E F G Phase U Phase V Phase W FG(Frame ground)

With brakes
A B C D E F G Phase U Phase V Phase W FG (Frame ground) Brake terminal Brake terminal

F E D

A G B C

F E D

A G B C

3-150

3.19 Dimensional Drawings of SGMCS Servomotors

3.19 Dimensional Drawings of SGMCS Servomotors


3.19.1 SGMCS Servomotors 135 Model
6 M4 screw, depth 8 (0.31)
0.07 (0.002) B 0.07 (0.002) A

4 (0.16)

L LL

135 (5.31)

R26

120h7

1
23

9 (0.35)

(0.039)

.4

100h7

90 (3.54

20 (0.79) 70(2.76)

Nonrotating section

9 (3. 0 54 )

B 4 0.02 (0.001) (0.16) Rotating section (shown with hatching)

6 M4 screw, depth 8 (0.31)


30 ) 1 5.12 (

90 Servomotor-end connector Nameplate

Model SGMCS02B B11 05B B11 07B B11

3.19.2 SGMCS Servomotors 175 Model


6 M5 screw, depth 8 (0.31)
0.07 (0.002) B 0.07 (0.002) A
5 (0.20) L LL B 0.02 (0.001) 5 (0.20) Rotating section (shown with hatching)

35 (1.38)

R3

6.5

160h7

25

.4

23

.4

9 (0.35)

1 (0.039)

60 Servomotor-end Encoder-end connector Nameplate connector

Nameplate

3.7 A (0.15) 0.04 (0.001)


0 130h7: 130 -0.040 (5.118 +0.0001 ) -0.0015 0 160h7: 160 -0.040 (6.299 +0.0002 ) -0.0014

130h7

130 (5.12)

100(3.94)

175 (6.89)

Nonrotating section

Reference length Units: mm (in)

Model SGMCS04C B11 10C B11 14C B11

L 69 (2.72) 90 (3.54) 130 (5.12)

LL 59 (2.32) 80 (3.15) 120 (4.72)

Approx. Mass kg (lb) 7.2 (15.87) 10.2 (22.49) 14.2 (13.31)

1 (4. 20 72 )

25 .4

Encoder-end connector

Nameplate

2.7 (0.11)

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

L 59 (2.32) 88 (3.46) 128 (5.04)

LL 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 M5 screw, depth 8 (0.31)


68 ) 1 6.61 (

3-151

3 Specifications and Dimensional Drawings 3.19.3 SGMCS Servomotors 230 Model

3.19.3 SGMCS Servomotors 230 Model


6 M6 screw, depth 10 (0.39)
0.08 (0.003) 0.08 (0.003) A B
5 (0.20)

L LL

B
5 (0.20)

0.02 (0.001)

6 M6 screw, depth 10 (0.39)


1 6 (6 0 2 .3 0 ) (8 20 .6 6)

Rotating section (shown with hatching)

230 (9.06)

R5
25

.4

23

.4

200h7

160 (6.30 )

Nonrotating section

9 (0.35)

(0.039)

60 Encoder-end Servomotor-end connector connector Nameplate

Nameplate

A 3 0.04 (0.001) (0.12)


0 0 170h7: 170 -0.040 (6.693 -0.0017 ) Reference length 0 0 200h7: 200 -0.046 (7.874 -0.0018 )

60 (2.36) 140 (5.51) 170h7 1

Units: mm (in)

Model SGMCS08D B11 17D B11 25D B11

L 74 (2.91) 110 (4.33) 160 (6.30)

LL 64 (2.52) 100 (3.94) 150 (5.91)

Approx. Mass kg (lb) 14.0 (30.86) 22.0 (48.50) 29.7 (65.48)

3.19.4 SGMCS Servomotors 290 Model


6 M8 screw, depth 14 (0.55)
0.08 (0.003) B 6 0.08 (0.003) A (0.24) L LL
6 (0.24)

65

Nonrotating section

25

.4

23

.4

9 (0.35)

60 Servomotor-end connector Nameplate

Encoder-end connector

Nameplate

75 (2.95) 180(7.09) 220h7

200 (7.87 )

290 (11.41) 260h7

1 (0.039)

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

Reference length Units: mm (in)

Model SGMCS16E B11 35E B11

L 88 (3.46) 112 (4.41)

LL 76 (2.99) 100 (3.94)

Approx. Mass kg (lb) 26.0 (57.32) 34.0 (74.96)

3-152

2 (7. 00 87 ) (1 280 1. 0)

0.02 (0.001) Rotating section (shown with hatching)

6 M8 screw, depth 14 (0.55)

3.19 Dimensional Drawings of SGMCS Servomotors

3.19.5 SGMCS Servomotors 280 Model


LL 6 (0.24) KB2 KB1 15 (0.59) (within 280h7)
(11.020.019)

15 (0.59) 0.08 (0.003) A B

12M6 screw, depth 15 (0.59) 41 (1.61)


30

0.08 A B (0.003) 182 (7.17)

2800.5

1.5 (0.059)

147 (5.79)

250 (9.84)

115 (4.53)

140 (5.51)

75.2 (2.96)

280h7

110h7

75H6

Rotating Section (shown with hatching) 15 (0.59) (within 75H6)

Rotating Section

(1 64 0. 39 )

(Rotating Section)

5 (0.20)

A
2
8 8 .46) (3

0.04 (0.001)

3
B 0.04 (0.001)
Rotating Section (shown with hatching)

12M6 screw, depth 18 (0.71)


0 280h7: 280 -0.052 (11.023 -0.0014 ) +0.0006

75H6: 75 +0.019 (2.953 +0.0005 ) -0.0002


0

Reference length Units: mm (in)

110h7: 110 -0.035 (4.33 -0.0007)

+0.0007

Model SGMCS45M A11 80M A11 1AM A11

LL 141 (5.55) 191 (7.52) 241 (9.48)

KB1 87.5 (3.44) 137.5 (5.41) 187.5 (7.38)

KB2 122 (4.80) 172 (6.77) 222 (8.74)

Approx. Mass kg (lb) 38 (83.77) 45 (99.20) 51 (112.4)

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3 Specifications and Dimensional Drawings 3.19.6 SGMCS Servomotors 360 Model

3.19.6 SGMCS Servomotors 360 Model


LL 6 (0.24) KB2 KB1 15 (0.59) (within 360h7)
(14.170.019)

15 (0.59) 0.08 (0.003) A B

12M8 screw, depth 15 (0.59) 41 (1.61)

30
0.08 (0.003) A B
(1 344 3. 54 )

325 (12.7) 166 (6.54) 186 (7.32)

1.5 (0.059)
(Rotating Section)

0.04 (0.001)

118.2 (4.65)

190 (7.48)

160h7

118H6

360h7

Rotating Section (shown with hatching) 15 (0.59) (within 118H6)

Rotating Section

0.04 (0.001) 12M8 screw, depth 20 (0.79)


360h7: 360 -0.057 (14.173 -0.0020 ) 118H6: 118 +0.022(4.646 +0.0005 ) -0.0003 0 160h7: 160 -0.040 (6.299 -0.0014 )
0 +0.0002 0 +0.0002

Rotating Section (shown with hatching)

Reference length Units: mm (in)

Model SGMCS80N A11 1EN A11 2ZN A11

LL 151 (5.94) 201 (7.91) 251 (9.88)

KB1 98 (3.86) 148 (5.82) 198 (7.79)

KB2 132 (5.19) 182 (7.16) 232 (9.13)

Approx. Mass kg (lb) 50 (110.2) 68 (149.9) 86 (189.5)

3-154

222 (8.74)

3600.5

5 (0.20)

5 1331) (5.

3.19 Dimensional Drawings of SGMCS Servomotors

3.19.7 Servomotor Connector for All Small-capacity Series Servomotors


Servomotor-end Connector Cable Specifications
1 3 Model: JN1AS04MK2 Manufacturer: Japan Aviation Electronics Industry, Ltd. Applicable plug: JN1DS04FK1 (Provided by the customer.)

2 1 2 3 4

Phase U Phase V Phase W FG (Frame ground)

Encoder-end Connector Cable Specifications


1 4 8 1 2 3 4 5 6 7 8 9 10 10 PS PS PG5V FG (Frame ground) PG0V 3 7 Model: JN1AS10ML1 Manufacturer: Japan Aviation Electronics Industry, Ltd. Applicable plug: JN1DS10SL1 (Provided by the customer.)

3-155

3 Specifications and Dimensional Drawings 3.19.8 Servomotor Connector for All Middle-capacity Series Servomotors

3.19.8 Servomotor Connector for All Middle-capacity Series Servomotors


Servomotor-end Connector Cable Specifications
Model: CE05-2A18-10PD Manufacturer: DDK Ltd. Applicable plug and cable Plug: CE05-6A18-10SD-B-BSS Cable clamp: CE3057-10A-(D265) (Provided by the customer.)

A D

B C

A B C D

Phase U Phase V Phase W FG (Frame ground)

Encoder-end Connector Cable Specifications


1 4 8 1 2 3 4 5 6 7 8 9 10 10 PS PS PG5V FG (Frame ground) PG0V 3 7 Model: JN1AS10ML1 Manufacturer: Japan Aviation Electronics Industry, Ltd. Applicable plug: JN1DS10SL1 (Provided by the customer.)

3-156

3.20 Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors

3.20 Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors

SGM H Symbol 2 3 Straight, without key Taper 1/10, with parallel key (Key slot is JISB1301-1976 high precision. SGMGH series is interchangeable with USAGED series.) Taper 1/10, woodruff key (Set only for SGMGH-05 and 09. Woodruff key is JISB1302.) Straight, with key and tap for one location (Key slot is JISB1301-1976 high precision.Key slot tolerance is JISB1301. Both key and tap are included.) Specifications Remarks Standard Semistandard Semistandard Semistandard

Symbol

Specifications
LR

Shaft End

Straight, without key

R1

S LR Q

LW

QA X P T W

QK

Taper 1/10 With parallel key

Y V Y S Taper 1/10

U Section Y-Y P T W V U Section Y-Y

LW

LR Q Q/2
Q

QA X

Taper 1/10, With woodruff key

Y Taper 1/10

3-157

3 Specifications and Dimensional Drawings

Symbol

Specifications
LR Q QK

Shaft End

Straight, With key and tap

P S

W T
R 1

Units: mm (in)
Symbol Specifications

SGMSH03B 06B 10 15 20 30 40 50 05A 09A


LR Q

Model SGMGH09B 13A


12B 20B 30B 40B 55B

SGMDH 1E 22 32 40 65 (2.56) 60 (2.36)


32 0 0.016

20A 30A 44A 55A 75A 1AA

45 (1.77) 40 (1.57)
0 24 0.013 0.945 0.0001 0.0006

63 (2.48) 55 (2.17)
28 0 0.013 19

58 (2.28) 40 (1.57)
0 0.013 22 0 0.013

79 (3.11) 76 (2.99)
35

113 (4.45)
0 0.016

116 (4.57) 110 (4.33)

55 (2.17) 50 (1.97)

2 Straight
S

+ 0.01
0

42

55

+ 0.030
0.011

28

0 0.013

1.102+ 0.0004 0.0001

0.748 0 0.0005

0.866+ 0.0001 0.0004

1.378+ 0.0003 0

1.653 + 0.0005 0.0001

2.166+ 0.0005 0.0011

1.102+ 0.0004 1.259+ 0.0008 0.0001 + 0.0002

LR LW Q QA QK Taper 1/10, parallel key X S V P W T U LR LW Q QA QK Taper 1/10, woodruff key

70 (2.76) 80 (3.15) 20 (0.79) 36 (1.42) 42 (1.65) 14 (0.55) 18 (0.71) 32 (1.26) 36 (1.42) 12.5 (0.49) 16 (0.63) 24 (0.94) 28 (1.10) 24 (0.94) 30 (1.18) M12, P1.25 M16, P1.5 8 (0.31) 7 (0.28) 7.1 (0.28)

58 (2.28) 18 (0.71) 28 (1.10) 12 (0.47) 25 (0.98)1 10.3 (0.41) 16 (0.63) 19 (0.75) 21 (0.83) M10, P1.25 5 (0.20) 5 (0.20)2 5.8 (0.23)

102 (4.02) 58 (2.28) 22 (0.87) 50 (1.97) 19.2 (0.76) 32 (1.26) 37 (1.46) M20, P1.5 7 (0.28) 7 (0.28) 10.55 (0.42)

132 (5.20) 22 (0.87) 82 (3.23) 28 (1.10) 70 (2.76) 23 (0.91) 42 (1.65) 44 (1.73) M24, P2.0 10 (0.39) 8 (0.31) 13.95 (0.55) 26 (1.02) 55 (2.17) 60 (2.36) M36, P3.0 14 (0.55) 9 (0.35) 19.95 (0.79)

8.95 (0.35) 4.3 (0.17)3 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)

X S V P W T U

3-158

3.20 Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors

Units: mm (in) (Contd)


Symbol Specifications

SGMSH10 15 20 30 40 50
LR Q QK

Model SGMGH03B 06B 05A 09A 58 (2.28) 40 (1.57) 25 (0.98)


19 0 0.013 22 0 0.013

SGMDH 1E 22 32 40 65 (2.56) 60 (2.36) 50 (1.97)


32 0 0.016

09B 13A

12B 20B 30B 40B 55B

20A 30A 44A 55A 75A 1AA

45 (1.77) 40 (1.57) 32 (1.26)


24 0 0.013

63 (2.48) 55 (2.17) 50 (1.97)


28 0 0.013

79 (3.11) 76 (2.99) 60 (2.36)


35

113 (4.45)

116 (4.57) 110 (4.33) 90 (3.54)

55 (2.17) 50 (1.97) 45 (1.77)

+ 0.01
0

42

0 0.016

55

+ 0.030
0.011

28

0 0.013

Straight, with key and tap

0.945 0.0001 0.0006

1.102+ 0.0004 0.0001

0.748 0 0.0005

0.866+ 0.0001 0.0004

1.378+ 0.0003 0

1.653+ 0.0005 0.0001

2.166+ 0.0005 0.0011

+ 0.0008 + 0.0004 1.102 0.0001 1.259+ 0.0002

W T U P

8 (0.31) 7 (0.28) 4 (0.16) M8 screw, depth: 16

5 (0.20) 5 (0.20) 3 (0.12)

6 (0.24) 6 (0.24) 3.5 (0.14)

10 (0.39) 12 (0.47) 8 (0.31) 5 (0.20) M12 screw, depth: 25 M16 screw, depth: 32

M5 screw, depth: 12

16 (0.63) 10 (0.39) 6 (0.24) M20 screw, depth: 40

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 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - 4-3


4.1.1 Single-phase 100 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 4.1.2 Single-phase/Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 4.1.3 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4

4.2 SERVOPACK Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6 4.3 SERVOPACK Internal Block Diagrams - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
4.3.1 Single-phase 200 V, 30 W to 400 W, and 100 V, 30 W to 200 W Models - - - - - - - - - - - 4-8 4.3.2 Three-phase 200 V, 500 W to 1.5 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9 4.3.3 Three-phase 200 V, 2.0 kW to 5.0 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9 4.3.4 Three-phase 200 V, 6.0 kW to 15 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10

4.4 SERVOPACKs Power Supply Capacities and Power Losses - - - - - - - - - 4-11 4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
4.5.1 Overload Characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12 4.5.2 Starting and Stopping Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13 4.5.3 Load Moment of Inertia - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13

4.6 SERVOPACK Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16

4-1

4 SERVOPACK Specifications and Dimensional Drawings

4.7 Dimensional Drawings of Base-mounted SERVOPACK Model - - - - - - - - 4-17


4.7.1 Single-phase 100 V: 30 W to 100 W (A3BD to 01BD, A3BDA to 01BDA) Single-phase 200 V: 30 W to 200 W (A3AD to 02AD, A3ADA to 02ADA) - - - - - - - - - -4-17 4.7.2 Single-phase 100 V: 200 W (02BD, 02BDA) Single-phase 200 V: 400 W (04AD, 04ADA) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-18 4.7.3 Three-phase 200 V: 500 W/750 W/1.0 kW (05AD to 10AD, 05ADA to 10ADA) - - - - - -4-19 4.7.4 Three-phase 200 V: 1.5 kW (15AD, 15ADA) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-20 4.7.5 Three-phase 200 V: 2.0 kW/3.0 kW (20AD to 30AD, 20ADA to 30ADA) - - - - - - - - - - -4-21 4.7.6 Three-phase 200 V: 5.0 kW (50ADA) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-22 4.7.7 Three-phase 200 V: 6.0 kW/7.5 kW (60ADA to 75ADA) - - - - - - - - - - - - - - - - - - - - - -4-23 4.7.8 Three-phase 200 V: 11.0 kW/15.0 kW (1AADA to 1EADA) - - - - - - - - - - - - - - - - - - - -4-24

4.8 Dimensional Drawings of Rack-mounted SERVOPACK Model - - - - - - - - 4-25


4.8.1 Single-phase 100 V: 30 W/50 W/100 W (A3BD-R to 01BD-R, A3BDA-R to 01BDA-R) Single-phase 200 V: 30 W/50 W/100 W/200 W (A3AD-R to 02AD-R, A3ADA-R to 02ADA-R) - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-25 4.8.2 Single-phase 100 V: 200 W (02BD-R, 02BDA-R) Single-phase 200 V: 400 W (04AD-R, 04ADA-R) - - - - - - - - - - - - - - - - - - - - - - - - - - -4-26 4.8.3 Three-phase 200 V: 500 W/750 W/1.0 kW (05AD-R to 10AD-R, 05ADA-R to 10ADA-R) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-27 4.8.4 Three-phase 200 V: 1.5 kW (15AD-R, 15ADA-R) - - - - - - - - - - - - - - - - - - - - - - - - - - -4-28 4.8.5 Three-phase 200 V: 2.0 kW/3.0 kW (20AD-R to 30AD-R, 20ADA-R to 30ADA-R) - - - -4-29 4.8.6 Three-phase 200 V: 5.0 kW (50ADA-R) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-30

4.9 Dimensional Drawings of Duct-ventilated SERVOPACK Model - - - - - - - - 4-31


4.9.1 Three-phase 200 V: 6.0 kW/7.5 kW (60ADA-P to 75ADA-P) - - - - - - - - - - - - - - - - - - -4-31 4.9.2 Three-phase 200 V: 11.0 kW/15.0 kW (1AADA-P/1EADA-P) - - - - - - - - - - - - - - - - - - -4-32

4-2

4.1 SERVOPACK Ratings and Specifications

4.1 SERVOPACK Ratings and Specifications

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.

4.1.1 Single-phase 100 V


The value of the input power supply voltage is maximum 127 Vrms.
SERVOPACK Model SGDMMax. Applicable Servomotor Capacity (kW) Continuous Output Current (Arms) Max. Output Current (Arms) Input Power Supply Main Circuit Control Circuit A3B 0.03 0.66 2.0 A5B 0.05 0.95 2.9 01B 0.1 2.4 7.2 02B 0.2 3.0 9.0

Configuration Regenerative Processing

Single-phase 100 to115 VAC +10 to -15%, 50/60 Hz Single-phase 100 to115 VAC +10 to -15%, 50/60 Hz Base-mounted (Rack mounting available as an option) External regenerative resistor

4.1.2 Single-phase/Three-phase 200 V


The value of the input power supply voltage is maximum 253 Vrms.
SERVOPACK Model SGDMMax. Applicable Servomotor Capacity (kW) Continuous Output Current (Arms) Max. Output Current (Arms) Input Power Supply 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 3.0 5.0 6.0 7.5 11 15

0.44 0.64 0.91 1.3 2.0 2.8

2.1 6.5

2.8 8.5

3.8 11.0

5.7 13.9

7.6 17

11.6 28

18.5 24.8 32.9 46.9 54.7 58.6 78.0 42 56 84 110 130 140 170

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 Base-mounted (Rack mounting available as an option) External regenerative resistor Built-in Base-mounted (Ductventilated available as an option) External regenerative resistor

Configuration Regenerative Processing

4-3

4 SERVOPACK Specifications and Dimensional Drawings 4.1.3 SERVOPACK Ratings and Specifications

4.1.3 SERVOPACK Ratings and Specifications


Control Method Basic Specifications Feedback Conditions Ambient/Storage Temperature 1 Ambient/Storage Humidity Vibration/Shock Resistance Speed Control Range Speed Regulation 2 Load Regulation Voltage Regulation Temperature Regulation Single or three-phase full-wave rectification IGBT-PWM (sine-wave driven) Serial encoder: 13, 16 or 17-bit (incremental/absolute) The 13-bit encoder is incremental only. 0 to +55 C (32 to 131 F)/-20 to +85 C (-4 to 185 F) 90% RH or less (with no condensation) 4.9 m/s2/19.6 m/s2 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) 25 25 C (77 F): 0.1% or less (at rated speed) 400 Hz (at JL = JM) 2%

Performance

Frequency Characteristics Torque Control Tolerance (Repeatability) Soft Start Time Setting Speed Reference Input

Speed and Torque Control Modes

Input Torque Signals Reference Input Contact Speed Reference Bias Setting Performance Position Control Modes Input Signals

0 to 10 s (Can be set individually for acceleration and deceleration.) 6 VDC (Variable setting range: 2 to 10 VDC) at rated torque (servoReference Voltage 3 motor forward rotation with positive reference), input voltage: maximum 12 V Input Impedance About 14 k Circuit Time Constant About 47 s 3 VDC (Variable setting range: 1 to 10 VDC) at rated torque (positive Reference Voltage 3 torque reference with positive reference), input voltage: maximum 12 V Input Impedance About 14 k Circuit Time Constant About 47 s Rotation Direction With P control signal Selection With forward/reverse current limit signal (speed 1 to 3 selection), servoSpeed Selection motor stops or another control method is used when both are OFF. 0 to 450 min-1 (setting resolution: 1 min-1) 0 to 100% (setting resolution: 1%) 0 to 250 reference units (setting resolution: 1 reference unit) Sign + pulse train, 90 phase difference 2-phase pulse (phase A + phase B), or CCW + CW pulse train Line driver (+5 V level), open collector (+5 V or +12 V level) Maximum 500/200 kpps (line driver/open collector) Clear signal (input pulse form identical to reference pulse) +12 V (1k resistor built in)

Feed Forward Compensation Positioning Completed Width Setting Reference Pulse Type

Form Frequency Control Signal Built-in Open Collector Power Supply 4

4-4

4.1 SERVOPACK Ratings and Specifications

Form Position Output Frequency Dividing Ratio Signal allocation can be modified. Fixed Output Sequence Output Dynamic Brake Overtravel Stop Electronic Gear Protection LED Display Signal allocation can be modified.

Phase-A, -B, -C line driver Phase-S line driver (only with an absolute encoder) Any Servo ON, P control (or Control mode switching, forward/reverse motor rotation by internal speed setting, zero clamping, reference pulse prohibited), forward run prohibited (P-OT), reverse run prohibited (N-OT), alarm reset, forward current limit, and reverse current limit (or internal speed selection) Servo alarm, 3-bit alarm codes Positioning completed (speed coincidence), during servomotor rotation, servo ready, during current limiting, during speed limiting, brake released, warning, selecting three of the NEAR signals. Operated at main power OFF, servo alarm, servo OFF or overtravel. Dynamic brake stop at P-OT or N-OT, deceleration to a stop, or coast to a stop 0.01 B/A 100 Overcurrent, overvoltage, low voltage, overload, regeneration error, main circuit detection section error, heat sink overheated, no power supply, overflow, overspeed, encoder error, overrun, CPU error, parameter error. Charge, Power, five 7-segment LEDs (built-in Digital Operator functions) Analog monitor connector built in for monitoring speed, torque and other reference signals. Speed: 1 V/1000 min-1 Torque: 1 V/100% of rated torque Position error pulses: 0.05 V/1 reference units or 0.05 V/100 reference units Digital Operator (hand-held model), RS-422A port such as for a personal computer (RS-232C ports under certain conditions) Up to N = 14 for RS-422A ports Set with parameters. Status display, parameter setting, monitor display, alarm trace-back display, JOG and autotuning operations, speed, torque reference signal and other drawing functions. Reverse rotation connection, zero-point search, automatic servomotor ID, DC reactor connection terminal for harmonic suppressions. 5

I/O Signals

Sequence Input

Internal Functions

CN5 Analog Monitoring

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 = No-load motor speed Total load motor speed 100% Rated motor speed

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

4 SERVOPACK Specifications and Dimensional Drawings

4.2 SERVOPACK Installation


The SGDM SERVOPACKs can be mounted on a base, rack or duct-ventilated. Incorrect installation will cause problems. Always observe the following installation instructions.

WARNING
After voltage resistance test, wait at least five minutes before servicing the product. (Refer to Voltage 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) Installation category (Overvoltage category) : Operating Conditions 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.

Storage

Installation Site

* Conforming to the following standards. UL508C CSA C22.2 No.14 EN50178 EN55011 group 1 class A EN61000-6-2

4-6

4.2 SERVOPACK Installation

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. 10 mm (0.39 in) min. 50 mm (1.97 in) min.

Installation

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.

Voltage Resistance Test

4-7

4 SERVOPACK Specifications and Dimensional Drawings 4.3.1 Single-phase 200 V, 30 W to 400 W, and 100 V, 30 W to 200 W Models

4.3 SERVOPACK Internal Block Diagrams


4.3.1 Single-phase 200 V, 30 W to 400 W, and 100 V, 30 W to 200 W Models
+10% Single-phase 200 to 230 V -15% (50/60 Hz) +10% Single-phase 100 to 115 V -15%

1 2 PM1-1

RY1

B1

B2

THS1

Noise filter
FU1 1KM L1 XX1 T N1
Relay drive

P2
CHARGE

PM1-2 R7 U V R8

D2 D3 D4

Servomotor
U V W M

D1

C1

+ TR1 N2
Voltage sensor Gate drive Gate drive overcurrent protector

L2

Voltage sensor

CN2

Interface
Current sensor

PG

L1C L2C

~ ~

+ -

+ -

DC / DC converter

5 V +15 V +5 V 12 V

CN8

For battery connection

ASIC (PWM control, etc.)

CN1

PG output Reference pulse input

Power Power OFF ON


1KM 1KM

Open during servo alarm (1RY)


1RY

+5 V

0V

Surge suppressor

Panel operator
Analog voltage converter

POWER

CPU (Position/speed calculation, etc.)

A/D

Speed/torque reference input Sequence I/O

I/O

CN5

CN3

Analog monitor output for supervision

Digital operator or personal computer

The supply voltage for 100V, 30 to 200W is 100 to 115V +10% (50/60 Hz). -15%

4-8

4.3 SERVOPACK Internal Block Diagrams

4.3.2 Three-phase 200 V, 500 W to 1.5 kW Models


+10% Single/Three-phase 200 to 230 V -15% (50/60 Hz)

1 RY1 2 FU1 R2

B1 B2 B3

FAN1

D2 D3 D4

12V

Noise filter
1KM L1 L2 L3 XX1 XX2 XX3 S T R

P
CHARGE

P U V W U V W

Servomotor

+ C1 -

N
Relay drive Voltage sensor Gate drive

N
Gate drive overcurrent protector

THS1

Voltage sensor

CN2

Interface

When 0.5 kW to 1.0 kW models are used.

PG

L1C L2C

~ ~

+ -

+ -

5 V

Current sensor

DC / DC converter

+15 V +5 V 12 V

CN8

For battery connection

ASIC (PWM control, etc.)

CN1

PG output Reference pulse input


0V

Power Power Open during OFF ON servo alarm (1RY)


1KM 1KM 1KM

+5 V

Surge suppressor

Panel operator
Analog voltage converter

POWER

CPU (Position/speed calculation, etc.)

A/D

Speed/torque reference input Sequence I/O

I/O

CN5

CN3

Analog monitor output for supervision

Digital operator or personal computer

4.3.3 Three-phase 200 V, 2.0 kW to 5.0 kW Models


Three-phase 200 to 230 V -15% (50/60 Hz)
1 2 FU1 P 1KM L1 L2 L3 XX1 XX2 XX3
CHARGE

+10%

B1 B2 B3 FAN1 P 12 V U V W N N DB
Gate drive overcurrent protector

Noise filter
R S T

Servomotor
U V W M

C1 RY1

+ -

Relay drive Voltage sensor

Voltage sensor

Gate drive

~~~ + CN2 PG

Interface

Gate drive

L1C L2C

~ ~

+ -

+ -

DC / DC converter

5 V +15 V +5 V 12 V

Current sensor

CN8

For battery connection

ASIC (PWM control, etc.)

CN1

PG output Reference pulse input


0V

Power Power Open during OFF ON servo alarm (1RY)


1KM 1KM 1KM 1RY

+5 V A/D

Surge suppressor

Panel operator
Analog voltage converter

POWER

CPU (Position/speed calculation, etc.)

Speed/torque reference input Sequence I/O

I/O

CN5

CN3

Analog monitor output for supervision

Digital operator or personal computer

4-9

4 SERVOPACK Specifications and Dimensional Drawings 4.3.4 Three-phase 200 V, 6.0 kW to 15 kW Models

4.3.4 Three-phase 200 V, 6.0 kW to 15 kW Models


Three-phase 200 to 230 V -15% (50/60 Hz)
RY1 DB1 P FU1 R3 D1 1KM L1 L2 L3 BA2
C7 C6 C5

+10%

Regenerative resistor (Option)


B1 B2 PM1/PM2/PM3 12 V * CT1 R S T N C9
Voltage sensor isolator
+

THS1

FAN1

Noise filter
BA1 BA3

Servomotor
U V W M

C1

CHARGE

C10

U V

CT2

TR1

SCR1

Relay drive

Voltage sensor isolator

Base drive overcurrent protector isolator

R2
Gate drive isolator Current sensor

CN2 PG

L1C L2C

5 V

DC / DC converter

12 V PG5 V

ASIC (PWM control, etc.)

CN8 CN1

For battery connection PG output Reference pulse input

Power Power OFF ON

Open during servo alarm (1RY)

+5 V

1KM 1KM 1KM 1RY 0V

Panel operator
Analog voltage converter CN5

POWER

CPU (Position/speed calculation, etc.)

A/D

Speed/torque reference input Sequence I/O

I/O

CN3

Analog monitor output for supervision

Digital operator or personal computer

* 220 VAC for the 6.0 and 7.5 kW models.

4-10

4.4 SERVOPACKs Power Supply Capacities and Power Losses

4.4 SERVOPACKs Power Supply Capacities and Power Losses


The following table shows SERVOPACKs power supply capacities and power losses at the rated output.
Table 4.1 SERVOPACK Power Losses at Rated Output Main Circuit Power Supply 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 1.5 Three-phase 200 V 2.0 3.0 5.0 6.0 7.5 11 15 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 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 11.6 18.5 24.8 32.9 46.9 54.7 58.6 78.0 Main Circuit Power Loss W 3.5 5.2 12 16.4 3.1 4.6 6.7 13.3 20 27 41 55 92 120 155 240 290 330 360 490 Regenerative Resistor Power Loss W Control Circuit Power Loss W 13 Total Power Loss W 16.5 18.2 25 29.4 16.1 17.6 19.7 26.3 33 54 68 82 121 163 198 311 27
3

Single-phase 100 V

Single-phase 200 V

13

12 2 14 2 28 2 56 2 15

30

317 357 390 520

* 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

4 SERVOPACK Specifications and Dimensional Drawings 4.5.1 Overload Characteristics

4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia


4.5.1 Overload Characteristics
SERVOPACKs have a built-in overload protective function that protects the SERVOPACKs and servomotors from overload. Allowable power for the SERVOPACKs is limited by the overload protective function as shown in the figure below. The overload detection level is set under hot start1 conditions at a servomotor ambient temperature of 40C (104F).
10000

1000

B Operating time (s) 100 A 10 5

1 Rated torque Approx. Rated torque + Maximum torque 2 Motor torque Maximum 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

4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia

4.5.2 Starting and Stopping Time


The motor starting time (tr) and stopping time (tf) under a constant load are calculated using the following formulas. Motor viscous torque and friction torque are ignored.
Starting time: tr = 2 NM (JM + JL) [s] 60 (TPM TL) 2 NM (JM + JL) [s] 60 (TPM TL)

Stopping time: tf =

NM : JM: JL: TPM: TL:

Motor speed (min-1) Motor rotor moment of inertia (kg m2) Load converted to shaft moment of inertia (kg m2) Instantaneous peak motor torque when combined with a SERVOPACK (N m) Load torque (N m)

Calculate the torque from the motor current using servomotor torque constant motor current (effective value). The following figure shows the motor torque and motor speed timing chart.
TPM

Motor torque (current amplitude)

TL

Motor speed

NM

TPM

tr

tf

Time

Time

4.5.3 Load Moment of Inertia


The larger the load moment of inertia, the worse the movement response of the load. The size of the load moment of inertia (JL) allowable when using a servomotor depends on motor capacity and is limited to within 5 to 30 times the moment of inertia of each servomotor (JM). This value is provided strictly as a guideline and results may vary depending on servomotor drive conditions. An overvoltage alarm is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia. SERVOPACKs with a built-in regenerative resistor may generate a regeneration overload alarm. Take one of the following steps if this occurs. Reduce the torque limit. Reduce the deceleration rate. Reduce the maximum motor speed. Install an externally mounted regenerative resistor if the alarm cannot be cleared. Contact your Yaskawa Application Engineering Department.

Regenerative resistors are not built into 200 V SERVOPACKs for 30 W to 400 W or 100 V SERVOPACKs for 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

4 SERVOPACK Specifications and Dimensional Drawings 4.5.3 Load Moment of Inertia

(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-A3 (30 W) 0.66
(9.35)

SGMAH-A5 (50 W)

SGMAH-01 (100 W)

0.50
(7.08)

Load moment of inertia -4 2 (10 kg m )

(10-3 oz in s2)

Load moment of inertia (10-4 kg m2)

(10-3 oz in s2)

1.09 Load moment (15.4) of inertia -4 2 (10 kg m )


(10-3 oz in s2)

3000 5000

3000 5000

3000 5000

Motor speed (min-1)

Motor speed (min-1)

Motor speed (min-1)

SGMAH-02 (200 W) 3.18


(45.0)

SGMAH-04 (400 W) 5.19 2600 min-1 3000 min-1

3300 min-1

(73.5)

Load moment of inertia (10-4 kg m2)

(10-3 oz in s2) 1.21 (17.1)

Load moment 3.81 (54.0) of inertia (10-4 kg m2) (10-3 oz in s2) 1.12
(15.9)

3000 5000

3000 5000

Motor speed (min-1)

Motor speed (min-1)

(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) 3.74
(53.0)

SGMPH-02 (200 W)

SGMPH-04 (400 W) 3.31


(46.9)

1.47
(20.8)

Load moment of inertia (10-4 kg m2)


(10-3 oz in s2)

Load moment 1.10 of inertia (10-4 kg m2) (15.6)


(10-3 oz in s2)

Load moment of inertia (10-4 kg m2) 0.89

(10-3 oz in s2) (12.6)

0 3000 5000 Motor speed (min-1)

3000 5000 Motor speed (min-1)

0 3000 5000 Motor speed (min-1)

(3) Allowable Load Moment of Inertia at the Motor Shaft


The rotor moment of inertia ratio is the value for a servomotor without a gear and a brake.
Servomotor Model SGMAH Capacity Range 30 W to 200 W 400 W, 750 W 100 W SGMPH 200 W 400 W 750 W, 1.5 kW Allowable Load Moment of Inertia (Rotor Moment of Inertia Ratio) 30

20 25 15 7 5

4-14

4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia

Servomotor Model SGMGH (1500 min-1) SGMGH (1000 min-1) SGMSH SGMDH

Capacity Range 450 W to 15 kW 300 W to 5.5 kW 1.0 kW to 5.0 kW 2.2 kW to 4.0 kW

Allowable Load Moment of Inertia (Rotor Moment of Inertia Ratio)

5 5 5 5

(4) Overhanging Loads


A servomotor may not be operated with an overhanging load, which tends to continuously rotate the motor. Fig. 4.1 shows a typical example of such a load. DO NOT use the servomotor with the Vertical Axis Motor Drive without Counterweight

Servomotor

DO NOT use the servomotor with the Feeding Motor Drive

Tension

Servomotor Servomotor rotated repeatedly at a constant speed to maintain the tension. Servomotor

Fig 4.1 Examples of Overhanging Loads 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.

IMPORTANT

4-15

4 SERVOPACK Specifications and Dimensional Drawings

4.6 SERVOPACK Dimensional Drawings


SERVOPACK dimensional drawings are grouped according to the mounting method and the capacity.

(1) Base-mounted Type


Supply Voltage 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 11.0 kW / 15.0 kW 60A / 75A 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

(2) Rack-mounted Type


Supply Voltage 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

Single-phase

Three-phase

(3) Duct-ventilated Type


Supply Voltage Three-phase 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

4-16

4.7 Dimensional Drawings of Base-mounted SERVOPACK Model

4.7 Dimensional Drawings of Base-mounted SERVOPACK Model


4.7.1 Single-phase 100 V: 30 W to 100 W (A3BD to 01BD, A3BDA to 01BDA) Single-phase 200 V: 30 W to 200 W (A3AD to 02AD, A3ADA to 02ADA)
5.5 (0.22) Mounting Hole Diagram 2M4 screw holes

YASKAWA SERVOPACK YASKAWA

SGDM-

160 (6.30)

Terminal block

MODE/SET CHARGE

DATA/ POWER

CN3

CN1 6 (0.24) CN2 10 (0.39) 55 (2.17) 75 (2.95) * Nameplate 130 (5.12)

5 (0.20) *

160 (6.30) 149.50.5 (5.890.02) (Mounting pitch) 5 (0.20)


55 (2.17)

Ground terminal 6 2M4 screws (0.24)

* Reference length

Units: mm (in) Approx. mass: 0.8 kg (1.76 lb) 17 (0.67)

External Terminal Connector


Main circuit power supply L1 L2 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

4 SERVOPACK Specifications and Dimensional Drawings 4.7.2 Single-phase 100 V: 200 W (02BD, 02BDA) Single-phase 200 V: 400 W (04AD, 04ADA)

4.7.2 Single-phase 100 V: 200 W (02BD, 02BDA) Single-phase 200 V: 400 W (04AD, 04ADA)
5.5 (0.22) CN3 CN1 CN2
5* (0.20)

5.5 (0.22)

Mounting Hole Diagram 2M4 screw holes

25 (0.20) holes
YASKAWA SERVOPACK

YASKAWA

SGDM-

160 (6.30) 149.5 (5.89)

Terminal block

MODE/SET CHARGE

DATA/ POWER

10 (0.39)

6 (0.24)

Nameplate 75 (2.95)* 130 (5.12)

5 (0.20)*

6 (0.24)

160 (6.30) 149.50.5 (5.890.02) (Mounting pitch) 12 (0.47) 75 (2.95)


* Reference length

Ground terminal 2M4 screws 12 (0.47)

5 (0.20) 63 (2.48) * 75 (2.95)

Units: mm (in) Approx. mass: 1.1 kg (2.43 lb) 17 (0.67)

External Terminal Connector 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.

Main circuit power supply L1 L2

Control power supply L1C L2C

Single-phase 100/200 VAC 50/60 Hz

Single-phase 100/200 VAC 50/60 Hz

4-18

4.7 Dimensional Drawings of Base-mounted SERVOPACK Model

4.7.3 Three-phase 200 V: 500 W/750 W/1.0 kW (05AD to 10AD, 05ADA to 10ADA)
96.2 (3.79) Terminal block 160 (6.30) 5 (0.20) hole
YASKAWA SERVOPACK200V
YASKAWA

94.4 (3.72)

SGDM-

MODE/SET CHARGE

DATA/ POWER

CN3 CN1

5 (0.20)

CN2
Ground terminal 2M4 screws

Cooling fan
5.5 (0.22)

Mounting Hole Diagram

15 (0.59)

10 (0.39)

Nameplate 75 (2.95)* 180 (7.09)

160 (6.30) 149.50.5 (5.870.02) (Mounting pitch)

35 55 (2.17) (1.38) 90 (3.54)

8 (0.31)

2M4 screw holes

4
17 (0.67)

5 (0.20)*

27 (1.06) 90 (3.54)

* Reference length

Units: mm (in) Approx. mass: 1.7 kg (3.75 lb)

External Terminal Connector


Main circuit power supply L1 L2 L3 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

4 SERVOPACK Specifications and Dimensional Drawings 4.7.4 Three-phase 200 V: 1.5 kW (15AD, 15ADA)

4.7.4 Three-phase 200 V: 1.5 kW (15AD, 15ADA)


5.5 (0.22) 25 (0.20) holes Heat sink

Mounting Hole Diagram 4M4 screw holes

YASKAWA SERVOPACK

YASKAWA

SGDM-

MODE/SET CHARGE

DATA/ POWER

160 (6.30)

CN3 CN1 CN2

Nameplate 75 (2.95)* 180 (7.09)

5 (0.20)*

5 (0.20)

Ground terminal 2M4 screws

Terminal block

160 (6.30) 149.50.5 (5.890.02) (Mounting pitch)


1000.5 (3.940.02)

110 (4.33)

(0.20)* (Mounting pitch) 4 (0.16) 110 (4.33)

5* (0.20)

* Reference length

Units: mm (in) Approx. mass: 2.8 kg (6.17 lb)

Cooling fan

External Terminal Connector


Main circuit power supply L1 L2 L3 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.

4-20

4.7 Dimensional Drawings of Base-mounted SERVOPACK Model

4.7.5 Three-phase 200 V: 2.0 kW/3.0 kW (20AD to 30AD, 20ADA to 30ADA)


6 (0.24)
6 (0.24)

26 (0.24) holes Heat sink


YASKAWA SERVOPACK

Mounting Hole Diagram 4M5 tap

YASKAWA

SGDM-

MODE/SET CHARGE

DATA/ POWER

CN3

CN3 250 (9.84) CN1 CN2

238.50.5 (9.390.02)

250 (9.84) 238.5 (9.39)

CN1

CN2

14-pin terminal M4 mounting screw

5.5* (0.22)

5.5 (0.22)*

(Mounting pitch)

Ground terminal 2M4 screws 5

6 (0.24)

Nameplate 180 (7.09)

(0.20)*

110 (4.33)

100 (3.94) 5 (0.20)* 75 (2.95)*

4 (0.16)

(3.940.02) 5 (0.20)* (Mounting pitch) 110 (4.33)

1000.5

5 (0.20)*

Nameplate

4
* Reference length

(100) 40 (1.57)* Cooling fan

Units: mm (in) Approx. mass: 3.8 kg (8.38 lb)

External Terminal Connector


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

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

4 SERVOPACK Specifications and Dimensional Drawings 4.7.6 Three-phase 200 V: 5.0 kW (50ADA)

4.7.6 Three-phase 200 V: 5.0 kW (50ADA)


6 (0.24) Heat sink 6 (0.24) 6-pin terminal M5 screw
YASKAWA SERVOPACK

Mounting Hole Diagram 4M5 screw taps

SGDM-50ADA
Ver.

4-pin terminal M4 screw CN3 CN1 CN2 250 (9.84)

L1 L2
MODE/SET CHARGE DATA/ POWER

L3

+1

250 (9.84) 238.5 (9.39)

+2 -

L1C L2C B1 B2 B3 U V W

238.50.5 (9.390.02) (Mounting pitch)

5* (0.20)

5 (0.20)*

75 (2.95)*

230 (9.06)

1.6 (0.06)

5.5 (0.22)*

5.7 (0.22) 125 (4.92) 135 (5.31)

Nameplate

5* (0.20)

Ground terminal M5 screw

3-pin terminal M5 screw

1250.5 (4.920.02) (Mounting pitch)

5.5 (0.22)

5 (0.20)*

* Reference length

(100)
83 (3.27)*

Units: mm (in) Approx. mass: 5.5 kg (12.13 lb)

External Terminal Connector


Main circuit power supply L1 L2 L3 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.

4-22

4.7 Dimensional Drawings of Base-mounted SERVOPACK Model

4.7.7 Three-phase 200 V: 6.0 kW/7.5 kW (60ADA to 75ADA)


7.5 (0.30) 7.5 (0.30)

Mounting Hole Diagram 4M6 screw holes

Cooling fan 10 (0.39)

SERVOPARK 200V
SGDMVer.

CN8
POWER MODE/SET DATA/ BATTERY

YASKAWA

335 (13.19) Max. 350 (13.78)

282.6 (11.13) 100.5 (3.96)

21 (0.83) Control circuit terminal

Nameplate

CHARGE

WARNING

CN1 CN2
66 (2.60) 51 46 (2.01) 12.5 (0.49) (1.81)
L1 L2 L3 + B1 B2 U V W

125 (4.92)

19 (0.75)

30.5 171 (6.73) (1.20) 25 (0.98) 180 (7.09)

28.3 (1.11)* 25 (0.98)*

Max. 230 (9.06)


Main circuit terminal M6 Ground terminal M8

27 87.5 (3.44) 107 (4.21) (1.06) Max. 235 (9.25) Ground terminal

7.5 (0.30)*

41 123.5 (4.86) (1.61) (65.6)

7.5 (0.30)

9 (0.35)

25 (0.98)

Main circuit terminal

335 (13.19)

CN3 110 (4.33) CN5 Control circuit terminal M4 !

25 (0.98)

180 (7.09)

25 (0.98)*

A View A

145 (5.71)

90 (3.54)

* Reference length

Units: mm (in) Approx. mass: 14.3 kg (31.53 lb)

External Terminal Connector


External regenerative resistor B1 B2

Main circuit power supply L1 L2 L3

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.

4-23

4 SERVOPACK Specifications and Dimensional Drawings 4.7.8 Three-phase 200 V: 11.0 kW/15.0 kW (1AADA to 1EADA)

4.7.8 Three-phase 200 V: 11.0 kW/15.0 kW (1AADA to 1EADA)


7.5 (0.30)
7.5 (0.30)

Mounting Hole Diagram 4M6 screw holes

Cooling fan

10 (0.39)

SERVOPACK 200V
SGDM- 1AADA Ver.

YASKAWA

CN3
POWER MODE/SET

CN8
DATA/

BATTERY

140 (5.51)

Regenerative resistor terminal M6 320 (12.60)


CHARGE

CN1 CN2
B1 B2
L1C L2C

Nameplate

160 (6.30)
L1 L2 L3 +1 -

46 (1.81)
U V W

26.5 (1.04)

(1.34)

30 200 (7.87) (1.18) 260 (10.24)

30 (1.18)*

7.5 (0.30)*

34 27 (1.06)

7.5* (0.30)

45 151 (5.94) (1.77)

7 (0.28)

34 (1.34)

17 (0.67) 125 (4.92) 126 (4.96) 285 (11.22)

435 (17.13)

Control circuit terminal M4

435 (17.13) 450 (17.72)

CN5

Main circuit Ground terminal M8 terminal M8 A View A

Main circuit terminal M8

Ground terminal M8

30 (1.18)

200 (7.87)

30 (1.18)*

145 (5.71) 224 (8.82) 257 (10.12) 271 (10.67)

* Reference length

Units: mm (in) Approx. mass: 26 kg (57.32 lb)

External Terminal Connector SERVOPACK Connector SERVOPACK Connector 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.

Main circuit power supply L1 L2 L3

Control power supply L1C L2C

External regenerative resistor B1 B2

Three-phase 200 VAC 50/60 Hz

Single-phase 200 VAC 50/60 Hz

4-24

4.8 Dimensional Drawings of Rack-mounted SERVOPACK Model

4.8 Dimensional Drawings of Rack-mounted SERVOPACK Model


4.8.1 Single-phase 100 V: 30 W/50 W/100 W (A3BD-R to 01BD-R, A3BDA-R to 01BDA-R) Single-phase 200 V: 30 W/50 W/100 W/200 W (A3AD-R to 02AD-R, A3ADA-R to 02ADA-R)
17.5 (0.69) 7.5 (0.30)

Mounting Hole Diagram


7.5 (0.30)
10 (0.39)

1.5 (0.06) 42 (1.65) 22.5 (0.89)* 32.5 (1.28)* 22.5 (0.89)

24.5 (0.96)
2 (0.08)

2M4 screw holes

5 (0.20) hole

YASKAWA SERVOPACK

YASKAWA

SGDM-

MODE/SET

DATA/

195 (7.68) 160 (6.30) 180 (7.09)

CHANGE

POWER C N 3

Terminal block

CN3

L1 L2 +1 +2

L1C L2C B1 B2 U V W

C N 1

CN1 CN2

6 (0.24)

1800.5 (7.090.02) (Mounting pitch) 160 (6.30) Min.166 (6.54)

C N 2

7.5 (0.30)*

17.5 (0.69) 7.5 (0.30)

5 (0.20) 6 (0.24) 10 (0.39)

Nameplate 75 (2.95) 130 (5.12)

10 (0.39)

32.5 (1.28)* 22.5 (0.89) 55 (2.17)

55 (2.17)

Ground terminal 2M4 screws


* Reference length

Units: mm (in) Approx. mass: 1.0 kg (2.20 lb) 17 (0.67)

External Terminal Connector 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.

Main circuit power supply L1 L2

Control power supply L1C L2C

Single-phase 100/200 VAC 50/60 Hz

Single-phase 100/200 VAC 50/60 Hz

4-25

4 SERVOPACK Specifications and Dimensional Drawings 4.8.2 Single-phase 100 V: 200 W (02BD-R, 02BDA-R) Single-phase 200 V: 400 W (04AD-R, 04ADA-R)

4.8.2 Single-phase 100 V: 200 W (02BD-R, 02BDA-R) Single-phase 200 V: 400 W (04AD-R, 04ADA-R)
17.5 (0.69) 7.5 (0.30) 42 (1.65) 11.5 (0.45)* 24.5 (0.96) 32.5 (1.28)* 5 (0.20) hole
YASKAWA SERVOPACK YASKAWA

7.5 (0.30) 7.5 (0.30)*

SGDM-

195 (7.68) 160 (6.30) 180 (7.09)

Terminal block

MODE/SET

DATA/

CHANGE

POWER C N 3

L1 L2 +1 +2

CN3 CN1 CN2


6 (0.24)

L1C L2C B1 B2 U V W

C N 1

C N 2

17.5 (0.69) 7.5 (0.30)*

10 (0.39)*

1800.5 (7.090.02) (Mounting pitch) 160 (6.30) Min.166 (6.54)


42.5 (1.67)

10 (0.39)

21.5 (0.85) 42.5 (1.67)

Mounting Hole Diagram 2M4 screw holes

2 (0.08)

6 (0.24)

5 (0.20)

Nameplate 75* (2.95) 130 (5.12)

10 (0.39)

32.5* (1.28)

75 (2.95)

75 (2.95)

Ground terminal 2M4 screws


* Reference length

Units: mm (in) Approx. mass: 1.3 kg (2.87 lb) 17 (0.67)

External Terminal Connector


Main circuit power supply L1 L2 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.

4-26

4.8 Dimensional Drawings of Rack-mounted SERVOPACK Model

4.8.3 Three-phase 200 V: 500 W/750 W/1.0 kW (05AD-R to 10AD-R, 05ADA-R to 10ADA-R)
17.5 (0.69) 7.5 (0.30) 42 (1.65) 25.5 (1.00) 46.5 43.5
(1.83)
(1.71)
YASKAWA SERVOPACK200V YASKAWA

96.2 (3.79)

22.5 (0.89)* 24.5 5 ( 0.20) hole (0.96) 2 (0.08) Terminal block

SGDM-

94.4 (3.72) 195 (7.68) 160 (6.30) 180 (7.09) 6 (0.24)

MODE/SET

DATA/

CHANGE L1 L2 L3 +1 +2

POWER C N 3

CN3 CN1 CN2

C N 1

L1C L2C B1 B2 B3 U V W C N 2

17.5 (0.69)

7.5 (0.30)

Cooling fan

5 (0.20)

Nameplate

1800.5 (7.090.02) 7.5 (0.30) (Mounting pitch) 10 160 (6.30) (0.39) Min.168 (6.61)

Mounting Hole Diagram

15 Ground (0.59) terminal 2M4 screws

35 (1.38)

10 (0.39) 55 (2.17)

75* (2.95)

180 (7.09)

90 (3.54)

2M4 screw holes

17 (0.67)

* Reference length

7.5 (0.30)*

10 (0.39)*

46.5 (1.83)

43.5 (1.71)*

90 (3.54)

Units: mm (in) Approx. mass: 1.9 kg (4.19 lb)

External Terminal Connector


Main circuit power supply L1 L2 L3 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

4 SERVOPACK Specifications and Dimensional Drawings 4.8.4 Three-phase 200 V: 1.5 kW (15AD-R, 15ADA-R)

4.8.4 Three-phase 200 V: 1.5 kW (15AD-R, 15ADA-R)


17.5 (0.69) 7.5 (0.30) 6 (0.24)

Heat sink

Mounting Hole Diagram


4M4 screw

2 5 (0.20) Flange

YASKAWA SERVOPACK

YASKAWA

195 (7.68) 17.5 (0.69)

CN3

CN1 CN2 Terminal block 75 (2.95)*

5 (0.20)

72 (2.83) 110 (4.33)

Ground terminal 2M4 screws

Flange

24.5 (0.96) 180 (7.09)

7.5 (0.30)* 6 (0.24)

Nameplate

180 0.5 (7.09 0.02) (Mounting pitch)


48 500.5 (1.89)* (1.970.02)

SGDM-

12 (0.47)*

(Mounting pitch)

D1

* Reference length

Units: mm (in) Approx. mass: 3.0 kg (6.61 lb)

Cooling fan

External Terminal Connector


Main circuit power supply L1 L2 L3 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.

4-28

4.8 Dimensional Drawings of Rack-mounted SERVOPACK Model

4.8.5 Three-phase 200 V: 2.0 kW/3.0 kW (20AD-R to 30AD-R, 20ADA-R to 30ADA-R)


7.5 (0.30)* 17.5 (0.69)*

7.5 (0.30)*

Mounting Hole Diagram 4M5 tap

Heat sink Flange


YASKAWA SERVOPACK YASKAWA

SGDM-

MODE/SET

DATA/

CHANGE

POWER

CN2
Y

14-pin terminal

6 (0.24)

(Mounting pitch)

CN1

2700.5 (10.630.02)

CN3

285 (11.22) 270 (10.63) 250 (9.84)

6 (.024)

7.5 (0.30)* 17.5 (0.69)*

15* 0.59

6 (0.24) 50 (1.97) 15 (0.59)* 80 (3.15) 110 (4.33) Ground terminal 2M4 screws

7.5 (0.30)*

External Terminal Connector


Main circuit power supply L1 L2 L3 Control power supply L1C L2C

Y Y

M4 mounting screw

Nameplate

24.5 (0.96) 75 (2.95)*

155.5 (6.12) 180 (7.09)

30 (1.18)*

500.5 (1.970.02)

4
30 (1.18)*

(Mounting pitch)

* Reference length

(100) 40 (1.57)*

Units: mm (in) Approx. mass: 4.0 kg (8.82 lb)

Cooling fan

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.

4-29

4 SERVOPACK Specifications and Dimensional Drawings 4.8.6 Three-phase 200 V: 5.0 kW (50ADA-R)

4.8.6 Three-phase 200 V: 5.0 kW (50ADA-R)


7.5 (0.30)* 17.5 (0.69)* 7.5 (0.30)* 2700.5 (10.630.02) 7.5 (0.30)*

Heat sink

6-pin terminal M5 screw

Flange

Mounting Hole Diagram 4M5 tap

SGDM-50ADA-R
Ve r.

L1 L2
MODE/SET DATA/

CN3
POWER

CHANGE

L3 +1

285 (11.22) 270 (10.63) 250 (9.84)

+2

L1C L2C B1 B2 B3 U V W

CN2

5-pin terminal M4 screw 3-pin terminal M5 screw Nameplate 24.5 (0.96) 230 (9.06)

7.5 (0.30)*

17.5 (0.69)*

35 (1.38)

6 (0.24) 50 (1.97) 50 (1.97)*

6 (0.24) (Mounting pitch) 50 35* 500.5 (1.38) (1.970.02) (1.97)*

CN1

135 (5.31)

75 (2.95)*

6 (0.24)

YASKAWA SERVOPACK 200V

Ground terminal M5 screw

(Mounting pitch)

* Reference length

(100)
83 (3.27)*

Units: mm (in) Approx. mass: 5.7 kg (12.57 lb)

External Terminal Connector


Main circuit power supply L1 L2 L3 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.

4-30

4.9 Dimensional Drawings of Duct-ventilated SERVOPACK Model

4.9 Dimensional Drawings of Duct-ventilated SERVOPACK Model


4.9.1 Three-phase 200 V: 6.0 kW/7.5 kW (60ADA-P to 75ADA-P)
21.9 (0.86)* 7.5 (0.30)

Mounting Hole Diagram


34 4M6 taps (1.34) 82 (3.23)

7 (0.28)
SERVOPACK 200V
SGDMVer.

Cooling fan 10 (0.39)

CN8
POWER

YASKAWA

335 (13.19) Max.350 (13.78)

CN3 110 (4.33) 282.6 (11.13)

26 (0.24) holes
BATTERY

MODE/SET

DATA/

CN5

CHARGE

Control circuit terminal M4


L1C L2C

WARNING

Control 21 circuit (0.83) terminal

CN1 CN2

Nameplate

312.2 (12.29)

Punched hole

125 (4.92)

100.5 (3.96)

51 (2.01)
L1 L2

66 (2.60) 46 12.5 (0.49) (1.81)


L3 + B1 B2 U V W

Main circuit terminal

25 (0.98)

316 (12.44) 335 (13.19)

2.5 (0.10)* 11.5 (0.45)* 7.5 (0.30)*

30.5 (1.20) 12.5 (0.49)

205 (8.07) Max.230 (9.06)


Main circuit terminal M6

28.3 (1.11)* 12.5 (0.49) Ground terminal M8

87.5 27 (3.44)

15.9 (0.63)*

(1.06)
Ground terminal

107 (4.21) Max.235 (9.25)

7 (0.28)

5.5 (0.22)*

205 (8.07) 219 (8.62)

7 (0.28)

5.5 (0.22)*

A View A 145 (5.71)

90 (3.54)

* Reference length

Units: mm (in) Approx. mass: 14 kg (30.86 lb)

7.9 (0.31)*

217.3 (8.56)*

4.8 (0.19)*

External Terminal Connector


Main circuit power supply L1 L2 L3 Control power supply L1C L2C External regenerative resistor B1 B2

SERVOPACK Connector Connector SERVOPACK Symbol Connector Model CN1 CN2 CN3 10250-52A2JL 53460-0611 10214-52A2JL

Manufacturer Sumitomo 3M Co., Ltd. Molex Japan Co., Ltd. Sumitomo 3M Co., Ltd.

Three-phase 200 VAC 50/60 Hz

Single-phase 200 VAC 50/60 Hz

4-31

7.5 (0.30)*

65.6* 41 123.5 (4.86) (1.61) (2.58) 19 (0.75) 171 (6.73)

7.5 (0.30)

9 (0.35)

7.5 (0.30)

4 SERVOPACK Specifications and Dimensional Drawings 4.9.2 Three-phase 200 V: 11.0 kW/15.0 kW (1AADA-P/1EADA-P)

4.9.2 Three-phase 200 V: 11.0 kW/15.0 kW (1AADA-P/1EADA-P)


18.5 (0.73) 7.5 (0.30)*

Mounting Hole Diagram 4M6 screw holes


Externals

Cooling fan
10 (0.39)

SERVOPACK 200V
SGDMVer.

YASKAWA

CN3
POWER MODE/SET

CN8
DATA/

BATTERY

413 (16.26)

140 (5.51) 320 (12.60) 26.5 (1.04)

CHARGE

Control circuit terminal M4


CN1 CN2

E 160 (6.30)
L1 L2 L3 +1 P1 B r t

Regenerative resistor/ control circuit terminal Main circuit terminal

Punched hole

Nameplate

7.5 (0.30)*

46 (1.81)

11 (0.43)*

12.5 (0.49)

235 (9.25) 260 (10.24)

12.5 (0.49)*

Main circuit terminal M8

Ground terminal M8

Ground terminal

8 (0.31)

8* (0.31)

View A

99 (3.90) 132 (5.20) 146 (5.75)

20 (0.79)

* Reference length

Units: mm (in) Approx. mass: 22 kg (48.50 lb)

External Terminal Connector


Main circuit power supply L1 L2 L3 Control power supply L1C L2C External regenerative resistor B1 B2

Three-phase 200 VAC 50/60 Hz

Single-phase 200 VAC 50/60 Hz

SERVOPACK Connector SERVOPACK Connector 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.

4-32

7.5 (0.30)*

34 27(1.06) (1.34) 151

7 (0.28)

18.5 (0.73)

45 (5.94) (1.77)

126 17 (0.67) 34 (4.96) 122 (4.80) (1.34) 282 (11.10)

4.5 (0.18)

235 (9.25) 244 (9.61)

4.5 (0.18)*

415 (16.34) 435 (17.13)

435 (17.13) 450 (17.72)

CN5 Regenerative Resistor terminal M6

9 (0.35) 7.5 (0.30)

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

5.2 Servomotor Main Circuit Wire Size and Connectors - - - - - - - - - - - - - - - - - 5-8


5.2.1 Wire Size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-8 5.2.2 SGMAH and SGMPH Servomotor Connectors for Standard Environments - - - - - - - - - 5-9 5.2.3 SGMGH, SGMSH, and SGMDH Servomotor Connector Configurations - - - - - - - - - - 5-12 5.2.4 SGMGH Servomotor (1500 min-1) Connectors for Standard Environments - - - - - - - - 5-13 5.2.5 SGMGH Servomotor (1000 min-1) Connectors for Standard Environments - - - - - - - - 5-15 5.2.6 SGMSH Servomotor (3000 min-1) Connectors for Standard Environments - - - - - - - - 5-17 5.2.7 SGMDH Servomotor (2000 min-1) Connectors for Standard Environments - - - - - - - - 5-18 5.2.8 SGMGH Servomotor (1500 min-1) Connectors Conforming to IP67 and European Safety Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-19 5.2.9 SGMGH Servomotor (1000 min-1) Connectors Conforming to IP67 and European Safety Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22 5.2.10 SGMSH Servomotors (3000 min-1) Connectors Conforming to IP67 and European Safety Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25 5.2.11 SGMDH Servomotors (2000 min-1) Connectors Conforming to IP67 and European Safety Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28 5.2.12 Connectors for SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29 5.2.13 Connector Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-31

5.3 SERVOPACK Main Circuit Wire Size - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38


5.3.1 Cable Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5.3.2 Single-phase 100 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5.3.3 Single-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5.3.4 Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38 5-39 5-39 5-39

5-1

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices

5.4 Encoder Cables for CN2 Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-40


5.4.1 Encoder Cable With Connectors For SGMAH and SGMPH Servomotors - - - - - - - - - -5-40 5.4.2 Encoder Cable With Connectors for SGMGH, SGMSH, and SGMDH Servomotors - - -5-40 5.4.3 Encoder Cable With a SERVOPACK Connector and Encoder Loose Leads for SGMAH and SGMPH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-41 5.4.4 Encoder Cable with a SERVOPACK Connector and Encoder Loose Leads for SGMGH, SGMSH, and SGMDH Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - -5-42 5.4.5 Encoder Flexible Cables for SGMAH and SGMPH Servomotors - - - - - - - - - - - - - - - -5-44 5.4.6 Encoder Flexible Cables for SGMGH, SGMSH, and SGMDH Servomotors - - - - - - - -5-45 5.4.7 Encoder Cables for SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-46

5.5 Connectors and Cables for Encoder Signals - - - - - - - - - - - - - - - - - - - - - 5-48


5.5.1 Connectors and Cables for SGMAH and SGMPH Servomotors - - - - - - - - - - - - - - - -5-48 5.5.2 Connectors and Cables for SGMGH, SGMSH, and SGMDH Servomotors - - - - - - - - -5-50 5.5.3 Connectors and Cables for SGMCS Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - -5-52

5.6 Flexible Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-53 5.7 I/O Signal Cables for CN1 Connector - - - - - - - - - - - - - - - - - - - - - - - - - - 5-54
5.7.1 Standard Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-54 5.7.2 Connector Type and Cable Size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-54 5.7.3 Connection Diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-56

5.8 Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-57


5.8.1 Cables for Connecting Personal Computers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-57 5.8.2 Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-58 5.8.3 Cables for Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-59 5.8.4 Connector Terminal Block Converter Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-60 5.8.5 Brake Power Supply Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-61 5.8.6 External Regenerative Resistor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-63 5.8.7 Regenerative Resistor Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-65 5.8.8 Absolute Encoder Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-66 5.8.9 Molded-case Circuit Breaker (MCCB) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-68 5.8.10 Noise Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-69 5.8.11 Magnetic Contactor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-74 5.8.12 Surge Suppressor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-76 5.8.13 DC Reactor for Harmonic Suppression - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-78 5.8.14 Variable Resistor for Speed and Torque Setting - - - - - - - - - - - - - - - - - - - - - - - - - - -5-80 5.8.15 Encoder Signal Converter Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-81

5-2

5.1 Specifications and Dimensional Drawings of Servomotor Main Circuit Cable

5.1 Specifications and Dimensional Drawings of Servomotor Main Circuit Cable


Contact Yaskawa Controls Co., Ltd. for SGMGH, SGMSH, and SGMDH Servomotor main circuit cables. When assembling the servomotor main circuit cable, refer to 5.2 Servomotor Main Circuit Wire Size and Connectors.

5.1.1 Cables for SGMAH and SGMPH Servomotors Without Brakes


SERVOPACK end 50 (1.97) L 35 (1.38) Finished dimension 8.2 (0.32) Servomotor end Units: mm (in)

M4 crimped terminal

Wire markers

Cap: 350780-1 (4-pin) Socket: 350536-6 (Chained)

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)

5.1.2 Cables for SGMAH and SGMPH Servomotors With Brakes


SERVOPACK end 50 (1.97) Servomotor end L 35 (1.38) Finished dimension 7.3 (0.29) Units: mm (in)

M4 crimped terminals Wire markers

Cap: 350781-1 (6-pin) Socket: 350536-6 (Chained)

5-3

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.1.3 Flexible Cables for SGMAH and SGMPH Servomotors Without Brakes

Units: m (ft) Applicable Servomotor Models 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 Cable Length (L) 3 (9.84) 5 (16.40) 10 (32.81) 15 (49.21) 20 (65.62) 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 Cable Length (L) 3 (9.84) 5 (16.40) 10 (32.81) 15 (49.21) 20 (65.62)

5.1.3 Flexible Cables for SGMAH and SGMPH Servomotors Without Brakes
SERVOPACK end (10) (0.39) 50 (1.97) 8.5 (0.33) Finished dimension 6.5 (0.26) Servomotor end L 35 (1.38) Units: mm (in)

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 Cable Length (L) 3 (9.84) 5 (16.40) 10 (32.81) 15 (49.21) 20 (65.62)

5-4

5.1 Specifications and Dimensional Drawings of Servomotor Main Circuit Cable

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 L 35 (1.38) Finished dimension 7.0 (0.28) Units: mm (in)

Heat-shrinkable tube M4 crimped terminals Wire markers

Cap: 350781-1 (6-pin) Socket: 350536-6 (Chained)

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

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.1.5 Cables for SGMCS Servomotors

5.1.5 Cables for SGMCS Servomotors


Yaskawa provides cables only for SGMCSB, C, D, and E servomotors. Cables for SGMCSM, and N servomotors must be provided by the customer. Refer to 5.2.12 Connectors for SGMCS Servomotors.

(1) Cable Specifications


(a) Cable Type
Standard Type JZSP-CMM60-03 JZSP-CMM60-05 JZSP-CMM60-10 JZSP-CMM60-15 JZSP-CMM60-20 Flexible Type JZSP-CSM60-03 JZSP-CSM60-05 JZSP-CSM60-10 JZSP-CSM60-15 JZSP-CSM60-20 Length (L) 3 m (9.84 ft) 5 m (16.4 ft) 10 m (32.8 ft) 15 m (49.2 ft) 20 m (65.6 ft)
M4 crimped terminals

Dimensional Drawing
SERVOPACK end
50 mm (1.97 in)

Servomotor end L

(b) Wiring Specifications


SERVOPACK end Lead Color Signal Red White Blue
Green/(yellow) Phase U Phase V Phase W

Servomotor end Signal Pin No.


Phase U Phase V Phase W

1 2 3 4

FG

FG

(2) Servomotor-end Connector Specifications


Items Manufacturer Plug Applicable Cable Outer Diameter Dimensional Drawings in mm (in) 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. No.1 No.2

15.5 (0.61)

18.8 (0.74)

19 (0.75)

No.3

Ground

Note: The mating connector type on servomotor: JN1AS04MK3

5-6

5.1 Specifications and Dimensional Drawings of Servomotor Main Circuit Cable

(3) Cable Specifications for SGMCS Servomotors


Items Cable Type Designation * Specifications Standard Cable JZSP-CSM90(20m (65.6 ft) max.) UL2517 (Max. operating temperature: 105 C (221 F)) AWG20 6C For power line: AWG20 (0.52 mm2 (0.205 in2)) Outer diameter of insulating sheath: 1.53 mm (0.06 in) Flexible Cable JZSP-CSM80(20m (65.6 ft) max.) UL2517 (Max. operating temperature: 105 C (221 F)) AWG22 6C For power line: AWG22 (0.33 mm2 (0.013 in2)) Outer diameter of insulating sheath: 1.37 mm (0.054 in)

Finished Dimension Internal Configuration and Lead Color

For brake line: AWG20 0.52 mm2 For brake line: AWG22 (0.33 mm2 2)) (0.205 in (0.013 in2)) Outer diameter of insulating sheath: Outer diameter of insulating sheath: 1.53 mm (0.06 in) 1.37 mm (0.054 in) 7 0.3 mm ( 0.2760.012 in)

Black Green/ (Yellow) Black

Blue White

Red

5
Yaskawa Standard Specifications (Standard Length) * Specify the cable length in of cable type designation Example: JZSP-CSM90-15 (15 m (49.2 ft)) 5m (16.4 ft), 10m (32.8 ft), 15m (49.2 ft), 20m (65.6 ft)

5-7

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.1 Wire Size

5.2 Servomotor Main Circuit Wire Size and Connectors

YASKAWA 200V SERVOPACK

YASKAWA 200V SERVOPACK

SGDM-

SGDM-

MODE/SET CHARGE

DATA/ POWER

MODE/SET CHARGE

DATA/ POWER

L1 L2 L3 1 2

C N 3

L1 L2 L3 1 2

C N 3

L1C L2 B1 B2 B3 U V W

C N 1

L1C L2 B1 B2 B3

C N 1

C N 2

U V W

C N 2

UVW

Encoder cable

UVW

Encoder cable

Servomotor main circuit cable

Servomotor main circuit cable

5.2.1 Wire Size


(1) 100 V and 200 V SGMAH Servomotors
Rated Output Three-phase 100 V Three-phase 200 V 30 W to 750 W AWG20

(2) 100 V and 200 V SGMPH Servomotors


Rated Output Three-phase 100 V Three-phase 200 V 100 W AWG22 200 to 400 W AWG20 750 W 1.5 kW AWG16 (HIV 1.25)

(3) 200 V SGMGH Servomotors for 1500 min-1


Rated Output Three-phase 200 V 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

5-8

5.2 Servomotor Main Circuit Wire Size and Connectors

(4) 200 V SGMGH Servomotors for 1000 min-1


Rated Output Three-phase 200 V 300 W 600 W 900 W 1.2 kW 2.0 kW 3.0 kW 4.0 kW 5.5 kW HIV2.0 HIV3.5 HIV5.5 HIV8 HIV14

(5) 200 V SGMSH Servomotors


Rated Output Three-phase 200 V 1.0 kW 1.5 kW 2.0 kW 3.0 kW 4.0 kW 5.0 kW HIV2.0 HIV3.5 HIV5.5 HIV8

(6) 200 V SGMDH Servomotors


Rated Output Three-phase 200 V 2.2 kW 3.2 kW 4.0 kW HIV5.5 HIV8

(7) 200 V SGMCS Servomotors


Servomotor model Rated output Wire size Servomotor model Rated output Three-phase 200 V 02B 42 W 05B 105 W 07B 147 W 04C 84 W 10C 209 W 14C 08D 17D 356 W 25D 393 W 16E 335 W 35E 550 W

293 W 168 W AWG20 2ZN

45M 707 W

80M

1AM

80N

1EN

1.26 kW 1.73 kW 1.26 kW 2.36 kW 3.14 kW HIV3.5 HIV2.0 HIV3.5 HIV5.5

HIV2.0

5.2.2 SGMAH and SGMPH Servomotor Connectors for Standard Environments


The SGMAH and SGMPH servomotors do not conform to the IECs IP67 classification (IP67 Protective Construction Standard) and the European Safety Standards.

(1) 30 to 750 W SGMAH Servomotor Connector Kit


Applicable Servomotor Models Without brakes 100 V: 30 to 200 W 200 V: 30 to 750 W With brakes Type JZSP-CMM9-1 JZSP-CMM9-2

(2) 100 W to 1.5 kW SGMPH Servomotor Connector Kit


Applicable Servomotor Models 100 V: 100 W and 200 W Without brakes 200 V: 100 to 750 W With brakes Without brakes 200 V: 1.5 kW With brakes Type JZSP-CMM9-1 JZSP-CMM9-2 JZSP-CMM9-3 JZSP-CMM9-4

5-9

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.2 SGMAH and SGMPH Servomotor Connectors for Standard Environments

(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) 4

Cap Socket

1 27.4 (1.08) 14.7 (0.58)

Type 350780-1 350570-3 or 350689-3 Soldered type

7.6 (0.30)

(b) Connector Pin Arrangement


Pin No. 1 2 3 4 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) Connector on servomotor Servomotor main circuit connector 3

1 14 (0.55)

Cap Socket

6 27.4 (1.08)

20.3 (0.80) 28.4 (1.12)

Type 350781-1 350570-3 or 350689-3 Soldered type

(b) Connector Pin Arrangement


Pin No. 1 2 3 4 5 6 Signal Phase U Phase V Phase W FG Brake terminal Brake terminal Lead Color Red White Blue Green/Yellow Black Black Remarks No polarity

5-10

5.2 Servomotor Main Circuit Wire Size and Connectors

(5) 1.5 kW SGMPH Servomotors Without Brakes


(a) Connector Type: JZSP-CMM9-3
Units: mm (in) Connector on servomotor Servomotor main circuit connector 27.7 (1.09) 4

Cap Socket

1 27.4 (1.08) 14.7 (0.58)

Type 350780-1 350536-6 or 350550-6 (No. 1 to 4) Soldered type

7.6 (0.30)

(b) Connector Pin Arrangement


Pin No. 1 2 3 4 Signal Phase U Phase V Phase W FG Lead Color Red White Blue Green/Yellow

(6) 1.5 kW SGMPH Servomotors With Brakes


(a) Connector Type: JZSP-CMM9-4
Units: mm (in) Connector on servomotor Servomotor main circuit connector 3

5
Cap Type 350781-1 350536-6 or 350550-6 (No. 1 to 4) 350570-3 or 350689-3 (No. 5 and 6) Soldered type

1 14 (0.55)

Socket

6 27.4 (1.08)

20.3 (0.80) 28.4 (1.12)

(b) Connector Pin Arrangement


Pin No. 1 2 3 4 5 6 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

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.3 SGMGH, SGMSH, and SGMDH Servomotor Connector Configurations

5.2.3 SGMGH, SGMSH, and SGMDH Servomotor Connector Configurations


The SGMGH, SGMSH, and SGMDH servomotor connector configurations are shown below. The connectors conforming to IP67 and the European Safety Standards are not available for SGMAH and SGMPH servomotors.
Select and prepare the proper plug and cable clamp. 1 Configurations of Standard Environment Connectors
Encoder
SGM H servomotor Standard straight plug

Connector on servomotor Standard L-shaped plug

Non-waterproof cable clamp

Cable

2 Configurations of Connectors Conforming to IP67 and the European Safety Standards

Encoder
SGM H servomotor Plug Conduit

Cable

Waterproof straight plug Connector on servomotor Waterproof cable clamp Waterproof L-shaped plug Cable

Connector Manufacturers
Contact Yaskawa Controls Co., Ltd.
Connector Plug Cable clamp Conduit JL CE Type Manufacturer Japan Aviation Electronics (JA ) Industry, Ltd. DDK Electronics, Inc. Nippon Flex Co., Ltd.

5-12

5.2 Servomotor Main Circuit Wire Size and Connectors

5.2.4 SGMGH Servomotor (1500 min-1) Connectors for Standard Environments


(1) Without Holding Brakes
The specifications are same for both three-phase 200 V and 400 V servomotors.

Capacity (kW) 0.45 0.85 1.3 1.8 2.9 4.4 5.5 7.5 11.0 15.0

Connector on Servomotor MS3102A18-10P

Plug Straight MS3106B18-10S L-shaped MS3108B18-10S

Cable Clamp MS3057-10A

MS3102A22-22P

MS3106B22-22S

MS3108B22-22S

MS3057-12A

MS3102A32-17P

MS3106B32-17S

MS3108B32-17S

MS3057-20A

(2) With Holding Brakes


The 5.5 to 15.0 kW servomotors require (a) servomotor-end connector and (b) brake power supply connector.

(a) Servomotor-end Connectors

Capacity (kW) 0.45 0.85 1.3 1.8 2.9 4.4 5.5 7.5 11.0 15.0

Connector on Servomotor MS3102A20-15P

Plug Straight MS3106B20-15S L-shaped MS3108B20-15S

Cable Clamp MS3057-12A

MS3102A24-10P

MS3106B24-10S

MS3108B24-10S

MS3057-16A

MS3102A32-17P

MS3106B32-17S

MS3108B32-17S

MS3057-20A

5-13

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.4 SGMGH Servomotor (1500 min-1) Connectors for Standard Environments

(b) Brake Power Supply Connectors


5.5 to 15.0 kW Servomotors

Capacity (kW) Three-phase 200 V 5.5 7.5 11.0 15.0

Connector on Servomotor

Plug Straight L-shaped Use the connector conforming to protective structure IP67/European safety standard. Cable Clamp

MS3102A10SL-3P

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
B

D C

B C D

Phase V Phase W FG (Frame Ground)

Servomotor-end connector

(b) With Holding Brakes


1 0.45 to 4.4 kW Servomotor Connector Pin Arrangement
Pin No.
F E D G C A B

Signal Phase U Phase V Phase W

Pin No. E* F* G

Signal Brake terminal Brake terminal

A B C D

Servomotor-end connector

FG (Frame Ground) * No polarity

2 5.5 to 15.0 kW Brake Connector Pin Arrangement


Pin No.
A C B

Signal Brake terminal Brake terminal

A* B* C

Servomotor-end connector Brake-end connector Servomotor

* No polarity

Connector Pin Arrangement


Pin No. Signal Phase U Phase V Phase W FG (Frame Ground) A

D C

A B

B C D

5-14

5.2 Servomotor Main Circuit Wire Size and Connectors

5.2.5 SGMGH Servomotor (1000 min-1) Connectors for Standard Environments


(1) Without Holding Brakes

Capacity (kW) 0.3 0.6 0.9 1.2 2.0 3.0 4.0 5.5

Connector on Servomotor MS3102A18-10P

Plug Straight MS3106B18-10S L-shaped MS3108B18-10S

Cable Clamp MS3057-10A

MS3102A22-22P MS3102A32-17P

MS3106B22-22S MS3106B32-17S

MS3108B22-22S MS3108B32-17S

MS3057-12A MS3057-20A

(2) With Holding Brakes


4.0 kW and 5.5 kW servomotors require (a) servomotor-end connector and (b) brake power supply connector.

(a) Servomotor-end Connectors

5
Capacity (kW) 0.3 0.6 0.9 1.2 2.0 3.0 4.0 5.5 Connector on Servomotor MS3102A20-15P Plug Straight MS3106B20-15S L-shaped MS3108B20-15S Cable Clamp MS3057-12A

MS3102A24-10P MS3102A32-17P

MS3106B24-10S MS3106B32-17S

MS3108B24-10S MS3108B32-17S

MS3057-16A MS3057-20A

(b) Brake Power Supply Connectors

Capacity (kW) 4.0 5.5

Connector on Servomotor MS3102A10SL-3P

Plug Straight MS3106A10SL-3S L-shaped MS3108A10SL-3S

Cable Clamp MS3057-4A

5-15

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.5 SGMGH Servomotor (1000 min-1) Connectors for Standard Environments

(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 C A B

Signal Phase U Phase V Phase W FG (Frame Ground)

A B C D

Servomotor-end connector

(b) With Holding Brakes


1 0.3 to 3.0 kW Servomotor Connector Pin Arrangement
Pin No.
F E G C A B

Signal Phase U Phase V Phase W

Pin No. E* F* G

Signal Brake terminal Brake terminal

A B C D

Servomotor-end connector

FG (Frame Ground) * No polarity

2 4.0 kW and 5.5 kW Brake Connector Pin Arrangement


Pin No.
A C B

Signal Brake terminal Brake terminal

A* B* C

Servomotor-end connector Brake-end connector

* No polarity

Servomotor Connector Pin Arrangement


Pin No.
D C A B

Signal Phase U Phase V Phase W FG (Frame Ground)

A B C D

5-16

5.2 Servomotor Main Circuit Wire Size and Connectors

5.2.6 SGMSH Servomotor (3000 min-1) Connectors for Standard Environments


(1) Without Holding Brakes

Capacity (kW) 1.0 1.5 2.0 3.0 4.0 5.0

Connector on Servomotor MS3102A18-10P

Plug Straight MS3106B18-10S L-shaped MS3108B18-10S

Cable Clamp MS3057-10A

MS3102A22-22P

MS3106B22-22S

MS3108B22-22S

MS3057-12A

(2) With Holding Brakes


(a) Servomotor-end Connectors

Capacity (kW) 1.0 1.5 2.0 3.0 4.0 5.0

Connector on Servomotor MS3102A20-15P

Plug Straight MS3106B20-15S L-shaped MS3108B20-15S

5
Cable Clamp MS3057-12A

MS3102A24-10P

MS3106B24-10S

MS3108B24-10S

MS3057-16A

5-17

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.7 SGMDH Servomotor (2000 min-1) Connectors for Standard Environments

(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. A
D C A B

Signal Phase U Phase V Phase W FG (Frame Ground)

B C D

Servomotor-end connector

(b) With Holding Brakes


1.0 to 5.0 kW Servomotor Connector Pin Arrangement
Pin No.
F E D G C A B

Signal Phase U Phase V Phase W

Pin No. E* F* G

Signal Brake terminal Brake terminal

A B C D

Servomotor-end connector

FG (Frame Ground) * No polarity

5.2.7 SGMDH Servomotor (2000 min-1) Connectors for Standard Environments


(1) With and Without Holding Brakes

Capacity (kW) 2.2 3.2 4.0

Connector on Servomotor MS3102A24-10P

Plug Straight MS3106B24-10S L-shaped MS3108B24-10S

Cable Clamp MS3057-16A

(2) Servomotor Main Circuit Connector Pin Arrangement


Without Brakes
Pin No.
D C A B

With Brakes
Signal Phase U Phase V Phase W FG (Frame Ground)
E D F G C A B

Pin No. A B C D

Signal Phase U Phase V Phase W

Pin No. E* F* G

Signal Brake terminal

A B C D

Brake terminal

Servomotor-end connector

FG * No polarity (Frame Ground)

5-18

5.2 Servomotor Main Circuit Wire Size and Connectors

5.2.8 SGMGH Servomotor (1500 min-1) Connectors Conforming to IP67 and European Safety Standards
(1) 0.45 to 4.4 kW Servomotors Without Holding Brakes
Select a cable clamp in accordance with the applied cable diameter.
INFO
The straight plug type JA06A-22-22S-J1-EB and L-shaped plug type JA08A-22-22S-J1-EB conform to the IP67 Protective Construction Standard only.

Capacity (kW)

Connector on Servomotor

Plug Straight L-shaped Cable Clamp 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)

(2) 5.5 to 15.0 kW Servomotors Without Holding Brakes


Select a conduit in accordance with the applied cable diameter.

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

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.8 SGMGH Servomotor (1500 min-1) Connectors Conforming to IP67 and European Safety Standards

(3) 0.45 to 4.4 kW Servomotors With Holding Brakes


Select a cable clamp in accordance with the applied cable diameter.
INFO
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.

Capacity (kW)

Connector on Servomotor

Plug Straight L-shaped Cable Clamp 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)

(4) 5.5 to 15.0 kW Servomotors With Holding Brakes


The servomotor end connector (a) and brake power supply connector (b) are required. Select a conduit in accordance with the applied cable diameter.

(a) Servomotor-end Connector

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)

5-20

5.2 Servomotor Main Circuit Wire Size and Connectors

(b) Brake Power Supply Connectors

Capacity (kW) 5.5 7.5 11.0 15.0

Connector on Servomotor

Plug Straight L-shaped Cable Clamp

Applicable Cable Range in mm (in) (For reference) 3.6 (0.14) to 5.6 (0.22)

CE05-2A10SL- CE05-6A10SL-3SC- CE05-8A10SL-3SC3PC-B B-BSS B-BAS

CE3057-4A-1

(5) Servomotor Main Circuit Connector Pin Arrangement


(a) Servomotors Without Holding Brakes
0.45 to 15.0 kW Servomotor Connector Pin Arrangement
Pin No. Signal Phase U A
B

D C

B C D

Phase V Phase W FG (Frame Ground)

Servomotor-end connector

(b) Servomotors With Holding Brakes


1 0.45 to 4.4 kW Servomotor Connector Pin Arrangement
Pin No.
F E D G C A B

Signal Phase U Phase V Phase W

Pin No. E* F* G

Signal Brake terminal Brake terminal

A B C D

Servomotor-end connector

FG (Frame Ground) * No polarity

2 5.5 to 15.0 kW Brake Connector Pin Arrangement


Pin No.
A C B

Signal Brake terminal Brake terminal

A* B* C

Servomotor-end connector Brake-end connector Servomotor

* No polarity

Connector Pin Arrangement


Pin No. Signal Phase U Phase V Phase W FG (Frame Ground) A

D C

A B

B C D

5-21

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.9 SGMGH Servomotor (1000 min-1) Connectors Conforming to IP67 and European Safety Standards

5.2.9 SGMGH Servomotor (1000 min-1) Connectors Conforming to IP67 and European Safety Standards
(1) Servomotors Without Holding Brakes
(a) For 0.3 to 3.0 kW Servomotors
Select a cable clamp in accordance with the applied cable diameter.
INFO
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.

Capacity (kW)

Connector on Servomotor

Plug Straight L-shaped Cable Clamp 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)

(b) For 4.0 kW and 5.5 kW Servomotors


Select a conduit in accordance with the applied cable diameter.

Capacity (kW)

Connector on Servomotor

Conduit Plug Straight ACS-16RL-MS32F ACS-20RL-MS32F L-shaped ACA-16RL-MS32F ACA-20RL-MS32F ACA-24RL-MS32F ACA-28RL-MS32F ACA-32RL-MS32F ACA-36RL-MS32F

4.0 5.5

ACS-24RL-MS32F JL04V-2E32-17PE-B JL04V-6A32-17SE ACS-28RL-MS32F ACS-32RL-MS32F ACS-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)

5-22

5.2 Servomotor Main Circuit Wire Size and Connectors

(2) 0.3 to 3.0 kW Servomotors With Holding Brakes


Select a cable clamp in accordance with the applied cable diameter.
INFO
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.

Capacity (kW)

Connector on Servomotor

Plug Straight L-shaped Cable Clamp 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)

(3) 4.0 kW and 5.5 kW Servomotors With Holding Brakes


The servomotor end connector (a) and brake power supply connector (b) are required. Select a conduit in accordance with the applied cable diameter.

(a) Servomotor-end Connector

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-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

JL04V-2E32-17PE-B

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

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.9 SGMGH Servomotor (1000 min-1) Connectors Conforming to IP67 and European Safety Standards

(b) Brake Power Supply Connector

Capacity (kW) 4.0 5.5

Connector on Servomotor CE05-2A10SL-3PC-B

Plug Straight CE05-6A10SL-3SCB-BSS L-shaped CE05-8A10SL-3SCB-BAS Cable Clamp CE3057-4A-1

Applicable Cable Range in mm (in) (For reference) 3.6 (0.14) to 5.6 (0.22)

(4) Servomotor Main Circuit Connector Pin Arrangement


(a) Servomotors Without Holding Brakes
0.3 to 5.5 kW Servomotor Connector Pin Arrangement
Pin No.
D C A B

Signal Phase U Phase V Phase W FG (Frame Ground)

A B C D

Servomotor-end connector

(b) Servomotors With Holding Brakes


1 0.3 to 3.0 kW Servomotor Connector Pin Arrangement
Pin No.
F E G C A B

Signal Phase U Phase V Phase W

Pin No. E* F* G

Signal Brake terminal Brake terminal

A B C D

Servomotor-end connector

FG (Frame Ground) * No polarity

2 4.0 kW and 5.5 kW Brake Connector Pin Arrangement


Pin No.
A C B

Signal Brake terminal Brake terminal

A* B* C

Servomotor-end connector Brake-end connector

* No polarity

Servomotor Connector Pin Arrangement


Pin No.
D C A B

Signal Phase U Phase V Phase W FG (Frame Ground)

A B C D

5-24

5.2 Servomotor Main Circuit Wire Size and Connectors

5.2.10 SGMSH Servomotors (3000 min-1) Connectors Conforming to IP67 and European Safety Standards
(1) Servomotors Without Holding Brakes
Select a cable clamp in accordance with the applied cable diameter.
INFO
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.

Capacity (kW)

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

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.10 SGMSH Servomotors (3000 min-1) Connectors Conforming to IP67 and European Safety Standards

(2) Servomotors With Holding Brakes


Select a cable clamp in accordance with the applied cable diameter.
INFO
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.

Capacity (kW)

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)

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)

5-26

5.2 Servomotor Main Circuit Wire Size and Connectors

(3) Servomotor Main Circuit Connector Pin Arrangement


(a) Without Brakes
1.0 to 5.0 kW Servomotor Connector Pin Arrangement
Pin No. A
D C A B

Signal Phase U Phase V Phase W FG (Frame Ground)

B C D

Servomotor-end connector

(b) With Brakes


1.0 to 5.0 kW Servomotor Connector Pin Arrangement
Pin No.
F E D G C A B

Signal Phase U Phase V Phase W

Pin No. E* F* G

Signal Brake terminal Brake terminal

A B C D

Servomotor-end connector

FG (Frame Ground) * No polarity

5-27

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.11 SGMDH Servomotors (2000 min-1) Connectors Conforming to IP67 and European Safety Standards

5.2.11 SGMDH Servomotors (2000 min-1) Connectors Conforming to IP67 and European Safety Standards
(1) Servomotors With and Without Holding Brakes
Select a cable clamp in accordance with the applied cable diameter.
INFO
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.

Capacity (kW)

Connector on Servomotor

Plug Straight L-shaped Cable Clamp JL04-2428CK(11)

2.2 3.2 4.0

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) 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
Without Brakes
Pin No.
D C A B

With Brakes
Signal Phase U Phase V Phase W FG (Frame Ground)
E D F G C A B

Pin No. A B C D

Signal Phase U Phase V Phase W

Pin No. E* F* G

Signal Brake terminal

A B C D

Brake terminal

Servomotor-end connector

FG * No polarity (Frame Ground)

5-28

5.2 Servomotor Main Circuit Wire Size and Connectors

5.2.12 Connectors for SGMCS Servomotors


(1) For SGMCSB, 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. No.1 No.2

(a) Servomotor Main Circuit Connectors


Items Manufacturer Plug Applicable Cable Outer Diameter Dimensional Drawings in mm (in)

15.5 (0.61)

18.8 (0.74)

19 (0.75)

No.3

Ground

Note: The mating connector type on servomotor: JN1AS04MK3

(b) Wiring Specifications


SERVOPACK end Lead Color Signal Red White Blue
Green/(yellow) Phase U Phase V Phase W

Servomotor end Signal Pin No.


Phase U Phase V Phase W

1 2 3 4

FG

FG

(2) For SGMCS-

M and N Connectors

(a) Connector Configuration Diagram

SGMCS Servomotor Standard straight plug Non-waterproof cable clamp Servomotor-end connector Cable

Standard L-shaped plug

Servomotor end Receptacle MS3102A18-10P

Cable end (Not provided by Yaskawa) L-shaped plug Straight plug Cable clamp MS3108B18-10S MS3106B18-10S MS3057-10A

5-29

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.12 Connectors for SGMCS Servomotors

(b) MS3108B: L-shaped Plug Shell Dimensional Drawings


Units: mm ( in)
J A Q L

Model

Shell Size

Joint Screw A 1 1/8 18UNEF

Length of Joint Portion J0.12 18.26 (0.719)

Overall Length L max. 68.27 (2.69)

Outer Diameter of Joint Nut


+0 Q-0.38

R 0.5

U 0.5

W U

Cable Clamp Set Screw V 120UNEF

Effective Screw Length W max. 9.53 (0.38)

MS3108B

18

34.13 (1.34)

20.5 (0.81)

30.2 (1.19)

(c) MS3106B: Straight Plug Shell Dimensional Drawings


Units: mm (in)
L J A Q Y W

Model

Shell Size

Joint Screw A 1 1/8 18UNEF

Length of Joint Portion J0.12 18.26 (0.719)

Overall Length L max. 52.37 (2.06)

Outer Diameter of Joint Nut


+0 Q-0.38

Cable Clamp Set Screw V 1-20UNEF

Effective Screw Length W max 9.53 (0.38)

Maximum Width Y max. 42 (1.65)

MS3106B
V

18

34.13 (1.34)

(d) MS3057A-

A Cable Clamp with Rubber Bushing Dimensional Drawings


A C 1.6 V Q G J (Inner bushing diameter) E (Inner cable clamp diameter)

H (Slide range)

Units: mm (in)
Cable Clamp Type Applicable Connector Shell Size 18 Overall Length A0.7 23.8 (0.94) Effective Screw Length C 10.3 (0.41) E 15.9 (0.63) G0.7 31.7 (1.25) H 3.2 (0.13) J 14.3 (0.56) Set Screw V 1-20UNEF Outer Diameter Q0.7 30.1 (1.19) Attached Bushing

MS3057-10A

AN3420-10

5-30

5.2 Servomotor Main Circuit Wire Size and Connectors

5.2.13 Connector Dimensional Drawings


(1) Connectors Conforming to European Safety Standards (TV Certified), Manufactured by DDK Electronics, Inc.
Contact Yaskawa Controls Co., Ltd.
Plug (Waterproof when inserted only)

Conduit Manufacturers
Nippon Flex Co., Ltd. DAIWA DENGYO CO., Ltd. NEOFLEX Co., Ltd. SANKEI Manufacturing Co., Ltd.

Cable

Receptacle (Waterproof) Box mounting type

Straight plug Cable clamp (Waterproof when inserted only) Cable L-shaped plug

Note: Possible to connect with an MS connector.

(a) CE05 Series Products


For more information, contact the manufacturer of the conduit being used.
Receptacle 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)

CE05-2A10SL-3PC-B

CE05-2A18-10PD-B

5-31

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.13 Connector Dimensional Drawings

(b) Straight Plugs


Positioning key A L 7.85 (0.31) min. V

Units: mm (in) Model Joint Screw A 5/8-24UNEF-2B 1 1/8-18UNEF-2B Outer Diameter of Nut Q +0 (-0.015) -0.38 22.22 (0.87) 34.13 (1.34) C0.8 (0.03) 18.6 (0.73) 32.1 (1.26) Max. Overall Length L 40 (1.57) 57 (2.24) Cable Clamp Mounting Screw V 5/8-24UNEF-2A 1-20UNEF-2A

CE05-6A10SL-3SC-BSS CE05-6A18-10SD-B-BSS

Note: The plug CE05-6A inserting type.

P -B-BSS is pin inserting type. The mating receptacle is socket

(c) L-shaped Plugs


Positioning key A L

R W
V

V screw

(S)

Units: mm (in) Joint Screw A Outer Diameter of Nut Q +0 (-0.015) -0.38 22.22 (0.87) 34.13 (1.34)
Max. Overall Length L 47.8 (1.88) 69.5 (2.74) Cable Clamp Mounting Screw V R0.7 U0.7 (S)1 (0.03) (0.03) (0.04) 7.9 (0.31) 13.2 (0.52) 21.0 (0.83) 30.2 (1.19) 28.9 (1.14) 43.4 (1.71) Effective Screw Length W 7.5 (0.30) 7.5 (0.30)

Model

CE05-8A10SL-3SC-B-BAS 5/8-24UNEF-2B CE05-8A18-10SD-B-BAS 1 1/8-18UNEF-2B -

5/8-24UNEF-2A 1-20UNEF-2A

Note: The plug CE05-8A

P -B-BAS is pin inserting type. The mating receptacle is socket inserting type.

5-32

5.2 Servomotor Main Circuit Wire Size and Connectors

(d) Plug
Positioning key A screw (J) Gasket

V screw H

Units: mm (in) Model Joint Screw A


5/8-24UNEF-2B 1 1/8-18UNEF-2B

Outer Diameter of Nut Q +0 (-0.015) -0.38 22.22 (0.87) 34.13 (1.34)

Overall Length L1 (0.04)


23.3 (0.92) 33.7 (1.33)

Conduit Mounting Screw V


9/16-24UNEF-2A 1-20UNEF-2A

E0.5 B (0.02) 7.5 (0.30) 11.74 (0.46)

+0.05 (+0.002) -0.25 (-0.010)

H0.1 (0.004) 5.6 (0.22) 6.4 (0.25)

(J)
13.2 (0.52) 19.0 (0.75)

CE05-6A10SL-3SC-B CE05-6A18-10SD-B

12.5 (0.49) 23.5 (0.93)

Note: 1. The plug CE05-6A P -B is pin inserting type. The mating receptacle is socket inserting type. 2. Consult the conduit manufacturer if a conduit is required.

5-33

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.13 Connector Dimensional Drawings

(e) CE3057-

A- (D265) Waterproof Cable Clamp With Rubber Bushing


(D) A C

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 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) E 7.9 (0.311) F 5.6 (0.220) 14.1 (0.555) 11 (0.433) 8.7 (0.34) G0.7 (0.03) 22.2 (0.87) H 1.6 (0.063)

CE3057-4A-1(D265) CE3057-10A-1(D265) CE3057-10A-2(D265) CE3057-10A-3(D265)

18

23.8 (0.937)

30.1 (1.19)

10.3 (0.406)

(41.3) (1.63)

15.9 (0.626)

31.7 (1.25)

3.2 (0.13)

Model

CE3057-4A-1(D265) CE3057-10A-1(D265) CE3057-10A-2(D265) 1-20UNEF-2B CE3057-10A-3(D265)

Cable Clamp Mounting Screw V 5/8-24UNEF-2B

Attached Bushing Model CE3420-4-1 CE3420-10-1 CE3420-10-2 CE3420-10-3

Applicable Cable Range in mm (in) (For reference) 3.6 (0.14) to 5.6 (0.22) 10.5 (0.41) to 14.1 (0.56) 8.5 (0.33) to 11 (0.43) 6.5 (0.26) to 8.7 (0.34)

Note: The cable clamp CE3057-6A for the shell size 14 is not available. Use together with a conduit.

5-34

5.2 Servomotor Main Circuit Wire Size and Connectors

(2) Connectors Conforming to European Safety Standards (TV Certified), Manufactured by Japan Aviation Electronics Industry, Ltd.
Contact Yaskawa Controls Co., Ltd.
Plug (Waterproof when inserted only) Conduit Manufacturers
Nippon Flex Co., Ltd. DAIWA DENGYO Co., Ltd.

Cable

Receptacle (Waterproof) Box mounting type

NEOFLEX Co., Ltd. SANKEI Manufacturing Co., Ltd.

Straight plug Cable Clamp (Waterproof when inserted only) Cable L-shaped plug

Note: Possible to connect with an MS connector

(a) JL04V Series Products


For more information, contact the manufacturer of the conduit being used.
Receptacle 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 Waterproof Cable Clamp Applicable with conduit JL04-2022CK(14) or applicable with conduit Applicable with conduit JL04-2022CK(14) or applicable with conduit Reference (d) (b) and (e) (c) and (e) (d) (b) and (e) (c) and (e) (d) (b) and (e) (c) and (e) (d)

JL04V-2E20-15PE-B

JL04HV-2E22-22PE-B

JL04HV-2E24-10PE-B JL04V-2E32-17PE-B

JL04-2028CK(14) or applicable JL04V-6A24-10SE-EB with conduit JL04V-8A24-10SE-EB JL04V-6A32-17SE Applicable with conduit

5-35

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.13 Connector Dimensional Drawings

(b) Straight Plugs

Positioning key
BQ

F (Wrench width)
BG BB

(Effective screw length) V screw L


Units: mm (in) Model JL04V-6A20-15SE-EB JL04V-6A22-22SE-EB Outer Diameter of Nut Q0.8 (0.03) 37.3 (1.47) 40.5 (1.59) B0.2 (0.01) 29.72 (1.17) 30.05 (1.18) L0.8 (0.03) 58.5 (2.30) 67.63 (2.66) F0.5 (0.02) 33 (1.30) 35 (1.38) G0.5 (0.02) 17 (0.67) 17 (0.67) Cable Clamp Mounting Screw V 1-3/16-18UNEF-2A 1-3/16-18UNEF-2A

Note: For the conduit grounding, contact manufacturer of the conduit being used.

(c) L-shaped Plugs


Positioning key F (Wrench width)

V screw 100.5 (0.390.02) (Effective screw length)

B L G

Units: mm (in) Outer Diameter of Nut Q +0 (-0.015) -0.38 JL04V-8A20-15SE-EB JL04V-8A22-22SE-EB 37.3 (1.47) 40.5 (1.59) B0.8 (0.03) 60.5 (2.38) 60.23 (2.37) L0.8 (0.03) 74.2 (2.92) 73.93 (2.91) D0.8 (0.03) F0.5 (0.02) G0.5 (0.02) Cable Clamp Mounting Screw V

Model

32 (1.26) 33 (1.30) 17 (0.67) 1-3/16-18UNEF-2A 32 (1.26) 35 (1.38) 17 (0.67) 1-3/16-18UNEF-2A

Note: For the conduit grounding, contact manufacturer of the conduit being used.

5-36

5.2 Servomotor Main Circuit Wire Size and Connectors

(d) Plugs
Positioning key L
BQ

V screw
BB

Conduit mounting dimensions E


Units: mm (in) Outer Diameter of Nut Q0.8 (0.03) 37.3 (1.47) 40.5 (1.59) 56.3 (2.22) B0.2 (0.01) 27.0 (1.06) 29.7 (1.17) 45.4 (1.79) L0.4 (0.02) 31.5 (1.24) 31.2 (1.23) 35.8 (1.41) Conduit Mounting Screw V 1-1/8-18UNEF-2A 1-1/4-18UNEF-2A 1-7/8-16UN-2A

Model

E max.

JL04V-6A20-15SE JL04V-6A22-22SE JL04V-6A32-17SE

8 (0.31) 8 (0.31) 10 (0.39)

Note: For the conduit grounding, contact manufacturer of the conduit being used.

(e) Waterproof Cable Clamps With Rubber Bushings

V screw
BQ

5
BE (Cable clamp inner diameter) F (Clamp range)

Bushing

Units: mm (in) Model JL04-2022CK(14) Applicable Shell Size A0.8


(0.03)

Q0.8
(0.03)

C0.8
(0.03)

D0.8
(0.03)

E0.8
(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)

34.9 (1.37) 42.1 (1.66)

24.3 (0.96) 26.2 (1.03)

53.8 (2.12) 56.2 (2.21)

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

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.3.1 Cable Types

5.3 SERVOPACK Main Circuit Wire Size


IMPORTANT
1. Wire sizes were selected for three cables per bundle at 40 C (104 F) ambient temperature with the rated current. 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.

5.3.1 Cable Types


Cable Types Symbol PVC IV HIV Name Normal vinyl cable 600-V vinyl cable Temperature-resistant vinyl cable 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.

600-V Heat-resistant Vinyl Cables (HIV)


Nominal Cross Section Diameter mm2 (in2) 0.5 (0.00078) Configuration Number of wires/mm2 (in2) Conductive Resistance /km 39.5 26.0 24.4 15.6 9.53 5.41 3.47 2.41 1.35 0.85 Allowable Current at Ambient Temperature A 30C (86F) 6.6 8.8 9.0 12.0 23 33 43 55 79 91 40C (104F) 5.6 7.0 7.7 11.0 20 29 38 49 70 81 50C (122F) 4.5 5.5 6.0 8.5 16 24 31 40 57 66

AWG Size

20 18 16 14 12 10 8 6 4

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)

Note: The values in the table are only for reference.

5-38

5.3 SERVOPACK Main Circuit Wire Size

5.3.2 Single-phase 100 V


External Terminal Name Main circuit power supply input terminals Servomotor connection terminals Control power supply input terminals External regenerative resistor connection terminals Ground terminal Terminal Symbol L1, L2 U, V, W L1C, L2C B1, B2 SERVOPACK Model SGDMA3BD A5BD 01BD 02BD A3BDA A5BDA 01BDA 02BDA HIV1.25 HIV2.0 HIV1.25 HIV1.25 HIV1.25 HIV2.0 or more

5.3.3 Single-phase 200 V


External Terminal Name Main circuit power supply input terminals Servomotor connection terminals Control power supply input terminals External regenerative resistor connection terminals Ground terminal Terminal Symbol L1, L2 U, V, W L1C, L2C B1, B2 SERVOPACK Model SGDMA3AD A5AD 01AD 02AD 04AD A3ADA A5ADA 01ADA 02ADA 04ADA HIV1.25 HIV2.0 HIV1.25 HIV1.25 HIV1.25 HIV2.0 or more

5.3.4 Three-phase 200 V


External Terminal Name Main circuit power supply input terminals Servomotor connection terminals Control power supply input terminals External regenerative resistor connection terminals Ground terminal Terminal Symbol L1, L2, L3 U, V, W L1C, L2C B1, B2 Terminal Symbol L1, L2, L3 U, V, W L1C, L2C B1, B2 SERVOPACK Model SGDMA5AD 08AD 10AD 15AD 20AD 30AD A5ADA A8ADA 10ADA 15ADA 20ADA 30ADA HIV2.0 HIV3.5 HIV2.0 HIV3.5 HIV5.5 HIV1.25 HIV1.25 HIV2.0 or more SERVOPACK Model SGDM50ADA 60ADA 75ADA 1AADA 1EADA HIV5.5 HIV8 HIV14 HIV22 HIV8 HIV14 HIV22 HIV1.25 HIV5.5 HIV8.0 HIV2.0 or more HIV22 HIV2.0 HIV3.5

External Terminal Name Main circuit power supply input terminals Servomotor connection terminals Control power supply input terminals External regenerative resistor connection terminals Ground terminal

5-39

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.4.1 Encoder Cable With Connectors For SGMAH and SGMPH Servomotors

5.4 Encoder Cables for CN2 Connector


When assembling the encoder cable, refer to 5.5 Connectors and Cables for Encoder Signals. Contact Yaskawa Controls Co., Ltd. for IP67 applicable cables, flexible cables and connectors.

5.4.1 Encoder Cable With Connectors For SGMAH and SGMPH Servomotors
Cable Type JZSP-CMP00-03 JZSP-CMP00-05 JZSP-CMP00-10 JZSP-CMP00-15 JZSP-CMP00-20 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 6.5 mm (0.26 in) Encoder end

Crimped connector (Molex Japan Co., Ltd.)

Soldered socket connector (Molex Japan Co., Ltd.)

5.4.2 Encoder Cable With Connectors for SGMGH, SGMSH, and SGMDH Servomotors
(1) Cable With a SERVOPACK Connector and Encoder Straight Plug
Cable Type JZSP-CMP01-03 JZSP-CMP01-05 JZSP-CMP01-10 JZSP-CMP01-15 JZSP-CMP01-20 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 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

(2) Cable With a SERVOPACK Connector and Encoder L-shaped Plug


Cable Type JZSP-CMP02-03 JZSP-CMP02-05 JZSP-CMP02-10 JZSP-CMP02-15 JZSP-CMP02-20 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

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

5-40

5.4 Encoder Cables for CN2 Connector

5.4.3 Encoder Cable With a SERVOPACK Connector and Encoder Loose Leads for SGMAH and SGMPH Servomotors
(1) Cable Type
Cable Type JZSP-CMP03-03 JZSP-CMP03-05 JZSP-CMP03-10 JZSP-CMP03-15 JZSP-CMP03-20 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 6.5 mm (0.26 in) Encoder end 60 mm (2.36 in)
1 2 3 4 5 6

Crimped connector (Molex Japan Co., Ltd.)

Wire markers

(2) Encoder-end Connector Kit


Type JZSP-CMP9-2 Manufacturer Molex Japan Co., Ltd.

Socket (Soldered)

(3) Encoder Plug Connector Pin Arrangement


16-bit Serial Absolute Encoder Connection Specifications Lead Pin No. Signal Color 1 2 3 PG5V PG0V BAT(+) BAT() PS /PS Red Black Orange White/ Orange Light blue White/ Light blue 13-bit Serial Incremental Encoder Connection Specifications Pin No. 1 2 3 4 5 6 PS /PS Signal PG5V PG0V Lead Color Red Black Light blue White/ Light blue

Plug: JZSP-CMP9-1 (SERVOPACK end) Socket: JZSP-CMP9-2 (Encoder end)

4 5 6

5-41

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.4.4 Encoder Cable with a SERVOPACK Connector and Encoder Loose Leads for SGMGH, SGMSH, and SGMDH Servomotors

5.4.4 Encoder Cable with a SERVOPACK Connector and Encoder Loose Leads for SGMGH, SGMSH, and SGMDH Servomotors
(1) Cable Type
Cable Type JZSP-CMP03-03 JZSP-CMP03-05 JZSP-CMP03-10 JZSP-CMP03-15 JZSP-CMP03-20 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 6.5 mm (0.26 in) Crimped connector (Molex Japan Co., Ltd.) Encoder end 60 mm (2.36 in)
C D G H S T

Wire markers

(2) Encoder-end Connector


Contact Yaskawa Controls Co., Ltd.

Plug

Cable clamp

Cable

Plug

Cable clamp

Cable

Connector on Servomotor

Plug (Manufactured by Daiichi Denshi Kogyo Co., Ltd.) Type Straight L-shaped Model MS3106B20-29S MS3108B20-29S

Cable Clamp (Manufactured by Daiichi Denshi Kogyo Co., Ltd.) MS3057-12A

MS3102A20-29P

5-42

5.4 Encoder Cables for CN2 Connector

(3) Encoder Plug Connector Pin Arrangement


K M A N B T P C D J S R E H G F L

17-bit Absolute Encoder Connection Specifications Lead Lead Pin No. Signal Pin No. Signal Color Color 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

17-bit Incremental Encoder Connection Specifications Pin No. A B C D E F G H J Signal PS /PS PG0V PG5V FG (Frame Ground) Shield wire Lead Color Light blue White/ Light blue Black Red Pin No. K L M N P R S T Signal Lead Color

5-43

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.4.5 Encoder Flexible Cables for SGMAH and SGMPH Servomotors

5.4.5 Encoder Flexible Cables for SGMAH and SGMPH Servomotors


(1) Flexible Cable With Connectors
Cable Type JZSP-CMP10-03 JZSP-CMP10-05 JZSP-CMP10-10 JZSP-CMP10-15 JZSP-CMP10-20 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) Encoder end

Crimped connector (Molex Japan Co. Ltd.)

Soldered socket connector (Molex Japan Co., Ltd.)

(2) Flexible Cable With a SERVOPACK Connector and Encoder Loose Leads
(a) Cable Type
Cable Type JZSP-CMP13-03 JZSP-CMP13-05 JZSP-CMP13-10 JZSP-CMP13-15 JZSP-CMP13-20 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
60 mm (2.36 in) 20 mm 1 (0.79 in)
2 3 4 5 6

Encoder end

Finished dimension 6.8 mm (0.27 in)

Heat-shrinkable tube Wire markers Crimped connector (Molex Japan Co., Ltd.)

(b) Encoder-end Connector Kit


Socket (Soldered)

Type JZSP-CMP9-2

Manufacturer Molex Japan Co., Ltd.

(c) Encoder Plug Connector Pin Arrangement


16-bit Serial Absolute Encoder Connection Specifications Lead Pin No. Signal Color 1 2 3 PG5V PG0V BAT(+) BAT() PS /PS Red Black Orange White/ Orange Light blue White/ Light blue 13-bit Serial Incremental Encoder Connection Specifications Pin No. 1 2 3 4 5 6 PS /PS Signal PG5V PG0V Lead Color Red Black Light blue White/ Light blue

Plug: JZSP-CMP9-1 (SERVOPACK end) Socket: JZSP-CMP9-2 (Encoder end)

4 5 6

5-44

5.4 Encoder Cables for CN2 Connector

5.4.6 Encoder Flexible Cables for SGMGH, SGMSH, and SGMDH Servomotors
(1) Flexible Cable With a SERVOPACK Connector and Encoder Straight Plug
Cable Type JZSP-CMP11-03 JZSP-CMP11-05 JZSP-CMP11-10 JZSP-CMP11-15 JZSP-CMP11-20 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 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
Cable Type JZSP-CMP12-03 JZSP-CMP12-05 JZSP-CMP12-10 JZSP-CMP12-15 JZSP-CMP12-20 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

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
Cable Type JZSP-CMP13-03 JZSP-CMP13-05 JZSP-CMP13-10 JZSP-CMP13-15 JZSP-CMP13-20 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

5
1 2 3 4 5 6

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.)

(b) Encoder-end Connector


Contact Yaskawa Controls Co., Ltd.
Plug Cable clamp Cable Plug Cable clamp Cable

Connector on Servomotor

Plug (Manufactured by Daiichi Denshi Kogyo Co., Ltd.) Type Straight L-shaped Model MS3106B20-29S MS3108B20-29S

Cable Clamp (Manufactured by Daiichi Denshi Kogyo Co., Ltd.) MS3057-12A

MS3102A20-29P

5-45

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.4.7 Encoder Cables for SGMCS Servomotors

(c) Encoder Plug Connector Pin Arrangement


K M A N B T P C D J S R E H G F L

17-bit Absolute Encoder Connection Specifications Lead Lead Pin No. Signal Pin No. Signal Color Color 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

17-bit Incremental Encoder Connection Specifications Pin No. A B C D E F G H J Signal PS /PS PG0V PG5V FG (Frame Ground) Shield wire Lead Color Light blue White/ Light blue Black Red Pin No. K L M N P R S T Signal Lead Color

5.4.7 Encoder Cables for SGMCS Servomotors


If you use cables with loose leads or manufacture the cables, connect the shield wire of the encoder cable to the connector frame ground.

(1) Cable with Connectors


(a) Cable Type
Standard Type JZSP-CMP60-03 JZSP-CMP60-05 JZSP-CMP60-10 JZSP-CMP60-15 JZSP-CMP60-20 Flexible Type JZSP-CSP60-03 JZSP-CSP60-05 JZSP-CSP60-10 JZSP-CSP60-15 JZSP-CSP60-20 Length (L) 3 m (9.84 ft) 5 m (16.4 ft) 10 m (32.8 ft) 15 m (49.2 ft) 20 m (65.6 ft)
Plug connector (crimped) (Molex Japan Co.) Straight plug (caulking) (Japan Aviation Electronics Industry, Ltd.)

Dimensional Drawing
SERVOPACK end L Encoder end

(b) Wiring Specifications


SERVOPACK end Pin No. Signal 1 PG5V PG0V 2 5 PS 6 /PS Shell FG Servomotor end Pin No. Lead Color 4 Red Black 9 1 Light blue Light blue/white 2 7 FG Shield

Shield wire

5-46

5.4 Encoder Cables for CN2 Connector

(2) Cable with a SERVOPACK Connector and Encoder Loose Leads


(a) Cable Type
Standard Type JZSP-CMP03-03 JZSP-CMP03-05 JZSP-CMP03-10 JZSP-CMP03-15 JZSP-CMP03-20 Flexible Type JZSP-CMP13-03 JZSP-CMP13-05 JZSP-CMP13-10 JZSP-CMP13-15 JZSP-CMP13-20 Length (L) 3 m (9.84 ft) 5 m (16.4 ft) 10 m (32.8 ft) 15 m (49.2 ft) 20 m (65.6 ft)
Plug connector (crimped) (Molex Japan Co.) Wire markers SERVOPACK end L

Dimensional Drawing
Encoder end 60mm (2.36 in)
1 2 3 4 5 6

(b) Wiring Specifications


SERVOPACK end
Pin No. Signal

Encoder (Servomotor) end


Lead Color Light blue/white Light blue White/orange Orange Black Red Marker

6 5 4 3 2 1 Shell

/PS PS BAT(-) BAT(+) PG0V PG5V FG

6 5 4 3 2 1

Shield wire Note: The signals BAT(+) and BAT(-) are used when using an absolute encoder.

5-47

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.5.1 Connectors and Cables for SGMAH and SGMPH Servomotors

5.5 Connectors and Cables for Encoder Signals


The IP67 applicable cables, flexible cables and connectors are options. Contact Yaskawa Controls Co., Ltd.

5.5.1 Connectors and Cables for SGMAH and SGMPH Servomotors


(1) Cable Type

Cables for Maximum 20 m (65.62 ft) Wiring Distance Cable Type JZSP-CMP09-05 JZSP-CMP09-10 JZSP-CMP09-15 JZSP-CMP09-20 Cable Length 5 m (16.40 ft) 10 m (32.81 ft) 15 m (49.21 ft) 20 m (65.62 ft)

Cables for Maximum 50 m (164.04 ft) Wiring Distance Cable Type JZSP-CMP19-30 JZSP-CMP19-40 JZSP-CMP19-50 Cable Length 30 m (98.43 ft) 40 m (131.23 ft) 50 m (164.04 ft)

(2) SERVOPACK-end Connector for CN2


Model Manufacturer Units: mm (in) Dimensional Drawing
11 (0.43) 18.4 (0.72 ) Plug connector (Soldered)

JZSP-CMP9-1

Molex Japan Co., Ltd.

33 (1.3) 37.4 (1.47)

(3) Encoder-end Connector


Model Manufacturer Units: mm (in) Dimensional Drawing
Socket (Soldered) 12 (0.47) 43.5 (1.71) 18.8 (0.74)

JZSP-CMP9-2

Molex Japan Co., Ltd.

5-48

5.5 Connectors and Cables for Encoder Signals

(4) Encoder Cable Specifications


Cable Type Cable Length Basic Specifications Finished Dimensions JZSP-CMP0920 m (65.62 ft) max. T/20276-SB AWG222C+AWG242P 6.5 mm (0.26 in) JZSP-CMP1950 m (164.04 ft) max. T/20276-SB AWG162C+AWG262P 6.8 mm (0.27 in)

Light blue

Internal Configuration and Lead Colors

Light blue/ White

Black Black
Orange
Orange/ White

Red Orange
Orange/ White

Light blue Light blue/ White

Red

Yaskawa Standard Specifications (Standard Length)

5 m (16.40 ft), 10 m (32.81 ft), 15 m (49.21 ft), 20 m (65.62 ft)

30 m (98.43 ft), 40 m (131.23 ft), 50 m (164.04 ft)

(5) Encoder Plug Connector Pin Arrangement


16-bit Serial Absolute Encoder Connection Specifications Lead Pin No. Signal Color 1 2 3 4 PG5V PG0V BAT(+) BAT() PS /PS Red Black Orange White/ Orange Light blue White/ Light blue 13-bit Serial Incremental Encoder Connection Specifications Pin No. 1 2 3 4 5 6 PS /PS Signal PG5V PG0V Lead Color Red Black Light blue White/ Light blue

Plug: JZSP-CMP9-1 (SERVOPACK end) Socket: JZSP-CMP9-2 (Encoder end)

5 6

5-49

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.5.2 Connectors and Cables for SGMGH, SGMSH, and SGMDH Servomotors

5.5.2 Connectors and Cables for SGMGH, SGMSH, and SGMDH Servomotors
(1) Cable Type

Cables for Maximum 20 m (65.62 ft) Wiring Distance Cable Type Cable Length 5 m (16.40 ft) JZSP-CMP09-05 10 m (32.81 ft) JZSP-CMP09-10 15 m (49.21 ft) JZSP-CMP09-15 20 m (65.62 ft) JZSP-CMP09-20

Cables for Maximum 50 m (164.04 ft) Wiring Distance Cable Type Cable Length 30 m (98.43 ft) JZSP-CMP19-30 40 m (131.23 ft) JZSP-CMP19-40 50 m (164.04 ft) JZSP-CMP19-50

(2) SERVOPACK-end Connector for CN2


Model JZSP-CMP9-1 Manufacturer Molex Japan Co., Ltd. Dimensional Drawing

Plug connector (Soldered)

(3) Encoder-end Connector


(a) Connector for the Standard Environments

Connector on Servomotor MS3102A20-29P

Straight Plug MS3106B20-29S

Encoder-end Connector Type L-shaped Plug Cable Clamp MS3108B20-29S MS3057-12A

(b) IP67 Applicable Connector

Encoder-end Connector Type Connector on Servomotor 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) * * Manufactured by Japan Aviation Electronics Industry, Ltd. 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)

5-50

5.5 Connectors and Cables for Encoder Signals

(4) Encoder Cable Specifications


Cable Type Cable Length Basic Specifications Finished Dimension JZSP-CMP0920 m (65.62 ft) max. T/20276-SB AWG22 2C+AWG24 2P 6.5 mm (0.26 in) JZSP-CMP1950m (164.04 ft) max. T/20276-SB AWG16 2C+AWG26 2P 6.8 mm (0.27 in)

Light blue

Internal Configuration and Lead Colors

Red

Light blue/ White

Black
Black
Orange Orange/ White Light blue Light blue/ White

Orange
Orange/ White

Red

Yaskawa Standard Specifications (Standard Length)

5 m (16.40 ft), 10 m (32.81 ft), 15 m (49.21 ft), 20 m (65.62 ft)

30 m (98.43 ft), 40 m (131.23 ft), 50 m (164.04 ft)

(5) Encoder Plug Connector Pin Arrangement


M A N B T P C K D J S R E H G F L

17-bit Absolute Encoder Connection Specifications Lead Lead Pin No. Signal Pin No. Signal Color Color 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

17-bit Incremental Encoder Connection Specifications Lead Lead Pin No. Signal Pin No. Signal Color Color A K B L Light PS C M blue White/ /PS Light D N blue E P F R G H J PG0V PG5V FG (Frame Ground) Shield wire Black Red S T

5-51

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.5.3 Connectors and Cables for SGMCS Servomotors

5.5.3 Connectors and Cables for SGMCS Servomotors


(1) Encoder Cable Connector Specifications
Items Manufacturer Connector Type SERVOPACK end Molex Japan Co., Ltd. 55100-0600 (Soldered type) or 55102-0600 (Caulking type) 55100-0600 (Soldered) when using a connector kit 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
51.5 mm (2.03 in) max. 18.8
3 7 1 4

19 (0.75)

Appearance

10 (0.39)

36 (1.42)

10

Arranged Model

JZSP-CMP9-1

Order them from Japan Aviation Electronics Industry, Ltd.

Note: The mating connector type on servomotor: JN1AS10FL1

(2) Cable Specifications for SGMCS Servomotors


Items Cable Type * Cable Length Specifications Standard Cable JZSP-CMP09Flexible Cable JZSP-CSP39-

20 m (65.6 ft) max. UL20276 (Max. operating temperature: UL20276 (Max. operating temperature: 80C (176 F)) 80C (176 F)) AWG22 2C + AWG24 2P AWG22 2C + AWG24 2P AWG22 (0.33 mm2 (0.013 in2)) Outer diameter of insulating sheath: 1.15 mm (0.045 in) AWG24 (0.20 mm2 (0.008 in2)) Outer diameter of insulating sheath: 1.09 mm (0.043 in) 6.5 mm (0.26 in) AWG22 (0.33 mm2 (0.013 in2) Outer diameter of insulating sheath: 1.35 mm (0.053 in) AWG24 (0.20 mm2 (0.008 in2) Outer diameter of insulating sheath: 1.21 mm (0.048 in) 6.8 (0.27 in)

Finished Dimensions Internal Configuration and Lead Colors

Blue Blue/ White Orange Orange/ White

Black/ Light blue Red/ Light blue Black Orange Black/ Pink Red/ Pink Green

Red

Yaskawa Standard Specifications (Standard Length)

Cable length: 5 m (16.4 ft), 10 m (32.8 ft), 15 m (49.2 ft), 20 m (65.6 ft)

* Specify the cable length in of cable type designation. Example: JZSP-CMP09-05 (5 m (16.4 ft))

5-52

5.6 Flexible Cables

5.6 Flexible Cables


(1) Life of Flexible Cable
The flexible cable supports 10,000,000 or more operations of bending life with the recommended bending radius R = 90 mm (3.54 in) under the following test conditions.

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.

(2) Wiring Precautions


Even if the recommended bending radius R is respected in the mechanical design, incorrect wiring may cause the early disconnection. Observe the following precautions when wiring.

(a) Cable twisting


Straighten the flexible cables wiring. Twisted cables causes the early disconnection. Check the indication on the cable surface to make sure that the cable is not twisted.

(b) Fixing method


Do not fix the moving points of the flexible cable, or stress on the fixed points may cause early disconnection. Fix the cable at the minimum number of points.

(c) Cable length


If the cable length is too long, it may cause the cables sagging. Besides the cable length is too short, it may cause the excessive tension on the fixed points that will cause the early disconnection. Use a flexible cable with the optimum length.

(d) Interference between cables


Avoid interference between cables. Interference limits the motion of flexible cable, which causes early disconnection. Keep enough distance between cables, or provide a partition when wiring.

5-53

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.7.1 Standard Cables

5.7 I/O Signal Cables for CN1 Connector


5.7.1 Standard Cables
For the connection diagram, refer to 5.7.3 Connection Diagram.

(1) Cable Types


Cable Type JZSP-CKI01-1 JZSP-CKI01-2 JZSP-CKI01-3 Cable Length (L) 1 m (3.28 ft) 2 m (6.56 ft) 3 m (9.84 ft)

(2) Dimensional Drawing


SERVOPACK end
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

100 +10 (3.94 +0.39 ) 0 0 Units: mm (in)

* Manufactured by Sumitomo 3M Ltd.

5.7.2 Connector Type and Cable Size


Use the following connector and wire when assembling the cable. The CN1 connector includes a set of case and a connector.
Connector Type JZSP-CKI9 Case Type 10350-52A0-008

Connector Qty 1 set Type 10150-3000VE* Qty 1

* Manufactured by Sumitomo 3M Ltd.

(1) Dimensional Drawing of Case


14.0 (0.55) Units: mm (in) 18.0 (0.71) 46.5 (1.83) 39.0 (1.54) 5.7 (0.22) 23.8 (0.94) 17.0 (0.67)

41.1 (1.62)

52.4 (2.06) 12.7 (0.50)

5-54

5.7 I/O Signal Cables for CN1 Connector

(2) Dimensional Drawing of Connector


Units: mm (in) 2.3 (0.09) 2.54 (0.10) 1.27 (0.05)

5.1 (0.20)

41.1 (1.62) Pin No. 1 9.1 (0.36)


7.5 (0.30)

Pin No. 2

Pin No. 26

1.27 (0.05) 30.48 (1.20) 36.7 (1.44)

15

12.7 (0.50)

(2.9) (0.11) (6.6) (0.26)

19.3 (0.76)

(3) Cable Size


Item Cable Applicable Wires Finished Dimension Specifications Use twisted-pair or twisted-pair shielded wire. AWG24, 26, 28, 30 16 mm (0.63 in) or less

5-55

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.7.3 Connection Diagram

5.7.3 Connection Diagram


SERVOPACK end Pin No. 1 3 2 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 Case Signal SG PL1 SG SEN V-REF SG PULS /PULS T-REF SG SIGN /SIGN PL2 /CLR CLR PL3 PCO /PCO BAT(+) BAT(-) /V-CMP+ /V-CMP/TGON+ /TGON/S-RDY+ /S-RDYALM+ ALMPAO /PAO PBO /PBO ALO1 ALO2 ALO3 /S-ON /P-CON P-OT N-OT /ALM-RST /P-CL /N-CL +24V-IN PSO /PSO Lead Color Orange Orange Gray Gray White White Yellow Yellow Pink Pink Orange Orange Gray White White Gray Yellow Yellow Pink Pink Orange Orange Gray Gray White White Yellow Yellow Pink Pink Orange Orange Gray Gray White White Yellow Yellow Pink Pink Orange Orange Gray Gray White White Yellow Pink Pink Yellow Marking Color Red Black Red Black Red Black Red Black Red Black Red Black Red Red Black Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Red Black Black Dots 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 3 3 3 3 3 3 3 3 3 3 4 4 4 4 4 4 4 4 4 4 5 5 5 5 5 5 5 5 5 5

Host controller end


Lead Marker No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 represents twisted-pair wires.

Shield

5-56

5.8 Peripheral Devices

5.8 Peripheral Devices


5.8.1 Cables for Connecting Personal Computers
(1) For 25-pin Connector Cable for NEC PC-98 Series PC
(a) Cable Type: JZSP-CMS01 (b) Dimensional Drawing
Units: mm (in)
Personal computer end SERVOPACK end Half-pitch connector D-sub connector (25-pin) Plug: 10114-3000VE 17JE-23250-02 D8A Shell: 10314-52A0-008 (Daiich Denshi Kogyo Co., Ltd.) (Sumitomo 3M Ltd.) 39 (1.54) 38 (1.50) 200050 (78.741.97) Personal computer end Signal RXD TXD 0V RTS CTS FG Pin No. 3 2 7 4 5 1 SERVOPACK end Pin No. Signal /TXD 2 /RXD 4 14 0V Case FG

47 (1.85)

14

8 Cable type: AWG26 3C UL2464 2 M2.6 screws 2 M2.6 screws 14

1 7

25

13

Shield wire

(2) D-sub, 9-pin Connector Cable for IBM PC Compatible


(a) Cable Type: JZSP-CMS02 (b) Dimensional Drawing
Units: mm (in) Personal computer end 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)
29.5 (1.16)

5
Personal computer end Signal RXD TXD 0V RTS CTS FG Pin No. 2 3 5 7 8 Case SERVOPACK end Pin No. Signal 2 /TXD /RXD 4 14 0V Case FG

6 9

1 5

32 (1.26)

1 7

Cable type: AWG26 3C UL2464 2 M2.6 screws 2 M2.6 screws

14

Shield wire

5-57

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.8.2 Digital Operator

(3) 14-pin Half-pitch Connector Cable for NEC PC-98 Series PC


(a) Cable Type: JZSP-CMS03 (b) Dimensional Drawing
Units: mm (in) Personal computer end Half-pitch connector Plug: 10114 3000VE Shell: 10314 52F0 008 (Sumitomo 3M Ltd.) 39 (1.54) 29.5 (1.16)

SERVOPACK end Half-pitch connector Plug: 10114 3000VE Shell: 10314 52A0 008 (Sumitomo 3M Ltd.) 39 (1.54)
29.5 (1.16)

Personal computer end Signal RXD TXD RTS CTS GND FG FG Pin No. 1 9 10 4 14 12 Case

SERVOPACK end Pin No. Signal TXD 2 RXD 4 14 GND Case FG

200050 (78.741.97) 5 (0.20)

8 14

1 7

1 7

Label Cable: AWG26 3C UL2464 2 M2.6 screws

14

Shield wire

5.8.2 Digital Operator


(1) Model JUSP-OP02A-2 with a 1m (3.28 ft)-connection Cable
YASKAWA

SERVOPACK

CN3 Digital Operator Connect to CN3

(2) Dimensional Drawing


Units: mm (in) 63 (2.48) 2 (0.08) 4.5 (0.18) 50 (1.97) mounting holes 18.5 (0.73) 7 (0.28)

125 (4.92)
YASKAWA

26 (1.02)

39 (1.54)
29.5 (1.16)

5-58

(8) (0.31)

135 (5.31)

5.8 Peripheral Devices

(3) Other Types of the Applicable Connection Cables: JZSP-CMS00The following cables are applicable for longer distance connection.
Units: mm (in) Digital Operator end 30 (1.18) 17.3 (0.68) 2 10 1 9 SERVOPACK end 39 (1.54) 29.5 (1.16) 8 11 1 7

Cable Type
L

JZSP-CMS00-1 JZSP-CMS00-2 JZSP-CMS00-3

Cable Length (L) 1 m (3.28 ft) 1.5 m (4.92 ft) 2 m (6.56 ft)

5.8.3 Cables for Analog Monitor


(1) Cable Type: JZSP-CA01 (DE9404559)
Connect the specified cables to CN5 connector for monitoring the analog monitor signals. For details, refer to 9.5 Analog Monitor.
With the front cover open Cable for Analog Monitor
CN5

20.2 (0.80)

MODE/SET

DATA/

CHARGE

POWER

INFO

Specify the cable type either JZSP-CA01 or DE9404559 when ordering the cable for analog monitor.

(2) Dimensional Drawing


Socket: DF11-4DS-2C Connector: DF11-2428SCF 1000 +20 mm (39.37+0.79 in) -0 -0 3 1 4 2 White Red Viewed from the cable Black Black

* Manufactured by Hirose Electric Corporation.

(3) Specifications
Pin No. 1 2 3 and 4 Cable Color Red White Signal Analog Monitor 2 Analog Monitor 1 Monitoring Item Motor speed: 1V/1000 min-1 Torque reference: 1V/100% rated torque

Black (2 cables) GND (0 V)

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

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.8.4 Connector Terminal Block Converter Unit

5.8.4 Connector Terminal Block Converter Unit


(1) Model: JUSP-TA50P
The connection between the connector terminal block converter and the SERVOPACK is shown below.
YASKAWA

SERVOPACK CN1
-0 Attached cable length: 500 +50 mm (19.69 +1.97 0 in)

Connector terminal block converter unit model: JUSP-TA50P


1 1 1 19 33 16 32 50 49 2 50

(2) Dimensional Drawings of Terminal Block


Units: mm (in)
7 (0.28)

29.5 (1.16)

29.5 (1.16)

15.5 (0.61)
2M3 tapped holes 247.5 (9.74) 3.5 (0.14)

Terminal block (50P) M3.5 screw


1 19 33

Connector plug (50P) 7 (0.28) MR-50RMD2


16 32 50 49 50

15.5 (0.61)

1 1 2

23.5 (0.14) 3.5 (0.14) 247.5 (9.74)

3.5 (0.14) 3.5 (0.14)

43.5 (1.71)

(62) (2.44)

2 (0.08)

With terminal block cover removed

Can be fixed on DIN rail

(3) Dimensional Drawing of Cable


Units: mm (in)
SERVOPACK end connector (50P) 10150-6000EL(Sumitomo 3M Ltd.) Shell 10350-52AO-008 (Sumitomo 3M Ltd.) Cable (black) AWG#28 25P UL20276 VW-1SC Connector terminal block converter unit end connector (50P) MRP-50F01 (Honda Tsushin Kogyo Co., Ltd.) Case MR-50L (Honda Tsushin Kogyo Co., Ltd.)

500

+50 0

(19.69 +1.97 ) 0

5-60

20.5 (0.81)

45 (1.77)

45 (1.77)

5.8 Peripheral Devices

5.8.5 Brake Power Supply Unit


(1) Model: LPSE-2H01, LPDE-1H01
Manufactured by Yaskawa Controls Co., Ltd. 200 V input: LPSE-2H01 100 V input: LPDE-1H01

(2) Specifications
Rated output voltage: 90 VDC Maximum output current: 1.0 ADC Lead wire length: 500 mm (19.69 in) each Maximum ambient temperature: 60C (140 F) Lead wires: Color coded. Refer to the table below.
AC Input End 100 V 200 V Blue/White Yellow/White Brake End Red/Black

(3) Dimensional Drawing


50 (1.97) 30 (1.18)

Nameplate

Lead wire

11 (0.43)

Units: mm (in)

(4) Internal Circuits


The brake power supply circuit can be opened and closed either on AC or DC side. However, if the wiring distance on DC side is too long, the brake circuit may not operate normally due to the influence of switching noises. When switching the circuit on AC side, install a surge suppressor model CR50500BL for the brake power supply near the brake coil to reduce the influence of switching noises. When switching the circuit on DC side, the influence of the switching noise is minimal, even without installing a surge suppressor. However, the surge voltage at switching may damage the brake coil. Install a surge suppressor near the brake coil to prevent the damage to the brake coil in addition to the built-in surge suppressor.

(a) Internal Circuit for 200 VAC Brake Power Supply Model: LPSE-2H01
Yellow AC side 180 to 230 V White
Surge suppressor Diode Surge suppressor

20 (0.79)

2 Mounting holes 3 (0.12) (Spot facing 5.5 (0.22) and 4 (0.16) long

25 (0.98)

Red DC (Brake) side No polarity Black

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5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.8.5 Brake Power Supply Unit

(b) Internal Circuit for 100 VAC Brake Power Supply Model: LPDE-1H01
Blue AC side 90 to 120 V White
Surge suppressor

Diode bridge

Red
Surge DC (Brake) side suppressor No polarity

Black

Noise Filter for Brake Power Supply Use the following noise filter at the brake power input for 400 W or less servomotors with holding brakes. Model: FN2070-6/07 (Manufactured by Schaffner Electronic.) Refer to 5.8.10 Noise Filter for the dimensional drawing.

5-62

5.8 Peripheral Devices

5.8.6 External Regenerative Resistor


Regenerative resistors for SERVOPACKs are internally or externally mounted as shown in the table below. Regenerative resistors can be externally mounted on all SERVOPACKs. Connect an external regenerative resistor to the SERVOPACK if regenerative energy exceeds the capacity of the SERVOPACK. If a regenerative resistor is to be mounted externally, the jumper between B2 and B3 for the internal regenerative resistor must be removed. Refer to 6.5 Connecting Regenerative Resistors for the selection. No built-in regenerative resistor is provided to 6 kW or more SERVOPACKs. Be sure to prepare the externally mounted regenerative resistor. The following table shows examples of regenerative resistors.
Applicable SERVOPACK 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 (3.13)2 (1760) 2 2.9 Specifications for a Regenerative Resistor Mounted in a SERVOPACK Resistance () Capacity (W) Min. Allowable Resistance ()

Single-phase 100 V

40

Single-phase 200 V

40

50 30 25 12.5 8 (6.25) 1

60 70 140 140 280 (880) 1

40 20 12 12 8 5.8

Three-phase 200 V

* 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

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.8.6 External Regenerative Resistor

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.

(1) References for External Regenerative Resistor


Regenerative Resistor Model RH120 RH150 RH220 RH300C RH500 Specifications 70 W, 1 to 100 90 W, 1 to 100 120 W, 1 to 100 200 W, 1 to 10 k 300 W, 1 to 30 Manufacturer

Iwaki Wireless Research Institute.

(2) Model Designation

RH120 N
Model

10 J
Resistance Tolerance
Code Specifications

N: Noninductive winding

Resistance

K J H

10% 5% 3%

(3) Specifications
Resistance Tolerance Temperature Resistance Characteristics Withstand Voltage Insulation Resistance Short-time Overload Life Heat Resistance Operating Temperature K: 10%, J: 5%, H: 3% 400 PPM / C (less than 20) , 260 PPM / C (20 or more) 2000 VAC/min. R: (0.1% + 0.05) 500 VDC, 20 M or more 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)

5-64

5.8 Peripheral Devices

(4) Dimensional Drawings


RH120/150/220
Units: mm (in) 3.5 (0.14) G

RH220B

Units: mm (in)
30 (1.18) 3.0 (0.12)

4.5 (0.18)

B A

138 (5.43)

F E

170 (6.69) 154 (6.06)

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

60 (2.36) 54 (2.13) 40 (1.57)

1 to 100 1 to 100 1 to 100

RH120 RH150 RH220

(7.17) (5.91) (6.77) (0.63) (1.65) (0.87) (0.79)

A B C D E F G 182 150 172 16 42 22 20

4 4.5 (0.18) Lead wire length L: 500 (19.69) Rated power: 120 W Resistance: 1 to100

212 180 202 16 44 24 30 230 200 220 15 60 24 20

(8.35) (7.09) (7.95) (0.63) (1.73) (0.94) (1.18) (9.06) (7.87) (8.66) (0.59) (2.36) (0.94) (0.79)

RH300C
Units: mm (in)
37 (1.46) 32 (1.26)

RH500
Units: mm (in) 250 (9.84) 234 (9.21)
3 (0.12)

80 (3.15) 40 (1.57) 4.5 (0.18)

312 (12.28) 270 (10.63) 62 (2.44) 47 (1.85) 33 (1.30) 5.3 (0.21)

218 (8.58)

24.5 (0.18)

4.7 (0.19)

300 (11.81)

Lead wire length L: 300 (11.81) Rated power: 200 W Resistance: 1 to 10 k

Lead wire length L: 450 (17.72) Rated power: 300 W Resistance: 1 to 30

5.8.7 Regenerative Resistor Unit


(1) Models
The SERVOPACKs with a capacity of 6.0 kW or more do not have a built-in regenerative resistor. The following regenerative resistor unit is required according to the SERVOPACK model.
SERVOPACK Model SGDM-60ADA SGDM-75ADA to -1EADA Regenerative Resistor Unit Model JUSP-RA04 JUSP-RA05 Specifications 6.25 , 880 W 3.13 , 1760 W Allowable Power Loss 180 W 350 W

60 (2.36)

2 - M3

5-65

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.8.8 Absolute Encoder Battery

(2) Dimensional Drawings


46 (0.24) Mounting holes Protective cover

M2 M1 W

D Ground terminal (M4 screw)

External terminals (M5 screws) Cement resistor 30 (1.18)

Units: mm (in) Model JUSP-RA04 JUSP-RA05 W 220 (8.66) 300 (11.81) H 350 (13.78) 350 (13.78) D 92 (3.62) 95 (3.74) M1 180 (7.09) 250 (9.84) M2 335 (13.19) 335 (13.19) Approx. Mass kg (lb) 4 (8.82) 7 (15.43)

5.8.8 Absolute Encoder Battery


When using an absolute encoder, a backup battery is required to prevent the position data from being lost at power OFF. Install one of the following absolute encoder batteries. There are two types of battery: Battery to be mounted on the SERVOPACK and battery to be connected to the host controller.

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.

(1) Battery Mounted on SERVOPACK


(a) Model
SERVOPACK Capacity 30 W to 5.0 kW 6.0 to 15.0 kW Battery Model JZSP-BA01 JZSP-BA01-1

5-66

5.8 Peripheral Devices

(b) Dimensional Drawing JZSP-BA01


Lithium battery ER3V 3.6 V 1000 mAh Manufactured by Toshiba Battery Co., Ltd. Units: mm (in) 2 Black

17 (0.67)

14.5 (0.57)

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) 2 Black

14.5 (0.57)

17 (0.67)

Red 26 (1.02) 505 (1.970.20)

Connector

(2) Battery Connected to the Host Controller


When connecting the battery to the host controller, select the battery in accordance with the specifications of the host controller. Use the battery ER6 VC3 or the equivalent: 3.6 V 2000 mAh manufactured by Toshiba Battery Co., Ltd.

5-67

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.8.9 Molded-case Circuit Breaker (MCCB)

5.8.9 Molded-case Circuit Breaker (MCCB)


If selecting a molded-case circuit breaker, observe the following precautions.

IMPORTANT

Circuit Breakers Select a breaker for inverters. High-frequency current leaks from the servomotor armature because of switching operations inside the SERVOPACK.

(1) Maximum Input Current


The instantaneous maximum output of SERVOPACK is approximately 3 times of the rated output for maximum 3 seconds. Accordingly, select a circuit breaker whose operating time is 5 seconds or more at 300% of SERVOPACK rated current. The general-purpose and low-speed acting molded-case circuit breakers are applicable. The power supply capacity per SERVOPACK when using a servomotor is described in 2.6.2 Molded-case Circuit Breaker and Fuse Capacity. Select a circuit breaker with the capacity larger than the effective load current (when using multiple SERVOPACKs) calculated from the total power supply capacity. The power consumption of other controllers must be considered when selecting a circuit breaker.

(2) Inrush Current


Refer to 2.6.2 Molded-case Circuit Breaker and Fuse Capacity for SERVOPACK inrush current. The allowable inrush current for a low-speed acting circuit breaker is approximately 10 times of the rated current for 0.02 seconds. When turning ON multiple SERVOPACKs simultaneously, select a molded-case circuit breaker with the allowable current for 20 ms larger than the total inrush current shown in 2.6.2 Molded-case Circuit Breaker and Fuse Capacity.

5-68

5.8 Peripheral Devices

5.8.10 Noise Filter


The noise filters model FN and FS manufactured by Schaffner Electronic and FMAC manufacture by Timonta AG are recommended. Contact Yaskawa Controls Co., Ltd. Select one of the following noise filters according to SERVOPACK capacity. For more details, refer to 2.6.3 Noise Filters, Magnetic Contactors, Surge Suppressors and DC Reactors. Refer to 6.1.3 Typical Main Circuit Wiring Examples for the connection method.

(1) Single-phase, 100/200 V


Model FN2070 -6/07 FN2070 -10/07 FN2070-16/07 FN350-30/33

Side view C K

S L

Side view C

Top view

M N

Dimensional Drawings

Top view A F D

Q P

A F D

B K

Top view

J N

Side view

B
Contact Terminal P/N/E 140 +5 -0 (5.51+0.20) -0

R Q B

5
D J A

5-69

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.8.10 Noise Filter

Model Symbol A B C D F External Dimensions in mm (in) J K L M N P Q R S Specifications Singlephase 100 V Singlephase 200 V

FN2070 -6/07 113.5 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) 85.5 1 (3.37 0.04) 57.6 1 (2.27 0.04) 98.5 1 (3.88 0.04) 109 0.3 (4.29 0.01) 40 0.2 (1.57 0.008) 8.6 0.5 (0.34 0.02) 4.4 0.1 (0.17 0.004) 7.4 0.1 (0.29 0.004) 1.2 0.1 (0.05 0.004) 66 0.3 (2.60 0.01) 51 0.2 (2.01 0.008) 250 VAC, 16 A

FN350-30/33 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

A B C D E J K L M N P Q R S

57.5 1 (2.26 0.04) 45.4 1.2 (1.79 0.05) 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) 25 0.2 (0.98 0.008) 8.4 0.5 (0.33 0.02) 32.4 0.5 (1.28 0.02) 4.4 0.1 (0.17 5.3 0.1 (0.21 0.004) 0.004) 6 0.1 (0.24 0.004) 0.9 0.1 (0.04 0.004) 38 0.5 (1.50 0.02) 250 VAC, 250 VAC, 6A 10 A A3BD, A3BDA A5BD, A5BDA 02BD, 02BDA 01BD, 01BDA A3AD, A3ADA A5AD, A5ADA 04AD, 04ADA 01AD, 01ADA 02AD, 02ADA

Applicable SERVOPACK SGDM-

Schaffner Electronic

Manufacturer

5-70

5.8 Peripheral Devices

(2) Three-phase, 200 V


Select one of the following noise filters according to SERVOPACK capacity. For more details, refer to 2.6.3 Noise Filters, Magnetic Contactors, Surge Suppressors and DC Reactors. Refer to 6.1.3 Typical Main Circuit Wiring Examples for the connection method.

(a) FN Series
Model FN258L-7/07 FN258L-16/07 FN258L-30/07

Side view P
Dimensional Drawings

Front and side views

C B

E A
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

O J

Dimensions 255 1 (10.04 0.04) 305 1 (12.01 0.04) 126 0.8 (4.96 0.03) 142 0.8 (5.59 0.03) 50 0.6 (1.97 0.02) 55 0.6 (2.17 0.02) 225 0.8 (8.86 0.03) 275 0.8 (10.83 0.03) 240 0.5 (9.45 0.02) 290 0.5 (11.42 0.02) 25 0.3 (0.98 0.01) 30 0.3 (1.18 0.01) 6.5 0.2 (0.26 0.008) 300 10 (11.81 0.39) 1 0.1 (0.04 0.004) 9 1 (0.35 0.04) M5 AWG16 AWG14 480 VAC, 7 A 480 VAC, 16 A 08AD, 08ADA 10AD, 10ADA 05AD, 05ADA 15AD, 15ADA 20AD, 20ADA Schaffner Electronic

335 1 (13.19 0.04) 150 1 (5.91 0.04) 60 0.6 (2.36 0.02) 305 1 (12.01 0.04) 320 0.5 (12.60 0.02) 35 0.3 (1.38 0.01) 400 10 (15.75 0.39)

AWG10 480 VAC, 30 A 30AD, 30ADA

5-71

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.8.10 Noise Filter

(b) FMAC Series


Model FMAC-0934-5010
A B

FMAC-0953-6410
H (J)

Dimensional Drawings

LOAD

LINE

(K)

E F

(L)

Symbol A B C D External Dimensions in mm (in) E F G H I J K L

Dimensions 251 (9.88) 201 (7.91) 151 (5.94)


+ + 135 0 5.31 0 1 0.04

308 (12.13) 231 (9.09) 151 (5.94)


+ + 135 0 5.31 0 1 0.04

Specifications Applicable ThreeSERVOPACK phase SGDM200 V Manufacturer

6.50.3 (0.260.01) 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 50ADA 60ADA Timonta AG

6.50.3 (0.260.01) 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 75ADA

5-72

5.8 Peripheral Devices

(c) FS Series
Model FS5559-35-33 FS5559-80-34
A

FS5559-150-35

B H

Dimensional Drawings
J

C D

SCHAFFNER

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

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 Schaffner Electronic

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

5-73

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.8.11 Magnetic Contactor

5.8.11 Magnetic Contactor


(1) Model: HI- J
The magnetic contactor is manufactured by Yaskawa Controls Co., Ltd. A magnetic contactor is required to make the AC power supply to SERVOPACK ON/OFF sequence externally. Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor. Refer to 5.8.12 Surge Suppressor for details of the surge suppressor. For selecting a magnetic contactor, refer to 2.6.3 Noise Filters, Magnetic Contactors, Surge Suppressors and DC Reactors.

(2) For Single-phase 100/200 V and Three-phase 200 V SERVOPACKs


(a) Model: HI-11J
Dimensions in mm (in) Approx. mass: 0.25 kg (0.55 lb)
44 (1.73) 10.1 (0.40) 8.2 (0.32) a b 76 (2.99) 61 (2.40) 34.5 (1.36) 4.5 (0.18)

Mounting Hole Dimensions in mm (in)

Terminal Symbols

15.5 (0.61)

M3.5 Coil terminal


13 (0.51)

5 (0.20)

43 (1.69)

Auxiliary contact

Structure

1NO

48 (1.89)

74.5 (2.93) 78.5 (3.09)

41 (1.61)

35(1.38)

52 (2.05)

1NC
4 (0.16)
8.2 (0.32)

M3.5 Auxiliary contact terminal 10.4 (0.41) M3.5 Main contact terminal

9 (0.35)

2 M4 Mounting holes

(b) Model: HI-15J and HI-20J


Dimensions in mm (in) Approx. mass: 0.38 kg (0.84 lb)
45.5 (1.79) 8.2 (0.32) 15.3 (0.60)
a b
3 (0.12)

Mounting Hole Dimensions in mm (in)


HI-15J
Auxiliary contact

Terminal Symbols

4.5 (0.18)

5 (0.20)

M3.5 Coil terminal

91 (3.58) 65 (2.56) 39 (1.54)

5.2 (0.20)

Structure

35 (1.38)

9.6 (0.38)

1NO1NC
1 (0.04)

50 (1.97)

51 (2.01)

85 (3.35)

35 (1.38)

29 (1.14)

70 (2.76) 75 (2.95)

2 (0.08)

HI-20J
Auxiliary contact Structure

4 (0.16)

9.6 (0.38) 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

11.3 10.8 (0.44) (0.43)

5-74

5.8 Peripheral Devices

(c) Model: HI-25J and HI-35J


Dimensions in mm (in) Approx. mass: 0.68 kg (1.50 lb)
58 (2.28) 8.2 (0.32) 23.4 (0.92) a b 7 (0.28) 10.5 (0.41)

Mounting Hole Dimensions in mm (in)


4 (0.16)

Terminal Symbols

M3.5 Coil terminal

111 (4.37) 79 (3.11) 45 (1.77) 4.5 (0.18)

50 (1.97)

Auxiliary contact
T

Structure

58.4 (2.30)

50 (1.97)

92 (3.62)

35 (1.38)

70 (2.76)

75 (2.95)

5 (0.20)

29 (1.14)

6 (0.24)

1NO1NC

8 (0.31)

12.2 (0.48) 14.8 13.1 (0.58) (0.52)

8.2 (0.32)

M3.5 Auxiliary contact terminal M5 Main contact terminal

9 (0.35) 72 (2.83) 94 (3.70)

2 M4 Mounting holes

(d) Model: HI-50J and HI-65J


Dimensions in mm (in) Approx. mass: 1.1 kg (2.43 lb)
75 (2.95) 30 (1.18) 8.2 (0.32) 121 (4.76) 86.5 (3.41) 49.5 (1.95) 7 (0.28) 5 (0.20)

Mounting Hole Dimensions in mm (in)


2 M4 Mounting holes
6 (0.24) 65 (2.56)

Terminal Symbols

5
Auxiliary contact Structure

10.3 (0.41)

M3.5 Coil terminal

A
R S T 7 (0.28) 5 (0.20)
6 (0.24)

B
100 (3.94) 95 (3.74)

75 (2.95)

29 (1.14) 50 (1.97) 111 (4.37) 114 (4.49)

75 (2.95)

1NO1NC

8 (0.31)

14 (0.55) 15.5 20 (0.79) (0.61)

8.2 (0.32) M3.5 Auxiliary contact terminal

3 (0.12)

B
75.5 (2.97) 98 (3.86)

Main contact terminal HI-50J: M5 HI-65J: M6

2 M4 Mounting holes

5-75

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.8.12 Surge Suppressor

5.8.12 Surge Suppressor


(1) Surge Suppressor for Magnetic Contactor
Contact Yaskawa Controls Co., Ltd.

(a) Model: TU-25 , TU-65 (b) Specifications


Surge Absorption Method CR CR Varistor CR CR Varistor Rated Insulation Voltage 150 VAC 300 VAC 500 VAC 150 VAC 300 VAC 500 VAC HI-25J HI-35J HI-50J HI-65J HI-11J HI-15J HI-20J Applicable Voltage Range for Operation Magnetic Coil Applicable Magnetic Contactor

Model

50 V

AC 50/60Hz 110 V 127 V 240 V 380 V 440 V

TU-25C120 TU-25C240 TU-25V440 TU-65C120 TU-65C240 TU-65V440 Note:

: Applicable voltage range

5-76

5.8 Peripheral Devices

(c) Dimensional Drawings Model TU-25


Units: mm (in) Approx. mass: 0.02 kg (0.04 lb) 6.2 M3.5 Connection terminals (0.24) 4.7 (0.19) CR

Internal Connection Diagram

Operation indicator (LED)

34 (1.34) 22 (0.87)

Varistor

26 (1.02)

22 (0.87)

Model TU-65
Units: mm (in) Approx. mass: 0.035 kg (0.077 lb) M3.5 Connection terminals 6.2 (0.24) 4.7 (0.19) CR

Internal Connection Diagram

Operation indicator (LED)

44 (1.73)

32 (1.26)

Varistor 3 (0.12) 21 (0.83)

37 (1.46)

(2) Surge Suppressor for Brake Power Supply


When using a servomotor with holding brake, install a surge suppressor near the brake coil to prevent the power supply noises. The surge suppressor handled by Okaya Electric Industries Co., Ltd. is recommended.

(a) Model: CR50500BL (b) Specifications


Power supply: 250 VAC Capacitance: 0.5 F 20% Resistance: 50 (1/2 W) 30%

5-77

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.8.13 DC Reactor for Harmonic Suppression

5.8.13 DC Reactor for Harmonic Suppression


(1) Specifications
DC reactor for harmonic suppression is handled by Yaskawa Controls Co., Ltd. If necessary for harmonic suppression, connect a DC reactor to the SERVOPACK. Note that no terminal for connecting a DC reactor is provided to the 6.0 kW or more SERVOPACKs. Refer to the table below for selecting a DC reactor according to the SERVOPACK capacity. For the connection method, refer to 6.4.8 DC Reactor for Harmonic Suppression.
Applicable SERVOPACK Model 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 DC Reactor Model X5063 X5062 X5071 X5070 X5069 X5061 DC Reactor Specifications Rated Inductance Current (mH) (A) 10.0 4.7 40.0 20.0 10.0 2.0 1.8 3.5 0.85 1.65 3.3 4.8

Single-phase 100 V

Single-phase 200 V

Three-phase 200 V

X5060 X5059 X5068

1.5 1.0 0.47

8.8 14.0 26.8

5-78

5.8 Peripheral Devices

(2) Dimensional Drawings


Units: mm (in) B
I

1 2 C D

4H Notch

E F

DC Reactor Model X5059 X5060 X5061 X5062 X5063 X5068 X5069 X5070 X5071

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) B 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) C 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) D 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) E 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) F 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) G 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) H 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) I 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

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.8.14 Variable Resistor for Speed and Torque Setting

5.8.14 Variable Resistor for Speed and Torque Setting


(1) Model: 25HP-10B
The multiturn type winding variable resistors with dial MD10-30B4 are manufactured by Sakae Tsushin Kogyo Co., Ltd. Contact Yaskawa Controls Co., Ltd.

(2) Dimensional Drawings


Units: mm (in) 25 HP Helicolumn Panel 11.51 (0.450.04) (Panel driling diagram)

251 (0.980.04)

21 (0.83) max.

311 (1.220.04)

2.5 (0.10) hole

7.5 (0.30) hole

14.51 (0.570.04) 241 MD multi-dial (0.940.04)

10 (0.39)

37.51 (1.480.04)

4.5 (0.18)

(3) Example of Connection to an External Power Supply


1.8 k (1/2 W) min. 3 25HP-10B 2 k 2 12V 1 5 (9) 6 (10) SERVOPACK CN1 V-REF (T-REF) SG

5-80

5.8 Peripheral Devices

5.8.15 Encoder Signal Converter Unit


The encoder signal converter unit (the trade name Receiver Unit) converts encoder signal output from the line driver to open-collector or voltage-pulse output. A socket model 11PFA is required to use a Receiver Unit.

(1) Model: LRX-01 / A


Contact Yaskawa Controls Co., Ltd.

(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

Voltage pulse output Output Signals


RS-422

Output Circuit

Open collector output

Voltage pulse output

Output Circuit

Output Circuit

Open collector output

Output Circuit

YASKAW A

Input Signal Level Output Signal Level Ambient Temperature IC Used Response Frequency

Differential voltage 0.3 V, built-in terminator 100 H: 10 V min. (1 mA) L: 0.5 V max. (30 mA) 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

(3) Dimensional Drawings


The socket is optional.
Units: mm (in) Receiver unit and socket
129 (5.08) 100 (3.94) 29 (1.14)

Socket Type 11PFA


11-M3.5 7 SEMS screws 7.8 (0.31) 2 4.5 ( 0.18) hole 5 (0.20)
4 (0.16)

81 (3.19) max.

50 (1.97)

Receiver unit

Socket

40 0.2 (1.57 0.0079) 51 (2.01) max. 33.5 (1.32) max.

18 (4.65 max.)

4 (0.16)

80 (3.15)

35.4 (1.39)

35.4 (1.39)

5-81

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

6.2 Wiring Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7


6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1) - - - - 6-7 6.2.2 Encoder Connector (CN2) Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8

6.3 Examples of I/O Signal Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9


6.3.1 Speed Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9 6.3.2 Position Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10 6.3.3 Torque Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11 6.3.4 I/O Signal Connector (CN1) Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12 6.3.5 I/O Signal (CN1) Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13 6.3.6 Interface Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15

6.4 Others - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18


6.4.1 Wiring Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6.4.2 Wiring for Noise Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6.4.3 Installation Conditions of EMC Directives - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6.4.4 Installation Conditions of UL Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6.4.5 Using More Than One SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6.4.6 Extending Encoder Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6.4.7 Operating Conditions on 400-V Power Supply Voltage - - - - - - - - - - - - - - - - - - - - - 6.4.8 DC Reactor for Harmonic Suppression - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18 6-19 6-22 6-24 6-25 6-26 6-28 6-29

6.5 Connecting Regenerative Resistors - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31


6.5.1 Regenerative Power and Regenerative Resistance - - - - - - - - - - - - - - - - - - - - - - - - 6-31 6.5.2 Connecting External Regenerative Resistors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31

6-1

6 Wiring 6.1.1 Names and Functions of Main Circuit Terminals

6.1 Wiring Main Circuit


This section describes typical examples of main circuit wiring, functions of main circuit terminals, and the power ON sequence.

CAUTION
Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines 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.

6.1.1 Names and Functions of Main Circuit Terminals


Terminal Symbol Name Main Circuit Voltage (V) 100 Main circuit power supply input terminal Servomotor connection terminals Control circuit power supply input terminal Ground terminals 200 200 100 200 Maximum Applicable Servomotor Capacity (kW) 0.03 to 0.2 0.03 to 0.4 0.5 to 7.5 0.03 to 0.2 0.03 to 7.5 Functions

L1L2 L1L2L3 UVW L1CL2C

Single-phase 100 to 115 VAC+10%, -15% (50/60 Hz) Single-phase 200 to 230 VAC+10%,-15% (50/60 Hz) Three-phase 200 to 230 VAC+10%, -15% (50/60 H) Connects to the servomotor. Single-phase 100 to115 VAC+10%, -15% (50/60 Hz) Single-phase 200 to 230 VAC+10%, -15% (50/60 Hz) Connects to the power supply ground terminals and servomotor ground terminal.

6-2

6.1 Wiring Main Circuit

Terminal Symbol

Name

Main Circuit Voltage (V) 100

B1B2

200 External regenerative resistor connection terminal

B1B2B3

200

B1B2

200 100

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. 0.03 to 5.0 6.0 or more 6.0 or more If a countermeasure against power supply harmonic waves is needed, connect a DC reactor between 1 and 2. These terminals do not exist. Normally not connected. Note: This terminal is on the SERVOPACK with a capacity of 6.0 kW or higher only. Normally not connected.

200 200 200

* 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)

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.

(1) Wire Size


Wire can be used simply by stripping back the outer coating. The following is applicable wire sizes. Single wire: 0.5 (0.02 in) to 1.6 (0.06 in) mm Braided wire: AWG28 to AWG12

(2) Connection Procedure


1. Strip the end of the wire.

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

6.1 Wiring Main Circuit

6.1.3 Typical Main Circuit Wiring Examples


(1) Single-phase, 100/200 V
R T

1QF FIL

SERVOPACK SGDMAD/ADA SGDMBD/BDA U V W

L1C L2C 1KM L1

PG +24V

1Ry

(For servo alarm display)

Main circuit Main circuit power supply power supply OFF ON 1Ry

1PL 1KM 1SUP

L2 CN1 B1 B2 ALM+ 31 +1 +2 ALM 32

1Ry 1D

024V

1KM

1QF Molded-case circuit breaker FIL : Noise filter 1KM : Magnetic contactor

1Ry : Relay 1PL : Indicator lamp 1SUP : Surge suppressor 1D : Flywheel diode

(2) Three-phase, 200 V


R S T

1QF
FIL

SERVOPACK SGDMAD/ADA U V W

L1C L2C
1KM

1Ry alarm display)


Main circuit Main circuit power supply power supply ON OFF 1Ry 1PL 1KM

(For servo

L1 L2 L3 B2 B3 +1 +2

PG

ALM+ ALM

CN1 31 32

1Ry 1D

+24V

024V

1KM 1SUP : Molded-case circuit breaker 1QF FIL : Noise filter 1KM : Magnetic contactor

Relay 1Ry 1PL : Indicator lamp 1SUP : Surge suppressor 1D : Flywheel diode

6-5

6 Wiring 6.1.3 Typical Main Circuit Wiring Examples

IMPORTANT

Designing a Power ON Sequence Note the following points when designing the power ON sequence. Design the power ON sequence so that main circuit power supply is turned OFF when a servo alarm signal is output. See the previous circuit figure. The SERVOPACK will output (1Ry is OFF) a servo alarm signal for two seconds or less when control power is turned ON. This is required in order to initialize the SERVOPACK.
Power supply Servo alarm (ALM) output signal 2.0 s max.

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.

(3) DC Power Supply Input

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.

(a) Main Circuit and Control Power Supply Input


The following shows the connection for the main power supply and the control power supply.
Terminal Symbol 1 or Name Main circuit plus terminal Main circuit minus terminal Control power supply input terminal 270 V to 310 VDC 135 to 155 VDC for SGDM100 V input 0V 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 Functions BD/SGDMBDA SERVOPACK with

L1CL2C

6-6

6.2 Wiring Encoders

(b) Setting Parameters


Parameter n. 0 Pn001 n. 1 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 between the terminal and the terminal 1, or the terminal and the termi-

nal . When changing the parameters, turn the power ON again for the necessity of the effective setting.

6.2 Wiring Encoders


The connection cables between encoder and SERVOPACK and wiring pin numbers differ depending on servomotor model. Refer to Chapter 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices for details.

6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1)
(1) Incremental Encoders
SERVOPACK Phase A Phase B
1 C (5) D (6) 2 Light blue
PS
White/Light blue /PS

Host controller

CN1
33 34 35 36 19 20 PAO /PAO PBO /PBO PCO /PCO

2
R R R

Line receiver

Incremental encoder

CN2
5 6

Phase C

2 1 6 7 10 9 8

3 Phase
A

Phase B C

11 Phase 16
Choke coil

PG
H (1) G (2) Red Black PG 5V PG 0V

Output line-driver SN75ALS194 manufactured by Texas Instruments or the equivalent.

0 V C +5 V +5 V 0V

1 2

PG5V PG0V

CN1
0V
Connector shell

0.33 mm2 (0.001 in 2 ) (Shell) Shield wire

SG

+ Smoothing capacitor

Connector shell

R (terminator): 220 to 470 C (Decoupling Capacitor)

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 : represents twisted-pair wires.

6-7

6 Wiring 6.2.2 Encoder Connector (CN2) Terminal Layout

(2) Absolute Encoders


SERVOPACK
Phase A

Host controller

CN1
33 34 35 36 19 20 48 49

2 PAO /PAO PBO /PBO PCO /PCO PSO /PSO


R R R

Line receiver

Absolute encoder 1
Light blue

Phase B

C (5) PS D (6) White/Light blue /PS

CN2
5 6

Phase C Phase S

2 1 6 7 10 9 8

3 5

Phase A Phase B C

11 Phase 16

PG
H (1) Red G (2) Black

Output line-driver SN75ALS194 manufactured by Texas Instruments or the equivalent.


PG5V PG0V

0 V C +5 V
Choke coil

1 PG5 V 2 PG0 V 0V

CN1
4 2 1

SEN SG SG

+5 V

+ Smoothing capacitor

+5 V 0V

0.33 mm2 (0.001in2) T (3) Orange BAT + S (4) White/Orange BAT -

CN1
3 4
Connector shell

21 22

BAT + BAT -

+ 3 - Battery

(Shell)

Shield wire

Connector shell

Applicable line receiver: SN75175 manufactured by Texas Instruments or the equivalent corresponding to MC3486. R (terminator): 220 to 470 C (Decoupling Capacitor) 0.1 F

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 : represents twisted-pair wires.

3 When using an absolute encoder, install a battery on the host controller side to supply power.

6.2.2 Encoder Connector (CN2) Terminal Layout


1 3 PG5V BAT (+) PG power supply +5 V Battery (+) (For an absolute encoder) PG serial signal input 2 4 6 PG 0 V BAT (-) /PS PG power supply 0V Battery (-) (For an absolute encoder) PG serial signal input

5 PS SHELL Shield

6-8

6.3 Examples of I/O Signal Connections

6.3 Examples of I/O Signal Connections


6.3.1 Speed Control Mode
SERVOPACK
Speed reference (2 to 10V /rated motor speed) External torque 4. limit/Torque feed forward (1 to 10 V /rated torque) Backup battery 3. (2.8 to 4.5 V) 1. V-REF SG T-REF SG 5 6 9 10 LPF 2. 2. LPF A/D 37 38 39 ALO1 Alarm code output Max. operating voltage: ALO2 30 VDC Max. operating current: ALO3 20 mA DC

BAT (+) BAT (-)

21 22

33 34 35 36 19 20 6. 3.3 k 1 48 49

PAO /PAO PBO /PBO PCO /PCO PSO /PSO SG PG dividing ratio output Applicable line receiver SN75175 manufactured by Texas Instruments or the equivalent corresponding to MC3486 Amount of phase-S rotation Serial data output Applicable line receiver SN75175 manufactured by Texas Instruments or the equivalent corresponding to MC3486

SEN signal input 3.

+5 V 0V 5. +24 V

SEN SG

4 2

+24VIN /S-ON /P-CON P-OT N-OT

47

Servo ON (Servo ON when ON) P control (P control when ON) Forward run prohibited (Prohibited when OFF) Reverse run prohibited (Prohibited when OFF) Alarm reset (Reset when ON) Forward current limit (Limit when ON) Reverse current limit (Limit when ON)

40 (SI0) 41 (SI1) 42 (SI2) 43 (SI3)

(SO1) 25 26 (SO2) 27 28 (SO3) 29

/V-CMP+ /V-CMP/TGON+

Speed coincidence detection (ON when speed coincides.)

Running output (ON when the motor speed /TGON- exceeds the settings.) /S-RDY+ /S-RDYALM+ ALM-

/ALM-RST

44 (SI4) 45 (SI5) 46 (SI6)

30 31 32

Servo ready output (ON when ready)

/P-CL /N-CL

Servo alarm output (OFF for an alarm)

Photocoupler output Max. operating voltage: 30 VDC Max. operating current: FG Connect shield to 50 mA DC connector shell. Connector shell

* 1.

represents twisted-pair wires.

* 2. The time constant for the primary filter is 47 s. * 3. Connect a backup battery when using an absolute encoder. When connecting a battery to the host controller, however, do not connect a backup battery. * 4. Enabled by the parameter setting. * 5. Customers must purchase a 24 VDC power supply with double-shielded enclosure. * 6. 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.

6-9

6 Wiring 6.3.2 Position Control Mode

6.3.2 Position Control Mode


SERVOPACK
PULS CW 1. PULS /PULS SIGN /SIGN Position reference CLR CLR /CLR 7 8 11 12 15 14 +12 V PL1 Open- collector reference power supply PL2 PL3 BAT + BAT SEN SG 3 13 18 21 22 4. +5 V SEN signal input 2. 0V 3. +24 V Servo ON (Servo ON when ON) P control (P control when ON) Forward run prohibited (Prohibited when OFF) Reverse run prohibited (Prohibited when OFF) Alarm reset (Reset when ON) Forward current limit (Limit when ON) Reverse current limit (Limit when ON) 4 2 3.3 k 35 36 19 20 48 49 PBO /PBO PCO /PCO PSO /PSO 1 k 33 34 PAO /PAO PG dividing ratio output Applicable line receiver SN75175 manufactured by Texas Instruments or the equivalent corresponding to MC3486 150 150 37 38 39 ALO1 ALO2 ALO3 Alarm code output Max. operating voltage: 30 VDC Max. operating current: 20 mA DC 150

Phase A

Phase B

SIGN CCW

Backup battery 2. 2.8 to 4.5 V

+24VIN /S-ON /P-CON

47

SG

Amount of phase-S rotation Serial data output Applicable line receiver SN75175 manufactured by Texas Instruments or the equivalent corresponding to MC3486

40 (SI0) (SO1) 25 41 (SI1) 42 (SI2) 43 (SI3) (SO3) 29 /S-RDY+ Servo ready output /S-RDY- (ON when ready) ALM+ ALMServo alarm output (OFF for an alarm) 26 (SO2) 27 28 /COIN+ Positioning completed (ON when positioning /COIN- completes.) /TGON+ /TGON-

P-OT

TGON output (ON at levels above the setting.)

N-OT

/ALM-RST

44 (SI4) 45 (SI5) 46 (SI6)

30 31 32

/P-CL

/N-CL

Connector shell FG Connect shield to connector shell.

Photocoupler output Max. operating voltage: 30 VDC Max. operating current: 50 mA DC

* 1.

: represents twisted-pair wires.

* 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

6.3 Examples of I/O Signal Connections

6.3.3 Torque Control Mode


SERVOPACK
External speed limit (2 to 10 V /rated motor speed) Torque reference (1 to 10 V /rated torque)
4. 1.

V-REF SG T-REF SG

5 6 9 10

2.

LPF A/D
2.

37 38 39

ALO1 ALO2 ALO3

LPF

Alarm code output Max. operating voltage: 30 VDC Max. operating current: 20 mA DC

Backup battery 2.8 to 4.5 V

3.

BAT + BAT -

21 22

33 34 35 36 19 20 6. 48 49 1 (SO1) 25 26 (SO2) 27 28

PAO /PAO PBO /PBO PCO /PCO PSO /PSO SG /VLT+ /VLTPG dividing ratio output Applicable line receiver SN75175 manufactured by Texas Instruments or the equivalent corresponding to MC3486 Amount of phase-S rotation Serial data output Applicable line receiver SN75175 manufactured by Texas Instruments or the equivalent corresponding to MC3486 Speed limit output (ON when the motors running speed is limited.)4.

SEN signal input

3.

+5 V 0V

SEN SG

4 2

+24 V Servo ON (Servo ON when ON) P control (P control when ON) Forward run prohibited (Prohibited when OFF) Reverse run prohibited (Prohibited when OFF) Alarm reset (Reset when ON) Forward current limit (Limit when ON) Reverse current limit (Limit when ON)

5.

+24VIN /S-ON /P-CON P-OT

47

3.3 k

40 (SI0) 41 (SI1) 42 (SI2) 43 (SI3)

/TGON+ TGON output (ON at levels above the setting.) /TGON/S-RDY+

N-OT

(SO3) 29 /ALM-RST 44 (SI4) 45 (SI5) 46 (SI6) Connector shell 30 31 32 /N-CL

Servo ready output /S-RDY- (ON when ready) ALM+ ALM-

/P-CL

Servo alarm output (OFF for an alarm)

FG Connect shield to connector shell.

Photocoupler output Max. operating voltage: 30 VDC Max. operating current: 50 mA DC

* 1.

: represents twisted-pair wires.

* 2. The time constant for the primary filter is 47 s. * 3. Connect a backup battery when using an absolute encoder. When connecting a battery to the host controller, however, do not connect a backup battery. * 4. Enabled by the parameter setting. * 5. Customers must purchase a 24 VDC power supply with double-shielded enclosure. * 6. 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.

6-11

6 Wiring 6.3.4 I/O Signal Connector (CN1) Terminal Layout

6.3.4 I/O Signal Connector (CN1) Terminal Layout


The following diagram shows the terminal layout and the signals that are preset before shipping.
Pin Number 2 4 Signal Name SG Function 1 GND 3 SEN SEN signal input 5 SG GND 7 /PULS 10 SG 12 GND 11 /SIGN Reference sign input 13 /CLR Clear input 15 Open-collector reference power supply PG dividing pulse output Phase C Battery (-) 23 25 /V-CMP+
(/COIN+)

SG

GND Open-collector reference power supply Speed reference input 31 ALM+ Reference pulse input 33 PAO Torque reference input 35 PBO Reference sign input Open-collector reference power supply Clear input 41 /P-CON P control input 37 ALO1 27 /TGON+ Running signal output

26

/V-CMP(/COIN-) /TGON-

Speed coincidence detection output Running signal output Servo ready output Servo alarm output PG dividing pulse output Phase A PG dividing pulse output Phase B Alarm code output Servo ON input Forward run prohibit input Alarm reset input Reverse external torque limit input Phase-S signal output

PL1

28 29 /S-RDY+ Servo ready output 30 Servo alarm output PG dividing pulse output Phase A PG dividing pulse output Phase B Alarm code output 38 39 ALO3 Alarm code output 40 32

V-REF

/S-RDY-

PULS

ALM-

Reference pulse input 9 T-REF

34

/PAO

SIGN

36

/PBO

14

PL2

ALO2

16

CLR

/S-ON

17

PG dividing pulse output Phase C Battery (+) 47 +24V IN /PSO 43 N-OT Reverse run prohibit input Forward external torque limit input External input power supply

42

P-OT /ALMRST

18 20

PL3

19

PCO

44

/PCO 22

45 21 BAT (+)

/P-CL

46

/N-CL

BAT (-)

24

Speed coincidence detection output 49 Phase-S signal output

48

PSO

50

Note: 1. Do not use unused terminals for relays. 2. Connect the shield of the I/O signal cable to the connector shell. Connect to the FG (frame ground) at the SERVOPACK-end connector. 3. The functions allocated to the following input and output signals can be changed by using the parameters. Refer to 7.3.2 Input Circuit Signal Allocation and 7.3.3 Output Circuit Signal Allocation. Input signals: /S-ON, /P-CON, P-OT, N-OT, /ALM-RST, /P-CL, and /N-CL Output signals: /TGON, /S-RDY, and /V-CMP (/COIN) The above output signals can be changed to /CLT, /VLT, /BK, /WARN, and /NEAR.

6-12

6.3 Examples of I/O Signal Connections

6.3.5 I/O Signal (CN1) Names and Functions


(1) Input Signals
Signal Name /S-ON Pin No. 40 Function 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. Direction reference With the internal set speed selected: Switch the rotation direction.
Position speed Position torque Torque speed Enables control mode switching.

Reference 8.3.1 9.4.4 8.8.2

/P-CON

41

Control mode switching

8.10.1 8.10.2

Zero-clamp reference Reference pulse block Common P-OT N-OT 42 43

Speed control with zero-clamp function: Reference speed is zero when ON. Position control with reference pulse stop: Stops reference pulse input when ON.

8.5.6 8.6.7

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 Reverse external torque limit ON Internal speed switching Current limit function enabled when ON. With the internal set speed selected: Switches the internal speed settings.

8.3.3 8.9.2

/P-CL /N-CL

45 46

8.8 8.11.1 6.3.6 8.4.1 8.4.1 6.2 8.5.2 8.7.2

/ALM-RST +24VIN SEN BAT (+) BAT (-) Speed Torque V-REF T-REF PULS /PULS SIGN /SIGN Position CLR /CLR PL1 PL2 PL3

44 47 4 (2) 21 22 5 (6) 9 (10) 7 8 11 12 15 14 3 13 18

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. Reference pulse input Sign + pulse string for line driver and open CCW/CW pulse collector 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).

8.6.1

8.6.1 6.3.6

6-13

6 Wiring 6.3.5 I/O Signal (CN1) Names and Functions

Note: 1. Pin numbers in parentheses () indicate signal grounds. 2. The functions allocated to /S-ON, /P-CON. P-OT, N-OT, /ALM-RST, /P-CL, and /N-CL input signals can be changed by using the parameters. Refer to 7.3.2 Input Circuit Signal Allocation. 3. The voltage input range for speed and torque references is a maximum of 12 V.

(2) Output Signals


Signal Name ALM+ ALM/TGON+ /TGON/S-RDY+ /S-RDYPAO /PAO PBO Common /PBO PCO /PCO PSO /PSO ALO1 ALO2 ALO3 FG Speed /V-CMP+ /V-CMP/COIN+ /COIN/CLT /VLT /BK /WARN /NEAR Pin No. 31 32 27 28 29 30 33 (1) 34 35 36 19 20 48 49 37 38 39 (1) Shell 25 26 25 26 Function Servo alarm: Turns OFF when an error is detected. Detection during servomotor rotation: Detects when the servomotor is rotating at a speed higher than the motor speed setting. Detection speed can be set by using the parameters. Servo ready: ON if there is no servo alarm when the control/main circuit power supply is turned ON. Phase-A signal Phase-B signal Phase-C signal Phase-S signal Converted two-phase pulse (phases A and B) encoder output signal and zero-point pulse (phase C) signal: RS-422 or the equivalent (Proper line receiver is SN75175 manufactured by Texas Instruments or the equivalent corresponding to MC3486.) With an absolute encoder: Outputs serial data corresponding to the number of revolutions (RS-422 or the equivalent) 8.11.1 8.5.8 Reference 8.11.1 8.11.3 8.11.4

6.2 6.3.1 8.4.6 8.5.7

Alarm code output: Outputs 3-bit alarm codes. Open-collector: 30 V and 20 mA rating maximum Connected to frame ground if the shield wire of the I/O signal cable is connected to the connector shell. 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. Positioning completed (output in Position Control Mode): Turns ON when the number of positional error pulses reaches the value set. The setting is the number of positional error pulses set in reference units (input pulse units defined by the electronic gear). 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.

Position

8.6.5 8.3.4 8.6.6 8.7.4 8.9.5 8.11.2

Reserved

16 17 23 24 50

Terminals not used Do not connect relays to these terminals.

Note: 1. Pin numbers in parentheses () indicate signal grounds. 2. 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. Refer to 7.3.3 Output Circuit Signal Allocation.

6-14

6.3 Examples of I/O Signal Connections

6.3.6 Interface Circuit


This section shows examples of SERVOPACK I/O signal connection to the host controller.

(1) Interface for Reference Input Circuits (a) Analog Input Circuit
CN1 connector terminals, 5-6: Speed reference input and 9-10: Torque reference input are explained below. Analog signals are either speed or torque reference signals at the impedance below. Reference speed input: About 14 k Reference torque input: About 14 k The maximum allowable voltages for input signals is 12 V.
Analog Voltage Input Circuit
SERVOPACK 1.8 k (1/2 W)min. 12 V
3

Analog Voltage Input Circuit (D/A)


Host controller SERVOPACK V-REF or T-REF SG About 14 k 0V

25HP-10B 2 k 1

V-REF or T-REF About 14 k SG 0V

D/A

(b) Position Reference Input Circuit


CN1 connector terminals, 7-8: Reference pulse input, 11-12: Reference code input and 15-14: Clear input are explained below. An output circuit for the reference pulse and position error pulse clear signal at the host controller can be either line-driver or open-collector outputs. The following shows by type.
Line-driver Output Circuit
Host controller SERVOPACK
150
Applicable line driver SN75174 manufactured by Texas Instruments or the equivalent

6
4.7 k

2.8 V (H level) - (L level) 3.7 V

Open-collector Output, Example 1: Power Supply Provided by User


Host controller
Vcc R1 i 150 4.7 k VF Tr1 VF = 1.5 to 1.8 V Use the examples below to set pull-up resistor R1 so the input current, i, falls between 7 mA and 15 mA. Application Examples R1 = 2.2 k with a Vcc of 24 V 5% R1 = 1 k with a Vcc of 12 V 5% R1 = 180 with a Vcc of 5 V 5%

Open-collector Output, Example 2: Using 12-V Power Supply Built into SERVOPACK

SERVOPACK Host controller SERVOPACK


PL1, PL2, PL3 terminals 1.0 k 150 About 9 mA +12 V

1.5 V max. when ON

0V

6-15

6 Wiring 6.3.6 Interface Circuit

(2) Sequence Input Circuit Interface


CN1 connector terminals 40 to 47 is explained below. The sequence input circuit interface connects through a relay or open-collector transistor circuit. Select a lowcurrent relay otherwise a faulty contact will result.
Relay Circuit Example
SERVOPACK

Open-collector Circuit Example


SERVOPACK

24 VDC

+24VIN 3.3 k /S-ON, etc.

24 VDC

+24VIN 3.3 k /S-ON, etc.

Note: The 24 VDC external power supply capacity must be 50 mA minimum.

INFO

For SEN input signal circuit, refer to 8.4 Absolute Encoders.

(3) Sink Circuit and Source Circuit


The SERVOPACKs I/O circuit uses a bidirectional photocoupler. Select either the sink circuit or the source circuit according to the specifications required for each machine.
Sink Circuit Source Circuit

24 V
+

24 V SERVOPACK input
+

SERVOPACK input

(4) Output Circuit Interface


There are three types of SERVOPACK output circuits:

(a) Line Driver Output Circuit


CN1 connector terminals, 33-34: phase-A signal, 35-36: phase-B signal and 19-20: phase-C signal are explained below. Encoder serial data converted to two-phase (phases A and B) pulse output signals (PAO, /PAO, PBO, /PBO), zero-point pulse signals (PCO, /PCO), and the amount of phase-S rotation signal are output via line-driver output circuits. Normally, the SERVOPACK uses this output circuit in speed control to comprise the position control system at the host controller. Connect the line-driver output circuit through a line receiver circuit at the host controller.

6-16

6.3 Examples of I/O Signal Connections

(b) Open-collector Output Circuit


CN1 connector terminals 37 to 39: Alarm code output are explained below. Alarm code signals (ALO1, ALO2, ALO3) are output from open-collector transistor output circuits. Connect an open-collector output circuit through a photocoupler, relay circuit, or line receiver circuit.
Photocoupler Circuit Example
SERVOPACK
5 to 12 VDC Photocoupler

Relay Circuit Example


SERVOPACK
5 to 24 VDC Relay

0V

0V

0V

Line Receiver Circuit Example


SERVOPACK
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

(c) Photocoupler Output Circuit


Photocoupler output circuits are used for servo alarm (ALM), servo ready (/S-RDY), and other sequence output signal circuits. Connect a photocoupler output circuit through a relay circuit or line receiver circuit.
Relay Circuit Example
SERVOPACK
5 to 24 VDC Relay

Line Receiver Circuit Example


SERVOPACK
5 to 12 VDC

0V

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

6.4.2 Wiring for Noise Control


(1) Wiring Example
The SERVOPACK uses high-speed switching elements in the main circuit. It may receive switching noise from these high-speed switching elements if the processing of wiring or grounding around the SERVOPACK is not appropriate. To prevent this, always wire and ground the SERVOPACK correctly. The SGDM SERVOPACK has a built-in microprocessor (CPU), so protect it from external noise as much as possible by installing a noise filter in the appropriate place. The following is an example of wiring for noise control.
Noise filter 3 200 VAC 3.5 mm 2 (0.005 in ) min. 1
2

SERVOPACK L1 U V W Servomotor
(FG)

2LF

L2 L3 L1C L2C CN1

CN2

PG

Operation relay sequence Signal generation circuit (provided by customer)


3 1LF 2 AVR
(Ground)

2.0 mm2 (0.003 in2 ) min .

(Casing)

(Casing)

2 mm (0.003 in ) min. 2 (Casing) 3.5mm 2 (0.005 in ) min.1 (Casing) (Ground plate)

3.5mm 2 (0.005 in 2) min.

Wires of 3.5 mm 2 1 (0.005 in 2 ) or more

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.

(2) Correct Grounding (a) Grounding the Motor Frame


Always connect servomotor frame terminal FG to the SERVOPACK ground terminal ground the ground terminal . . 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.

(b) Noise on the Reference Input Line


If the reference input line receives noise, ground the 0 V line (SG) of the reference input line. If the main circuit wiring for the motor is accommodated in a metal conduit, ground the conduit and its junction box. For all grounding, ground at one point only.

6-19

6 Wiring 6.4.2 Wiring for Noise Control

(3) Using Noise Filters


Use an inhibit type noise filter to prevent noise from the power supply line. The following table lists recommended noise filters for each SERVOPACK model. Install a noise filter on the power supply line for peripheral equipment as necessary.
Voltage Single-phase 100 V Single-phase 200 V SERVOPACK Model SGDMA3BD to -01BD A3BDA to -01BDA 02BD, 02BDA A3AD to -02AD A3ADA to -02ADA 04AD, 04ADA 05AD, 05ADA 08AD to -20AD 08ADA to -20ADA 30AD, 30ADA 50ADA, 60ADA 75ADA 1AADA, 1EADA Model FN2070-6/07 FN2070-10/07 FN2070-6/07 FN2070-10/07 FN258L-7/07 FN258L-16/07 FN258L-30/07 FMAC-0934-5010 FMAC-0953-6410 FS5559-150-35 Recommended Noise Filters Specifications VAC Single-phase 250 VAC, 6A VAC Single-phase 250 VAC, 10A VAC Single-phase 250 VAC, 6A VAC Single-phase 250 VAC, 10A VAC Three-phase 480 VAC, 7A VAC Three-phase 480 VAC, 16A VAC Three-phase 480 VAC, 30A VAC Three-phase 440 VAC, 50A TIMONTA VAC Three-phase 440 VAC, 64A VAC Three-phase 480 VAC, 150A SCHAFFNER SCHAFFNER Manufacturer

Three-phase 200 V

IMPORTANT

Noise Filter for Brake Power Supplies If the SERVOPACK has the holding brake less than 400 W, use the following model for the brake power supply input. Noise filter model: FN2070-6/07 (Manufactured by SCHAFFNER) Precautions when using noise filter Always observe the following installation and wiring instructions. Incorrect use of a noise filter halves its benefits. 1. Do not put the input and output lines in the same duct or bundle them together.
Incorrect Correct

Noise filter

Noise filter

Box

Box

Noise filter

Noise filter

Box

Box

Separate these circuits

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
Noise filter
SERVOPACK SERVOPACK

Correct
Noise filter
SERVOPACK SERVOPACK

6
Shielded ground wire Box
Thick and short

Box

4. When grounding a noise filter inside a unit: If a noise filter is located inside a unit, connect the noise filter ground wire and the ground wires from other devices inside the unit to the ground plate for the unit first, then ground these wires.

Unit Noise filter

SERVOPACK

SERVOPACK

Ground

Box

6-21

6 Wiring 6.4.3 Installation Conditions of EMC Directives

6.4.3 Installation Conditions of EMC Directives


To adapt a combination of a SGM H servomotor and a SGDM SERVOPACK to EMC Directives (EN55011 group 1 class A and EN61000-6-2), the following conditions must be satisfied.

(1) EMC Installation Conditions


This section describes the installation conditions that satisfy EMC guidelines for each model of the SGDM SERVOPACK. The conditions required for the standard type (base mounted) of SERVOPACK are described. Refer to this section for other SERVOPACK models such as the rack mounted types as well. This section describes the EMC installation conditions satisfied in test conditions prepared by Yaskawa. The actual EMC level may differ depending on the actual systems configuration, wiring, and other conditions.

(a) Single-phase 100 V/200 V


SGDM-A3BD to -02BD, SGDM-A3BDA to 02BDA (Single-phase 100 VAC, 30 to 200 W) SGDM-A3AD to -04AD, SGDM-A3ADA to 04ADA (Single-phase 200 VAC, 30 to 400 W)
Ground Plate / Shield Box Noise filter Brake power supply

SERVOPACK Power Supply Single-phase 100 VAC or 200 VAC Clamp Noise filter
L1, L2 L1C, L2C

Core

Core

U, V, W

Clamp

Brake Servomotor

Clamp

Core

Core

CN2

Encoder

Approx. 2 m (6.56 ft)

PE

CN1

Core

Approx. 5 m (16.4 ft)

PE

Core Host controller

Symbol

Cable Name I/O Signals cable Servomotor cable Encoder cable AC Line cable

Specifications Shield cable Shield cable Shield cable Shield cable

6-22

6.4 Others

(b) Three-phase 200 V


SGDM-05AD (SGDM-05ADA) to -1EADA (Three-phase 200 VAC, 500 W to 15.0 kW)
Ground Plate / Shield Box Brake power supply

SERVOPACK Clamp Power Supply Three-phase 200 VAC Clamp Noise filter Core
U, V, W L1, L2, L3 L1C, L2C

Core

Brake

Servomotor Clamp Core

Core

CN2

Encoder

PE

CN1

Approx. 2 m (6.56 ft) Core Approx. 5 m (16.4 ft)

PE

Core Host controller

Symbol

Cable Name I/O Signals cable Servomotor cable Encoder cable AC Line cable

Specifications Shield cable Shield cable Shield cable Shield cable

(2) Cable Core and Cable Clamp


(a) Attaching the Ferrite Core
The diagram shows two turns in the cable. The table shows the cable and the position where the ferrite core is attached.
Cable

Ferrite core

Cable Name I/O signals cable Motor cable Encoder cable

Mounting Position of the Core Near the host controller and the SERVOPACK. Near the SERVOPACK and the servomotor. Near the SERVOPACK and the servomotor.

(b) Recommended Ferrite-core


Cable Name I/O signals cable Encoder cable 400 W or less Motor cable 500 W or more Ferrite Core Model ESD-SR-25 PC40T96 20 70 Manufacturer Tokin. Corp. TDK

6-23

6 Wiring 6.4.4 Installation Conditions of UL Standards

(c) Fixing the Cable


Fix and ground the cable shield using a piece of conductive metal. Example of Cable Clamp

Cable Host controller side Ground plate Cable clamp

Shield (cable sheath stripped) Fix and ground the cable shield using a piece of conductive metal. Remove paint on mounting surface.

(d) Shield Box


A shield box, which is a closed metallic enclosure, should be used for shielding magnetic interference. The structure of the box should allow the main body, door, and cooling unit to be attached to the ground. The box opening should be as small as possible.

6.4.4 Installation Conditions of UL Standards


To adapt the following SERVOPACKs to UL Standards, use a corresponding terminal kit for cables to connect the terminals described in the table below.
SERVOPACK Model SGDM-50ADA (-R) SGDM-60ADA (-P) SGDM-75ADA (-P) SGDM-1AADA (-P) SGDM-1EADA (-P) Connection Terminals L1, L2, L3 (Main circuit power supply input) U, V, W (Motor Output) Terminal Kit Model JZSP-CKT75 JZSP-CKT75 JZSP-CKT75 JZSP-CKT75 JZSP-CKT1E

IMPORTANT

Main Circuit Wiring 1. SGDM SERVOPACKs are suitable under the following conditions. With 200 V class: Less than 5000 Arms, 240 V maximum. With 400 V class: Less than 5000 Arms, 480 V maximum. 2. SERVOPACKs must be used with UL-listed fuses or circuit breakers, in accordance with the National Electrical Code (NEC). 3. Use 75C heat-resistant copper wires or an equivalent.

6-24

6.4 Others

6.4.5 Using More Than One SERVOPACK


The following diagram is an example of the wiring when more than one SERVOPACK is used. Connect the alarm output (ALM) terminals for the three SERVOPACKs in series to enable alarm detection relay 1RY to operate. When the alarm occurs, the ALM output signal transistor is turned OFF. Multiple servos can share a single molded-case circuit breaker (QF) or noise filter. Always select a QF or noise filter that has enough capacity for the total power capacity (load conditions) of those servos. For details, refer to 2.6.2 Molded-case Circuit Breaker and Fuse Capacity.
Power supply R S T

QF

Power OFF

Power ON

1RY 1KM

1KM

Noise filter
1KM

SUP

L1 L2 L3 L1C L2C +24V 1RY

Servomotor SERVOPACK M

CN1 31 ALM+ 32 ALM -

L1 L2 L3 L1C L2C

Servomotor SERVOPACK M

CN1 31 ALM+ 32 ALM -

L1 L2 L3 L1C L2C

Servomotor SERVOPACK M

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

6.4.6 Extending Encoder Cables


Standard encoder cables have a maximum length of 20 m. If a longer cable is required, prepare an extension cable as described below. The maximum allowable cable length is 50 m.

(1) Specifications for User-modified Cables


Application Cable Cable length type JZSP-CMP1950 m (164.0 ft) max. UL20276 (Max. operating temperature: 80C (176F)) AWG16 2C + AWG26 2P Basic Specifications AWG16 (1.31 mm2) (0.00203 in sq) Insulation covered dimensions: 2.0 (0.08 in) AWG26 (0.13 mm2) (0.000201 in sq) Insulation covered dimensions: 0.91 mm (0.04 in) 6.8 mm (0.27 in) Fixed Type

Finished Dimensions

Black
Internal Configuration and Lead Color
Orange Orange/ White Light blue Light blue/ White

Red

Yaskawa Standards Specifications (Standard Length)

Cable length: 30 m (98.4 ft), 40 m (131.2 ft), 50 m (164.0 ft)

* Specify the cable length in of cable type designation. (Example) JZSP-CMP19-30 (30 m (98.4 ft))

6-26

6.4 Others

(2) Connectors and Connector kits for User-modified Encoder Cables


Name SGMAH SGMPH SERVOPACK end SGMGH connector kit SGMSH SGMDH SGMAH SGMPH Type Specifications Reference

JZSP-CMP9-1

5.5.1

JZSP-CMP9-2 L-shaped plug MS3108B20-29S1 Straight plug MS3106B20-29S1 Cable clamp

5.4.3 5.4.5 5.5.1 5.4.4 5.5.2

For standard environment

5.4.4 5.5.2

Servomotor end connector kit

MS3057-12A1 SGMGH SGMSH SGMDH Straight plug JA06A-20-29S-J1-EB2 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 JL04-2022CKE (14)2 Cable diameter 12.9 to 15.9 50 m (164.0 ft) max.

5.4.4 5.5.2

5.5.2

5.5.2

6
Cable clamp 5.5.2

Cables

JZSP-CMP19-

5.5.1

Maximum length: 50 m (1.97 in)

* 1. Contact DDK Electronics, Inc. * 2. Contact Japan Aviation Electronics Industry, Ltd.

6-27

6 Wiring 6.4.7 Operating Conditions on 400-V Power Supply Voltage

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 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 Voltage 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 Current Capacity of Circuit Breaker or Fuse (Arms) 4 6

Single-phase 100 V

Single-phase 200 V

8 4 7 10 13 17 28 32 41 60 81

Three-phase 200 V

* This is the net value at the rated load.

6-28

6.4 Others

Voltage conversion transformer Single-phase R


1KM

SERVOPACK

100 or 200 VAC


L1 L2

S
1KM

T
Magnetic contactor for power supply ON and OFF

Single-phase Power Supply Connection Example

6.4.8 DC Reactor for Harmonic Suppression


(1) Reactor Types
The SERVOPACK has the DC reactor connection terminals for power supply harmonic suppression. However, SERVOPACKs with capacities of 6 kW or more do not have these terminals. The type of DC reactor to be connected differs depending on the SERVOPACK capacity. Refer to the following table.
Applicable SERVOPACK Model SGDMSingle-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 15AD, 15ADA 20AD, 20ADA 30AD, 30ADA 50ADA DC Reactor Model X5063 X5062 X5071 X5070 X5069 X5061 X5060 X5059 X5068 Reactor Specifications Inductance (mH) Rated Current (A) 10.0 4.7 40.0 20.0 10.0 2.0 1.5 1.0 0.47 1.8 3.5 0.85 1.65 3.3 4.8 8.8 14.0 26.8

Single-phase 200 V

Three-phase 200 V

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

(2) Connecting a Reactor


Connect a DC reactor as shown in the following diagram. The DC reactor is connected in series to the rectifier circuits output side.
DC Reactor
Three-phase input DC reactor SERVOPACK

1 2

Note: 1. The SERVOPACK 1 and 2 terminals for the DC reactor are short-circuited before shipment. Remove the lead wire between these two terminals and connect the DC reactor with SERVOPACK. 2. DC reactor is an option (Provided by customer).

6-30

6.5 Connecting Regenerative Resistors

6.5 Connecting Regenerative Resistors


6.5.1 Regenerative Power and Regenerative Resistance
The rotational energy of driven machine such as servomotor is returned to the SERVOPACK. This is called regenerative power. The regenerative power is absorbed by charging the smoothing capacitor, but when the power exceeds the capacitors chargeable energy, the regenerative power is further consumed by the regenerative resistor. The servomotor is driven in regeneration state in the following circumstances: While decelerating to a stop during acceleration and deceleration operation. Continuous falling operation on the vertical axis. During continuous operation with the servomotor rotated from the load side (negative load). The SERVOPACKs with a capacity of the single-phase 200 V with 30 to 400 W or 100 V with 30 to 200 W do not have built-in regenerative resistors. If the operation exceeds the rotating speed specifications shown in the 4.5.3 Load Moment of Inertia, connect an external regenerative resistor.

6.5.2 Connecting External Regenerative Resistors


(1) Necessity of External Regenerative Resistors
SERVOPACK Capacity Necessity of External Regenerative Resistors Not 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.

400 W or less

500 W to 5.0 kW

Not Required

6.0 to 15.0 kW

Required

6-31

6 Wiring 6.5.2 Connecting External Regenerative Resistors

(2) Specifications of Built-in Regenerative Resistor


If the amount of regenerative energy exceeds the processing capacity of the SERVOPACK, then install an external regenerative resistor. The following table shows the specifications of the SERVOPACKs built-in resistor and the amount of regenerative power (average values) that it can process.
Applicable SERVOPACKs SGDMSingle-phase 100 V Single-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 () 50 30 25 12.5 8 (6.25) 2 (3.13)
3

Capacity (W) 60 70 140 140 280 (880) 2 (1760)


3

Regenerative Power Processed by Built-in Resistor 1 (W) 12 14 28 28 56 (180) 2 (350)


3

Minimum Allowable Resistance () 40 40 40 20 12 12 8 5.8 2.9

Three-phase 200 V

* 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

6.5 Connecting Regenerative Resistors

(3) Precautions on Selecting External Regenerative Resistors


A built-in regenerative resistor is provided for 500 W to 5.0 kW SGDM SERVOPACKs as standard. When installing an external regenerative resistor with the SERVOPACK, make sure that the resistance is the same as that of the SERVOPACKs built-in resistor. If combining multiple small-capacity regenerative resistors to increase the regenerative resistor capacity (W), select resistors so that the resistance value including error is at least as high as the minimum allowable resistance shown in the following table. Connecting a regenerative resistor with the resistance smaller than the minimum allowable resistance may increase the current flow in the regeneration circuit, resulting in damage to the circuit.

(4) Parameter Setting


Regenerative Resistor Capacity
Speed Position Torque

Pn600

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. 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) 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.

IMPORTANT

6-33

6 Wiring 6.5.2 Connecting External Regenerative Resistors

(5) Connecting Regenerative Resistors


IMPORTANT
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.

(a) SERVOPACKs with Capacities of 400W or Less


Enlarged View
L1C
YASKAWA SERVOPACK

Connect an external regenerative resistor between B1 and B2 terminals. Note: The user must provide the regenerative resistor.

L2C B1 B2 U V W
MODE/SET

SGDM-

DATA/ CHARGE POWER

(b) SERVOPACKs with Capacities of 0.5 to 5.0 kW


Enlarged View

Disconnect the wiring between the SERVOPACKs B2 and B3 terminals and connect an external regenerative resistor between the B1 and B2 terminals. The user must provide the regenerative resistor. Note: Be sure to remove the lead wire between the B2 and B3 terminals.

L1C
YASKAWA SERVOPACK200V

L2C B1 B2 B3 U V

YASKAWA

SGDM-

MODE/SET CHARGE

DATA/ POWER

6-34

6.5 Connecting Regenerative Resistors

(c) SERVOPACKs with Capacities of 6.0 kW or More


No built-in regenerative resistor is provided, so the external regenerative resistor is required. The special regenerative resistor units are as follow:
Main Circuit Power Supply Three-phase 200 V Applicable SERVOPACK Model SGDM60ADA 75ADA to 1EADA Applicable Regenerative Resistor Unit JUSP-RA04 JUSP-RA05 Resistance () 6.25 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

MODE/SET

DATA/

BATTERY

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

7.2 Operation in Utility Function Mode (Fn

) - - - - - - - - - - - - - - - - - - - - - 7-8

7.2.1 List of Utility Function Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-8 7.2.2 Alarm Traceback Data Display (Fn000) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9 7.2.3 Zero-point Search Mode (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-10 7.2.4 Parameter Settings Initialization (Fn005) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-11 7.2.5 Alarm Traceback Data Clear (Fn006) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-12 7.2.6 Automatic Offset-adjustment of Motor Current Detection Signal (Fn00E) - - - - - - - - - 7-13 7.2.7 Manual Offset-adjustment of Motor Current Detection Signal (Fn00F) - - - - - - - - - - - 7-14 7.2.8 Password Setting (Protects Parameters from Being Changed) (Fn010) - - - - - - - - - - 7-15 7.2.9 Motor Models Display (Fn011) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-16 7.2.10 Software Version Display (Fn012) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-17

7.3 Operation in Parameter Setting Mode (Pn

) - - - - - - - - - - - - - - - - - - 7-18

7.3.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-18 7.3.2 Input Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-22 7.3.3 Output Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-25

7.4 Operation in Monitor Mode (Un

) - - - - - - - - - - - - - - - - - - - - - - - - - 7-27

7.4.1 List of Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27

7-1

7 Digital Operator/Panel Operator 7.1.1 Connecting the Digital Operator

7.1 Functions on Digital Operator/Panel Operator


This section describes the basic operations of the digital operator (hereinafter called the digital operator) and the panel operator (hereinafter called the panel operator) for setting the operating conditions. Set parameters and JOG operation, and display status using these operators. For the operation of the digital operator (Model: JUSPOP02A-2), refer to -II Series SGM H/SGDM Digital Operator Operation Manual (TOE-S800-34).

7.1.1 Connecting the Digital Operator


Two types of digital operators are available. One is a built-in operator that has a panel indicator and switches located on the front panel of the SERVOPACK. This type of digital operator is also called a panel operator. The other one is a hand-held operator (JUSP-OP02A-2 digital operator), which can be connected to the SERVOPACK with connector CN3 of the SERVOPACK. There is no need to turn OFF the SERVOPACK to connect this hand-held operator to the SERVOPACK. Refer to the following illustrations to connect the digital operator to the SERVOPACK.
Digital Operator JUSP-OP02A-2

Panel Operator
YASKAWA SERVOPACK 200V

SGDM-

.
ALARM RESET

. .

.
MODE/SET DATA/

DIGITAL SERVOPACK OPERATOR JUSP-OP02A


DSPL SET DATA ENTER

JOG SVON

YASKAWA

CN3

A dedicated cable is used to connect the digital operator to the SERVOPACK.

SERVOPACK

IMPORTANT

If the digital operator is connected to the SERVOPACK, the panel operator does not display anything.

7-2

7.1 Functions on Digital Operator/Panel Operator

7.1.2 Key Names and Functions


Key names and functions for the digital operator and the panel operator are explained below. Set parameters and JOG operation, and display status using the panel operator.
Key Digital Operator
ALARM RESET

Panel Operator
+
Press simultaneously

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.

Digital Operator

(RESET Key)

DSPL SET
SERVOPACK ALARM RESET JOG SVON DIGITAL OPERATOR JUSP-OP02A DSPL SET DATA ENTER

(DSPL/SET Key)

MODE/SET (MODE/SET Key)

DATA ENTER

(DATA/ENTER Key)
YASKAWA

DATA/ (DATA/SHIFT Key)

(UP Key)

(UP Key)

Press the UP Key to increase the set value. For JOG operation, this key is used as Forward Run Start Key. Press the DOWN Key to decrease the set value. For JOG operation, this key is used as Reserve Run Start Key. Press the RIGHT Key to shift to the next digit on the right.

SERVOPACK

(DOWN Key)

(DOWN Key)

(RIGHT Key)

(LEFT Key)

Panel Operator
JOG SVON

DATA/ (DATA/SHIFT Key)

Press the LEFT or DATA/SHIFT Key to shift to the next digit on the left. Press the SVON or MODE/SET Key to perform servo ON/OFF in the JOG operation with the operator.

(SVON Key)

MODE/SET (MODE/SET Key)

IMPORTANT

When an alarm occurs, remove the cause, and then reset the alarm. Refer to 11.1 Troubleshooting.

7-3

7 Digital Operator/Panel Operator 7.1.3 Basic Mode Selection and Operation

7.1.3 Basic Mode Selection and Operation


The basic modes include: Status display mode, Utility Function Mode, Parameter Setting Mode, and Monitor Mode. Select a basic mode to display the operation status, set parameters and operation references. The basic mode is selected in the following order.

(1) Using the Digital Operator


Turn ON the power Press DSPL/SET Key. A basic mode is selected in the following order.

Status Display Mode (Refer to 7.1.4) Press


DSPL SET

. Press
DATA ENTER

Fn

: Utility Function Mode (Refer to 7.2)

Repeat

Press

DSPL SET

. Press
DATA ENTER

Pn

: Parameter Setting Mode (Refer to 7.3)

Press

DSPL SET

. Press
DATA ENTER

Pn

: Monitor Mode (Refer to 7.4)

Press

DSPL SET

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

7.1 Functions on Digital Operator/Panel Operator

(2) Using the Panel Operator


Turn ON the power
Press DSPL/SET Key. A basic mode is selected in the following order.

Status Display Mode (Refer to 7.1.4)


Press .
MODE/SET

Press Repeat Press .


MODE/SET

for more than one second.

DATA/ (DATA/SHIFT)

Fn

: Utility Function Mode (Refer to 7.2)

Press Press .

for more than one second.

Pn

: Parameter Setting Mode (Refer to 7.3)

DATA/ (DATA/SHIFT Key)

MODE/SET

Press Press .
MODE/SET

DATA/ (DATA/SHIFT Key)

for more than one second.

Un

: Monitor Mode (Refer to 7.4)

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

7 Digital Operator/Panel Operator 7.1.4 Status Display

7.1.4 Status Display


Bit data Code

(1) Bit Data and Meanings


Item Speed or Torque Control Mode Bit Data Meaning Control Lit when SERVOPACK control power is Power ON ON. Baseblock Lit for baseblock. Not lit when servo is ON. Lit when the difference between the motor speed and reference speed is the same as or less than the value set in Pn503. (Factory setting is 10 min-1.) Always lit in torque control mode. Lit if motor speed exceeds preset value. Not lit if motor speed is below preset value. Preset value: Set in Pn502 (Factory setting is 20 min-1.) Lit if input speed reference exceeds preset value. Not lit if input speed reference is below preset value. Preset value: Set in Pn502 (Factory setting is 20 min-1.) Lit if input torque reference exceeds preset value. Not lit if input torque reference is below preset value. Preset value: 10% of rated torque Lit when main circuit power supply is ON and normal. Not lit when main circuit power supply power is OFF. Bit Data Control Power ON Baseblock Position Control Mode Meaning Lit when SERVOPACK control power supply is ON. Lit for baseblock. Not lit when servo is ON. Lit if error between position reference and actual motor position is below preset value. Not lit if error between position reference and actual motor position exceeds preset value. Preset value: Set in Pn500 (Factory setting is 7 pulses.) Lit if motor speed exceeds preset value. Not lit if motor spe