Manual_servomotor Manual Servomotor
User Manual: manual_servomotor
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AC Servo Drives Series Product Catalog TIFIE G D EM EM ST Y ENT S A EM QUALITY SYSTEM ER MAN A G D EM ST TIFIE C ER MAN Certified for ISO9001 and ISO14001 C ™ Y ENT S ENVIRONMENTAL SYSTEM JQA-0422 JQA-EM0202 JQA-EM0924 Build the machine you’ve dreamed of, today! AC servo drive Sigma Five You want maximum effect quickly and easily, as does every engineer in the field. And now the series is here with the practical answer to your dreams! How many times have you heard people say servos need adjustment to work well? Our new tuning-less function means it works as soon as you hook it up! And if you want more performance than ever before, the series advanced autotuning function lets you set up for it rapidly. Advanced technology makes possible a host of safety standards compliance for the first time in Japan (as of April 2007), compliance with key international standards, a diverse motor line-up, compact size, high speed and simple maintenance: everything you need to answer today’s requirements. International Standards Safety Standards Safety Stop-0 (Standard) RoHS Directive RoHS Directive Stands for the EU directive on the Restriction of the Use of Certain Hazardous Substances in Electrical and Electronic Equipment. Features Features Superlative Performance Operate your machinery faster and with higher precision than ever! The delivers the highest performance in the industry. Servo Adjustment Example: When the ball screw slider was run using a combination of the SGMJV-02ADA servomotor and SGDV-1R6A SERVOPACK. The best amplifier response in the industry slashes settling time Position Error In-house comparison: 1/12th 0 Outstanding frequency response 1.6 Reference Speed Positioning Completed * kHz * Representative value when using a combination of the SGMAV-02ADA servomotor and SGDV-1R6A SERVOPACK at one time of the load moment of inertia ratio. Settling Time 0 to 4 ms㧍 Enhanced vibration suppression Existing functions to minimize vibration have been enhanced, and new ones added, improving tracking and further improving settling time. Vibration and noise during driving have also been cut, along with vibration at machine edges when stopping. Contributing to machine performance in conjunction with a medium-inertia motor Small Capacity SGMJV Series Low Heating Improved motor constants have reduced both losses and heating. Better Cycle Time Instantaneous peak torque has been boosted from 300% to 350%, contributing to shorter cycle times Medium Capacity SGMGV Series Compact Design Smaller package and about 20% lighter, but with the same moment of inertia ratio as the conventional model. A small encoder connector is applied. Improved Vibration Resistance New coupling delivers typical 5G vibration resistance Ease of Use Moment of inertia ratio has been doubled in the same motor, reducing the moment of inertia ratio and boosting gain for faster settling Encoder resolution 1,048,576 pulses/revolution iii Making servo adjustment quick and simple Simple Start-up Unpacking Installation and Wiring Basic Parameter Setting Faster setup Trial Operation SigmaWin+ Setup Wizard Simple parameter set-up with wizard-aided input Wiring Check Function The SigmaWin+ wiring check function checks your wiring in a single operation USB1.1 Support Trace Function Realtime trace of adjustment state means you can check instantly. Full of handy functions for start-up and more effective operation! Selection Servomotor capacity selection software SigmaJunmaSize+ Optimal selection for your application: With consideration of moment of inertia, DB resistance, etc. iv Features Let the series simplify your life! Gain and Filter Adjustment Operation Simple Tuning New Advanced Autotuning Window Get up and running quickly after hooking up the motor New Tuning-less Function Minimize settling time with less vibration New Advanced Autotuning Fine-tuning is a must New “One-parameter” Tuning Even without servo adjustment and with load changes, oscillation- and vibration-free drive is possible up to 20 times the load moment of inertia. Settling time: 100 to 150 ms level The reference filter and feedback gain adjustment functions have a new automatic feed forward gain adjustment for optimal adjustment performance. The friction compensation function automatically cancels out the effect of friction on machine characteristics. Settling time: 10 ms level Fine-tuning can tweak machine performance to the max. Settling time: 0 to 4 ms level Maintenance Faster Troubleshooting Engineering tool Alarm SigmaWin+ Diagnostic Information Alarm diagnostic function: Presumes possible causes of the alarm and immediately displays suggested corrective actions. v Use servos that really fit into your system Outstanding Expandability A rich selection of models and options to match your requirements Extensive variety of motors to match any machine Medium-inertia servomotors Low-inertia servomotors Improved control stability High-speed acceleration and deceleration Selection of servo actuators Support for direct drive servomotors, linear servomotors and linear sliders Standard support for analog voltage/pulse train reference series or MECHATROLINK-II communications reference series Wide selection of option modules for various communication interfaces and feedback Option Module Compliant with applicable safety standards The first in the industry in Japan! (as of April 2007) Easy compliance with machine safety standards Motor line-up to handle a wide range of markets and applications SGMJV (20 bit) SGMPS (17 bit) SGMGV (20 bit) Medium Inertia Resolution SGMAV (20 bit) SGMSV (20 bit) Low Inertia Semiconductors (Bonders) Semiconductors (Probes) Machine tools, MC lathes/grinders Linear (High resolution) LCD coater/ dispensers Electronic Components LCD scribers Injection molding machines Metal processing Robot articulated/ scalar/extraction Food Packaging Material Handling Textiles Moment of Inertia Ratio vi SGMJV (13 bit) Medium Inertia Product Line-up Product Line-up Servomotors Rotary Servomotors (Small Capacity) SGMMV: 3.3 W to 30 W (Low Inertia Inertia, Small Capacity) SGMJV: 50 W to 750 W (Medium Inertia, Small Capacity) Rotary Servomotors (Medium Capacity) SGMGV: 300 W to 15 kW (Medium Inertia, Medium Capacity) SGMAV: 50 W to 1 kW (Low Inertia, Small Capacity) Direct Drive Servomotors SGMSV: 1.0 kW to 7.0 kW (Low Inertia, Medium Capacity) SGMCS: 2 to 3.5 Nm (Small Capacity) SGMCS: 45 to 200 Nm (Medium Capacity) Linear Servomotors Linear Linear Slides Series SGLGW (Coreless Type) 12.5 to 750 N SGLFW (With F-type Iron Core) 25 to 1120 N SGLTW (With T-type Iron Core) 130 to 1300 N -Trac Series SGT1F ( -Trac) 47 to 560 N SERVOPACKs with AC Power Input Analog Voltage/Pulse Train Reference MECHATROLINK-II Reference MECHATROLINK-III Reference Command Option Attachable Type Available Option Modules include: • EtherCAT (CoE) Communication • Fully Closed Loop Control • MP2600iec Single Axis Controller • Functional Safety • Indexer SGDV-¡¡¡¡01/05 SGDV-¡¡¡¡11/15 SGDV-¡¡¡¡21/25 SGDV with Additional Options SERVOPACKs with DC Power Input Analog Voltage Reference SGDV-¡¡¡ES1 Pulse Train Reference SGDV-¡¡¡EP1 MECHATROLINK-II Reference SGDV-¡¡¡E11 MECHATROLINK-III Reference SGDV-¡¡¡E21 vii Stock Status Definitions The product selection tables in this catalog contain stock status codes, which are subject to change. The codes are defined below: S Stock Item Normally 3 to 5 days leadtime for most order quantities. 3 to 5 weeks maximum if temporary outages occur. For critical lead time or large quantity shipments, check with your Yaskawa sales representative. LS Limited Stock Item Typically small quantites are available from stock. Items may become stock items as demand increases. NS Non-Stock Item Non-stock items typically carry a 12 - 16 week delivery time. GS Global Support Item Global Support Products are non-stock items that are not promoted in North America. Delivery is typically 14-20 weeks depending on price availability. Local repair and service capabilities may be limited. Customers should consider stock or limited stock substitutes if possible. Global Support Products are found on some machines imported to North America. In many cases the fastest delivery of spare parts can be obtained by contacting the original machine builder. Yaskawa Electric America can make special arrangements for servicing customers on a contract basis. viii Product Line-up Rotary Servomotors and SERVOPACKs with AC Power Input Rotary Servomotor Model Capacity Three-phase 200 VAC R90F R90A 30 W 2R1F 1R6A SGMJV-A5A 50 W R70F R70A SGMJV-01A 100 W R90F R90A SGMJV-C2A 150 W 2R1F 1R6A SGMJV-02A 200 W 2R1F 1R6A SGMJV-04A 400 W 2R8F 2R8A SGMJV-06A 600 W — 5R5A SGMJV-08A 750 W — 5R5A SGMAV-A5A 50 W R70F R70A R90F R90A 2R1F 1R6A 2R8F 2R8A SGMMV-A1A SGMMV-A2A SGMMV-A3A SGMMV (Ultra-Small Capacity) 3000RPM SGMJV (Medium Inertia, Small Capacity) 3000RPM SGMAV (Low Inertia, Small Capacity) 3000RPM SGMGV (Medium Inertia, Medium Capacity) 1500RPM SERVOPACK Model SGDV-¡¡¡¡ Single-phase 100 VAC 10 W 20 W SGMAV-01A 100 W SGMAV-C2A 150 W SGMAV-02A 200 W SGMAV-04A 400 W SGMAV-06A 550 W SGMAV-08A 750 W — SGMAV-10A 1.0 kW SGMGV-03A 300 W SGMGV-05A 450 W Three-phase 400 VAC Stock Status — S — S — S — S 5R5A 120A*1 3R8A SGMGV-09A 850 W 7R6A SGMGV-13A 1.3 kW 120A SGMGV-20A 1.8 kW SGMGV-30A 2.9 kW SGMGV-44A 4.4 kW 180A — 330A/200A*2 330A SGMGV-55A 5.5 kW 470A SGMGV-75A 7.5 kW 550A SGMGV-1AA 11 kW 590A SGMGV-1EA 15 kW 780A SGMGV-03D 300 W SGMGV-05D 450 W 1R9D SGMGV-09D 850 W 3R5D SGMGV-13D 1.3 kW 5R4D SGMGV-20D 1.8 kW SGMGV-30D 2.9 kW SGMGV-44D 4.4 kW 8R4D — — 120D S 170D SGMGV-55D 5.5 kW 210D SGMGV-75D 7.5 kW 260D 280D SGMGV-1AD 11 kW SGMGV-1ED 15 kW SGMSV-10A 1.0 kW 7R6A SGMSV-15A 1.5 kW 120A SGMSV-20A 2.0 kW 180A SGMSV-25A 2.5 kW SGMSV-30A 3.0 kW 370D 200A — SGMSV-40A 4.0 kW SGMSV SGMSV-50A (Low Inertia, Medium Capacity) 3000RPM 5.0 kW SGMSV-70A 7.0 kW SGMSV-10D 1.0 kW 3R5D SGMSV-15D 1.5 kW 5R4D SGMSV-20D 2.0 kW SGMSV-25D 2.5 kW SGMSV-30D 3.0 kW SGMSV-40D 4.0 kW SGMSV-50D 5.0 kW 330A — S 550A 8R4D — 120D 170D *1: Single-phase 200 VAC SERVOPACKs are also available (SERVOPACK model: SGDV-120A¡¡A008000, *2: The combination of the SGDV-200A SERVOPACK and the SGMGV-30A servomotor must be used at the following reduction ratings. Rated Current Arms Rated Torque Nm Allowable Load Moment of Inertia Reduction Ratings Ratings 19.6 23.8 15.3 3 times 18.6 5 times ix Rotary Servomotors and SERVOPACKs with DC Power Input Rotary Servomotor Model SERVOPACK Model SGDV-¡¡¡¡ Capacity SGMMV-B3E 3.3 W SGMMV SGMMV-B5E 5.5 W (Low Inertia, Ultra-small Capacity) 3000 min-1 SGMMV-B9E 11 W SGMMV-A1E 10 W SGMMV-A2E 20 W SGMMV-A3E 30 W 24 VDC/48 VDC Stock Staus 1R7E S 2R9E Linear Servomotors and SERVOPACKs with AC Power Input Peak Force N Single-phase 100 VAC Three-phase 200 VAC SGLGW-30A050C 12.5 40 R70F R70A SGLGW-30A080C 25 80 SGLGW-40A140C 47 140 R90F R90A SGLGW-40A253C 93 280 SGLGW-60A140C 70 220 2R1F 1R6A SGLGW-40A365C 140 420 SGLGW-60A253C 140 440 2R8F 2R8A SGLGW-60A365C 210 660 SGLGW-90A200C 325 1300 SGLGW-90A370C 550 2200 SGLGW-90A535C 750 3000 SGLGW-40A140C 57 230 SGLGW SGLGW-60A140C 85 360 (Coreless Type, With high-efficiency magnetic way) SGLGW-40A253C 114 460 SGLGW-40A365C 171 690 SGLGW-60A253C 170 720 SGLGW-60A365C 255 1080 SGLFW-20A090A 25 86 SGLFW-20A120A 40 125 SGLFW-35A120A 80 220 SGLGW (Coreless Type, With standard magnetic way) x SERVOPACK Model SGDV-¡¡¡¡ Rated Force N Linear Servomotor Model — 2R1F 1R6A 2R8F 2R8A — 7R6A 2R1F 1R6A 440 3R8A 5R5A 1200 1200 (With F-type Iron Core) SGLFW-1ZA380B 1120 2400 SGLFW-35D120A 80 220 SGLFW-35D230A 160 440 SGLFW-50D200B 280 600 SGLFW-50D380B 560 1200 SGLFW-1ZD200B 560 1200 SGLFW-1ZD380B 1120 2400 SGLTW-20A170A 130 380 660 SGLTW-35A170A 220 SGLTW-35A170H 300 600 SGLTW-50A170H 450 900 SGLTW-20A320A 250 760 SGLTW-20A460A 380 1140 SGLTW-35A320A 440 1320 SGLTW-35A320H 600 1200 1800 SGLTW-50A320H 900 SGLTW SGLTW-35A460A 670 2000 (With T-type Iron Core) SGLTW-40A400B 670 2600 SGLTW-40A600B 1000 4000 SGLTW-80A400B 1300 5000 SGLTW-35D170H 300 600 SGLTW-50D170H 450 900 SGLTW-35D320H 600 1200 SGLTW-50D320H 900 1800 SGLTW-40D400B 670 2600 SGLTW-40D600B 1000 4000 SGLTW-80D400B 1300 5000 NS 3R8A 600 560 — 200A 160 560 S 180A 280 SGLFW-50A380B — 120A SGLFW-35A230A SGLFW-1ZA200B Stock Staus 5R5A SGLFW-50A200B SGLFW Three-phase 400 VAC — 120A S 200A — 1R9D — 3R5D 5R4D 120D 3R8A 5R5A 7R6A 120A — — 180A NS 330A 3R5D — 8R4D 120D 170D Product Line-up Linear Slides ( -Trac) and SERVOPACKs Linear Slide Model Rated Force N SERVOPACK Model SGDV-¡¡¡¡ Peak Force N Single-phase 100 VAC 2R1F SGT1F31- 80 220 SGT1F SGT1F41- 160 440 ( -Trac) SGT1F91- 280 600 Three-phase 200 VAC Stock Status 1R6A 3R8A — 5R5A SGT1FA1- 560 1200 SGTMM SGTMM-01 3.5 10 R70F R70A ( -Trac-μ ) SGTMM-03 7 25 R90F R90A SGTMF-4A 90 270 SGTMF-4B 120 360 2R1F 1R6A SGTMF ( -Trac-MAG) SGTMF-5A 180 540 SGTMF-5B 240 720 — 5R5A LS 120A GS GS Direct Drive Servomotors and SERVOPACKs Direct Drive Servomotor Model Rated Torque Nm Peak Torque Nm SGMCS-02B 2 6 SGMCS-05B 5 15 SGMCS-07B 7 21 SGMCS-04C 4 12 SGMCS-10C 10 30 SGMCS-14C 14 42 SGMCS-08D 8 24 SGMCS-17D 17 51 SGMCS-25D 25 75 SGMCS-16E 16 48 SGMCS-35E 35 105 SGMCS-45M 45 135 SGMCS-80M 80 240 SGMCS SGMCS-80N 80 240 (Medium Capacity) SGMCS-1AM 110 330 SGMCS (Small Capacity) SGMCS-1EN 150 450 SGMCS-2ZN 200 600 SERVOPACK Model SGDV-¡¡¡¡ Single-phase 100 VAC Three-phase 200 VAC Stock Status 2R1F 2R8A S 2R8F — 5R5A 7R6A 120A — 180A S 200A xi AC SERVODRIVE Servomotors Rotary Servomotors 1 Ultra-Small Capacity SGMMV 1 Medium Inertia, Small Capacity SGMJV 21 Low Inertia, Small Capacity SGMAV 35 Medium Inertia, Medium Capacity SGMGV 51 Low Inertia, Medium Capacity SGMSV 75 Rotary Servomotor General Instructions 95 Direct Drive Servomotors105 Small / Medium Capacity SGMCS 105 Linear Servomotors123 G-Type Coreless SGLGW 123 F-Type Iron Core SGLFW 143 T-Type Balanced Iron Core SGLTW 163 Linear Servomotor General Instructions 191 Linear Slides199 -Trac SERVOPACKs AC Power Input SGT1F 199 Analog Voltage/Pulse Train Reference Type SERVOPACKs 207 MECHATROLINK-II Communications Reference Type SERVOPACKs 231 MECHATROLINK-III Communications Reference Type SERVOPACKs 253 SERVOPACKs DC Power Input Others SERVOPACK with Additional Options 267 Wiring Main Circuit and Peripheral Devices 323 Analog Voltage/Pulse Train Reference Type 341 MECHATROLINK-II Communications Reference Type 351 MECHATROLINK-III Communications Reference Type 361 DC SERVOPACK Dimensions 371 Wiring Main Circuit and Peripheral Devices 373 Selecting Servomotor Capacity and Regenerative Capacity 381 Connection to Host Controller 397 xiii Rotary Servomotors SGMMV Model Designations SGMMV - A1 1st+2nd digits mini Series Servomotor A 2 A 2 1 3rd digit 4th digit 5th digit 6th digit 7th digit SGMMV 1st+2nd digits Code Rated Output Specifications B3 3.3 W B5 5.5 W B9 11 W A1 10 W A2 20 W A3 30 W 3rd digit Code Code Specifications A E 24 VDC/48 VDC* *: Same for 24 VDC and 48 VDC. Characteristics vary with the voltage of the main circuit for SERVOPACKs Code 2 1 Specifications Standard 6th digit Power Supply Voltage Serial Encoder Specifications 17-bit absolute Design Revision Order Code A 200 VAC (Flange size: 25 mm×25 mm) 4th digit 5th digit Shaft End Specifications 2 Straight (Standard) A Straight with flat seats (Optional) 7th digit Code Options Specifications 1 Without options C With holding brake (24 VDC, flange size: 25 mm×25 mm) Rotary Motors Sigma Mini Servomotors SGMMV Rotary Motors Features 1 Ultra-compact, ultra-small capacity With flange size of 15 mm×15 mm: 3.3 W to 11 W With flange size of 25 mm×25 mm: 10 W to 30 W 1 Mounted 17-bit high-resolution absolute serial encoder: Can be used as an incremental encoder 1Maximum speed: 6,000 RPM 1Wide selection: Two flange sizes, AC or DC power*, and holding brakes* *: Only the 25 mm×25 mm flange can be used with a 200-VAC power supply or a holding brake. Application Examples Equipment Machinery • Semiconductor equipment • LCD manufacturing equipment •E lectronic parts assembly and electronic parts manufacturing equipment • Metal processing machines • Robots • Assemblers • Inspection and measurement devices • Clean systems • Automated guided vehicles (AGVs) • Equipment for biomedical • Bonders, probers, IC handlers, chip sorters, and OHT •D ispensers, scriber, electrode-mounting device, and inspection device • Mounters, inserters, and solder printers • Coil winders and spring machinery • X-Y robots, assembler robots • Screw tighters ●Precautions when using AC or DC power input Applicable servomotors, SERVOPACKs, and cables differ depending on if AC or DC power is used. Refer to the relevant pages and be sure to select the correct models. With DC power With AC power Applicable servomotors: SGMMV-¡¡E Applicable SERVOPACKs: SGDV-¡¡¡E Applicable servomotors: SGMMV-¡¡A Applicable SERVOPACKs: SGDV-¡¡¡F and SGDV¡¡¡A • Refer to page x for information on combining servomotors and SERVOPACKs. • Refer to pages 10 to 14 for information on selecting servomotor cables. • Refer to page ix for information on combining servomotors and SERVOPACKs. • Refer to pages 15 to 19 for information on selecting servomotor cables. 2 Ratings and Specifications Enclosure: 15 mm×15 mm: Totally enclosed, self-cooled, IP42 (except for shaft opening) 25 mm×25 mm: Totally enclosed, self-cooled, IP55 (except for shaft opening) Ambient Humidity: 20% to 80% (no condensation) Drive Method: Direct drive Rotation Direction: Counterclockwise (CCW) with forward run reference when viewed from the load side Time Rating: Continuous Vibration Class: V15 Insulation Resistance: 500 VDC, 10 MΩ min. Ambient Temperature: 0 to 40˚C Excitation: Permanent magnet Mounting: Flange-mounted Thermal Class: 15 mm×15 mm B (UL: A) 25 mm×25 mm B Withstand Voltage: 600 VAC for one minute 24 VDC/48 VDC*3 Voltage Servomotor Model: SGMMV-¡¡¡ B3E B5E B9E A1E A2E 3.3 5.5 11 10 20 30 Nm 0.0105 0.0175 0.0350 0.0318 0.0637 0.0955 Instantaneous Peak Torque*1 Nm 0.0263 0.0438 0.0875 0.0955 0.191 0.286 Rated Current*1 Arms 1.5 1.5 1.7 2.1 2.0 2.9 Instantaneous Max. Current*1 Arms 3.6 3.7 4.1 6.1 5.8 8.6 Rated Output*1 W Rated Torque*1, *2 Rated Speed*1 RPM Max. Speed*1 RPM Torque Constant Nm/Arms Rotor Moment of Inertia Rated Power Rate 3000 6000 0.00814 2 *1 Rated Angular Acceleration*1 A3E 0.0132 -8 0.0241 -8 -7 0.0172 0.0358 0.0358 2.72×10-7 4.66×10-7 6.68×10-7 (8.04×10-7) kg-m 4.41×10 (4.07×10-7) (6.02×10-7) kW/s 2.50 3.85 5.54 3.72 8.71 13.7 rad/s2 238000 220000 158000 117000 137000 143000 7.96×10 2.21×10 Flange Size mm 15×15 25×25 Applicable SERVOPACK SGDV-¡¡¡¡ 1R7E 2R9E *1: These items and torque-motor speed characteristics quoted in combination with an SGDV SERVOPACK are at an armature winding temperature of 100˚C. Other values quoted are at 20˚C. *2: Rated torques are continuous allowable torque values at 40˚C with an aluminum heat sink of the following dimensions attached. SGMMV-B3E, -B5E, -B9E, -A1E, -A2E: 150 mm×150 mm×3 mm SGMMV-A3E : 250 mm×250 mm×6 mm *3: Torque-speed characteristics differ depending on if a 24 VDC or a 48 VDC is used for the main circuit for the SERVOPACK. Note: The values in parentheses are for servomotors with holding brakes. 6000 5000 4000 A 2000 B 1000 6000 5000 4000 3000 A 2000 0.015 0 Motor Speed (min-1) Motor Speed (min-1) SGMMV-A1E 6000 5000 4000 3000 A 2000 B 1000 0 0 0.04 0.08 0.12 Torque (N・m) 0.03 0.045 6000 5000 4000 3000 A 2000 0.03 0 0.16 6000 5000 4000 3000 A 2000 B 1000 0 0 0.08 0.16 0.24 Torque (N・m) 0.06 0.09 0.12 Torque (N・m) SGMMV-A2E 7000 B 1000 0 0.06 SGMMV-B9E 7000 Torque (N・m) Torque (N・m) 7000 B 1000 0.0075 0.015 0.0225 0.03 : Intermittent Duty Zone SGMMV-B5E 7000 0 0 B Motor Speed (min-1) 3000 : Continuous Duty Zone Motor Speed (min-1) SGMMV-B3E 7000 0 A Motor Speed (min-1) Motor Speed (min-1) 1Torque-Motor Speed Characteristics 0.32 SGMMV-A3E 7000 6000 5000 4000 3000 A 2000 B 1000 0 0 0.1 0.2 0.3 0.4 Torque (N・m) Notes: 1 The characteristics of the intermittent duty zone differ depending on the supply voltage. Solid lines indicate characteristics when a 48-VDC power supply is applied to the main circuit of the SERVOPACK, and dotted lines indicate characteristics when a 24 VDC is applied. For SGMMV-B3E, -B9E, -A1E SERVOPACKs, characteristics are the same for both 24-VDC or 48-VDC versions. 2 When the effective torque is within the rated torque, the servomotor can be used within the intermittent duty zone. 3 Rotary Motors Sigma Mini Servomotors SGMMV Rotary Motors Time Rating: Continuous Vibration Class: V15 Insulation Resistance: 500 VDC, 10 MΩ min. Ambient Temperature: 0 to 40˚C Excitation: Permanent magnet Mounting: Flange-mounted Thermal Class: B Withstand Voltage: 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 Rotation Direction: Counterclockwise (CCW) with forward run reference when viewed from the load side Voltage 200 VAC Servomotor Model: SGMMV-¡¡¡ A1A A2A 10 20 A3A 30 Rated Output*1 W Rated Torque*1, *2 Nm 0.0318 0.0637 0.0955 Instantaneous Peak Torque*1 Nm 0.0955 0.191 0.286 Rated Current*1 Arms 0.70 0.66 0.98 Instantaneous Max. Current*1 Arms 2.0 1.9 2.9 Rated Speed*1 RPM Rotary Servomotors Ratings and Specifications 3000 Max. Speed*1 RPM Torque Constant Nm/Arms Rotor Moment of Inertia kg-m2 Rated Power Rate*1 kW/s 3.72 8.71 13.7 Rated Angular Acceleration*1 rad/s2 117000 137000 143000 Flange Size mm Applicable SERVOPACK SGDV-¡¡¡¡ 6000 0.0516 0.107 0.107 2.72×10-7 (4.07×10-7) 4.66×10-7 (6.02×10-7) 6.68×10-7 (8.04×10-7) 25×25 R90¡ 1R6A, 2R1F *1: These items and torque-motor speed characteristics quoted in combination with an SGDV SERVOPACK are at an armature winding temperature of 100˚C. Other values quoted are at 20˚C. *2: Rated torques are continuous allowable torque values at 40˚C with an aluminum heat sink of the following dimensions attached. SGMMV-A1A, -A2A: 150 mm×150 mm×3 mm SGMMV-A3A : 250 mm×250 mm×6 mm Note: The values in parentheses are for servomotors with holding brakes. 6000 5000 4000 3000 A 2000 B 1000 : Continuous Duty Zone 0.04 0.08 0.12 Torque (N・m) 0.16 : Intermittent Duty Zone SGMMV-A2A 7000 6000 5000 4000 3000 A 2000 B 1000 0 0 B Motor Speed (min-1) SGMMV-A1A 7000 0 A Motor Speed (min-1) Motor Speed (min-1) 1Torque-Motor Speed Characteristics 0 0.08 0.16 0.24 0.32 Torque (N・m) SGMMV-A3A 7000 6000 5000 4000 3000 A 2000 B 1000 0 0 0.1 0.2 0.3 0.4 Torque (N・m) Notes: 1 The characteristics of the intermittent duty zone differ depending on the supply voltage. 2 When the effective torque is within the rated torque, the servomotor can be used within the intermittent duty zone. 4 Ratings and Specifications 1Holding Brake Electrical Specifications Holding Brake Rated Voltage Servomotor Model Capacity W Holding Torque Nm Coil Resistance Ω(at 20˚C) Rated Current A(at 20˚C) Brake Release Time ms Brake Operation Time ms 10 2.0 0.0318 320 0.075 40 100 20 2.6 0.0637 221.5 0.108 40 100 30 2.6 0.0955 221.5 0.108 40 100 SGMMV-A1E SGMMV-A1A 24 VDC SGMMV-A2E +10% 0 Holding Brake Specifications Servomotor Rated Output W SGMMV-A2A SGMMV-A3E SGMMV-A3A Notes: 1 The holding brake is only used to hold the load and cannot be used to stop the servomotor. 2 The holding brake open time and holding brake operation time vary depending on which discharge circuit is used. Make sure holding brake open time and holding brake operation time are correct for your servomotor. 3 A 24-VDC power supply is not included. 1Overload Characteristics The overload detection level is set under hot start conditions at a servomotor ambient temperature of 40˚C. 1000 Detecting time (s) 100 SGMMV-B9E 10 1 SGMMV-B3E, -B5E 0.1 100 150 200 250 Torque reference (percent of rated torque) (%) Detecting time (s) 1000 SGMMV-A1□,-A2□,-A3□ 100 10 1 100 200 300 Torque reference (percent of rated torque) (%) Note: Overload characteristics shown above do not guarantee continuous duty of 100% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics. 5 Rotary Motors Sigma Mini Servomotors SGMMV Rotary Motors Ratings and Specifications 1Allowable Load Moment of Inertia at the Motor Shaft Servomotor Model SGMMV- Servomotor Rated Output B3 3.3 W B5 5.5 W B9 11 W A1 10 W A2 20 W A3 30 W Rotary Servomotors The rotor moment of inertia ratio is the value for a servomotor without a gear and a holding brake. Allowable Load Moment of Inertia (Rotor Moment of Inertia Ratio) 30 times 1Load Moment of Inertia The larger the load moment of inertia, the worse the movement response. The allowable load moment of inertia (JL) depends on the motor capacity, as shown above. This value is provided strictly as a guideline and results may vary depending on servomotor drive conditions. Use the AC servo drive capacity selection program SigmaJunmaSize+ to check the operation conditions. The program can be downloaded for free from our web site (http://www.e-mechatronics.com/. An overvoltage alarm (A.400) is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia. Take one of the following steps if this occurs. • Reduce the torque limit. • Reduce the deceleration rate. • Reduce the maximum speed. 1Allowable Radial and Thrust Loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table. Allowable Radial Allowable Thrust LF Load (Fr) N Load (Fs) N mm B3 8 4 10 B5 8 4 10 B9 10 4 10 A1 34 14.5 16 A2 44 14.5 16 A3 44 14.5 16 Servomotor Model Reference Diagram LF Fr SGMMVFs 6 External Dimensions Units: mm 1Without Holding Brakes (1) 3.3 to 11 W Encoder Cable, 4 Dia. UL20276 Protective Tube, 4 Dia. 300±15 Motor Lead AWG26,UL10095 or UL3266 Pin No.5 Pin No.6 Plug: 55102-0600 (Molex Japan Co., Ltd.) Pin No.1 Pin No.2 Receptacle: 43025-0400 (Molex Japan Co., Ltd.) 3 4 1 2 300±15 L L1 10 0.04 Dia. A 11 0 −0.018 20 Dia. 2.5 3.6 L2 15 26.7 15 12.5 0.04 A 4 −00.008 Dia. 3.7 2-M2 Tapped Holes, Depth 3 A 0.02 Model SGMMV- L L1 L2 Approx. Mass kg B3E2A¡1 58 48 21.3 0.055 B5E2A¡1 64 54 27.3 0.06 B9E2A¡1 98 88 61.3 0.11With a Flat Seat 11−00.018 Dia. 4 −00.008 Dia. 6 0.5 A 4 −00.008 Dia. 0.02 7 3.5 16± 0.1 45° Dia . Rotary Motors Sigma Mini Servomotors SGMMV External Dimensions Rotary Motors Units: mm Encoder Cable, 4 Dia. UL20276 300±30 Motor Lead AWG24,UL10095 or UL3266 Pin No.5 Pin No.6 Plug: 55102-0600 (Molex Japan Co., Ltd.) Pin No.1 Pin No.2 Rotary Servomotors (2) 10 to 30 W Receptacle: 43025-0400 (Molex Japan Co., Ltd.) 3 4 1 2 Protective Tube 5 Dia., Black 300±30 L L2 2.5 0.04 □25 A 0.02 A 0.04 Dia. A 20 −00.021 Dia. 16 4 16 5 −00.008 Dia. 26.5 L1 45° 12 28 Dia . 2-M3 Tapped Holes, Depth 7 Model SGMMV- L L1 L2 Approx. Mass kg A1¡2A¡1 70 54 27.5 0.13 A2¡2A¡1 80 64 37.5 0.17 A3¡2A¡1 90 74 47.5 0.21 1With a Flat Seat 0.02 A 20 −00.021 Dia. 5 −00.008 Dia. 10 0.5 4.5 8 External Dimensions Units: mm 1With Holding Brakes (1) 10 to 30 W Encoder Cable, 4 Dia. UL20276 300±30 Protective Tube 5 Dia., Black Motor Lead AWG24,UL10095 or UL3266 Pin No.5 Pin No.6 Plug: 55102-0600 (Molex Japan Co., Ltd.) Pin No.1 Pin No.2 Receptacle: 43025-0600 (Molex Japan Co., Ltd.) 4 5 6 1 2 3 300±30 L L2 2.5 0.04 A □25 0.02 A 16 0 −0.021 Dia. 4 16 5 −00.008 Dia. 26.5 L1 45° 12 20 28 0.04 Dia. A Model SGMMV- L L1 L2 Approx. Mass kg A1¡2A¡C 94.5 78.5 27.5 0.215 A2¡2A¡C 108.5 92.5 37.5 0.27 A3¡2A¡C 118.5 102.5 47.5 0.31 1With a Flat Seat 0.02 A 20 −00.021 Dia. 5 −00.008 Dia. 10 9 0.5 4.5 Dia . 2-M3 Tapped Holes, Depth 7 Rotary Motors Sigma Mini Servomotors Rotary Motors SGMMV Selecting Cables for SERVOPACKs with DC Power Input 2Standard Wiring (Max. encoder cable length: 20 m) Rotary Servomotors 1Examples of Cable Connections 2Encoder Cable Extension from 30 to 50 m SGDV SERVOPACK SGDV SERVOPACK Relay Encoder Cable Encoder Cable Battery Case (Required when an absolute encoder is used.) Servomotor Main Circuit Cable Servomotor Main Circuit Cable Cable with a Battery (Required when an absolute encoder is used.) Cable with Connectors, or Cable SGMMV Servomotor SGMMV Servomotor CAUTION • Separate the servomotor main circuit cable wiring from the I/O signal cable and encoder cable at least 30 cm, and do not bundle or run them in the same duct. • When the cable length exceeds 20 m, be sure to use a relay encoder cable. • If the main circuit cable for the servomotor causes the line-to-line voltage to drop, the intermittent duty zone of the torque-motor speed characteristics may become smaller. 1Servomotor Main Circuit Cable Name For Servomotor without Holding Brakes For Servomotor with Holding Brakes Length Order No. Standard Type Flexible Type* 3m JZSP-CF1M00-03-E JZSP-CF1M20-03-E 5m JZSP-CF1M00-05-E JZSP-CF1M20-05-E 10 m JZSP-CF1M00-10-E JZSP-CF1M20-10-E 15 m JZSP-CF1M00-15-E JZSP-CF1M20-15-E 20 m JZSP-CF1M00-20-E JZSP-CF1M20-20-E 30 m JZSP-CF1M00-30-E JZSP-CF1M20-30-E 40 m JZSP-CF1M00-40-E JZSP-CF1M20-40-E 50 m JZSP-CF1M00-50-E JZSP-CF1M20-50-E 3m JZSP-CF1M10-03-E JZSP-CF1M30-03-E 5m JZSP-CF1M10-05-E JZSP-CF1M30-05-E 10 m JZSP-CF1M10-10-E JZSP-CF1M30-10-E 15 m JZSP-CF1M10-15-E JZSP-CF1M30-15-E 20 m JZSP-CF1M10-20-E JZSP-CF1M30-20-E 30 m JZSP-CF1M10-30-E JZSP-CF1M30-30-E 40 m JZSP-CF1M10-40-E JZSP-CF1M30-40-E 50 m JZSP-CF1M10-50-E JZSP-CF1M30-50-E Specifications SERVOPACK End Ｌ Details Servomotor End (1) SERVOPACK End Ｌ Servomotor End (2) Ｂ Ｂ *: Use flexible cables for movable sections such as robot arms. 10 Selecting Cables for SERVOPACKs with DC Power Input (1) Wiring Specifications for Servomotors without Holding Brakes (2) Wiring Specifications for Servomotor with Holding Brakes SERVOPACK End Servomotor End SERVOPACK End Pin No. Signal Signal Pin No. Pin No. Signal Signal Pin No. 1 Phase U Phase U 1 1 Phase U Phase U 1 2 Phase V Phase V 2 2 Phase V Phase V 2 3 Phase W Phase W 3 3 Phase W Phase W 3 4 FG FG 4 Servomotor End 4 FG FG 4 Ring terminal Brake Brake 5 Ring terminal Brake Brake 6 Note: No polarity for connection to a holding brake. 1Encoder Cables (Length: 20 m or less) Name Cable with Connectors (For Incremental Encoder) Cable with Connectors*2 (For Absolute Encoder, with a Battery Case) Length Order No. Standard Type Specifications Flexible Type*1 3m JZSP-CMP00-03-E JZSP-CMP10-03-E 5m JZSP-CMP00-05-E JZSP-CMP10-05-E 10 m JZSP-CMP00-10-E JZSP-CMP10-10-E 15 m JZSP-CMP00-15-E JZSP-CMP10-15-E 20 m JZSP-CMP00-20-E JZSP-CMP10-20-E 3m JZSP-CSP19-03-E JZSP-CSP29-03-E 5m JZSP-CSP19-05-E JZSP-CSP29-05-E 10 m JZSP-CSP19-10-E JZSP-CSP29-10-E 15 m JZSP-CSP19-15-E JZSP-CSP29-15-E 20 m JZSP-CSP19-20-E JZSP-CSP29-20-E SERVOPACK End L Details Encoder End (1) Connector (Crimped) (Molex Japan Co., Ltd.) SERVOPACK End Socket Connector (Soldered) (Molex Japan Co., Ltd.) L Encoder End Battery Case ( ) Connector (Crimped) Battery attached Socket Connector (Soldered) (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.) (2) Soldered SERVOPACK-end Connector Kit JZSP-CMP9-1-E Soldered Encoder-end Connector Kit Cables JZSP-CMP9-2-E 5m JZSP-CMP09-05-E JZSP-CSP39-05-E 10 m JZSP-CMP09-10-E JZSP-CSP39-10-E 15 m JZSP-CMP09-15-E JZSP-CSP39-15-E 20 m JZSP-CMP09-20-E JZSP-CSP39-20-E 20 m Max. *1: Use flexible cables for movable sections such as robot arms. *2: When the battery is connected to the host controller, no battery case is required. If so, use a cable for incremental encoders. 11 (3) (4) Rotary Motors Sigma Mini Servomotors Rotary Motors SGMMV Selecting Cables for SERVOPACKs with DC Power Input (2) Wiring Specifications for Cable with Connectors (For absolute encoder, with a battery case) Encoder (Servomotor) End SERVOPACK End Encoder (Servomotor) End Wire Color Pin No. Standard Type Flexible Type SERVOPACK End Pin No. Signal Wire Color Pin No. Standard Type Flexible Type Light blue/white Black/light blue 6 Pin No. Signal 6 /PS 6 /PS 6 Light blue/white Black/pink 5 PS 5 Light blue Red/light blue 5 PS 5 Light blue Red/pink 4 4 Orange/white Black/pink 4 3 BAT(−) BAT(+) 3 Orange Red/pink 2 PG 0V 2 Black Green 1 PG 5V 1 Red Orange Shell FG Shell FG FG Shield Wire 4 3 BAT（−） BAT（+） 3 Orange 2 PG 0V 2 Black Green 1 Shell PG 5V 1 Red Orange Shell FG FG FG Battery Case Shield Wire Orange/white Black/light blue Red/light blue Rotary Servomotors (1) Wiring Specifications for Cable with Connectors (For incremental encoder) Pin No. Signal 2 BAT（−） 1 BAT（+） (3) SERVOPACK-end/Encoder-end Connector Kit Specifications SERVOPACK-end Connector Kit Order No. JZSP-CMP9-2-E (Cables are not included.) (Cables are not included.) Molex Japan Co., Ltd. Manufacturer External Dimensions mm Molex Japan Co., Ltd. 55100-0670 (soldered) 54280-0609 (soldered) Product Specification: PS-54280 Product Specification: PS-54280 （19） Specifications Encoder-end Connector Kit JZSP-CMP9-1-E ６ ５ ４ ３ ２ １ 5 6 3 4 1 2 （12） （33） （44） （19） Items （12） 12 Selecting Cables for SERVOPACKs with DC Power Input (4) Cable Specifications Items Order No.* Standard Type Flexible Type JZSP-CMP09-¡¡-E JZSP-CSP39-¡¡-E Cable Length 20 m max. UL20276 (Rating temperature: 80˚C) Specifications UL20276 (Rating temperature: 80˚C) AWG22x2C+AWG24x2P AWG22x2C+AWG24x2P AWG22 (0.33 mm2) AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.15 dia. mm Outer diameter of insulating sheath: 1.35 dia. mm AWG24 (0.20 mm2) AWG24 (0.20 mm2) Outer diameter of insulating sheath: 1.09 dia. mm Finished Dimensions Outer diameter of insulating sheath: 1.21 dia. mm 6.5 dia. mm 6.8 dia. mm Light blue Internal Configuration and Lead Color Red Orange Orange/ white Yaskawa Standards Specifications (Standard Length) *: Specify the cable length in ¡¡ of order no. Example: JZSP-CMP09-05-E (5 m) 13 Black Light blue/ white Orange Black/ pink Red/ pink Cable length: 5 m, 10 m, 15 m, 20 m Green Black/ light blue Red/ light blue Rotary Motors Sigma Mini Servomotors Rotary Motors SGMMV Selecting Cables for SERVOPACKs with DC Power Input Name Cable with Connectors (For incremental and absolute encoder) Length Order No. Standard Type 30 m JZSP-UCMP00-30-E 40 m JZSP-UCMP00-40-E 50 m JZSP-UCMP00-50-E SERVOPACK End 0.3 m (Required when an absolute encoder is used*) Plug Connector (Crimped) (Molex Japan Co., Ltd.) JZSP-CSP12-E Socket Connector (Soldered) (Molex Japan Co., Ltd.) Encoder End 0.3 m (2) Battery Case (Battery attached) Plug Connector (Crimped) (Molex Japan Co., Ltd.) Cables Encoder End L (1) SERVOPACK End Cable with a Battery Case Details Specifications 30 m JZSP-CMP19-30-E 40 m JZSP-CMP19-40-E 50 m JZSP-CMP19-50-E Rotary Servomotors 1Relay Encoder Cables (For extending from 30 to 50 m) Socket Connector (Soldered) (Molex Japan Co., Ltd.) (3) *: Not required when connecting a battery to the host controller. (2) Wiring Specifications for Cable with a Battery Case (1) Wiring Specifications for Cable with Connectors Encoder (Servomotor) End SERVOPACK End Encoder (Servomotor) End SERVOPACK End Pin No. Signal Pin No. Wire Color Pin No. Signal Pin No. Wire Color 6 /PS 6 Light blue/white 6 /PS 6 Light blue/white 5 PS 5 Light blue 5 PS 5 Light blue 4 BAT (−) 4 Orange/white 4 BAT (−) 4 Orange/white 3 BAT (+) 3 Orange 3 BAT (+) 3 Orange 2 PG 0V 2 Black 2 PG 0V 2 Black 1 PG 5V 1 Red 1 PG 5V 1 Red Shell FG Shell FG Shell FG Shell FG Shield Wire Battery Case (3) Cable Specifications Item Pin No. Signal 2 BAT (−) 1 BAT (+) Shield Wire Standard Type Order No.* JZSP-CMP19-¡¡-E Cable Length 50 m max. UL20276 (Rating temperature: 80˚C) AWG16x2C+AWG26x2P AWG16 (1.31 mm2) Specifications Outer diameter of insulating sheath: 2.0 dia. mm AWG26 (0.13 mm2) Outer diameter of insulating sheath: 0.91 dia. mm Finished Dimensions 6.8 dia. mm Black Internal Configuration and Lead Colors Yaskawa Standard Specifications (Standard Length) Orange Light blue Orange /white Red Light blue /white Cable length: 30 m, 40 m, 50 m *: Specify the cable length in ¡¡ of order no. Example: JZSP-CMP19-30-E (30 m) 14 Selecting Cables for SERVOPACKs with AC Power Input 1Examples of Cable Connections 2Standard Wiring (Max. encoder cable length: 20 m) 2Encoder Cable Extension from 30 to 50 m SGDV SERVOPACK SGDV SERVOPACK Relay Encoder Cable Cable with a Battery (Required when an absolute encoder is used.) Encoder Cable Cable with Connectors, or Cable Servomotor Main Circuit Cable Battery Case (Required when an absolute encoder is used.) Servomotor Main Circuit Cable SGMMV Servomotor SGMMV Servomotor CAUTION Separate the servomotor main circuit cable wiring from the I/O signal cable and encoder cable at least 30 cm, and do not bundle or run them in the same duct. When the cable length exceeds 20 m, be sure to use a relay encoder cable. When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops. 1Servomotor Main Circuit Cable Name For Servomotor without Holding Brakes For Servomotor with Holding Brakes Length Order No. Standard Type Flexible Type* 3m JZSP-CF2M00-03-E JZSP-CF2M20-03-E 5m JZSP-CF2M00-05-E JZSP-CF2M20-05-E 10 m JZSP-CF2M00-10-E JZSP-CF2M20-10-E 15 m JZSP-CF2M00-15-E JZSP-CF2M20-15-E 20 m JZSP-CF2M00-20-E JZSP-CF2M20-20-E 30 m JZSP-CF2M00-30-E JZSP-CF2M20-30-E 40 m JZSP-CF2M00-40-E JZSP-CF2M20-40-E 50 m JZSP-CF2M00-50-E JZSP-CF2M20-50-E 3m JZSP-CF2M03-03-E JZSP-CF2M23-03-E 5m JZSP-CF2M03-05-E JZSP-CF2M23-05-E 10 m JZSP-CF2M03-10-E JZSP-CF2M23-10-E 15 m JZSP-CF2M03-15-E JZSP-CF2M23-15-E 20 m JZSP-CF2M03-20-E JZSP-CF2M23-20-E 30 m JZSP-CF2M03-30-E JZSP-CF2M23-30-E 40 m JZSP-CF2M03-40-E JZSP-CF2M23-40-E 50 m JZSP-CF2M03-50-E JZSP-CF2M23-50-E *: Use flexible cables for movable sections such as robot arms. 15 Specifications SERVOPACK End 50 mm Details Servomotor End Ｌ (1) Wire Markers M4 Crimped Terminals SERVOPACK End 50 mm Ｌ Servomotor End (2) Wire Markers M4 Crimped Terminals Rotary Motors Sigma Mini Servomotors Rotary Motors SGMMV Selecting Cables for SERVOPACKs with AC Power Input SERVOPACK-end Leads (2) Wiring Specifications for Servomotor with Holding Brakes SERVOPACK-end Leads Servomotor-end Connector Rotary Servomotors (1) Wiring Specifications for Servomotors without Holding Brakes Servomotor-end Connector Wire Color Signal Signal Pin No. Wire Color Signal Signal Pin No. Red Phase U Phase U 1 Red Phase U Phase U 1 White Phase V Phase V 2 White Phase V Phase V 2 Blue Phase W Phase W 3 Blue Phase W Phase W 3 Green/yellow FG FG 4 Green/yellow FG FG 4 Black Brake Brake 5 Black Brake Brake 6 Note: No polarity for connection to a holding brake. 1Encoder Cables (Length: 20 m or less) Length Name Cable with Connectors (For Incremental Encoder) *2 Cable with Connectors (For Absolute Encoder, with a Battery Case) Order No. Standard Type Flexible Type*1 3m JZSP-CMP00-03-E JZSP-CMP10-03-E 5m JZSP-CMP00-05-E JZSP-CMP10-05-E 10 m JZSP-CMP00-10-E JZSP-CMP10-10-E 15 m JZSP-CMP00-15-E JZSP-CMP10-15-E 20 m JZSP-CMP00-20-E JZSP-CMP10-20-E 3m JZSP-CSP19-03-E JZSP-CSP29-03-E 5m JZSP-CSP19-05-E JZSP-CSP29-05-E 10 m JZSP-CSP19-10-E JZSP-CSP29-10-E 15 m JZSP-CSP19-15-E JZSP-CSP29-15-E 20 m JZSP-CSP19-20-E JZSP-CSP29-20-E Specifications SERVOPACK End L Details Encoder End (1) Connector (Crimped) (Molex Japan Co., Ltd.) SERVOPACK End Socket Connector (Soldered) (Molex Japan Co., Ltd.) L Encoder End Battery Case ( ) Connector (Crimped) Battery attached Socket Connector (Soldered) (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.) (2) Soldered SERVOPACK-end Connector Kit JZSP-CMP9-1-E Soldered Encoder-end Connector Kit Cables (3) JZSP-CMP9-2-E 5m JZSP-CMP09-05-E JZSP-CSP39-05-E 10 m JZSP-CMP09-10-E JZSP-CSP39-10-E 15 m JZSP-CMP09-15-E JZSP-CSP39-15-E 20 m JZSP-CMP09-20-E JZSP-CSP39-20-E 20 m Max. (4) *1: Use flexible cables for movable sections such as robot arms. *2: When the battery is connected to the host controller, no battery case is required. If so, use a cable for incremental encoders. 16 Selecting Cables for SERVOPACKs with AC Power Input (1) Wiring Specifications for Cable with Connectors (For incremental encoder) Encoder (Servomotor) End SERVOPACK End Wire Color Pin No. Standard Type Flexible Type Light blue/white Black/light blue 6 Pin No. Signal (2) W iring Specifications for Cable with Connectors (For absolute encoder, with a battery case) Encoder (Servomotor) End Wire Color Pin No. Standard Type Flexible Type SERVOPACK End Pin No. Signal 6 /PS 6 /PS 6 Light blue/white Black/pink 5 PS 5 Light blue Red/light blue 5 PS 5 Light blue Red/pink 4 4 Orange/white Black/pink 4 3 BAT(−) BAT(+) 3 Orange Red/pink 2 PG 0V 2 Black Green 1 PG 5V 1 Red Orange Shell FG Shell FG FG Shield Wire 4 3 BAT（−） BAT（+） 3 Orange 2 PG 0V 2 Black Green 1 Shell PG 5V 1 Red Orange Shell FG FG FG Shield Wire Battery Case Pin No. Signal 2 BAT（−） 1 BAT（+） (3) SERVOPACK-end/Encoder-end Connector Kit Specifications SERVOPACK-end Connector Kit Order No. JZSP-CMP9-2-E (Cables are not included.) (Cables are not included.) Molex Japan Co., Ltd. Manufacturer External Dimensions mm 54280-0609 (soldered) Product Specification: PS-54280 Product Specification: PS-54280 ６ ５ ４ ３ ２ １ 5 6 3 4 1 2 （12） 17 Molex Japan Co., Ltd. 55100-0670 (soldered) （19） Specifications Encoder-end Connector Kit JZSP-CMP9-1-E （33） （44） （12） （19） Items Orange/white Black/light blue Red/light blue Rotary Motors Sigma Mini Servomotors SGMMV Rotary Motors Selecting Cables for SERVOPACKs with AC Power Input Items Order No.* Standard Type Flexible Type JZSP-CMP09-¡¡-E JZSP-CSP39-¡¡-E Cable Length 20 m max. UL20276 (Rating temperature: 80˚C) Specifications UL20276 (Rating temperature: 80˚C) AWG22x2C+AWG24x2P AWG22x2C+AWG24x2P AWG22 (0.33 mm2) AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.15 dia. mm Outer diameter of insulating sheath: 1.35 dia. mm AWG24 (0.20 mm2) AWG24 (0.20 mm2) Outer diameter of insulating sheath: 1.09 dia. mm Finished Dimensions Outer diameter of insulating sheath: 1.21 dia. mm 6.5 dia. mm 6.8 dia. mm Light blue Internal Configuration and Lead Color Red Orange Orange/ white Yaskawa Standards Specifications (Standard Length) Black Rotary Servomotors (4) Cable Specifications Light blue/ white Orange Green Black/ light blue Red/ light blue Black/ pink Red/ pink Cable length: 5 m, 10 m, 15 m, 20 m *: Specify the cable length in ¡¡ of order no. Example: JZSP-CMP09-05-E (5 m) 18 Selecting Cables for SERVOPACKs with AC Power Input 1Relay Encoder Cables (For extending from 30 to 50 m) Name ①Cable with Connectors (For incremental and absolute encoder) Length Order No. Standard Type 30 m JZSP-UCMP00-30-E 40 m JZSP-UCMP00-40-E 50 m JZSP-UCMP00-50-E SERVOPACK End 0.3 m Plug Connector (Crimped) (Molex Japan Co., Ltd.) JZSP-CSP12-E Socket Connector (Soldered) (Molex Japan Co., Ltd.) Encoder End 0.3 m (2) Battery Case (Battery attached) Plug Connector (Crimped) (Molex Japan Co., Ltd.) ③Cables Encoder End L (1) SERVOPACK End ②Cable with a Battery Case (Required when an absolute encoder is used*) Details Specifications 30 m JZSP-CMP19-30-E 40 m JZSP-CMP19-40-E 50 m JZSP-CMP19-50-E Socket Connector (Soldered) (Molex Japan Co., Ltd.) (3) *: Not required when connecting a battery to the host controller. (2) Wiring Specifications for Cable with a Battery Case (1) Wiring Specifications for Cable with Connectors Encoder (Servomotor) End SERVOPACK End Signal Pin No. Wire Color Pin No. Signal Pin No. Wire Color 6 /PS 6 Light blue/white 6 /PS 6 Light blue/white 5 PS 5 Light blue 5 PS 5 Light blue 4 BAT (−) 4 Orange/white 4 BAT (−) 4 Orange/white 3 BAT (+) 3 Orange 3 BAT (+) 3 Orange 2 PG 0V 2 Black 2 PG 0V 2 Black 1 PG 5V 1 Red 1 PG 5V 1 Red Shell FG Shell FG Shell FG Shell FG Shield Wire Battery Case (3) Cable Specifications Item Standard Type Order No.* JZSP-CMP19-¡¡-E Cable Length 50 m max. UL20276 (Rating temperature: 80˚C) AWG16x2C+AWG26x2P AWG16 (1.31 mm2) Specifications Outer diameter of insulating sheath: 2.0 dia. mm AWG26 (0.13 mm2) Outer diameter of insulating sheath: 0.91 dia. mm Finished Dimensions 6.8 dia. mm Black Internal Configuration and Lead Colors Yaskawa Standard Specifications (Standard Length) Orange Light blue Orange /white Red Cable length: 30 m, 40 m, 50 m *: Specify the cable length in ¡¡ of order no. Example: JZSP-CMP19-30-E (30 m) 19 Encoder (Servomotor) End SERVOPACK End Pin No. Light blue /white Pin No. Signal 2 BAT (−) 1 BAT (+) Shield Wire Rotary Motors SGMMV Rotary Motors Rotary Servomotors Sigma Mini Servomotors 20 Rotary Servomotors SGMJV Model Designations 2Without Gears SGMJV - Series Servomotor 01 A D A 2 1 1st+2nd digits 3rd digit 4th digit 5th digit 6th digit 7th digit SGMJV 1st+2nd digits Code Rated Output Specifications A5 50 W 5th digit Design Revision Order Code A Specifications Standard 01 100 W C2 150 W 02 200 W 04 400 W Code 06 600 W 2 Straight without key 08 750 W 6 Straight with key and tap B With two flat seats 3rd digit C With holding brake (24 VDC) E With oil seal and holding brake (24 VDC) S With oil seal Specifications Limited Stock Items Serial Encoder Specifications 3 20-bit absolute* D 20-bit incremental A 13-bit incremental *: When exporting the servomotors themselves, export restrictions may apply. Follow each country’s export restrictions. 21 Without options Shaft End Specifications Specifications 1 200 VAC 4th digit Code Code Options Power Supply Voltage Code A 6th digit 7th digit Non-Stock Items 1Medium inertia 1Semiconductor equipment 1Instantaneous peak torque (350% of rated torque) 1Chip mounters 1Mounted high-resolution serial encoder: 13, 20 bits 1PCB drilling stations 1Robots 1Maximum speed: 6,000 min-1 1Material handling machines 1Wide Selection: 50 to 750 W capacity, holding brake and gear options 1Food processing equipment Rotary Servomotors Application Examples Rotary Servomotors Features 22 Ratings and Specifications Time Rating: Continuous Vibration Class: V15 Insulation Resistance: 500 VDC, 10 MW min. Ambient Temperature: 0 to 40˚C Excitation: Permanent magnet Mounting: Flange-mounted Thermal Class: B Withstand Voltage: 1500 VAC for one minute Enclosure: Totally enclosed, self-cooled, IP65 (except for shaft opening) Ambient Humidity: 20% to 80% (no condensation) Drive Method: Direct drive Rotation Direction: Counterclockwise (CCW) with forward run reference when viewed from the load side Voltage 200 V Servomotor Model: SGMJV-¡¡¡ A5A 01A C2A 02A 04A 06A 50 100 150 200 400 600 08A 750 0.318 0.477 0.637 1.27 1.91 2.39 8.36 Rated Output*1 W Rated Torque*1, *2 N•m 0.159 Instantaneous Peak Torque*1 N•m 0.557 1.11 1.67 2.23 4.46 6.69 Rated Current*1 Arms 0.61 0.84 1.6 1.6 2.7 4.2 4.7 Instantaneous Max. Current*1 Arms 2.1 2.9 5.7 5.8 9.3 14.9 16.9 Rated Speed*1 min-1 Max. Speed min-1 *1 Torque Constant 3000 6000 N•m/Arms 0.285 0.413 0.327 0.435 0.512 0.505 0.544 0.0414 (0.0561) 0.0665 (0.0812) 0.0883 (0.103) 0.259 (0.323) 0.442 (0.506) 0.667 (0.744) 1.57 (1.74) Rotor Moment of Inertia ×10-4 kg•m2 Rated Power Rate*1 kW/s 6.11 15.2 25.8 15.7 36.5 54.7 36.3 Rated Angular Acceleration*1 rad/s2 38400 47800 54100 24600 28800 28600 15200 Applicable SERVOPACK SGDV-¡¡¡¡ R70¡ R90¡ 1R6A,2R1F 1R6A,2R1F 2R8¡ 5R5A 5R5A *1: These items and torque-motor speed characteristics quoted in combination with an SGDV SERVOPACK are at an armature winding temperature of 100˚C. Other values quoted are at 20˚C. *2: Rated torques are continuous allowable torque values at 40˚C with an aluminum heat sink of the following dimensions attached. SGMJV-A5A, -01A: 200 mm×200 mm×6 mm SGMJV-02A, -04A, -08A: 250 mm×250 mm×6 mm Note: The values in parentheses are for servomotors with holding brakes. : Continuous Duty Zone A 4000 A 2000 B 5000 4000 3000 A 2000 B 5000 4000 3000 1000 1000 0 0 0.3 0.45 0.6 0 0.25 SGMJV-04A Motor Speed (min-1) 4000 3000 B 1000 0 0 1 2 3 Torque (N・m) 0 0.5 4 5000 3000 B 1000 0 0 2 4 6 Torque (N・m) 5000 4000 3000 A 2000 B 1.5 2 0 0 0.5 1 1.5 2 Torque (N・m) SGMJV-08A 4000 A 1 Torque (N・m) 6000 2000 6000 1000 SGMJV-06A 5000 A 1 B Torque (N・m) 6000 2000 0.5 0.75 Motor Speed (min-1) 0.15 A 2000 0 0 SGMJV-02A 6000 1000 Torque (N・m) Motor Speed (min-1) SGMJV-C2A 6000 Motor Speed (min-1) 5000 3000 : Intermittent Duty Zone(Note3) SGMJV-01A 6000 Motor Speed (min-1) Motor Speed (min-1) SGMJV-A5A B Motor Speed (min-1) 1Torque-Motor Speed Characteristics 8 6000 5000 4000 3000 A 2000 B 1000 0 0 2 4 6 8 Torque (N・m) Notes: 1 The solid, dotted, and dashed-dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations: • The solid line: With a three-phase 200 V or a single-phase 230 V SERVOPACK • The dotted line: With a single-phase 200 V SERVOPACK • The dashed-dotted line: With a single-phase 100 V SERVOPACK An SGMJV-A5A servomotor has the same characteristics in combination with three-phase 200 V and single-phase 200 V SERVOPACKs. 2 The characteristics of the intermittent duty zone differ depending on the supply voltages. 3 When the effective torque during intermittent duty is within the rated torque, the servomotor can be used within the intermittent duty zone. 4 When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops. 23 Servomotors Rotary Motors SGMJV Ratings and Specifications 1Derating Rate for Servomotor Fitted with an Oil Seal Servomotor Model A5A SGMJVDerating Rate % 01A 80 02A 04A 90 Rotary Servomotors When a motor is fitted with an oil seal, use the following derating rate because of the higher friction torque. 08A 95 1Holding Brake Electrical Specifications Holding Brake Rated Voltage 24 VDC +10% 0 Holding Brake Specifications Servomotor Rated Output W Servomotor Model Capacity W Holding Torque N∙m Coil Resistance Ω(at 20˚C) Rated Current A(at 20˚C) Brake Release Time ms Brake Operation Time ms SGMJV-A5A 50 5.5 0.159 103 0.23 60 100 SGMJV-01A 100 5.5 0.318 103 0.23 60 100 SGMJV-C2A 150 5.5 0.477 104 0.23 60 100 SGMJV-02A 200 6 0.637 97.4 0.25 60 100 SGMJV-04A 400 6 1.27 97.4 0.25 60 100 SGMJV-06A 600 6.5 1.91 88.6 0.27 80 100 SGMJV-08A 750 6.5 2.39 87.7 0.27 80 100 Notes: 1 The holding brake is only used to hold the load and cannot be used to stop the servomotor. 2 The holding brake open time and holding brake operation time vary depending on which discharge circuit is used. Make sure holding brake open time and holding brake operation time are correct for your servomotor. 3 A 24-VDC power supply is provided by customers. 1Overload Characteristics The overload detection level is set under hot start conditions at a servomotor ambient temperature of 40˚C. 10000 1000 Detecting time (s) 100 10 1 100 150 200 250 300 350 Torque reference (percent of rated torque) (%) Note: Overload characteristics shown above do not guarantee continuous duty of 100% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics. 24 Ratings and Specifications 1Allowable 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 holding brake. Servomotor Model A5A, 01A, C2A Servomotor Rated Output Allowable Load Moment of Inertia (Rotor Moment of Inertia Ratio) 50 ,100, 150W 20 times 200 W 15 times 400 to 750 W 10 times 02A SGMJV- 04A, 06A, 08A 1Load Moment of Inertia • The larger the load moment of inertia, the worse the movement response. • The allowable load moment of inertia (JL) depends on motor capacity, as shown above. This value is provided strictly as a guideline and results may vary depending on servomotor drive conditions. Use the AC servo drive capacity selection program SigmaJunmaSize+ to check the operation conditions. The program can be • downloaded for free from our web site (http://www.e-mechatronics.com/). • An overvoltage alarm (A.400) 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 regenerative overload alarm (A.320). Take one of the following steps if this occurs. • Reduce the torque limit. • Reduce the deceleration rate. • Reduce the maximum speed. • Install an external regenerative resistor if the alarm cannot be cleared using the steps above. Refer to Regenerative Resistors on page 386. Regenerative resistors are not built into SERVOPACKs for 400 W motors or less. • 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. 1Allowable Radial and Thrust Loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table. Servomotor Model Allowable Radial Allowable Thrust LR Load (Fr) N Load (Fs) N mm 78 54 20 Reference Diagram A5A 01A LR C2A Fr SGMJV- 02A 04A Fs 245 74 25 392 147 35 06A 08A 25 Servomotors Rotary Motors SGMJV External Dimensions Units: mm (1) 50 to 150 W 25 LL 20.5 2 6.1 17 0.04 Dia. A 2.5 LM 20 Rotary Servomotors 0.04 A L 5 ¡40 19 12 14 QK Y U W 30 −00.021 Dia. 8 −00.009 Dia. Y 46 Model L LL LM A5A¡A21 (A5A¡A2C) 94 (139) 69 (114) 37 A5A¡A61 (A5A¡A6C) 01A¡A21 (01A¡A2C) 107.5 (152.5) 82.5 (127.5) 50.5 01A¡A61 (01A¡A6C) C2A¡A21 (C2A¡A2C) 119.5 (164.5) 94.5 (139.5) 62.5 C2A¡A61 (C2A¡A6C) Tap × Depth No tap M3 × 6L 14 W 1.8 3 14 1.8 3 3 3 No key 14 1.8 3 Shaft End With Key and Tap Approx. Mass T No key No tap M3 × 6L Tap × Depth No key No tap M3 × 6L U T 2-4.3 Dia. Key Dimensions QK . Cross Section Y-Y A 0.02 SGMJV- Dia 3 kg 0.3 (0.6) 0.4 (0.7) 0.5 (0.8) Note: The models and values in parentheses are for servomotors with holding brakes. 2With Two Flat Seats 2With an Oil Seal QH 7.5 H2 Model SGMJV- Dimensions of Servomotor with Two Flat Seats mm QH H1 H2 A5A¡AB¡ 01A¡AB¡ C2A¡AB¡ 30 −00.021 Dia. 29.8 Dia. H1 8 −00.009 Dia. 1.5 Oil Seal Cover 15 7.5 7.5 Notes: 1 The 7th digit of the model designation is “S” or “E.” 2 Key dimensions are the same as those in the table above. 26 External Dimensions Units: mm (2) 200 to 750 W 0.04 L LL 20.5 MD 21 ¡LC MW LG 14 MH 17 0.04 Dia. A LR LE LM 1.5 A QK U Y 0.02 02A¡A21 (02A¡A2C) 02A¡A61 (02A¡A6C) 04A¡A21 (04A¡A2C) 04A¡A61 (04A¡A6C) 06A¡A21 (06A¡A2C) 06A¡A61 (06A¡A6C) 08A¡A21 (08A¡A2C) 08A¡A61 (08A¡A6C) Flange Face Dimensions L LL LM 110 (150) 80 (120) 51 128.5 (168.5) 98.5 (138.5) 69.5 154.5 (200.5) 124.5 (170.5) 95.5 155 (200) 115 (160) 85 LR LE LG LC LA LB LZ 30 3 6 60 70 0 50–0.025 5.5 Tap×Depth S U 60 70 0 50–0.025 5.5 14 3 6 60 70 0 50 –0.025 5.5 14 3 3 8 80 90 0 70 –0.030 7 5 Approx. Mass kg 8.3 21 13 0.9 (1.5) 8.3 21 13 1.3 (1.9) 8.3 21 13 1.7 (2.4) 13.8 27 15 2.7 (3.6) 5 14 3 5 5 No key 0 19 –0.013 M6×10L MH No key No tap 40 MW 5 0 14 –0.011 M5×8L MD No key No tap 3 5 0 14–0.011 M5×8L 30 T 22 3.5 6 6 Note: The models and values in parentheses are for servomotors with holding brakes. 2With Two Flat Seats 2With an Oil Seal QH LS2 LS1 Model SGMJV- E2 Dia. E1 Dia. H1 S Dia. LE H2 Dimensions of Servomotor with Two Flat Seats mm QH S H1 H2 15 0 14 –0.011 13 13 Oil Seal Cover 02A¡AB¡ 04A¡AB¡ 06A¡AB¡ 08A¡AB¡ 22 19 0 –0.013 18 18 Dimensions of Servomotor with an Oil Seal Model SGMJV- E1 E2 LS1 LS2 02A, 04A, 06A 36 48 4 10 08A 49 66 6 11 Notes: 1 The 7th digit of the model designation is “S” or “E.” 2 Key dimensions are the same as those in the table above. 27 Shaft End With Key and Tap No key No tap 6 W 0 14–0.011 M5×8L 3 4-LZ Dia. Key Dimensions QK No tap 30 Cross Section Y-Y ia. Tap × Depth A Model SGMJV- T D LA S Dia. LB Dia. W Y Servomotors Rotary Motors SGMJV Selecting Cables 1Cables Connections 2Standard Wiring (Max. encoder cable length: 20 m) 2Encoder Cable Extension from 30 to 50 m Rotary Servomotors (Example) SGDV SERVOPACK SGDV SERVOPACK Relay Encoder Cable (See page 14.) e Cable with a Battery (Required when an absolute encoder is used.) w Cable with Connectors, or r Cable Encoder Cable (See page 12.) Battery Case (Required when an absolute encoder is used.) Servomotor Main Circuit Cable (See page 8 and 9.) Servomotor Main Circuit Cable (See page 8 and 9.) q Encoder-end Cable SGMJV Servomotor SGMJV Servomotor CAUTION • Separate the servomotor main circuit cable wiring from the I/O signal cable and encoder cable at least 30 cm, and do not bundle or run them in the same duct. • When the cable length exceeds 20 m, be sure to use a relay encoder cable. • When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops. 1Servomotor Main Circuit Cable Name Servomotor Rated Output 50 to 150 W For Servomotor without Holding Brakes 200 to 600 W 750 W Length Order No. Standard Type Flexible Type* Premium Type* 3m JZSP-CSM01-03-E JZSP-CSM21-03-E YAI-CSM21-03-P-E 5m JZSP-CSM01-05-E JZSP-CSM21-05-E YAI-CSM21-05-P-E 10 m JZSP-CSM01-10-E JZSP-CSM21-10-E YAI-CSM21-10-P-E 15 m JZSP-CSM01-15-E JZSP-CSM21-15-E YAI-CSM21-15P-E 20 m JZSP-CSM01-20-E JZSP-CSM21-20-E YAI-CSM21-20-P-E 30 m JZSP-CSM01-30-E JZSP-CSM21-30-E YAI-CSM21-30-P-E 40 m JZSP-CSM01-40-E JZSP-CSM21-40-E YAI-CSM21-40-P-E 50 m JZSP-CSM01-50-E JZSP-CSM21-50-E YAI-CSM21-50-P-E 3m JZSP-CSM02-03-E JZSP-CSM22-03-E YAI-CSM22-03-P-E 5m JZSP-CSM02-05-E JZSP-CSM22-05-E YAI-CSM22-05-P-E 10 m JZSP-CSM02-10-E JZSP-CSM22-10-E YAI-CSM22-10-P-E 15 m JZSP-CSM02-15-E JZSP-CSM22-15-E YAI-CSM22-15P-E 20 m JZSP-CSM02-20-E JZSP-CSM22-20-E YAI-CSM22-20-P-E 30 m JZSP-CSM02-30-E JZSP-CSM22-30-E YAI-CSM22-30-P-E 40 m JZSP-CSM02-40-E JZSP-CSM22-40-E YAI-CSM22-40-P-E 50 m JZSP-CSM02-50-E JZSP-CSM22-50-E YAI-CSM22-50-P-E 3m JZSP-CSM03-03-E JZSP-CSM23-03-E YAI-CSM23-03-P-E 5m JZSP-CSM03-05-E JZSP-CSM23-05-E YAI-CSM23-05-P-E 10 m JZSP-CSM03-10-E JZSP-CSM23-10-E YAI-CSM23-10-P-E 15 m JZSP-CSM03-15-E JZSP-CSM23-15-E YAI-CSM23-15P-E 20 m JZSP-CSM03-20-E JZSP-CSM23-20-E YAI-CSM23-20-P-E 30 m JZSP-CSM03-30-E JZSP-CSM23-30-E YAI-CSM23-30-P-E 40 m JZSP-CSM03-40-E JZSP-CSM23-40-E YAI-CSM23-40-P-E 50 m JZSP-CSM03-50-E JZSP-CSM23-50-E YAI-CSM23-50-P-E Specifications Details SERVOPACK End Servomotor End 50 mm Ｌ (1) Wire Markers M4 Crimped Terminals (Cont’d) 28 Selecting Cables Name Servomotor Rated Output 50 to 150 W For Servomotor with Holding 200 to 600 W Brakes 750 W Servomotor-end Connector Kit Order No. Length Standard Type Flexible Type* Specifications Premium Type* 3m JZSP-CSM11-03-E JZSP-CSM31-03-E YAI-CSM31-03-P-E 5m JZSP-CSM11-05-E JZSP-CSM31-05-E YAI-CSM31-05-P-E 10 m JZSP-CSM11-10-E JZSP-CSM31-10-E YAI-CSM31-10-P-E 15 m JZSP-CSM11-15-E JZSP-CSM31-15-E YAI-CSM31-15-P-E 20 m JZSP-CSM11-20-E JZSP-CSM31-20-E YAI-CSM31-20-P-E 30 m JZSP-CSM11-30-E JZSP-CSM31-30-E YAI-CSM31-30-P-E 40 m JZSP-CSM11-40-E JZSP-CSM31-40-E YAI-CSM31-40-P-E 50 m JZSP-CSM11-50-E JZSP-CSM31-50-E YAI-CSM31-50-P-E 3m JZSP-CSM12-03-E JZSP-CSM32-03-E YAI-CSM32-03-P-E 5m JZSP-CSM12-05-E JZSP-CSM32-05-E YAI-CSM32-05-P-E 10 m JZSP-CSM12-10-E JZSP-CSM32-10-E YAI-CSM32-10-P-E 15 m JZSP-CSM12-15-E JZSP-CSM32-15-E YAI-CSM32-15-P-E 20 m JZSP-CSM12-20-E JZSP-CSM32-20-E YAI-CSM32-20-P-E 30 m JZSP-CSM12-30-E JZSP-CSM32-30-E YAI-CSM32-30-P-E 40 m JZSP-CSM12-40-E JZSP-CSM32-40-E YAI-CSM32-40-P-E 50 m JZSP-CSM12-50-E JZSP-CSM32-50-E YAI-CSM32-50-P-E 3m JZSP-CSM13-03-E JZSP-CSM33-03-E YAI-CSM33-03-P-E 5m JZSP-CSM13-05-E JZSP-CSM33-05-E YAI-CSM33-05-P-E 10 m JZSP-CSM13-10-E JZSP-CSM33-10-E YAI-CSM33-10-P-E 15 m JZSP-CSM13-15-E JZSP-CSM33-15-E YAI-CSM33-15-P-E 20 m JZSP-CSM13-20-E JZSP-CSM33-20-E YAI-CSM33-20-P-E 30 m JZSP-CSM13-30-E JZSP-CSM33-30-E YAI-CSM33-30-P-E 40 m JZSP-CSM13-40-E JZSP-CSM33-40-E YAI-CSM33-40-P-E 50 m JZSP-CSM13-50-E JZSP-CSM33-50-E YAI-CSM33-50-P-E SERVOPACK End 50 mm Servomotor End L (2) Wire Markers M4 Crimped Terminal Crimping Type (A crimp tool is required.) 50, 100, 150 W JZSP-CSM9-1-E N/A 200, 400, 600 W JZSP-CSM9-2-E N/A (4) 750 W JZSP-CSM9-3-E N/A (5) 50 to 400 W Cables 750 W 5m JZSP-CSM90-05-E JZSP-CSM80-05-E N/A 10 m JZSP-CSM90-10-E JZSP-CSM80-10-E N/A 15 m JZSP-CSM90-15-E JZSP-CSM80-15-E N/A 20 m JZSP-CSM90-20-E JZSP-CSM80-20-E N/A 30 m JZSP-CSM90-30-E JZSP-CSM80-30-E N/A 40 m JZSP-CSM90-40-E JZSP-CSM80-40-E N/A 50 m JZSP-CSM90-50-E JZSP-CSM80-50-E N/A 5m JZSP-CSM91-05-E JZSP-CSM81-05-E N/A 10 m JZSP-CSM91-10-E JZSP-CSM81-10-E N/A 15 m JZSP-CSM91-15-E JZSP-CSM81-15-E N/A 20 m JZSP-CSM91-20-E JZSP-CSM81-20-E N/A 30 m JZSP-CSM91-30-E JZSP-CSM81-30-E N/A 40 m JZSP-CSM91-40-E JZSP-CSM81-40-E N/A 50 m JZSP-CSM91-50-E JZSP-CSM81-50-E N/A (1) Wiring Specifications for Servomotors without Holding Brakes SERVOPACK-end Leads Servomotor-end Connector (7) (2) Wiring Specifications for Servomotor with Holding Brakes SERVOPACK-end Leads Servomotor-end Connector Wire Color Signal Signal Pin No. Wire Color Signal Signal Pin No. Green/yellow FG FG 1 Green/yellow FG FG 1 Blue Phase W Phase W 2 Blue Phase W Phase W 2 White Phase V Phase V 3 White Phase V Phase V 3 Red Phase U Phase U 4 Red Phase U Phase U 4 − 5 Black Brake Brake 5 − 6 Black Brake Brake 6 * Shield wire only on Premium Type Cables (3) (6) *: Use flexible or premium cables for movable sections such as robot arms. 29 Details Note: No polarity for connection to a holding brake. Servomotors SGMJV Rotary Motors Selecting Cables (3) Servomotor-end Connector Kit Specifications: For 50 to 150 W Servomotors Specifications Applicable Servomotors Manufacturer Receptacle Electrical Contact 19 J.S.T. Mfg. Co., Ltd. J17-06FMH-7KL-1-CF SJ1F-01GF-P0.8 Applicable Wire Size Outer Diameter of Insulating Sheath 20 SGMJV-A5A, -01A 12 Order No. Crimp Tool External Dimensions mm JZSP-CSM9-1-E (Cables are not included.) AWG20 to 24 654 321 1.11 dia. to 1.53 dia. mm Pin No.1 Hand tool YRS-8841 Applicator APLMK SJ1F/M-01-08 Mounting Screw M2 Pan-head screw Applicable Cable Outer Diameter 7±0.3 dia. mm Rotary Servomotors Items Pin No.6 (4) Servomotor-end Connector Kit Specifications: For 200 to 600 W Servomotors Items Specifications Applicable Servomotors Manufacturer Receptacle Electrical Contact 21 J.S.T. Mfg. Co., Ltd. J27-06FMH-7KL-1-CF SJ2F-01GF-P1.0 Applicable Wire Size Outer Diameter of Insulating Sheath 21 SGMJV-02A, -04A 13 Order No. Crimp Tool External Dimensions mm JZSP-CSM9-2-E (Cables are not included.) 654 321 AWG20 to 24 Pin No.1 1.11 dia. to 1.53 dia. mm Hand tool YRS-8861 Applicator APLMK SJ2F/M-01-08 Mounting Screw M2 Pan-head screw Applicable Cable Outer Diameter 7±0.3 dia. mm Pin No.6 (5) Servomotor-end Connector Kit Specifications: For 750 W Servomotors Items Specifications External Dimensions mm JZSP-CSM9-3-E (Cables are not included.) Applicable Servomotors Manufacturer SGMJV-08A J.S.T. Mfg. Co., Ltd. Receptacle J37-06FMH-8KL-1-CF Cable Type Standard Electrical Contact Applicable Wire Size Outer Diameter of Insulating Sheath Crimp Tool Hand tool Applicator 27 SJ3F-41GF-P1.8 (For power terminals) SJ3F-01GF-P1.8 (For brake terminals) AWG16 to 20 AWG20 to 24 1.53 dia. to 2.5 dia. mm 1.11 dia. to 1.86 dia. mm Pin No.1 YRF-880 YRF-881 Pin No.6 APLMK APLMK SF3F/M-41-20 SF3F/M-01-20 Mounting Screw M2.5 Pan-head screw Applicable Cable Outer Diameter 8±0.3 dia. mm 21 15 Order No. 654321 30 Selecting Cables (6) Cable Specifications: For 50 to 600 W Servomotors Items Standard Type Flexible Type JZSP-CSM90-¡¡-E (50 m max.) JZSP-CSM80-¡¡-E (50 m max.) UL2517 (Max. operating temperature: 105˚C) UL2517 (Max. operating temperature: 105˚C) Order No.* Specifications AWG20×6C AWG22×6C For power line: AWG20 (0.52 mm2) For power line: AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.53 dia. mm Outer diameter of insulating sheath: 1.37 dia. mm For holding brake line: AWG20 (0.52 mm2) For holding brake line: AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.53 dia. mm Outer diameter of insulating sheath: 1.37 dia. mm 7±0.3 dia. mm Finished Dimensions Black Green/ (yellow) Internal Configuration and Lead Color White Blue Red Black Yaskawa Standard Specifications (Standard Length) Cable length: 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m *: Specify the cable length in ¡¡ of order no. Example: JZSP-CSM90-05-E (5 m) (7) Cable Specifications: For 750 W Servomotors Items Standard Type Flexible Type JZSP-CSM91-¡¡-E (50 m max.) JZSP-CSM81-¡¡-E (50 m max.) UL2517 (Max. operating temperature: 105˚C) UL2517 (Max. operating temperature: 105˚C) Order No.* Specifications AWG16×4C, AWG20×2C AWG16×4C, AWG22×2C For power line: AWG16 (1.31 mm2) For power line: AWG16 (1.31 mm2) Outer diameter of insulating sheath: 2.15 dia. mm Outer diameter of insulating sheath: 2.35 dia. mm For holding brake line: AWG20 (0.52 mm2) For holding brake line: AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.6 dia. mm Finished Dimensions Outer diameter of insulating sheath: 1.37 dia. mm 8±0.3 dia. mm Black Internal Configuration and Lead Color Green/ (yellow) Red Blue White Black Yaskawa Standard Specifications (Standard Length) *: Specify the cable length in ¡¡ of order no. Example: JZSP-CSM91-05-E (5 m) 31 Cable length: 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m Servomotors Rotary Motors SGMJV Selecting Cables 1Encoder Cables (Length: 20 m or less) Length Cable with Connectors (For Incremental Encoder) Cable with Connectors (For Absolute Encoder, with a Battery Case) Order No. Specifications Standard Type Flexible Type* 3m JZSP-CSP01-03-E JZSP-CSP21-03-E 5m JZSP-CSP01-05-E JZSP-CSP21-05-E 10 m JZSP-CSP01-10-E JZSP-CSP21-10-E 15 m JZSP-CSP01-15-E JZSP-CSP21-15-E 20 m JZSP-CSP01-20-E JZSP-CSP21-20-E 3m JZSP-CSP05-03-E JZSP-CSP25-03-E 5m JZSP-CSP05-05-E JZSP-CSP25-05-E 10 m JZSP-CSP05-10-E JZSP-CSP25-10-E 15 m JZSP-CSP05-15-E JZSP-CSP25-15-E 20 m JZSP-CSP05-20-E JZSP-CSP25-20-E SERVOPACK End Details Encoder End L (1) Connector Plug Connector (Crimped) (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.) SERVOPACK End Encoder End L Rotary Servomotors Name (2) Battery Case (Battery attached) Plug Connector Connector (Crimped)(Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.) Soldered SERVOPACK-end Connector Kit JZSP-CMP9-1-E (3) Crimping Type (A crimping tool is required) Encoder-end Connector Kit JZSP-CSP9-2-E Cables 3m JZSP-CMP09-03-E JZSP-CSP39-03-E 5m JZSP-CMP09-05-E JZSP-CSP39-05-E 10 m JZSP-CMP09-10-E JZSP-CSP39-10-E 15 m JZSP-CMP09-15-E JZSP-CSP39-15-E 20 m JZSP-CMP09-20-E JZSP-CSP39-20-E (4) *: Use flexible cables for movable sections such as robot arms. Note: When the battery from the host controller is used for the absolute encoder, no battery case is required. In this case, use a cable for the incremental encoders. (1) Wiring Specifications for Cable with Connectors (For incremental encoder) Encoder (Servomotor) End SERVOPACK • Standard TypeEnd SERVOPACK • Flexible Type End Encoder (Servomotor) End Pin No. Signal Pin No. Wire Color Pin No. Signal Pin No. Wire Color 6 /PS 5 Light blue/white 6 /PS 5 Black/pink 5 PS 4 Light blue 5 PS 4 Red/pink 4 BAT (−) 8 Orange/white 4 BAT (−) 8 Black/light blue 3 BAT (+) 9 Orange 3 BAT (+) 9 Red/light blue 2 PG 0V 3 Black 2 PG 0V 3 Green 1 PG 5V 6 Red 1 PG 5V 6 Orange Shell FG Shell FG Shell FG Shell FG Shield Wire Shield Wire (2) Wiring Specifications for Cable with Connectors (For absolute encoder, with a battery case) Encoder (Servomotor) End • Standard Type End SERVOPACK • Flexible Type End SERVOPACK Encoder (Servomotor) End Pin No. Signal Pin No. Wire Color Pin No. Signal Pin No. Wire Color 6 /PS 5 Light blue/white 6 /PS 5 Black/pink 5 PS 4 Light blue 5 PS 4 Red/pink 4 BAT (−) 8 Orange/white 4 BAT (−) 8 Black/light blue 3 BAT (+) 9 Orange 3 BAT (+) 9 Red/light blue 2 PG 0V 3 Black 2 PG 0V 3 Green 1 PG 5V 6 Red 1 PG 5V 6 Orange Shell FG Shell FG Shell FG Shell FG Battery Case Shield Wire Battery Case Pin No. Signal Pin No. Signal 2 BAT (−) 2 BAT (−) 1 BAT (+) 1 BAT (+) Shield Wire 32 Selecting Cables (3) SERVOPACK-end/Encoder-end Connector Kit Specifications Items SERVOPACK-end Connector Kit Order No. Encoder-end Connector Kit JZSP-CMP9-1-E JZSP-CSP9-2-E (Cables are not included.) (Cables are not included.) Manufacturer Molex Japan Co., Ltd. Molex Japan Co., Ltd. 55100-0670 (soldered) 54346-0070 (crimped)* Mounting screw: M2 pan-head screw (× 2) Applicable cable outer diameter of applicable cable: 6.3 dia. to 7.7 dia. mm Specifications Applicable wire size: AWG22 to 26 Outer diameter of insulating sheath: 1.05 dia. to 1.4 dia. mm (27) 20.5 17 11 5 6 3 4 1 2 7 (12) 1 (33) 5˚ External Dimensions (Units: mm) (19) 2-M2 Pan-head Screws 9 6 *: A crimp tool is required. The following crimp tools are applicable for the cables provided by Yaskawa. When using other wire sizes, contact the respective manufacturer for crimp tools. Applicable crimp tool for Yaskawa’s wire size: Hand Tool Model No. 57175-5000 Applicator Model No. 57175-3000 (4) Cable Specifications Items Order No.* Standard Type Flexible Type JZSP-CMP09-¡¡-E JZSP-CSP39-¡¡-E Cable Length 20 m max. UL20276 (Max. operating temperature: 80˚C) Specifications AWG22×2C+AWG24×2P AWG22 (0.33 mm2) AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.15 dia. mm Outer diameter of insulating sheath: 1.35 dia. mm AWG24 (0.20 mm2) AWG24 (0.20 mm2) Outer diameter of insulating sheath: 1.09 dia. mm Finished Dimensions Red 6.8 dia. mm Light blue Black/ light blue Light blue/ white Red/ light blue Orange Black Orange Black/ pink Orange/ white Red/ pink Yaskawa Standards Specifications (Standard Length) *: Specify the cable length in ¡¡ of order no. Example: JZSP-CSP09-05-E (5 m) 33 Outer diameter of insulating sheath: 1.21 dia. mm 6.5 dia. mm Internal Configuration and Lead Color UL20276 (Max. operating temperature: 80˚C) AWG22×2C+AWG24×2P Cable length: 5 m, 10 m, 15 m, 20 m Green Servomotors Rotary Motors SGMJV Selecting Cables 1Relay Encoder Cables (For extending from 30 to 50 m) Length Order No. Specifications Standard Type SERVOPACK End Encoder-end Cables (For incremental and absolute encoder) 0.3 m Details Encoder End 0.3 m JZSP-CSP11-E (1) Plug Connector (Crimped) Connector (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.) Cable with Connectors (For incremental and absolute encoder) 30 m JZSP-UCMP00-30-E 40 m JZSP-UCMP00-40-E 50 m JZSP-UCMP00-50-E SERVOPACK End (2) Plug Connector (Crimped) Socket Connector (Soldered) (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.) SERVOPACK End Cable with a Battery Case (Required when an absolute encoder is used.) 0.3 m JZSP-CSP12-E* Encoder End 0.3 m (3) Battery Case (Battery attached) Plug Connector (Crimped) (Molex Japan Co., Ltd.) Cables Encoder End L 30 m JZSP-CMP19-30-E 40 m JZSP-CMP19-40-E 50 m JZSP-CMP19-50-E Rotary Servomotors Name Socket Connector (Soldered) (Molex Japan Co., Ltd.) (4) *: When using an incremental encoder or using an absolute encoder with a battery connected to the host controller, no battery case is required. (1) Wiring Specifications for Encoder-end Cable (2) Wiring Specifications for Cable with Connectors Encoder (Servomotor) End SERVOPACK End Encoder (Servomotor) End SERVOPACK End Pin No. Signal Pin No. Wire Color Pin No. Signal Pin No. Wire Color 6 /PS 5 Light blue/white 6 /PS 6 Light blue/white 5 PS 4 Light blue 5 PS 5 Light blue 4 BAT (−) 8 Orange/white 4 BAT (−) 4 Orange/white 3 BAT (+) 9 Orange 3 BAT (+) 3 Orange 2 PG 0V 3 Black 2 PG 0V 2 Black 1 PG 5V 6 Red 1 PG 5V 1 Red Shell FG Shell FG Shell FG Shell FG Shield Wire Shield Wire (3) Wiring Specifications for Cable with a Battery Case (4) Cable Specifications Item Encoder (Servomotor) End SERVOPACK End Pin No. Signal Pin No. Wire Color 6 /PS 6 Light blue/white 5 PS 5 Light blue 4 BAT (−) 4 Orange/white 3 BAT (+) 3 Orange 2 PG 0V 2 Black 1 PG 5V 1 Red Shell FG Shell FG Battery Case Pin No. Signal 2 BAT (−) 1 BAT (+) Shield Wire Standard Type Order No.* JZSP-CMP19-¡¡-E Cable Length Specifications 50 m max. UL20276 (Max. operating temperature: 80˚C) AWG16×2C+AWG26×2P AWG16 (1.31 mm2) Outer diameter of insulating sheath: 2.0 dia. mm AWG26 (0.13 mm2) Outer diameter of insulating sheath: 0.91 dia. mm Finished Dimensions 6.8 dia. mm Black Internal Configuration and Lead Colors Orange Light Blue Orange /white Light Blue /white Red Yaskawa Standard Specifications (Standard Length) Cable length: 30 m, 40 m, 50 m *: Specify the cable length in ¡¡ of order no. Example: JZSP-CMP19-30-E (30 m) 34 Rotary Servomotors SGMAV Model Designations 2Without Gears SGMAV - Series Servomotor 01 A D A 2 1 1st+2nd digits 3rd digit 4th digit 5th digit 6th digit 7th digit SGMAV 1st+2nd digits Code Rated Output Specifications A5 50 W 01 100 W C2 150 W 02 200 W Design Revision Order Code A Specifications Standard 6th digit 04 400 W 06 550 W 2 Straight without key 08 750 W 6 Straight with key and tap B With two flat seats Power Supply Voltage Code A Specifications 200 VAC 4th digit Code Specifications 1.0 kW 3rd digit Serial Encoder Specifications 3 20-bit absolute * D 20-bit incremental *: When exporting the servomotors themselves, export restrictions may apply. Follow each country’s export restrictions. 7th digit Code NOTE: Shaded items are non-stock. Options Specifications 1 Without options C With holding brake (24 VDC) E With oil seal and holding brake (24 VDC) S With oil seal Shaft End Code 10 35 5th digit Servomotors SGMAV Application Examples 1Super high power rate (Extremely low inertia) 1Semiconductor equipment 1Instantaneous peak torque (300% of rated torque) 1Chip mounters 1Mounted high-resolution serial encoder: 20 bits 1PCB drilling stations 1Maximum speed: 6,000 min-1 1Wide selection: 50 W to 1.0 kW capacity, holding brake and gear options 1Robots 1Material handling machines 1Food processing equipment Rotary Servomotors Features Rotary Motors 36 Ratings and Specifications Time Rating: Continuous Vibration Class: V15 Insulation Resistance: 500 VDC, 10 MW min. Ambient Temperature: 0 to 40˚C Excitation: Permanent magnet Mounting: Flange-mounted Thermal Class: B Withstand Voltage: 1500 VAC for one minute Enclosure: Totally enclosed, self-cooled, IP65 (except for shaft opening) Ambient Humidity: 20% to 80% (no condensation) Drive Method: Direct drive Rotation Direction: Counterclockwise (CCW) with forward run reference when viewed from the load side Voltage 200 V Servomotor Model: SGMAV-¡¡¡ A5A 01A C2A 02A 04A 06A 08A 10A 50 100 150 200 400 550 750 1000 N∙m 0.159 0.318 0.477 0.637 1.27 1.75 2.39 3.18 N∙m 0.477 0.955 1.43 1.91 3.82 5.25 7.16 9.55 *1 Arms 0.66 0.91 1.3 1.5 2.6 3.8 5.3 7.4 Instantaneous Max. Current*1 Arms 2.1 2.8 4.2 5.3 8.5 12.2 16.6 23.9 Rated Speed*1 min-1 Rated Output *1 W Rated Torque*1, *2 Instantaneous Peak Torque Rated Current *1 *1 3000 Max. Speed min-1 Torque Constant N∙m/Arms Rotor Moment of Inertia ×10-4 kg∙m2 Rated Power Rate*1 6000 0.265 0.375 0.381 0.450 0.539 0.496 0.487 0.467 0.0242 (0.0389) 0.0380 (0.0527) 0.0531 (0.0678) 0.116 (0.180) 0.190 (0.254) 0.326 (0.403) 0.769 (0.940) 1.20 (1.41) kW/s Rated Angular Acceleration *1 rad/s Applicable SERVOPACK 2 SGDV-¡¡¡¡ 10.4 26.6 42.8 35.0 84.9 93.9 74.1 84.3 65800 83800 89900 54900 67000 53700 31000 26500 R70¡ R90¡ 2R8¡ 5R5A 5R5A 120A 1R6A,2R1F *1: These items and torque-motor speed characteristics quoted in combination with an SGDV SERVOPACK are at an armature winding temperature of 100˚C. Other values quoted are at 20˚C. *2: Rated torques are continuous allowable torque values at 40˚C with an aluminum heat sink of the following dimensions attached. SGMAV-A5A, -01A: 200 mm×200 mm×6 mm SGMAV-C2A, -02A, -04A, -06A, -08A: 250 mm×250 mm×6 mm SGMAV-10A: 300 mm×300 mm×12 mm Note: The values in parentheses are for servomotors with holding brakes. A 3000 B 1000 0 5000 4000 3000 A 2000 1000 0 0.15 0.3 0.45 0.6 0.25 0.5 0.75 0 SGMAV-04A 3000 B 1000 0 2 3 Torque (Ｎûｍ) 4 B 1000 5000 4000 3000 2000 B 1000 1.5 3 4.5 Torque (Ｎûｍ) 4000 3000 A 2000 6 B 1000 0 0.4 0.8 1.2 0 1.6 0.5 0 5000 4000 3000 2000 1.5 B 1000 6000 5000 4000 3000 A 2000 B 1000 0 0 2 4 6 Torque (Ｎûｍ) 8 0 2.5 5 7.5 Torque (Ｎûｍ) Notes: 1 The solid, dotted, and dashed-dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations: ∙ The solid line: With a three-phase 200 V or a single-phase 230 V SERVOPACK ∙ The dotted line: With a single-phase 200 V SERVOPACK ∙ The dashed-dotted line: With a single-phase 100 V SERVOPACK An SGMAV-A5A servomotor has the same characteristics in combination with three-phase 200 V and single-phase 200 V SERVOPACKs. 2 The characteristics of the intermittent duty zone differ depending on the supply voltages. 3 When the effective torque during intermittent duty is within the rated torque, the servomotor can be used within the intermittent duty zone. 4 When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops. 37 2 SGMAV-10A 6000 A 1 Torque (Ｎûｍ) 0 0 5000 SGMAV-08A 6000 A 6000 Torque (Ｎûｍ) 0 1 A 2000 1 Motor Speed (min-1) Motor Speed (min-1) 4000 0 3000 SGMAV-06A 5000 2000 4000 Torque (Ｎûｍ) 6000 A 5000 0 Torque (Ｎûｍ) Motor Speed (min-1) B SGMAV-02A 6000 Motor Speed (min-1) 4000 0 : Intermittent Duty Zone(See Note3) SGMAV-C2A 6000 Motor Speed (min-1) Motor Speed (min-1) Motor Speed (min-1) 5000 A B SGMAV-01A SGMAV-A5A 6000 2000 : Continuous Duty Zone Motor Speed (min-1) 1Torque-Motor Speed Characteristics 10 Servomotors Rotary Motors SGMAV Ratings and Specifications When a motor is fitted with an oil seal, use the following derating rate because of the higher friction torque. Servomotor Model SGMAVDerating Rate % A5A 01A C2A 80 02A 04A 06A 08A 90 10A 95 1Holding Brake Electrical Specifications Holding Brake Rated Voltage 24 VDC+10% 0 Servomotor Rated Output W Servomotor Model Rotary Servomotors 1Derating Rate for Servomotor Fitted with an Oil Seal Holding Brake Specifications Capacity W Holding Torque N∙m Coil Resistance Ω(at 20˚C) Rated Current A(at 20˚C) Brake Release Time ms Brake Operation Time ms 103 0.23 60 100 114 0.21 60 100 97.4 0.25 60 100 SGMAV-A5A 50 SGMAV-01A 100 0.159 SGMAV-C2A 150 SGMAV-02A 200 SGMAV-04A 400 SGMAV-06A 550 8 1.75 74.3 0.32 80 100 SGMAV-08A 750 6.5 2.39 87.7 0.27 80 100 SGMAV-10A 1000 7 3.18 82.8 0.29 80 100 5.5 0.318 5.1 0.477 0.637 6 1.27 Notes: 1 The holding brake is only used to hold the load and cannot be used to stop the servomotor. 2 The holding brake open time and holding brake operation time vary depending on which discharge circuit is used. Make sure holding brake open time and holding brake operation time are correct for your servomotor. 3 A 24-VDC power supply is provided by customers. 1Overload Characteristics The overload detection level is set under hot start conditions at a servomotor ambient temperature of 40˚C. 10000 1000 Detecting time (s) 100 SGMAV-02A, 04A, 06A, 08A,10A 10 SGMAV-A5A, 01A, C2A 1 100 200 300 Torque reference (percent of rated torque) (%) Note: Overload characteristics shown above do not guarantee continuous duty of 100% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics. 38 Ratings and Specifications 1Allowable 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 Rated Output Allowable Load Moment of Inertia (Rotor Moment of Inertia Ratio) A5A, 01A, C2A, 02A 50 to 200 W 30 times 04A, 06A, 08A 400 to 750 W 20 times 1000 W 10 times Servomotor Model SGMAV- 10A 1Load Moment of Inertia • The larger the load moment of inertia, the worse the movement response. • The allowable load moment of inertia (JL) depends on motor capacity, as shown above. This value is provided strictly as a guideline and results may vary depending on servomotor drive conditions. • Use the AC servo drive capacity selection program SigmaJunmaSize+ to check the operation conditions. The program can be downloaded for free from our web site (http://www.e-mechatronics.com/). • An overvoltage alarm (A.400) 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 regenerative overload alarm (A.320). Take one of the following steps if this occurs. ∙ Reduce the torque limit. ∙ Reduce the deceleration rate. ∙ Reduce the maximum speed. ∙ Install an external regenerative resistor if the alarm cannot be cleared using the steps above. Refer to Regenerative Resistors on page 386. • Regenerative resistors are not built into SERVOPACKs for 400 W motors or less. • 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. 1Allowable Radial and Thrust Loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table. Servomotor Model Allowable Radial Allowable Thrust LR Load (Fr) N Load (Fs) N mm 78 54 20 Reference Diagram A5A 01A LR C2A Fr 02A SGMAV04A 245 74 25 392 147 35 06A 08A 10A 39 Fs Servomotors Rotary Motors SGMAV External Dimensions Units: mm (1) 50 to 150 W Rotary Servomotors 0.04 A L 25 LL 20.5 2 6.1 17 0.04 Dia. A 2.5 LM 20 ¡40 5 19 12 14 QK U W 30 -0.021 Dia. 46 D S Dia. 0 Y Y ia. A Tap × Depth 0.02 Model SGMAVA5A¡A21 (A5A¡A2C) A5A¡A61 (A5A¡A6C) 01A¡A21 (01A¡A2C) 01A¡A61 (01A¡A6C) C2A¡A21 (C2A¡A2C) C2A¡A61 (C2A¡A6C) Tap × Depth L LL LM S 95.5 (140.5) 70.5 (115.5) 38.5 8–0.009 107.5 (152.5) 82.5 (127.5) 50.5 119.5 (164.5) 94.5 (139.5) 62.5 Key Dimensions QK U No tap W T No key * 0 M3 × 6L 14 1.8 No tap 3 3 No key 0 8–0.009 M3 × 6L 14 1.8 No tap 3 3 No key 0 8–0.009 M3 × 6L 14 T Cross Section Y-Y 1.8 3 3 2-4.3 Dia. Shaft End With Key and Tap Approx. Mass kg 0.3 (0.6) 0.4 (0.7) 0.5 (0.8) Note: The models and values in parentheses are for servomotors with holding brakes. *: When you need the same shaft diameter as the conventional servomotors, contact your Yaskawa representative. Shaft End and Other Options 1With Two Flat Seats 1With an Oil Seal QH 7.5 Model 0 H2 30 -0.021 Dia. 29.8 Dia. H1 0 8 -0.009 Dia. 1.5 Dimensions of Servomotor with Two Flat Seats SGMAV- QH H1 H2 A5A¡AB¡ 01A¡AB¡ C2A¡AB¡ 15 7.5 7.5 Oil Seal Cover Note: The 7th digit of the model designation is “S” or “E.” The key dimensions are the same as those in the table above. 40 External Dimensions Units: mm (2) 200 W to 1.0 kW 0.04 L LL 20.5 MD LM 1.5 0.04 Dia. A ¡LC LG 21 MW 14 MH 17 A LR LE QK U W LB Dia. Y T . Dia S Dia. LA Y Tap × Depth A Cross Section Y-Y Shaft End With Key and Tap 4-LZ Dia. 0.02 Model SGMAV02A¡A21 (02A¡A2C) 02A¡A61 (02A¡A6C) 04A¡A21 (04A¡A2C) 04A¡A61 (04A¡A6C) 06A¡A21 (06A¡A2C) 06A¡A61 (06A¡A6C) 08A¡A21 (08A¡A2C) 08A¡A61 (08A¡A6C) 10A¡A21 (10A¡A2C) 10A¡A61 (10A¡A6C) L LL LM 110 (150) 80 (120) 51 128.5 (168.5) 98.5 (138.5) 69.5 154.5 (200.5) 124.5 (170.5) 95.5 155 (200) 115 (160) 85 185 (235) 145 (195) 115 Flange Face Dimensions LR LE LG LC LA LB LZ 30 3 6 60 70 50–0.025 0 5.5 Tap × Depth S Key Dimensions QK U No tap 6 60 70 0 50–0.025 5.5 14 3 3 6 60 70 0 50–0.025 5.5 14 3 3 8 80 90 0 70–0.030 7 0 M6 × 10L 3 8 80 90 0 70–0.030 7 0 14 3 5 M6 × 10L 21 13 0.9 (1.5) 8.5 21 13 1.2 (1.8) 8.5 21 13 1.7 (2.4) 13.8 27 15 2.6 (3.2) 13.8 27 15 3.6 (4.6) 5 No key 22 3.5 6 6 No key * 19–0.013 8.5 5 * 19–0.013 Approx. Mass kg No key No tap 40 5 0 No tap 40 MH No key 14–0.011 M5 × 8L MW 5 0 No tap 30 5 14–0.011 M5 × 8L MD No key 0 No tap 3 T 14–0.011 M5 × 8L 30 W 22 3.5 6 6 Note: The models and values in parentheses are for servomotors with holding brakes. *: When you need the same shaft diameter as the conventional servomotors, contact your Yaskawa representative. 2With an Oil Seal Shaft End and Other Options 2With Two Flat Seats LS2 LS1 QH E2 Dia. E1 Dia. H1 S Dia. LE H2 Model SGMAV- Dimensions of Servomotor with Two Flat Seats QH S H1 H2 14 14–0.011 0 13 13 Oil Seal Cover 02A¡AB¡ 04A¡AB¡ 06A¡AB¡ 08A¡AB¡ 10A¡AB¡ 22 0 19–0.013 18 18 Dimensions of Servomotor with an Oil Seal Model SGMAV- E1 E2 LS1 LS2 02A, 04A, 06A 36 48 4 10 08A,10A 49 66 6 11 Note: The 7th digit of the model designation is “S” or “E.” The key dimensions are the same as those in the table above. 41 Servomotors Rotary Motors SGMAV Selecting Cables 1Cables Connections 2Encoder Cable Extension from 30 to 50 m Rotary Servomotors 2Standard Wiring (Max. encoder cable length: 20 m) (Example) SGDV SERVOPACK SGDV SERVOPACK Relay Encoder Cable Cable with a Battery (Required when an absolute encoder is used.) Encoder Cable Cable with Connectors, or Cable Battery Case (Required when an absolute encoder is used.) Servomotor Main Circuit Cable Servomotor Main Circuit Cable Encoder-end Cable SGMAV Servomotor SGMAV Servomotor CAUTION Separate the servomotor main circuit cable wiring from the I/O signal cable and encoder cable at least 30 cm, and do not bundle or run them in the same duct. When the cable length exceeds 20 m, be sure to use a relay encoder cable. When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops. 1Servomotor Main Circuit Cable Name Servomotor Rated Output 50 to 150 W For Servomotor without Holding Brakes 200 to 550 W Length Order No. Standard Type Flexible Type* Premium Type* 3m JZSP-CSM01-03-E JZSP-CSM21-03-E YAI-CSM21-03-P-E 5m JZSP-CSM01-05-E JZSP-CSM21-05-E YAI-CSM21-05-P-E 10 m JZSP-CSM01-10-E JZSP-CSM21-10-E YAI-CSM21-10-P-E 15 m JZSP-CSM01-15-E JZSP-CSM21-15-E YAI-CSM21-15P-E 20 m JZSP-CSM01-20-E JZSP-CSM21-20-E YAI-CSM21-20-P-E 30 m JZSP-CSM01-30-E JZSP-CSM21-30-E YAI-CSM21-30-P-E 40 m JZSP-CSM01-40-E JZSP-CSM21-40-E YAI-CSM21-40-P-E 50 m JZSP-CSM01-50-E JZSP-CSM21-50-E YAI-CSM21-50-P-E 3m JZSP-CSM02-03-E JZSP-CSM22-03-E YAI-CSM22-03-P-E 5m JZSP-CSM02-05-E JZSP-CSM22-05-E YAI-CSM22-05-P-E 10 m JZSP-CSM02-10-E JZSP-CSM22-10-E YAI-CSM22-10-P-E 15 m JZSP-CSM02-15-E JZSP-CSM22-15-E YAI-CSM22-15P-E 20 m JZSP-CSM02-20-E JZSP-CSM22-20-E YAI-CSM22-20-P-E 30 m JZSP-CSM02-30-E JZSP-CSM22-30-E YAI-CSM22-30-P-E 40 m JZSP-CSM02-40-E JZSP-CSM22-40-E YAI-CSM22-40-P-E 50 m JZSP-CSM02-50-E JZSP-CSM22-50-E YAI-CSM22-50-P-E 3m JZSP-CSM03-03-E JZSP-CSM23-03-E YAI-CSM23-03-P-E 5m JZSP-CSM03-05-E JZSP-CSM23-05-E YAI-CSM23-05-P-E 10 m JZSP-CSM03-10-E JZSP-CSM23-10-E YAI-CSM23-10-P-E 750 W, 15 m JZSP-CSM03-15-E JZSP-CSM23-15-E YAI-CSM23-15P-E 1.0 kW 20 m JZSP-CSM03-20-E JZSP-CSM23-20-E YAI-CSM23-20-P-E 30 m JZSP-CSM03-30-E JZSP-CSM23-30-E YAI-CSM23-30-P-E 40 m JZSP-CSM03-40-E JZSP-CSM23-40-E YAI-CSM23-40-P-E 50 m JZSP-CSM03-50-E JZSP-CSM23-50-E YAI-CSM23-50-P-E *: Use flexible cables for movable sections such as robot arms. Specifications Details SERVOPACK End Servomotor End 50 mm Ｌ (1) Wire Markers M4 Crimped Terminals (Cont’d) 42 Selecting Cables Name Servomotor Rated Output 50 to 150 W For Servomotor with Holding 200 to 550 W Brakes Length Order No. Standard Type Flexible Type* Premium Type* 3m JZSP-CSM11-03-E JZSP-CSM31-03-E YAI-CSM31-03-P-E 5m JZSP-CSM11-05-E JZSP-CSM31-05-E YAI-CSM31-05-P-E 10 m JZSP-CSM11-10-E JZSP-CSM31-10-E YAI-CSM31-10-P-E 15 m JZSP-CSM11-15-E JZSP-CSM31-15-E YAI-CSM31-15-P-E 20 m JZSP-CSM11-20-E JZSP-CSM31-20-E YAI-CSM31-20-P-E 30 m JZSP-CSM11-30-E JZSP-CSM31-30-E YAI-CSM31-30-P-E 40 m JZSP-CSM11-40-E JZSP-CSM31-40-E YAI-CSM31-40-P-E 50 m JZSP-CSM11-50-E JZSP-CSM31-50-E YAI-CSM31-50-P-E 3m JZSP-CSM12-03-E JZSP-CSM32-03-E YAI-CSM32-03-P-E 5m JZSP-CSM12-05-E JZSP-CSM32-05-E YAI-CSM32-05-P-E 10 m JZSP-CSM12-10-E JZSP-CSM32-10-E YAI-CSM32-10-P-E 15 m JZSP-CSM12-15-E JZSP-CSM32-15-E YAI-CSM32-15-P-E 20 m JZSP-CSM12-20-E JZSP-CSM32-20-E YAI-CSM32-20-P-E 30 m JZSP-CSM12-30-E JZSP-CSM32-30-E YAI-CSM32-30-P-E 40 m JZSP-CSM12-40-E JZSP-CSM32-40-E YAI-CSM32-40-P-E 50 m JZSP-CSM12-50-E JZSP-CSM32-50-E YAI-CSM32-50-P-E 3m JZSP-CSM13-03-E JZSP-CSM33-03-E YAI-CSM33-03-P-E 5m JZSP-CSM13-05-E JZSP-CSM33-05-E YAI-CSM33-05-P-E 10 m JZSP-CSM13-10-E JZSP-CSM33-10-E YAI-CSM33-10-P-E 750 W, 15 m JZSP-CSM13-15-E JZSP-CSM33-15-E YAI-CSM33-15-P-E 1.0 kW 20 m JZSP-CSM13-20-E JZSP-CSM33-20-E YAI-CSM33-20-P-E 30 m JZSP-CSM13-30-E JZSP-CSM33-30-E YAI-CSM33-30-P-E 40 m JZSP-CSM13-40-E JZSP-CSM33-40-E YAI-CSM33-40-P-E 50 m JZSP-CSM13-50-E JZSP-CSM33-50-E YAI-CSM33-50-P-E 50 to 150 W JZSP-CSM9-1-E N/A JZSP-CSM9-2-E N/A JZSP-CSM9-3-E N/A Servomotorend Connector 200 to 550 W Specifications SERVOPACK End 50 mm Details Servomotor End L (2) Wire Markers M4 Crimped Terminal Crimping Type (A crimp tool is required.) (3) (4) Kit 750 W, 1.0 kW 50 to 550 W Cables 750 W, 1.0kW 5m JZSP-CSM90-05-E JZSP-CSM80-05-E N/A 10 m JZSP-CSM90-10-E JZSP-CSM80-10-E N/A 15 m JZSP-CSM90-15-E JZSP-CSM80-15-E N/A 20 m JZSP-CSM90-20-E JZSP-CSM80-20-E N/A 30 m JZSP-CSM90-30-E JZSP-CSM80-30-E N/A 40 m JZSP-CSM90-40-E JZSP-CSM80-40-E N/A 50 m JZSP-CSM90-50-E JZSP-CSM80-50-E N/A 5m JZSP-CSM91-05-E JZSP-CSM81-05-E N/A 10 m JZSP-CSM91-10-E JZSP-CSM81-10-E N/A 15 m JZSP-CSM91-15-E JZSP-CSM81-15-E N/A 20 m JZSP-CSM91-20-E JZSP-CSM81-20-E N/A 30 m JZSP-CSM91-30-E JZSP-CSM81-30-E N/A 40 m JZSP-CSM91-40-E JZSP-CSM81-40-E N/A 50 m JZSP-CSM91-50-E JZSP-CSM81-50-E N/A *: Use flexible cables for movable sections such as robot arms. 43 (5) (6) (7) Servomotors Rotary Motors SGMAV Selecting Cables SERVOPACK-end Leads Wire Color Signal Green/yellow FG Blue (2) Wiring Specifications for Servomotor with Holding Brakes Servomotor-end Connector Shield Wire* SERVOPACK-end Leads Signal Pin No. Wire Color Signal FG 1 Green/yellow FG Phase W Phase W 2 Blue White Phase V Phase V 3 Red Phase U Phase U Servomotor-end Connector Shield Wire* Signal Pin No. FG 1 Phase W Phase W 2 White Phase V Phase V 3 4 Red Phase U Phase U 4 − 5 Black Brake Brake 5 − 6 Black Brake Brake 6 Rotary Servomotors (1) Wiring Specifications for Servomotors without Holding Brakes Note: No polarity for connection to a holding brake. * Shield wire only available on Premium Type cables. * Shield wire only on Premium Type Cables (3) Servomotor-end Connector Kit Specifications: For 50 to 150 W Servomotors Specifications Order No. JZSP-CSM9-1-E (Cables are not included.) Applicable Servomotors SGMAV-A5A, -01A, -C2A Manufacturer Receptacle Electrical Contact Applicable Wire Size Outer Diameter of Insulating Sheath Crimp Tool External Dimensions mm 20 19 J.S.T. Mfg. Co., Ltd. J17-06FMH-7KL-1-CF SJ1F-01GF-P0.8 AWG20 to 24 1.11 dia. to 1.53 dia. mm Hand tool YRS-8841 Applicator APLMK SJ1F/M-01-08 Mounting Screw M2 Pan-head screw Applicable Cable Outer Diameter 7±0.3 dia. mm 12 Items 654 321 Pin No.1 Pin No.6 44 Selecting Cables (4) Servomotor-end Connector Kit Specifications: For 200 to 550 W Servomotors Items Specifications External Dimensions mm Order No. JZSP-CSM9-2-E (Cables are not included.) Applicable Servomotors SGMAV-02A, -04A, -06A Receptacle Electrical Contact Crimp Tool 21 J27-06FMH-7KL-1-CF SJ2F-01GF-P1.0 Applicable Wire Size Outer Diameter of Insulating Sheath 21 J.S.T. Mfg. Co., Ltd. 13 Manufacturer AWG20 to 24 654 321 1.11 dia. to 1.53 dia. mm Hand tool YRS-8861 Applicator APLMK SJ2F/M-01-08 Mounting Screw M2 Pan-head screw Applicable Cable Outer Diameter 7±0.3 dia. mm Pin No.1 Pin No.6 (5) Servomotor-end Connector Kit Specifications: For 750 W, 1.0 kW Servomotors Items Specifications Applicable Servomotors Manufacturer SGMAV-08A,-10A J.S.T. Mfg. Co., Ltd. Receptacle J37-06FMH-8KL-1-CF Cable Type Standard Electrical Contact Applicable Wire Size Outer Diameter of Insulating Sheath Crimp Tool Hand tool Applicator SJ3F-41GF-P1.8 (For power terminals) SJ3F-01GF-P1.8 (For holding brake terminals) AWG16 to 20 AWG20 to 24 1.53 dia. to 2.5 dia. mm 1.11 dia. to 1.86 dia. mm YRF-880 YRF-881 APLMK APLMK SF3F/M-41-20 SF3F/M-01-20 Mounting Screw M2.5 Pan-head screw Applicable Cable Outer Diameter 8±0.3 dia. mm 27 15 Order No. 45 External Dimensions mm JZSP-CSM9-3-E (Cables are not included.) 654321 Pin No.1 Pin No.6 21 Servomotors SGMAV Rotary Motors Selecting Cables Items Standard Type Flexible Type JZSP-CSM90-¡¡-E (50 m max.) JZSP-CSM80-¡¡-E (50 m max.) UL2517 (Max. operating temperature: 105˚C) UL2517 (Max. operating temperature: 105˚C) Order No.* Specifications AWG20×6C AWG22×6C For power line: AWG20 (0.52 mm2) For power line: AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.53 dia. mm Outer diameter of insulating sheath: 1.37 dia. mm For holding brake line: AWG20 (0.52 mm2) For holding brake line: AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.53 dia. mm Outer diameter of insulating sheath: 1.37 dia. mm Rotary Servomotors (6) Cable Specifications: For 50 to 550 W Servomotors 7±0.3 dia. mm Finished Dimensions Black Internal Configuration and Lead Color Green/ (yellow) White Blue Red Black Yaskawa Standard Specifications (Standard Length) Cable length: 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m *: Specify the cable length in ¡¡ of order no. Example: JZSP-CSM90-05-E (5 m) (7) Cable Specifications: For 750 W, 1.0 kW Servomotors Items Standard Type Flexible Type JZSP-CSM91-¡¡-E (50 m max.) JZSP-CSM81-¡¡-E (50 m max.) UL2517 (Max. operating temperature: 105˚C) UL2517 (Max. operating temperature: 105˚C) Order No.* Specifications AWG16×4C, AWG20×2C AWG16×4C, AWG22×2C For power line: AWG16 (1.31 mm2) For power line: AWG16 (1.31 mm2) Outer diameter of insulating sheath: 2.15 dia. mm Outer diameter of insulating sheath: 2.35 dia. mm For holding brake line: AWG20 (0.52 mm2) For holding brake line: AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.6 dia. mm Finished Dimensions Outer diameter of insulating sheath: 1.37 dia. mm 8±0.3 dia. mm Black Internal Configuration and Lead Color Green (yellow) Red Blue White Black Yaskawa Standard Specifications (Standard Length) Cable length: 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m *: Specify the cable length in ¡¡ of order no. Example: JZSP-CSM91-15-E (15 m) 46 Selecting Cables 1Encoder Cables (Length: 20 m or less) Name Order No. Length Cable with Connectors (For Incremental Encoder) Cable with Connectors (For Absolute Encoder, with a Battery Case) Standard Type Flexible Type* Specifications 3m JZSP-CSP01-03-E JZSP-CSP21-03-E 5m JZSP-CSP01-05-E JZSP-CSP21-05-E 10 m JZSP-CSP01-10-E JZSP-CSP21-10-E 15 m JZSP-CSP01-15-E JZSP-CSP21-15-E 20 m JZSP-CSP01-20-E JZSP-CSP21-20-E 3m JZSP-CSP05-03-E JZSP-CSP25-03-E 5m JZSP-CSP05-05-E JZSP-CSP25-05-E 10 m JZSP-CSP05-10-E JZSP-CSP25-10-E 15 m JZSP-CSP05-15-E JZSP-CSP25-15-E 20 m JZSP-CSP05-20-E JZSP-CSP25-20-E SERVOPACK End Details Encoder End L (1) Connector (Molex Japan Co., Ltd.) Connector (Crimped) (Molex Japan Co., Ltd.) SERVOPACK End Encoder End L Battery Case (Battery attached) Connector Connector (Crimped)(Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.) Soldered SERVOPACK-end Connector Kit JZSP-CMP9-1-E (3) Crimping Type (A crimp tool is required.) Encoder-end Connector Kit JZSP-CSP9-2-E Cables 3m JZSP-CMP09-03-E JZSP-CSP39-03-E 5m JZSP-CMP09-05-E JZSP-CSP39-05-E 10 m JZSP-CMP09-10-E JZSP-CSP39-10-E 15 m JZSP-CMP09-15-E JZSP-CSP39-15-E 20 m JZSP-CMP09-20-E JZSP-CSP39-20-E (4) *: Use flexible cables for movable sections such as robot arms. Note: When the battery from the host controller is used for the absolute encoder, no battery case is required. In this case, use a cable for the incremental encoders. (1) Wiring Specifications for Cable with Connectors (For incremental encoder) ∙ Standard Type Encoder (Servomotor) End SERVOPACK End Encoder (Servomotor) End SERVOPACK End Signal Pin No. Wire Color Pin No. Signal Pin No. Wire Color 6 /PS 5 Light blue/white 6 /PS 5 Black/pink 5 PS 4 Light blue 5 PS 4 Red/pink 4 BAT (−) 8 Orange/white 4 BAT (−) 8 Black/light blue 3 BAT (+) 9 Orange 3 BAT (+) 9 Red/light blue 2 PG 0V 3 Black 2 PG 0V 3 Green 1 PG 5V 6 Red 1 PG 5V 6 Orange Shell FG Shell FG Shell FG Shell FG Shield Wire (2) Wiring Specifications for Cable with Connectors (For absolute encoder, with a battery case) ∙ Standard Type Encoder (Servomotor) End SERVOPACK End 47 ∙ Flexible Type Pin No. Shield Wire ∙ Flexible Type Encoder (Servomotor) End SERVOPACK End Pin No. Signal Pin No. Wire Color Pin No. Signal Pin No. Wire Color 6 /PS 5 Light blue/white 6 /PS 5 Black/pink 5 PS 4 Light blue 5 PS 4 Red/pink 4 BAT（−） 8 Orange/white 4 BAT (−) 8 Black/light blue 3 BAT（+） 9 Orange 3 BAT (+) 9 Red/light blue 2 PG 0V 3 Black 2 PG 0V 3 Green 1 PG 5V 6 Red 1 PG 5V 6 Orange Shell FG Shell FG Shell FG Shell FG Battery Case (2) Shield Wire Battery Case Pin No. Signal Pin No. Signal 2 BAT（−） 2 BAT (−) 1 BAT（+） 1 BAT (+) Shield Wire Servomotors Rotary Motors SGMAV Selecting Cables Items SERVOPACK-end Connector Kit Order No. Encoder-end Connector Kit JZSP-CMP9-1-E JZSP-CSP9-2-E (Cables are not included.) (Cables are not included.) Manufacturer Rotary Servomotors (3) SERVOPACK-end/Encoder-end Connector Kit Specifications Molex Japan Co., Ltd. Molex Japan Co., Ltd. 54346-0070 (crimped)* 55100-0670 (soldered) Mounting screw: M2 pan-head screw (×2) Outer diameter of applicable cable: 6.3 dia. to 7.7 dia. mm Specifications Applicable wire size: AWG22 to 26 Outer diameter of insulating sheath: 1.05 dia. to 1.4 dia. mm （27） 17 2-M2 Pan-head Screws 11 5 6 3 4 1 2 7 （12） 1 （33） 5° External Dimensions mm （19） 20.5 9 6 *: A crimp tool is required. The following crimp tools are applicable for the cables provided by Yaskawa. When using other wire sizes, contact the respective manufacturer for crimp tools. Applicable crimp tool for Y askawa’s wire size: Hand Tool Model No. 57175-5000 Applicator Model No. 57175-3000 (4) Cable Specifications Items Order No.* Standard Type Flexible Type JZSP-CMP09-¡¡-E JZSP-CSP39-¡¡-E Cable Length 20 m max. UL20276 (Max. operating temperature: 80˚C) Specifications UL20276 (Max. operating temperature: 80˚C) AWG22×2C+AWG24×2P AWG22×2C+AWG24×2P AWG22 (0.33 mm2) AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.15 dia. mm Outer diameter of insulating sheath: 1.35 dia. mm AWG24 (0.20 mm2) AWG24 (0.20 mm2) Outer diameter of insulating sheath: 1.09 dia. mm Finished Dimensions Outer diameter of insulating sheath: 1.21 dia. mm 6.5 dia. mm 6.8 dia. mm Light blue Internal Configuration and Lead Color Red Orange Orange/ white Yaskawa Standards Specifications (Standard Length) Black Black/ light blue Light blue/ white Orange Green Red/ light blue Black/ pink Red/ pink Cable length: 5 m, 10 m, 15 m, 20 m *: Specify the cable length in ¡¡ of order no. Example: JZSP-CSM09-05-E (5 m) 48 Selecting Cables 1Relay Encoder Cables (For extending from 30 to 50 m) Name Length Order No. Standard Type SERVOPACK End Encoder-end Cables (For incremental and absolute encoder) 0.3 m Datails Specifications Encoder End 0.3 m JZSP-CSP11-E (1) Plug Connector (Crimped) Connector (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.) Cable with Connectors (For incremental and absolute encoder) 30 m JZSP-UCMP00-30-E 40 m JZSP-UCMP00-40-E 50 m JZSP-UCMP00-50-E SERVOPACK End 0.3 m Plug Connector (Crimped) Socket Connector (Soldered) (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.) 0.3 m Encoder End JZSP-CSP12-E* (3) Plug Connector (Crimped) (Molex Japan Co., Ltd.) Cables Encoder End (2) SERVOPACK End Cable with a Battery Case (Required when an absolute encoder is used.) L 30 m JZSP-CMP19-30-E 40 m JZSP-CMP19-40-E 50 m JZSP-CMP19-50-E Socket Connector (Soldered) (Molex Japan Co., Ltd.) (4) * When using an incremental encoder or using an absolute encoder with a battery connected to the host controller, no battery case is required. (1) Wiring Specifications for Encoder-end Cable Encoder (Servomotor) End SERVOPACK End 49 (2) Wiring Specifications for Cable with Connectors Encoder (Servomotor) End SERVOPACK End Pin No. Signal Pin No. Wire Color Pin No. Signal Pin No. Wire Color 6 /PS 5 Light blue/white 6 /PS 6 Light blue/white 5 PS 4 Light blue 5 PS 5 Light blue 4 BAT (−) 8 Orange/white 4 BAT (−) 4 Orange/white 3 BAT (+) 9 Orange 3 BAT (+) 3 Orange 2 PG 0V 3 Black 2 PG 0V 2 Black 1 PG 5V 6 Red 1 PG 5V 1 Red Shell FG Shell FG Shell FG Shell FG Shield Wire Shield Wire Servomotors SGMAV Rotary Motors Selecting Cables (3) Wiring Specifications for Cable with a Battery Case Pin No. Signal Pin No. Wire Color 6 /PS 6 Light blue/white 5 PS 5 Light blue 4 BAT (−) 4 Orange/white 3 BAT (+) 3 Orange 2 PG 0V 2 Black 1 PG 5V 1 Red Shell FG Shell FG Battery Case Pin No. Signal 2 BAT (−) 1 BAT (+) Shield Wire Rotary Servomotors Encoder (Servomotor) End SERVOPACK End (4) Cable Specifications Item Standard Type Order No.* JZSP-CMP19-¡¡-E Cable Length Specifications 50 m max. UL20276 (Max. operating temperature: 80˚C) AWG16×2C+AWG26×2P AWG16 (1.31 mm2) Outer diameter of insulating sheath: 2.0 dia. mm AWG26 (0.13 mm2) Outer diameter of insulating sheath: 0.91 dia. mm Finished Dimensions 6.8 dia. mm Black Internal Configuration and Lead Colors Orange Light blue Orange /white Light blue /white Yaskawa Standard Specifications (Standard Length) Red Cable length: 30 m, 40 m, 50 m *: Specify the cable length in ¡¡ of order no. Example: JZSP-CMP19-30-E (30 m) 50 Rotary Servomotors SGMGV Model Designations SGMGV Series Servomotor 03 A D A 2 1 1st+2nd digits 3rd digit 4th digit 5th digit 6th digit 7th digit SGMGV 1st+2nd digits Rated Output 4th digit Cade Specifications Code 03 300 W 3 20-bit absolute 05 450 W D 20-bit incremental 09 850 W 13 1.3 kW 20 1.8 kW Code 30 2.9 kW A 44 4.4 kW 55 5.5 kW 75 7.5 kW 1A 11 kW 1E 15 kW 3rd digit Specifications 5th digit Code 2 Design Revision Order 7th digit Code Shaft End Specifications Options Specifications 1 Without options B With holding brake (90 VDC) C With holding brake (24 VDC) D With oil seal and holding brake (90 VDC) E With oil seal and holding brake (24 VDC) S With oil seal Specifications Standard 6th digit 6 51 Serial Encoder Straight without key Straight with key and tap Power Supply Voltage Code Specifications A 200 VAC D 400 VAC Limited Stock Items Non-Stock Items サーボモーター SGMJV形 Application Examples 1High-speed driving of feed shafts for various machines 1Machine tools 1Wide selection: 300 W to 15 kW capacity, holding brake option 1Transfer machines 1Mounted serial encoder: 20 bits, high resolution 1Material handling machines 1Food processing equipment 1Protective structure: IP67 Rotary Servomotors Features 回転形 Configurations of connectors for the main circuit vary depending on servomotor capacity. SGMGV-03/-05 • The connectors are used only for Yaskawa servomotors. Order the connectors specified by Yaskawa. • Both protective structure IP67 and European Safety Standards compliant connectors are available. SGMGV-09 to -1E • The connectors for these models are round. The connectors specified by Yaskawa are required. Note that the connectors vary depending on the operation environment of servomotors. • Two types of connectors are available. • Standard connectors • Protective structure IP67 and European Safety Standards compliant connectors. 52 Ratings and Specifications Time Rating: Continuous Vibration Class: V15 Insulation Resistance: 500 VDC, 10 MW min. Ambient Temperature: 0 to 40˚C Excitation: Permanent magnet Mounting: Flange-mounted Thermal Class: F Withstand Voltage: 1500 VAC for one minute (200-V Class) 1800 VAC for one minute (400-V Class) Enclosure: Totally enclosed, self-cooled, IP67 (except for shaft opening) Ambient Humidity: 20% to 80% (no condensation) Drive Method: Direct drive Rotation Direction: Counterclockwise (CCW) with forward run reference when viewed from the load side 200 V Class Servomotor Model: SGMGV-¡¡¡ 03A 05A 09A 13A 20A 30A 44A 55A 75A 1AA Rated Output*1 kW 0.3 0.45 0.85 1.3 1.8 2.9 4.4 5.5 7.5 11 15 Rated Torque*1 N∙m 1.96 2.86 5.39 8.34 11.5 18.6 28.4 35.0 48.0 70.0 95.4 Instantaneous Peak Torque*1 N∙m 5.88 8.92 13.8 23.3 28.7 45.1 71.1 87.6 119 175 224 Rated Current*1 Arms 2.8 3.8 6.9 10.7 16.7 23.8 32.8 42.1 54.7 58.6 78 Instantaneous Max. Current*1 Arms 8 11 17 28 42 56 84 110 130 140 170 Rated Speed*1 min-1 Max. Speed*1 min-1 Torque Constant N∙m/Arms Rotor Moment of Inertia ×10-4 kg∙m2 Rated Power Rate*1 kW/s Rated Angular Acceleration*1 rad/s2 Applicable SERVOPACK SGDV-¡¡¡¡ 1EA 1500 3000 2000 0.776 0.854 0.859 0.891 0.748 0.848 0.934 0.871 0.957 1.32 2.48 3.33 13.9 19.9 26 46 67.5 89.0 125 242 1.37 303 (2.73) (3.58) (16) (22) (28.1) (54.5) (76.0) (97.5) (134) (261) (341) 15.5 24.6 20.9 35.0 50.9 75.2 119 138 184 202 300 (14.1) (22.8) (18.2) (31.6) (47.1) (63.5) (106) (126) (172) (188) (283) 7900 8590 3880 4190 4420 4040 4210 3930 3840 2890 3150 (7180) (7990) (3370) (3790) (4090) (3410) (3740) (3590) (3580) (2680) (2960) 3R8A 3R8A 7R6A 120A 180A 330A 470A 550A 590A 780A 1ED 330A 200A*2 *1: These items and torque-motor speed characteristics quoted in combination with a SERVOPACK are at an armature winding temperature of 20˚C. *2: Some restrictions apply when using an SGDV-200A SERVOPACK in combination with an SGMGV-30A servomotor. Notes: 1 The values in parentheses are for servomotors with holding brakes. 2 The above specifications show the values under the cooling condition when the following heat sinks are mounted on the servomotors. SGMGV-03A/-05A: 250 mm × 250 mm × 6 mm (aluminum) SGMGV-09A/-13A/-20A: 400 mm × 400 mm × 20 mm (iron) SGMGV-30A/-44A/-55A/-75A: 550 mm × 550 mm × 30 mm (iron) SGMGV-1AA/-1EA: 650 mm × 650 mm × 35 mm (iron) 400 V Class Servomotor Model: SGMGV-¡¡¡ 03D 05D 09D 13D 20D 30D 44D 55D 75D 1AD Rated Output* kW 0.3 0.45 0.85 1.3 1.8 2.9 4.4 5.5 7.5 11 15 Rated Torque* N∙m 1.96 2.86 5.39 8.34 11.5 18.6 28.4 35.0 48.0 70.0 95.4 Instantaneous Peak Torque* N∙m 5.88 8.92 13.8 23.3 28.7 45.1 71.1 87.6 119 175 224 Rated Current* Arms 1.4 1.9 3.5 5.4 8.4 11.9 16.5 20.8 25.7 28.1 37.2 4 5.5 8.5 14 20 28 40.5 52 65 70 85 Instantaneous Max. Current* Arms Rated Speed* min-1 Max. Speed* min-1 Torque Constant N∙m/Arms 1500 3000 2000 1.55 1.71 1.72 1.78 1.50 1.70 1.93 1.80 1.92 2.64 2.74 3.33 (3.58) 13.9 (16) 19.9 (22) 26 (28.1) 46 (54.5) 67.5 (76.0) 89.0 (97.5) 125 (134) 242 (261) 303 (341) Rotor Moment of Inertia ×10-4 kg∙m2 2.48 (2.73) Rated Power Rate* kW/s 15.5 (14.1) 24.6 (22.8) 20.9 (18.2) 35.0 (31.6) 50.9 (47.1) 75.2 (63.5) 119 (106) 138 (126) 184 (172) 202 (188) 300 (283) Rated Angular Acceleration* rad/s2 7900 (7180) 8590 (7990) 3880 (3370) 4190 (3790) 4420 (4090) 4040 (3410) 4210 (3740) 3930 (3590) 3840 (3580) 2890 (2680) 3150 (2960) Applicable SERVOPACK SGDV-¡¡¡¡ 1R9D 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D 370D *: These items and torque-motor speed characteristics quoted in combination with a SERVOPACK are at an armature winding temperature of 20˚C. Notes: 1 The values in parentheses are for servomotors with holding brakes. 2 The above specifications show the values under the cooling condition when the following heat sinks are mounted on the servomotors. 53 SGMGV-03D/-05D: 250 mm × 250 mm × 6 mm (aluminum) SGMGV-09D/-13D/-20D: 400 mm × 400 mm × 20 mm (iron) SGMGV-30D/-44D/-55D/-75D: 550 mm × 550 mm × 30 mm (iron) SGMGV-1AD/-1ED: 650 mm × 650 mm × 35 mm (iron) Servomotors Rotary Motors SGMGV Ratings and Specifications A 1000 B 2500 2000 1500 A 1000 B 2000 1500 500 500 0 0 2 3 4 5 Torque (Nûm) 6 7 0 1 2 3 4 5 6 7 8 9 10 Torque (Nûm) SGMGV-20A,-20D 3500 2000 1500 A 1000 B 500 2500 2000 1500 A 1000 B 500 0 0 0 5 10 15 20 25 30 35 Torque (Nûm) A 1000 B 0 50 100 Torque (Nûm) 150 B 5 10 15 20 25 Torque (Nûm) SGMGV-55A 3000 2500 2000 1500 A 1000 B 500 2000 A 1000 B 0 SGMGV-1AA SGMGV-1EA 0 20 40 60 80 100 Torque (Nûm) 2000 1500 1000 A B 500 0 0 0 SGMGV-44A,-44D 0 10 20 30 40 50 60 70 80 Torque (Nûm) Motor Speed (min-1) Motor Speed (min-1) 2000 A 1000 8 10 12 14 16 Torque (Nûm) 0 2000 1500 6 0 5 10 15 20 25 30 35 40 45 50 Torque (Nûm) SGMGV-75A 3000 4 3000 Motor Speed (min-1) Motor Speed (min-1) 2500 2000 0 2 3500 3000 3000 B 2500 500 0 SGMGV-30A,-30D 3500 A 1000 0 1 3000 2500 500 SGMGV-13A,-13D 3500 Motor Speed (min-1) 1500 : Intermittent Duty Zone Note1 3000 Motor Speed (min-1) Motor Speed (min-1) Motor Speed (min-1) 2000 B SGMGV-09A,-09D 3500 3000 2500 0 Motor Speed (min-1) SGMGV-05A,-05D 3500 3000 Motor Speed (min-1) : Continuous Duty Zone Motor Speed (min-1) SGMGV-03A,-03D 3500 A Rotary Servomotors 1Torque-Motor Speed Characteristics (200 V/400 V) 1500 1000 A B 500 0 0 50 100 150 Torque (Nûm) 200 0 50 100 150 200 Torque (Nûm) 250 Notes: 1 When the effective torque during intermittent duty is within the rated torque, the servomotor can be used within the intermittent duty zone. 2 When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops. 1Holding Brake Electrical Specifications Servomotor Model Servomotor Rated Output kW Holding Brake Specifications Rated Voltage 24 VDC Rated Voltage 90 VDC Holding Torque N∙m Capacity W Rated Current A (at 20˚C) Capacity W Rated Current A (at 20˚C) SGMGV-03 0.3 4.5 10 0.42 10 0.11 SGMGV-05 0.45 4.5 10 0.42 10 0.11 SGMGV-09 0.85 12.7 10 0.41 10 0.11 SGMGV-13 1.3 19.6 10 0.41 10 0.11 SGMGV-20 1.8 19.6 10 0.41 10 0.11 SGMGV-30 2.9 43.1 18.5 0.77 18.5 0.21 SGMGV-44 4.4 43.1 18.5 0.77 18.5 0.21 SGMGV-55 5.5 72.6 25 1.05 25 0.28 SGMGV-75 7.5 72.6 25 1.05 25 0.28 SGMGV-1A 11 84.3 32 1.33 32 0.36 SGMGV-1E 15 114.6 35 1.46 35 0.39 Notes: 1 The holding brake is only used to hold the load and cannot be used to stop the servomotor. 2 The holding brake open time and holding brake operation time vary depending on which discharge circuit is used. Make sure holding brake open time and holding brake operation time are correct for your servomotor. 3 A 24-VDC power supply is provided by customers. 54 Ratings and Specifications 1Allowable 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 holding brake. Servomotor Model Servomotor Rated Output Allowable Load Moment of Inertia (Rotor Moment of Inertia Ratio) SGMGV-03 to -1E 0.3 to 1.5 kW 5 times 1Load Moment of Inertia • The larger the load moment of inertia, the worse the movement response of the load. • The allowable load moment of inertia (JL) depends on motor capacity, as shown above. This value is provided strictly as a guideline and results may vary depending on servomotor drive conditions. • Use the AC servo drive capacity selection program SigmaJunmaSize+ to check the operation conditions. The program can be downloaded for free from our web site (http://www.e-mechatronics.com/). • An overvoltage alarm (A.400) 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 regenerative overload alarm (A.320). Take one of the following steps if this occurs. ∙ Reduce the torque limit. ∙ Reduce the deceleration rate. ∙ Reduce the maximum speed. ∙ Install an external regenerative resistor if the alarm cannot be cleared using the steps above. Refer to Regenerative Resistors on page 386. 1Allowable Radial and Thrust Loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table. Allowable Radial Load (Fr) N Allowable Thrust Load (Fs) N LR mm 03¡¡A21 490 98 37 05¡¡A21 490 98 40 09¡¡A21 490 98 58 13¡¡A21 686 343 58 20¡¡A21 980 392 58 30¡¡A21 1470 490 79 44¡¡A21 1470 490 79 Servomotor Model SGMGV- 55 55¡¡A21 1764 588 113 75¡¡A21 1764 588 113 1A¡¡A21 1764 588 116 1E¡¡A21 4998 2156 116 Reference Diagram LR Fr Fs Servomotors Rotary Motors SGMGV External Dimensions Units: mm 1Without Holding Brakes 36 Shaft End L LR LM 10 LR 0.04 A 5 5 0.04 Dia. A 1 . ia. 0D 10 S Dia. 0.02 4-6.6 Dia. Mounting Holes 1 R A KB1 KB2 17 38 18 Dia. 70 50 0 S Dia. ¡90 Dia 80 -0.030 Dia. 79 Dia. 20 35 Dia. LL Rotary Servomotors (1) 300 W, 450 W Q Note: For the specifications of the other shaft ends, refer to page 58. Model SGMGV- L LL LM LR KB1 KB2 03¡¡A21 163 126 90 37 75 05¡¡A21 179 139 103 40 88 Shaft End Dimensions S Q Approx. Mass kg 114 0 14-0.011 25 2.6 127 0 16-0.011 30 3.2 Note: Models with oil seals are of the same configuration. With an Incremental Encoder With an Absolute Encoder PE 8 FG (Frame ground) 5 10 PE 4 4 7 Receptacle: CM10-R10P-D Applicable plug (To be provided by the customer) Plug: CM10-AP10S-¡-D (Angle) CM10-SP10S-¡-D (Straight) (Boxes (¡) indicate a value that varies, depending on cable size.) Manufacturer: DDK Ltd. 5 4 - 3 Phase U 2 1 1 3 ∙C able Specifications for Servomotor-end Connector 3 ∙C able Specifications for Encoder-end Connector (20-bit Encoder) 1 PS 6 BAT (+) 1 PS 6 2 /PS 7 2 /PS 7 3 - 8 - - 3 - 8 4 PG 5V 9 PG 0V 4 PG 5V 9 PG 0V 5 BAT (-) 10 FG (Frame ground) 5 - 10 FG (Frame ground) 2 Phase V 1 Phase W Manufacturer: Japan Aviation Electronics Industry,Ltd. 56 External Dimensions Units: mm (2) 850 W to 7.5 kW L LR Dia . LE IE KL1 KB1 0.04 KB2 Q SGMGV-09 to -20 4-LZ Dia. Mounting Holes 1 17 0.02 LE R A LR LR S Dia. S Dia. a. Di LA R1 50 Shaft End A LB Dia. LH 79 Dia. A 0.04 Dia. Q SGMGV-30 to -75 Note: For the specifications of the other shaft ends, refer to page 58. * *: When using SGMGV-55 and -75 servomotors Shaft End Dimensions Model SGMGV- L LL LM LR KB1 KB2 IE KL1 LA LB LC LE LG LH LZ S Q Approx. Mass kg 09¡¡A21 195 137 101 58 83 125 – 104 145 0 110-0.035 130 6 12 165 9 0 19-0.013 40 5.5 13¡¡A21 211 153 117 58 99 141 – 104 145 0 110-0.035 130 6 12 165 9 0 22-0.013 40 7.1 20¡¡A21 229 171 135 58 117 159 – 104 145 0 110-0.035 130 6 12 165 9 0 24-0.013 40 8.6 30¡¡A21 239 160 124 79 108 148 – 134 200 0 114.3-0.025 180 3.2 18 230 13.5 35+0.01 0 76 13.5 44¡¡A21 263 184 148 79 132 172 – 134 200 0 114.3-0.025 180 3.2 18 230 13.5 35+0.01 0 76 17.5 0 -0.025 180 3.2 18 230 13.5 0 42-0.016 110 21.5 180 3.2 18 230 13.5 0 42-0.016 110 29.5 Flange Face Dimensions 55¡¡A21 334 221 185 113 163 209 123 144 200 114.3 75¡¡A21 380 267 231 113 209 255 123 144 200 0 114.3-0.025 Note: Models with oil seals are of the same configuration. ∙C able Specifications for Encoder-end Connector (20-bit Encoder) 3 1 4 7 10 8 ∙C able Specifications for Servomotor-end Connector Receptacle: CM10-R10P-D Applicable plug (To be provided by the customer) Plug: CM10-AP10S-¡-D (Angle) CM10-SP10S-¡-D (Straight) (Boxes (¡) indicate a value that varies, depending on cable size.) Manufacturer: DDK Ltd. With an Incremental Encoder With an Absolute Encoder 57 62 Dia. 0.04 LE 44 Dia. LG 5&KC 45 Dia. LM 36 28 Dia. LL 1 PS 6 BAT (+) 1 PS 6 2 /PS 7 2 /PS 7 3 - 8 - 3 - 8 4 PG 5V 9 PG 0V 4 PG 5V 9 PG 0V 5 BAT (-) 10 FG (Frame ground) 5 - 10 FG (Frame ground) - D C A B A Phase U B Phase V C Phase W D FG (Frame ground) Manufacturer: DDK Ltd. Servomotors Rotary Motors SGMGV External Dimensions Units: mm Rotary Servomotors (3) 11 kW, 15 kW L LL LR LM LG 0.06 LE A Shaft End □㧸㧯 LA Dia . LR a. Di LE 17 IE 0.04 KB1 56 56 R1 4-LZ Dia. Mounting Holes A S1 Dia. S Dia. LB Dia. LH KL1 79 Dia. 50 S Dia. 0.04 Dia. A &KC 36 110 Note: For the specifications of the other shaft ends, refer to page 58. KB2 Shaft End Dimensions Model SGMGV- L LL LM LR KB1 KB2 IE KL1 LA LB LC LE LG LH LZ S S1 Approx. Mass kg 1A¡¡A21 447 331 295 116 247 319 150 168 235 0 200-0.046 220 4 20 270 13.5 0 42-0.016 50 57 1E¡¡A21 509 393 357 116 309 381 150 168 235 0 200-0.046 220 4 20 270 13.5 55+0.030 +0.011 60 67 Flange Face Dimensions Note: Models with oil seals are of the same configuration. ∙C able Specifications for Encoder-end Connector (20-bit Encoder) 3 1 4 7 10 8 ∙C able Specifications for Servomotor-end Connector Receptacle: CM10-R10P-D Applicable plug (To be provided by the customer) Plug: CM10-AP10S-¡-D (Angle) CM10-SP10S-¡-D (Straight) (Boxes (¡) indicate a value that varies, depending on cable size.) Manufacturer: DDK Ltd. D A C B A Phase U B Phase V C Phase W D FG (Frame ground) Manufacturer: DDK Ltd. With an Incremental Encoder With an Absolute Encoder 1 PS 6 BAT (+) 1 PS 6 2 /PS 7 2 /PS 7 3 - 8 - 3 - 8 4 PG 5V 9 PG 0V 4 PG 5V 9 PG 0V 5 BAT (-) 10 FG (Frame ground) 5 - 10 FG (Frame ground) - 58 External Dimensions Units: mm 1With Holding Brakes (1) 300 W, 450 W 10 LR 0.04 A 5 0.04 Dia. A Dia ¡90 . 100 . Dia A KB1 KB2 S Dia. 0.02 4-6.6 Dia. Mounting Holes 1 R 17 38 18 Dia. 70 50 0 S Dia. 120 5 35 Dia. LM LR 79 Dia. 36 Shaft End L 80 -0.030 Dia. LL Q Note: For the specifications of the other shaft ends, refer to page 58. Model SGMGV- L LL LM LR KB1 KB2 03¡¡A2¡ 196 159 123 37 75 05¡¡A2¡ 212 172 136 40 88 Shaft End Dimensions S Q Approx. Mass kg 147 0 14-0.011 25 3.6 160 0 16-0.011 30 4.2 Note: Models with oil seals are of the same configuration. ∙C able Specifications for Encoder-end Connector (20-bit Encoder) 10 8 PE PE FG (Frame ground) 5 Brake terminal 4 Brake terminal 3 Phase U 5 4 With an Incremental Encoder With an Absolute Encoder 59 3 4 7 Receptacle: CM10-R10P-D Applicable plug (To be provided by the customer) Plug: CM10-AP10S-¡-D (Angle) CM10-SP10S-¡-D (Straight) (Boxes (¡) indicate a value that varies, depending on cable size.) Manufacturer: DDK Ltd. 2 1 1 3 ∙C able Specifications for Servomotor-end Connector 1 PS 6 BAT (+) 1 PS 6 2 /PS 7 2 /PS 7 3 - 8 - - 3 - 8 4 PG 5V 9 PG 0V 4 PG 5V 9 PG 0V 5 BAT (-) 10 FG (Frame ground) 5 - 10 FG (Frame ground) 2 Phase V 1 Phase W Manufacturer: Japan Aviation Electronics Industry,Ltd. Servomotors Rotary Motors SGMGV External Dimensions Units: mm LR 44 Dia. S Dia. LB Dia. 50 1 KB1 KB3 KB2 Q SGMGV-09 to -20 0.02 0.04 * *: When using SGMGV-55 and -75 servomotors LR LE LE R KL1 KL3 . 4-LZ Dia. Mounting Holes A 17 11 LA Dia a. Di R1 79 Dia. LH Shaft End LR 0.04 Dia. A S Dia. 62 Dia. 0.04 A LE S Dia. 45 Dia. LG 28 Dia. 36 L IE LL LM Rotary Servomotors (2) 850 W to 7.5 kW Q SGMGV-30 to -75 Note: For the specifications of the other shaft ends, refer to page 58. Shaft End Dimensions Flange Face Dimensions Approx. Mass kg Model SGMGV- L LL LM LR KB1 KB2 KB3 IE KL1 KL3 LA LB LC LE LG LH LZ S Q 09¡¡A2¡ 231 173 137 58 83 161 115 – 104 80 145 0 110-0.035 130 6 12 165 9 0 19-0.013 40 7.5 13¡¡A2¡ 247 189 153 58 99 177 131 – 104 80 145 0 110-0.035 130 6 12 165 9 0 22-0.013 40 9.0 20¡¡A2¡ 265 207 171 58 117 195 149 – 104 80 145 0 110-0.035 130 6 12 165 9 0 24-0.013 40 11.0 0 -0.025 180 3.2 18 230 13.5 35+0.01 0 76 19.5 30¡¡A2¡ 287 208 172 79 108 196 148 – 134 110 200 114.3 44¡¡A2¡ 311 232 196 79 132 220 172 – 134 110 200 0 114.3-0.025 180 3.2 18 230 13.5 35+0.01 0 76 23.5 0 -0.025 180 3.2 18 230 13.5 0 42-0.016 110 27.5 180 3.2 18 230 13.5 0 42-0.016 110 35 55¡¡A2¡ 378 265 229 113 163 253 205 123 144 110 200 114.3 75¡¡A2¡ 424 311 275 113 209 299 251 123 144 110 200 0 114.3-0.025 Note: Models with oil seals are of the same configuration. ∙C able Specifications for Encoder-end Connector (20-bit Encoder) Receptacle: CM10-R10P-D Applicable plug (To be provided by the customer) Plug: CM10-AP10S-¡-D (Angle) CM10-SP10S-¡-D (Straight) (Boxes (¡) indicate a value that varies, depending on cable size.) Manufacturer: DDK Ltd. 1 3 4 7 8 10 ∙C able Specifications for Servomotor-end Connector With an Absolute Encoder With an Incremental Encoder 6 BAT (+) 1 PS /PS 7 /PS 7 8 - 2 - 3 - 8 1 PS 2 3 6 - 4 PG 5V 9 PG 0V 4 PG 5V 9 PG 0V 5 BAT (-) 10 FG (Frame ground) 5 - 10 FG (Frame ground) A D C A B Phase U B Phase V C Phase W D FG (Frame ground) Manufacturer: DDK Ltd. ∙C able Specifications for Brake-end Connector Receptacle: CM10-R2P-D Applicable plug (To be provided by the customer) Plug: CM10-AP2S-¡-D (Angle) CM10-SP2S-¡-D (Straight) (Boxes (¡) indicate a value that varies, depending on cable size.) Manufacturer: DDK Ltd. Brake terminal Brake terminal Note: No polarity for connection to the brake terminals 60 External Dimensions Units: mm (3) 11 kW, 15 kW L LR LG 0.06 A LE Shaft End LR LE a. LA Dia. Di LB Dia. LH □ＬＣ IE R1 79 Dia. KL1 KL3 50 S Dia. 0.04 Dia. A S Dia. 80 Dia. 36 S1 Dia. LL LM 110 A 0.04 17 11 Note: For the specifications of the other shaft ends, refer to page 82. 56 56 KB1 4-LZ Dia. Mounting Holes KB3 KB2 Shaft End Dimensions L LL LM LR KB1 KB2 KB3 IE KL1 KL3 LA LB LC LE LG LH LZ S S1 Approx. Mass kg 1A¡¡A2¡ 498 382 346 116 247 370 315 150 168 125 235 0 200-0.046 220 4 20 270 13.5 0 42-0.016 50 65 1E¡¡A2¡ 598 482 446 116 309 470 385 150 168 125 235 0 200-0.046 220 4 20 270 13.5 55+0.030 +0.011 60 85 Model SGMGV- Flange Face Dimensions Note: Models with oil seals are of the same configuration. ∙C able Specifications for Encoder-end Connector (20-bit Encoder) Receptacle: CM10-R10P-D Applicable plug (To be provided by the customer) Plug: CM10-AP10S-¡-D (Angle) CM10-SP10S-¡-D (Straight) (Boxes (¡) indicate a value that varies, depending on cable size.) Manufacturer: DDK Ltd. 1 3 4 7 8 10 ∙C able Specifications for Servomotor-end Connector With an Absolute Encoder With an Incremental Encoder 6 BAT (+) 1 PS /PS 7 /PS 7 8 - 2 - 3 - 8 1 PS 2 3 6 A D C A B Phase U B Phase V C Phase W D FG (Frame ground) Manufacturer: DDK Ltd. ∙C able Specifications for Brake-end Connector - 4 PG 5V 9 PG 0V 4 PG 5V 9 PG 0V 5 BAT (-) 10 FG (Frame ground) 5 - 10 FG (Frame ground) Receptacle: CM10-R2P-D Applicable plug (To be provided by the customer) Plug: CM10-AP2S-¡-D (Angle) CM10-SP2S-¡-D (Straight) (Boxes (¡) indicate a value that varies, depending on cable size.) Manufacturer: DDK Ltd. Brake terminal Brake terminal Note: No polarity for connection to the brake terminals 61 Servomotors Rotary Motors SGMGV External Dimensions Units: mm 1Shaft End Code Specifications Rotary Servomotors SGMGV - ¡¡¡¡¡¡¡ Remarks 2 Straight without key Standard 6 Straight with key and tap for one location (Key slot is JIS B1301-1996 fastening type) Optional Model SGMGV- Shaft End 03 05 09 13 20 30/44 55/75 1A 1E LR 37 40 58 58 58 79 113 116 116 Q 25 30 40 40 40 76 110 110 110 S 14 -0.011 16 -0.011 19 -0.013 0 22 -0.013 0 24 -0.013 42-0.016 0 42-0.016 0 55+0.030 0.011 LR 37 40 58 58 58 79 113 116 116 Q 25 30 40 40 40 76 110 110 110 QK 15 20 25 25 25 60 90 90 90 S 14 -0.011 16 -0.011 19 -0.013 0 22 -0.013 0 24 -0.013 42-0.016 0 42-0.016 0 55+0.030 0.011 W 5 5 5 6 8 10 12 12 16 T 5 5 5 6 7 8 8 8 10 U 3 3 3 3.5 4 5 5 5 6 P M4 Screw, Depth 10 Code: 2 (Straight without Key) LR Q R1 S Dia. 0 0 0 35 +0.01 0 + Code: 6 (Straight with Key and Tap) LR Q QK 0 0 0 35 +0.01 0 + P W S Dia. U 1 R T M5 Screw, Depth 12 M12 Screw, Depth 25 M16 Screw, Depth 32 M20 Screw, Depth 40 62 Selecting Main Circuit Cables (SGMGV-03 / -05) 1Cables Connections 2Standard Wiring (Max. encoder cable length: 20 m) 2Encoder Cable Extension from 30 to 50 m (Example) SGDV SERVOPACK SGDV SERVOPACK Relay Encoder Cable Cable with a Battery (Required when an absolute encoder is used.) Encoder Cable Cable with Connectors, or Cable Servomotor Main Circuit Cable Battery Case (Required when an absolute encoder is used.) Encoder-end Cable Servomotor Main Circuit Cable SGMGV-03/-05 Servomotor SGMGV-03/-05 Servomotor CAUTION • Separate the servomotor main circuit cable wiring from the I/O signal cable and encoder cable at least 30 cm, and do not bundle or run them in the same duct. • When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops. 1Servomotor Main Circuit Cable Servomotor Rated Output Order No. Name For Servomotor without Holding Brakes 0.3 kW 0.45 kW For Servomotor with Holding Brakes Servomotorend Connector Kit Length Standard (Flexible) Type* Premium (Flex + Shield) Type 03 m JZSP-CVM21-03-E YEA-CVM21-03(A)-E 05 m JZSP-CVM21-05-E YEA-CVM21-05(A)-E 10 m JZSP-CVM21-10-E YEA-CVM21-10(A)-E 15 m JZSP-CVM21-15-E YEA-CVM21-15(A)-E 20 m JZSP-CVM21-20-E YEA-CVM21-20(A)-E 30 m JZSP-CVM21-30-E - 40 m JZSP-CVM21-40-E - 50 m JZSP-CVM21-50-E - 03 m JZSP-CVM41-03-E YEA-CVM41-03(A)-E 05 m JZSP-CVM41-05-E YEA-CVM41-05(A)-E 10 m JZSP-CVM41-10-E YEA-CVM41-10(A)-E 15 m JZSP-CVM41-15-E YEA-CVM41-15(A)-E 20 m JZSP-CVM41-20-E YEA-CVM41-20(A)-E 30 m JZSP-CVM41-30-E - 40 m JZSP-CVM41-40-E - 50 m JZSP-CVM41-50-E - – JZSP-CVM9-1-E - *: These flexible cables are provided as standard equipment. 63 Specifications SERVOPACK End 50 mm Details Servomotor End L (1) Wire Markers M4 Crimped Terminals SERVOPACK End 50 mm Servomotor End L (2) Wire Markers M4 Crimped Terminals Crimping Type (A crimp tool is required.) (3) (Cont’d) Servomotors Rotary Motors SGMGV Selecting Main Circuit Cables (SGMGV-03 / -05) Length Name For Servomotor without Holding Brakes (4 wires) 0.3 kW 0.45 kW Cables For Servomotor with Holding Brakes (6 wires) Order No. Specifications Standard (Flexible) Type* 05 m JZSP-CVM29-05-E 10 m JZSP-CVM29-10-E 15 m JZSP-CVM29-15-E 20 m JZSP-CVM29-20-E 30 m JZSP-CVM29-30-E 40 m JZSP-CVM29-40-E 50 m JZSP-CVM29-50-E 05 m JZSP-CVM49-05-E 10 m JZSP-CVM49-10-E 15 m JZSP-CVM49-15-E 20 m JZSP-CVM49-20-E 30 m JZSP-CVM49-30-E 40 m JZSP-CVM49-40-E 50 m JZSP-CVM49-50-E Details (4) Rotary Servomotors Servomotor Rated Output (4) (1) Wiring Specifications for Servomotors without Holding Brakes Standard Type SERVOPACK-end Leads Premium Type Servomotor-end Connector SERVOPACK-end Leads Servomotor-end Connector Shield Wire Wire Color Signal Signal Pin No. Wire Color Signal Signal Pin No. Green/yellow FG FG PE Green FG FG PE Blue Phase W Phase W 1 Blue Phase W Phase W 1 White Phase V Phase V 2 White Phase V Phase V 2 Red Phase U Phase U 3 Red Phase U Phase U 3 – 4 – 4 – 5 – 5 (2) Wiring Specifications for Servomotor with Holding Brakes Standard Type SERVOPACK-end Leads Premium Type Servomotor-end Connector SERVOPACK-end Leads Signal Signal Pin No. Wire Color Signal Signal Pin No. Green/yellow FG FG PE Green FG FG PE Blue Phase W Phase W 1 Blue Phase W Phase W 1 White Phase V Phase V 2 White Phase V Phase V 2 Red Phase U Phase U 3 Red Phase U Phase U 3 Black Brake Brake 4 Black Brake Brake 4 Black Brake Brake 5 Black Brake Brake 5 Note: No polarity for connection to a holding brake Note: No polarity for connection to a holding brake (3) Servomotor-end Connector Kit Specifications Specifications Order No. JZSP-CVM9-1-E (Cables are not included.) Applicable Servomotors SGMGV-03/-05 Manufacturer Japan Aviation Electronics Industry, Ltd. JNYFX06SJ3 Electrical Contact ST-TMH-S-C1B Applicable Wire Size AWG18 to 22 Outer Diameter of Insulating Sheath 1.3 dia. to 1.8 dia. CT160-3-TMH5B Applicator 350-TMH5B-2B Applicable Cable Outer Diameter For Servomotor without Holding Brakes (4 wires) For Servomotor with Holding Brakes (6 wires) JZSP-CVM29-¡¡-E JZSP-CVM49-¡¡-E Cable Length 38 39.6 Specifications 50 m max. UL2586 (Max. operating temperature: 105˚C) AWG20×4C For power line: AWG20 (0.55 mm2) Outer diameter of insulating sheath: 1.77 dia. 2 3 4 Finished Dimensions 7.3±0.3 dia. Internal Configuration and Lead Color Green/ yellow UL2586 (Max. operating temperature: 105˚C) AWG20×6C For power line: AWG20 (0.55 mm2) Outer diameter of insulating sheath: 1.77 dia. For holding brake line: AWG20 (0.55 mm2) Outer diameter of insulating sheath: 1.77 dia. 7.4±0.3 dia. M3 Pan head screw 6.9 dia. to 8.3 dia. PE 5 Hand tool Mounting Screw Items Order No.* 1 Plug (4) C able Specifications External Dimensions mm 18 Items Crimp Tool Servomotor-end Connector Shield Wire Wire Color Yaskawa Standard Specifications (Standard Length) Black Red Green/ yellow Black White Blue Blue Red White Cable length: 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m *: Specify the cable length in ¡¡ of order no [ JZSP-CVM29-¡¡-05-E (5 m) ] 64 Selecting Main Circuit Cables (SGMGV-09 to -1E) 1Cables Connections 2Standard Wiring (Max. encoder cable length: 20 m) 2Encoder Cable Extension from 30 to 50 m (Example) SGDV SERVOPACK SGDV SERVOPACK Relay Encoder Cable Cable with a Battery (Required when an absolute encoder is used.) Cable with Connectors, or Cable Encoder Cable Battery Case (Required when an absolute encoder is used.) Servomotor Main Circuit Cable Encoder-end Cable SGMGV-09 to -1E Servomotor SGMGV-09 to -1E Servomotor CAUTION • Separate the servomotor main circuit cable wiring from the I/O signal cable and encoder cable at least 30 cm, and do not bundle or run them in the same duct. • When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops. 65 Servomotors Rotary Motors SGMGV Selecting Main Circuit Cables (SGMGV-09 to -1E) Voltage Servomotor Rated Output Name 850W, 1.3kW 2.0kW 200V 3.0 to 4.4kW 5.5 to 7.5kW 11 to 15kW Servomotor Power Cable *1 850W, 1.3kW, 2.0kW 3.0 to 4.4kW 400V 5.5 to 7.5kW 11 to 15kW 850W to 15kW 200V and 400V Holding Brake Cable 850W to 15kW Length Order No. Value Type Premium Type *2 03 m B1EV-03(A)-E B1EP-03(A)-E 05 m B1EV-05(A)-E B1EP-05(A)-E 10 m B1EV-10(A)-E B1EP-10(A)-E 15 m B1EV-15(A)-E B1EP-15(A)-E 20 m B1EV-20(A)-E B1EP-20(A)-E 03 m B2EV-03(A)-E B2EP-03(A)-E 05 m B2EV-05(A)-E B2EP-05(A)-E 10 m B2EV-10(A)-E B2EP-10(A)-E 15 m B2EV-15(A)-E B2EP-15(A)-E 20 m B2EV-20(A)-E B2EP-20(A)-E 03 m B4EV-03(A)-E B4EP-03(A)-E 05 m B4EV-05(A)-E B4EP-05(A)-E 10 m B4EV-10(A)-E B4EP-10(A)-E 15 m B4EV-15(A)-E B4EP-15(A)-E 20 m B4EV-20(A)-E B4EP-20(A)-E 03 m B6EV-03(A)-E B6EP-03(A)-E 05 m B6EV-05(A)-E B6EP-05(A)-E 10 m B6EV-10(A)-E B6EP-10(A)-E 15 m B6EV-15(A)-E B6EP-15(A)-E 20 m B6EV-20(A)-E B6EP-20(A)-E 03 m B7EV-03(A)-E B7EP-03(A)-E 05 m B7EV-05(A)-E B7EP-05(A)-E 10 m B7EV-10(A)-E B7EP-10(A)-E 15 m B7EV-15(A)-E B7EP-15(A)-E 20 m B7EV-20(A)-E B7EP-20(A)-E 03 m B1EV-03(A)-E B1EP-03(A)-E 05 m B1EV-05(A)-E B1EP-05(A)-E 10 m B1EV-10(A)-E B1EP-10(A)-E 15 m B1EV-15(A)-E B1EP-15(A)-E 20 m B1EV-20(A)-E B1EP-20(A)-E 03 m B3EV-03(A)-E B3EP-03(A)-E 05 m B3EV-05(A)-E B3EP-05(A)-E 10 m B3EV-10(A)-E B3EP-10(A)-E 15 m B3EV-15(A)-E B3EP-15(A)-E 20 m B3EV-20(A)-E B3EP-20(A)-E 03 m B5EV-03(A)-E B5EP-03(A)-E 05 m B5EV-05(A)-E B5EP-05(A)-E 10 m B5EV-10(A)-E B5EP-10(A)-E 15 m B5EV-15(A)-E B5EP-15(A)-E 20 m B5EV-20(A)-E B5EP-20(A)-E 03 m B6EV-03(A)-E B6EP-03(A)-E 05 m B6EV-05(A)-E B6EP-05(A)-E 10 m B6EV-10(A)-E B6EP-10(A)-E 15 m B6EV-15(A)-E B6EP-15(A)-E 20 m B6EV-20(A)-E B6EP-20(A)-E 03 m BBEV-03(A)-E - 05 m BBEV-05(A)-E - 10 m BBEV-10(A)-E - 15 m BBEV-15(A)-E - 20 m BBEV-20(A)-E - 03 m - BBEP-03(A)-E 05 m - BBEP-05(A)-E 10 m - BBEP-10(A)-E 15 m - BBEP-15(A)-E 20 m - BBEP-20(A)-E Specifications L Details Rotary Servomotors 1Servomotor Main Circuit Cables 125 mm (1) L 125 mm (2) L 125 mm *1 Servomotors with holding brakes require a holding brake cable in addition to a power cable. *2 Premium cables have a braided shield and are intended for use in applications that require CE. B1EP through B5EP have a continuous flex and are intended for use in movable sections such as robot arms. (3) 66 Selecting Main Circuit Cables (SGMGV-09 to -1E) (1) Wiring Specifications for Servomotors with and without Holding Brakes* 3Value Type 3Premium Type SERVOPACK-end Leads Servomotor-end Connector SERVOPACK-end Leads Servomotor-end Connector Wire Label Signal Signal Pin No. Wire Label Signal Signal Pin No. G FG FG D G FG FG D W Phase W Phase W C W Phase W Phase W C V Phase V Phase V B V Phase V Phase V B U Phase U Phase U A U Phase U Phase U A *For servomotors with holding brakes, the holding brake cable must also be wired. (2) Wiring Specifications for the Value Type Brake Cable SERVOPACK-end Leads Servomotor-end Connector *For servomotors with holding brakes, the holding brake cable must also be wired. (3) Wiring Specifications for the Premium Type Brake Cable SERVOPACK-end Leads Servomotor-end Connector Wire Color Signal Signal Pin No. Wire Color Signal Signal Black Brake Brake 1 Black Brake Brake 1 White Brake Brake 2 Blue Brake Brake 2 Green/Yellow Shield Note: No polarity for connection to a holding brake. Pin No. Shield Wire Note: No polarity for connection to a holding brake. 1 Customer Cable Assembly • Customers may assemble the servomotor’s main circuit cables and attach connectors to connect the SERVOPACKs and the SGMGV servomotors. • The connectors specified by Yaskawa are required. Note that the connectors vary depending on the operation environment of servomotors. • Two types of connectors are available. • Standard connectors • Protective structure IP67 and European Safety Standards compliant connectors • Yaskawa does not specify which cables to use. Use appropriate cables for the connectors. 67 Servomotors Rotary Motors SGMGV Selecting Main Circuit Cables (SGMGV-09 to -1E) 1Standard Connectors Rotary Servomotors 3Connector Configuration Servomotor-end Connector (Receptacle) Straight Plug Cable Clamp SGMGV Servomotor Cable L-shaped Plug (1) Without Holding Brakes Servomotor-end Connector For 0.85 to 15 kW Capacity kW Servomotor-end Connector (Receptacle) Straight Plug L-shaped Plug Cable Clamp MS3102A18-10P MS3106B18-10S MS3108B18-10S MS3057-10A MS3102A22-22P MS3106B22-22S MS3108B22-22S MS3057-12A MS3102A32-17P MS3106B32-17S MS3108B32-17S MS3057-20A Cable-end Connector (Not provided by Yaskawa) 0.85 1.3 1.8 Servomotor-end Connector 2.9 4.4 5.5 to 15 Note: Servomotor-end connectors (receptacles) are RoHS-compliant. Contact the respective connector manufacturers for RoHS-compliant cable-end connectors (not provided by Yaskawa). (2) With Holding Brakes 0.85 to 15 kW servomotors require servomotor-end connector and brake power supply connector. The servomotor-end connector is the same as is used for servomotors without holding brakes. Brake Power Supply Connector 0.85 to 15 kW Capacity kW Servomotor-end Connector (Receptacle) Servomotor-end Connector Brake Power Supply Connector 0.85 to 15 CM10-R2P-D Cable-end Connector (Not provided by Yaskawa) Straight Plug L-shaped Plug CM10-SP2S-S-D Applicable Cable: 4.0 dia. to 6.0 dia. CM10-AP2S-S-D Applicable Cable: 4.0 dia. to 6.0 dia. CM10-SP2S-M-D Applicable Cable: 6.0 dia. to 9.0 dia. CM10-AP2S-M-D Applicable Cable: 6.0 dia. to 9.0 dia. CM10-SP2S-L-D Applicable Cable: 9.0 dia. to 11.6 dia. CM10-AP2S-L-D Applicable Cable: 9.0 dia. to 11.6 dia. Manufacturer DDK Ltd. To order a brake power supply connector kit (0.85 to 15 kW) with the order no. below, contact your Yaskawa representative. JZSP - CVB9 - S M S2 - E Connector Type ޓS: Straight plug ޓA: L-shaped plug Bush Size*1 ޓS : Size S (4.0 dia. to 6.0 dia.) ޓM : Size M (6.0 dia. to 9.0 dia.) ޓL : Size L (9.0 dia. to 11.6 dia.) Contact Pin Size ޓS2: Soldered ޓC3: Crimping type*2 *1: A size-M connector kit is available as a standard equipment. *2: A crimp tool (model: 357J-50448T) by DDK Ltd. is required. 68 Selecting Main Circuit Cables (SGMGV-09 to -1E) Units: mm 3Cable-end Connectors (1) MS3106B¡¡-¡¡S : Straight Plug L J Shell Size W Y Q A Length of Joint Portion Joint Screw A Overall Length L max. J±0.12 Outer Diameter of Joint Nut Effective Screw Length W min. Cable Clamp Set Screw V +0 Q −0.38 Maximum Width Y max. 18 1-1/8-18UNEF 18.26 52.37 34.13 1-20UNEF 9.53 42 22 1-3/8-18UNEF 18.26 55.57 40.48 1-3/16-18UNEF 9.53 50 32 2-18UNS 18.26 61.92 56.33 1-3/4-18UNS 11.13 66 V (2) MS3108B¡¡-¡¡S : L-shaped Plug Shell Size L J W U Q R A V Length of Joint Portion Joint Screw A J±0.12 Overall Length L max. Outer Diameter of Joint Nut +0 R U ±0.5 ±0.5 Cable Clamp Set Screw V Q −0.38 Effective Screw Length W min. 18 1-1/8-18UNEF 18.26 68.27 34.13 20.5 30.2 1-20UNEF 9.53 22 1-3/8-18UNEF 18.26 76.98 40.48 24.1 33.3 1-3/16-18UNEF 9.53 32 2-18UNS 18.26 95.25 56.33 32.8 44.4 1-3/4-18UNS 11.13 (3) MS3057-¡¡A : Cable Clamp with Rubber Bushing A C J Dia. (Inner Diameter of Bushing) E Dia. (Inner Diameter of Cable Clamp) V G Q Dia. 1.6 H (Slide Range) Cable Clamp Type Applicable Connector Shell Size Overall Length A±0.7 Effective Screw Length C E Diameter G±0.7 H J Diameter Set Screw V Outer Diameter Q±0.7 Dia. Attached Bushing MS3057-10A 18 23.8 10.3 15.9 31.7 3.2 14.3 1-20UNEF 30.1 AN3420-10 MS3057-12A 20，22 23.8 10.3 19 37.3 4 15.9 1-3/16-18UNEF 35.0 AN3420-12 MS3057-20A 32 27.8 11.9 31.7 51.6 6.3 23.8 1-3/4-18UNS 51.6 AN3420-20 3Dimensional Drawings of Brake Power Supply 32.5 21 Dia. Items CM10-¡P2S-¡-D (Cables are not included.) Protective Structure IP67 Manufacturer DDK Ltd. Instructions Angled plug (CM10-AP2S-¡-D): TC-573, Straight plug (CM10-SP2S-¡-D): TC-583 （34） （51.4） Straight Plug Electrical contact (100 pcs in one bag) 21 Dia. 21 Dia. 21 Dia. Angled Plug （51.4） Straight Plug Specifications Connector Order No. ∙Crimping type: CM10-#22SC(C3)-100, Wire size: AWG16 to 20, Outer diameter of sheath: 1.87 to 2.45 dia., Hand tool: 357J-50448T ∙Soldered type: CM10-#22SC (S2)-100, Wire size: AWG16 max. 32.5 21 Dia. 21 Dia. 21 Dia. Electrical Contact Order No. （34） Angled Plug Real contact (4000 pcs on one reel) ∙ Crimping type: CM10-#22SC(C3)-4000, Wire size: AWG 16 to 20, Outer diameter of sheath: 1.87 to 2.45 dia., Semi-automatic tool: AP-A50541T (product name for one set), AP-A50541T-1 (product name for applicator) Note: The product name of the semi-automatic tool refers to the product name of the press 69 and applicator (crimper) as a set. Servomotors Rotary Motors SGMGV Selecting Main Circuit Cables (SGMGV-09 to -1E) 1Protective Structure IP67 and European Safety Standards Compliant Connector Rotary Servomotors 3Connector Configuration Servomotor-end Connector (Receptacle) Conduit Plug Cable Waterproof Straight Plug SGMGV Servomotor Waterproof Cable Clamp Waterproof L-shaped Plug Cable Note: For the conduit grounding, contact the manufacturer of the conduit being used. (1) Without Holding Brakes Servomotor-end Connector For 0.85 to 15 kW Capacity kW 0.85 1.3 1.8 Servomotor-end Connector 2.9 4.4 5.5 to 15 Servomotorend Connector (Receptacle) CE05-2A1810PD-D CE05-2A2222PD-D CE05-2A3217PD-D Cable-end Connector (Not Provided by Yaskawa) Straight Plug L-shaped Plug CE05-6A1810SD-D-BSS CE05-8A1810SD-D-BAS CE05-6A2222SD-D-BSS CE05-6A3217SD-D-BSS Applicable Cable Diameter (For Reference) Cable Clamp CE05-8A2222SD-D-BAS CE05-8A3217SD-D-BAS CE3057-10A-1-D 10.5 dia. to 14.1 dia. CE3057-10A-2-D 8.5 dia. to 11.0 dia. CE3057-10A-3-D 6.5 dia. to 8.7 dia. CE3057-12A-1-D 12.5 dia. to 16.0 dia. CE3057-12A-2-D 9.5 dia. to 13.0 dia. CE3057-12A-3-D 6.8 dia. to 10.0 dia. CE3057-12A-7-D 14.5 dia. to 17.0 dia. CE3057-20A-1-D 22 dia. to 23.8 dia. CE3057-20A-2-D 24 dia. to 26.6 dia. CE3057-20A-3-D 22 dia. to 22.5 dia. Manufacturer DDK Ltd. (2) With Holding Brakes 0.85 to 15 kW servomotors require servomotor-end connector and brake power supply connector. The servomotor-end connector is the same as is used for servomotors without holding brakes. Brake Power Supply Connector 0.85 to 15 kW Capacity kW 0.85 Servomotor-end Connector (The same as is used for servomotors without holding brakes.) to Brake Power Supply Connector 15 Cable-end Connector (Not provided by Yaskawa) Servomotor-end Connector (Receptacle) CM10-R2P-D Straight Plug L-shaped Plug CM10-SP2S-S-D Applicable Cable: 4.0 dia. to 6.0 dia. CM10-AP2S-S-D Applicable Cable: 4.0 dia. to 6.0 dia. CM10-SP2S-M-D Applicable Cable: 6.0 dia. to 9.0 dia. CM10-AP2S-M-D Applicable Cable: 6.0 dia. to 9.0 dia. CM10-SP2S-L-D Applicable Cable: 9.0 dia. to 11.6 dia. CM10-AP2S-L-D Applicable Cable: 9.0 dia. to 11.6 dia. Manufacturer DDK Ltd. To order a brake power supply connector kit (0.85 to 15 kW) with the order no. below, contact your Yaskawa representative. JZSP - CVB9 - S M S2 - E Connector Type ޓS: Straight plug ޓA: L-shaped plug Bush Size*1 ޓS : Size S (4.0 dia. to 6.0 dia.) ޓM : Size M (6.0 dia. to 9.0 dia.) ޓL : Size L (9.0 dia. to 11.6 dia.) Contact Pin Size ޓS2: Soldered ޓC3: Crimping type*2 *1: A size-M connector kit is available as a standard equipment. *2: A crimp tool (model: 357J-50448T) by DDK Ltd. is required. 70 Selecting Encoder Cables 1Encoder Cables (Max. length: 20 m) Encoder Cable with Connectors (For Absolute Encoder, with a Battery Case) Specifications Flexible Type* JZSP-CVP01-03-E JZSP-CVP11-03-E 5m JZSP-CVP01-05-E JZSP-CVP11-05-E 10 m JZSP-CVP01-10-E JZSP-CVP11-10-E 15 m JZSP-CVP01-15-E JZSP-CVP11-15-E 20 m JZSP-CVP01-20-E JZSP-CVP11-20-E 3m JZSP-CVP02-03-E JZSP-CVP12-03-E 5m JZSP-CVP02-05-E JZSP-CVP12-05-E 10 m JZSP-CVP02-10-E JZSP-CVP12-10-E 15 m JZSP-CVP02-15-E JZSP-CVP12-15-E 20 m JZSP-CVP02-20-E JZSP-CVP12-20-E 3m JZSP-CVP06-03-E JZSP-CVP26-03-E 5m JZSP-CVP06-05-E JZSP-CVP26-05-E 10 m JZSP-CVP06-10-E JZSP-CVP26-10-E 15 m JZSP-CVP06-15-E JZSP-CVP26-15-E 20 m JZSP-CVP06-20-E JZSP-CVP26-20-E 3m JZSP-CVP07-03-E JZSP-CVP27-03-E 5m JZSP-CVP07-05-E JZSP-CVP27-05-E 10 m JZSP-CVP07-10-E JZSP-CVP27-10-E 15 m JZSP-CVP07-15-E JZSP-CVP27-15-E 20 m JZSP-CVP07-20-E JZSP-CVP27-20-E SERVOPACK End Encoder End L molex 3m Details Connector (Crimped) (Molex Japan Co., Ltd.) CM10-SP10S-¡-D (DDK Ltd.) SERVOPACK End Encoder End (1) L molex Standard Type Connector (Crimped) (Molex Japan Co., Ltd.) CM10-AP10S-¡-D (DDK Ltd.) SERVOPACK End Encoder End L molex Encoder Cable with Connectors (For Incremental Encoder) Order No. Length (L) Battery Case (Battery Attached) CM10-SP10S-¡-D Connector (Crimped)(Molex Japan Co., Ltd.) (DDK Ltd.) SERVOPACK End L Encoder End (2) molex Name Non-Stock Items Battery Case (Battery Attached) Connector CM10-AP10S-¡-D (Crimped)(Molex Japan Co., Ltd.) (DDK Ltd.) molex Soldered SERVOPACK-end Connector Kit JZSP-CMP9-1-E (3) (Molex Japan Co., Ltd.) Connector Specifications Plug: CM10-SP10S-M-D JZSP-CVP9-1-E Electrical Contact: (Crimped)** Straight plug CM10-#22SC(C4)-100 Applicable Cable Diameter: Encoder-end Connectors for 6.0 dia. to 9.0 dia. Protective Structure IP67 + Electrical Contact Connector Specifications Straight Plug - Plug: CM10-SP10S-M-D JZSP-CVP9-3-E (DDK Ltd.) Electrical Contact: (Soldered) CM10-#22SC(S1)-100 Applicable Cable Diameter: 6.0 dia. to 9.0 dia Connector Specifications Plug: CM10-AP10S-M-D JZSP-CVP9-2-E Electrical Contact: (Crimped)** L-shaped plug CM10-#22SC(C4)-100 Applicable Cable Diameter: Encoder-end Connectors for Protective Structure IP67 L-shaped Plug 6.0 dia. to 9.0 dia. + Electrical Contact Connector Specifications Plug: CM10-AP10S-M-D JZSP-CVP9-4-E Electrical Contact: (Soldered) - (DDK Ltd.) CM10-#22SC(S1)-100 Applicable Cable Diameter: 6.0 dia. to 9.0 dia Cables 3m JZSP-CMP09-03-E JZSP-CSP39-03-E 5m JZSP-CMP09-05-E JZSP-CSP39-05-E 10 m JZSP-CMP09-10-E JZSP-CSP39-10-E 15 m JZSP-CMP09-15-E JZSP-CSP39-15-E 20 m JZSP-CMP09-20-E JZSP-CSP39-20-E * Use flexible cables for movable sections such as robot arms. ** A crimp tool (357J-52667T) is required 71 (4) Servomotors SGMGV Rotary Motors Selecting Encoder Cables ∙ Standard Type ∙ Flexible Type Encoder (Servomotor) End SERVOPACK End Pin No. Signal 6 /PS 5 PS 4 BAT（−） 3 BAT（+） 2 PG 0V 1 PG 5V Shell FG Pin No. 2 1 5 6 9 4 10 Shield Wire Encoder (Servomotor) End SERVOPACK End Wire Color Light blue/white Light blue Orange/white Orange Black Red FG Pin No. Signal 6 /PS 5 PS 4 BAT（−） 3 BAT（+） 2 PG 0V 1 PG 5V Shell FG Pin No. 2 1 5 6 9 4 10 Shield Wire Wire Color Black/pink Red/pink Black/light blue Red/light blue Green Orange FG Rotary Servomotors (1) Wiring Specifications for Cable with Connectors (For incremental encoder) (2) Wiring Specifications for Cable with Connectors (For absolute encoder, with a battery case) ∙ Standard Type ∙ Flexible Type Encoder (Servomotor) End SERVOPACK End Pin No. Signal 6 /PS 5 PS 4 BAT（−） 3 BAT（+） 2 PG 0V 1 PG 5V Shell FG Shield Wire Battery Case Pin No. Signal 2 1 Pin No. 2 1 5 6 9 4 10 SERVOPACK End Pin No. Signal 6 /PS 5 PS 4 BAT（−） 3 BAT（+） 2 PG 0V 1 PG 5V Shell FG Wire Color Light blue/white Light blue Orange/white Orange Black Red FG Battery Case Pin No. Signal BAT（−） BAT（+） 2 1 Encoder (Servomotor) End Pin No. Wire Color 2 Black/pink 1 Red/pink 5 Black/light blue 6 Red/light blue 9 Green 4 Orange 10 FG Shield Wire BAT（−） BAT（+） (3) SERVOPACK-end Connector Kit Specifications Items Specifications JZSP-CMP9-1-E Molex Japan Co., Ltd. 55100-0670 (soldered) External Dimensions (Units: mm) (19) Order No. Manufacturer Connector Model (For standard) ５ ６ ３ ４ １ ２ (12) (33) Note: The mating connector model on SERVOPACK: 54280-800 The mating connector model on servomotor: 55102-0600 (4) Cable Specifications Items Order No.* Standard Type Flexible Type JZSP-CMP09-¡¡-E JZSP-CSP39-¡¡-E Cable Length Specifications 20 m max. UL20276 (Max. operating temperature: 80˚C) AWG22×2C + AWG24×2P AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.15 dia. AWG24 (0.20 mm2) Outer diameter of insulating sheath: 1.09 dia. Finished Dimensions 6.5 dia. 6.8 dia. Light Blue Internal Configuration and Lead Color Light Blue/ white Red Orange Yaskawa Standards Specifications (Standard Length) UL20276 (Max. operating temperature: 80˚C) AWG22×2C + AWG24×2P AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.35 dia. AWG24 (0.20 mm2) Outer diameter of insulating sheath: 1.21 dia. Black/ light blue Black Red/ light blue Orange Orange/ white Black/ pink Green Red/ pink Cable length: 5 m, 10 m, 15 m, 20 m *: Specify the cable length in ¡¡ of order no. Example: JZSP-CMP09-05-E (5 m) 72 Selecting Encoder Cables 1Encoder Cables (For extending from 30 to 50 m) Name Length Limited Stock Items Order No. Specifications SERVOPACK End Encoder-end Cables (For incremental and absolute encoder) Plug Connector (Crimped) (Molex Japan Co., Ltd.) (1) SERVOPACK End 50 m JZSP-UCMP00-40-E JZSP-UCMP00-50-E SERVOPACK End Connector (Crimped) (Molex Japan Co., Ltd.) 30 m JZSP-CMP19-30-E 40 m JZSP-CMP19-40-E 50 m JZSP-CMP19-50-E Encoder End (2) Socket Connector (Soldered) (Molex Japan Co., Ltd.) 0.3 m Encoder End molex JZSP-CSP12-E* molex SERVOPACK End 0.3 m L CM10-AP10S-¡-D (DDK Ltd.) molex Cables 40 m JZSP-UCMP00-30-E molex 30 m Encoder End molex 0.3 m Plug Connector (Crimped) (Molex Japan Co., Ltd.) Cable with a Battery Case (Required when an absolute encoder is used.) CM10-SP10S-¡-D (DDK Ltd.) 0.3 m JZSP-CVP02-E Cable with Connectors (For incremental and absolute encoder) Encoder End molex JZSP-CVP01-E 0.3 m Datails Battery Case (Battery attachesl) Connector (Crimped) Socket Connector (Soldered) (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.) *: When using an incremental encoder or using an absolute encoder with a battery connected to the host controller, no battery case is required. 73 (3) (4) Servomotors SGMGV Rotary Motors Selecting Encoder Cables Encoder (Servomotor) End SERVOPACK End Pin No. Signal 6 /PS 5 PS 4 BAT（−） 3 BAT（+） 2 PG 0V 1 PG 5V Shell FG (2) Wiring Specifications for Cable with Connectors (For incremental and absolute encoder) Shield Wire Pin No. 2 1 5 6 9 4 10 SERVOPACK End Pin No. Signal 6 /PS 5 PS 4 BAT (−) 3 BAT (+) 2 PG 0V 1 PG 5V Shell FG Wire Color Light blue/white Light blue Orange/white Orange Black Red FG Shield Wire Encoder (Servomotor) End Pin No. Wire Color 6 Light blue/white 5 Light blue 4 Orange/white 3 Orange 2 Black 1 Red Shell FG Rotary Servomotors (1) Wiring Specifications for Encoder-end Cable (For incremental and absolute encoder) Note: The signals BAT(+) and BAT(-) are used when using an absolute encoder. (3) Wiring Specifications for Cable with a Battery Case (For absolute encoder) SERVOPACK End Pin No. Signal 6 /PS 5 PS 4 BAT (−) 3 BAT (+) 2 PG 0V 1 PG 5V Shell FG Battery Case Pin No. Signal 2 BAT (−) 1 BAT (+) Shield Wire Encoder (Servomotor) End Pin No. Wire Color 6 Lignt blue/white 5 Light blue 4 Orange/white 3 Orange 2 Black 1 Red Shell FG (4) Cable Specifications Item Standard Type Order No.* JZSP-CMP19-¡¡-E Cable Length Specifications 50 m max. UL20276 (Max. operating temperature: 80˚C) AWG16×2C+AWG26×2P AWG16 (1.31 mm2) Outer diameter of insulating sheath: 2.0 dia. AWG26 (0.13 mm2) Outer diameter of insulating sheath: 0.91 dia. Finished Dimensions 6.8 dia. Black Internal Configuration and Lead Colors Orange Orange /white Yaskawa Standard Specifications (Standard Length) Light Blue Red Light Blue /white Cable length: 30 m, 40 m, 50 m *: Specify the cable length in ¡¡ of order no. Example: JZSP-CMP19-30-E (30 m) 74 Rotary Servomotors SGMSV Model Designations SGMSV - 10 Series Servomotor 1st+2nd digits A D A 2 1 3rd digit 4th digit 5th digit 6th digit 7th digit SGMSV 1st+2nd digits Rated Output 4th digit Serial Encoder Code Specifications Code 10 1.0 kW 3 20-bit absolute Specifications 15 1.5 kW D 20-bit incremental 20 2.0 kW 25 2.5 kW 30 3.0 kW Code 40 4.0 kW A 50 5.0 kW 70 7.0 kW* 5th digit Standard Shaft End Code Specifications A 200 VAC D 400 VAC Straight without key 6 Straight with key and tap Limited Stock Items 75 Specifications Without options B With holding brake (90 VDC) C With holding brake (24 VDC) D With oil seal and holding brake (90 VDC) E With oil seal and holding brake (24 VDC) S With oil seal Specifications 2 Options 1 Specifications 6th digit Code Power Supply Voltage Code Design Revision Order *: Available only for 200-VAC models without brake. 3rd digit 7th digit Non-Stock Items サーボモーター SGMJV形 Application Examples 1Super high power 1Chip mounters 1Wide selection: 1.0 kW to 7.0 kW capacity, holding brake option 1PCB drilling stations 1Machine tool feeders 1Mounted serial encoder: 20 bits, high resolution 1Protective structure: IP67 (Not including the IP22 compliant enclosure for 7.0 kW motor) Rotary Servomotors Features 回転形 Configurations of connectors for the main circuit SGMSV-10 to -70 The connectors for these models are round. The connectors specified by Yaskawa are required. Note that the connectors vary depending on the operation environment of servomotors. Two types of connectors are available. ∙ Standard connectors. ∙P rotective structure IP67 and European Safety Standards compliant connectors Note: Connectors are not provided by Yaskawa. 76 Ratings and Specifications Time Rating: Continuous Vibration Class: V15 Insulation Resistance: 500 VDC, 10 MW min. Ambient Temperature: 0 to 40˚C Excitation: Permanent magnet Mounting: Flange-mounted Thermal Class: F Withstand Voltage: 1500 VAC for one minute (200-V class) 1800 VAC for one minute (400-V class) Enclosure: Totally enclosed, self-cooled, IP67 (except for shaft opening) Note: IP22 for SGMSV-70 servomotors. Ambient Humidity: 20% to 80% (no condensation) Drive Method: Direct drive Rotation Direction: Counterclockwise (CCW) with forward run reference when viewed from the load side 200-V Class 10A 15A 20A 25A 30A 40A 50A Rated Output* kW 1.0 1.5 2.0 2.5 3.0 4.0 5.0 7.0 Rated Torque* N∙m 3.18 4.90 6.36 7.96 9.80 12.6 15.8 22.3 Instantaneous Peak Torque* N∙m 9.54 14.7 19.1 23.9 29.4 37.8 47.6 54 Rated Current* Arms 5.7 9.3 12.1 13.8 17.9 25.4 27.6 38.3 Instantaneous Max. Current* Arms 17 28 42 44.5 56 77 84 105 Rated Speed* min-1 Servomotor Model: SGMSV-¡¡¡ 3000 Max. Speed* min-1 6000 Torque Constant N∙m/Arms 0.636 0.590 0.561 0.610 0.582 0.519 0.604 0.604 Rotor Moment of Inertia ×10-4 kg∙m2 1.74 (1.99) 2.00 (2.25) 2.47 (2.72) 3.19 (3.44) 7.00 (9.2) 9.60 (11.8) 12.3 (14.5) 12.3 Rated Power Rate* kW/s 58 (51) 120 (107) 164 (149) 199 (184) 137 (104) 165 (135) 203 (172) 404 Rated Angular Acceleration* rad/s2 18300 (16000) 24500 (21800) 25700 (23400) 25000 (23100) 14000 (10700) 13100 (10700) 12800 (10900) 18100 Applicable SERVOPACK SGDV-¡¡¡¡ 7R6A 120A 180A 200A 200A 330A 330A 550A 5000 *: These items and torque-motor speed characteristics quoted in combination with a SERVOPACK are at an armature winding temperature of 20˚C. Notes: 1 The values in parentheses are for servomotors with holding brakes. 2 The above specifications show the values under the cooling condition when the following heat sinks are mounted on the servomotors. SGMSV-10A/-15A/-20A/-25A : 300 mm×300 mm×12 mm (aluminum) SGMSV-30A/-40A/-50A/-70A : 400 mm×400 mm×20 mm (aluminum) 400-V Class Servomotor Model: SGMSV-¡¡¡ 10D 15D 20D 25D 30D 40D Rated Output* kW 1.0 1.5 2.0 2.5 3.0 4.0 5.0 Rated Torque* N∙m 3.18 4.9 6.36 7.96 9.8 12.6 15.8 Instantaneous Peak Torque* N∙m 9.54 14.7 19.1 23.9 29.4 37.8 47.6 Rated Current* Arms 2.8 4.7 6.1 7.4 8.9 12.5 13.8 Instantaneous Max. Current* Arms 8.5 14 20 25 28 38 42 Rated Speed* min-1 50D Max. Speed* min-1 6000 Torque Constant N∙m/Arms 1.27 1.23 1.18 1.15 1.16 1.06 1.21 1.74 (1.99) 2.00 (2.25) 2.47 (2.72) 3.19 (3.44) 7.00 (9.2) 9.60 (11.8) 12.3 (14.5) 3000 5000 Rotor Moment of Inertia ×10-4 kg∙m2 Rated Power Rate* kW/s 58 (51) 120 (107) 164 (149) 199 (184) 137 (104) 165 (135) 203 (172) Rated Angular Acceleration* rad/s2 18300 (16000) 24500 (21800) 25700 (23400) 25000 (23100) 14000 (10700) 13100 (10700) 12800 (10900) Applicable SERVOPACK SGDV-¡¡¡¡ 3R5D 5R4D 8R4D 120D 120D 170D 170D *: These items and torque-motor speed characteristics quoted in combination with a SERVOPACK are at an armature winding temperature of 20˚C. Notes: 1 The values in parentheses are for servomotors with holding brakes. 2 The above specifications show the values under the cooling condition when the following heat sinks are mounted on the servomotors. 77 70A SGMSV-10D/-15D/-20D/-25D : 300 mm×300 mm×12 mm (aluminum) SGMSV-30D/-40D/-50D : 400 mm×400 mm×20 mm (aluminum) Servomotors Rotary Motors SGMSV Ratings and Specifications SGMSV-10A, -10D A 2000 B 5000 4000 3000 A 2000 B 5000 4000 3000 1000 1000 0 0 0 2 4 6 8 Torque (Nûm) 0 10 SGMSV-30A, -30D 5 10 15 Torque (Nûm) 3000 A B 5000 4000 3000 A 2000 B 1000 0 40 0 10 Torque (Nûm) 20 30 40 A 2000 0 30 0 5 10 15 20 Torque (Nûm) 25 30 50 60 SGMSV-70A 3000 1000 20 B 6000 4000 0 10 A 2000 25 5000 1000 0 10 15 20 Torque (Nûm) 6000 Motor Speed (min-1) Motor Speed (min-1) 4000 3000 SGMSV-50A, -50D 6000 5000 4000 0 5 0 20 B 5000 1000 SGMSV-40A, -40D 6000 2000 A 2000 1000 0 Motor Speed (min-1) 3000 SGMSV-25A, -25D 6000 Motor Speed (min-1) 4000 : Intermittent Duty Zone (Note1) 6000 Motor Speed (min-1) 5000 B SGMSV-20A, -20D 6000 Motor Speed (min-1) Motor Speed (min-1) : Continuous Duty Zone SGMSV-15A, -15D 6000 Motor Speed (min-1) A Rotary Servomotors 1Torque-Motor Speed Characteristics(200 V/400 V) B 5000 4000 3000 A 2000 B 1000 0 0 Torque (Nûm) 10 20 30 40 50 Torque (Nûm) 0 10 20 30 40 Torque (Nûm) Note: 1 When the effective torque during intermittent duty is within the rated torque, the servomotor can be used within the intermittent duty zone. 2 When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops. 1Holding Brake Electrical Specifications Holding Brake Specifications Servomotor Model Servomotor Rated Output kW Rated Voltage 24 VDC Rated Voltage 90 VDC Holding Torque N∙m Capacity W Rated Current A (at 20˚C) Capacity W Rated Current A (at 20˚C) SGMSV-10 1.0 7.84 12 0.5 12 0.13 SGMSV-15 1.5 7.84 12 0.5 12 0.13 SGMSV-20 2.0 7.84 12 0.5 12 0.13 SGMSV-25 2.5 10 12 0.5 12 0.13 SGMSV-30 3.0 20 10 0.41 10 0.11 SGMSV-40 4.0 20 10 0.41 10 0.11 SGMSV-50 5.0 20 10 0.41 10 0.11 Notes: 1 The holding brake is only used to hold the load and cannot be used to stop the servomotor. 2 The holding brake open time and holding brake operation time vary depending on which discharge circuit is used. Make sure holding brake open time and holding brake operation time are correct for your servomotor. 3 A 24 VDC power supply is to be provided by customers. 78 Ratings and Specifications 1Allowable 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 holding brake. Servomotor Model Servomotor Rated Output Allowable Load Moment of Inertia (Rotor Moment of Inertia Ratio) SGMSV-10 to -70 1.0 to 7.0 kW 5 times 1Load Moment of Inertia The larger the load moment of inertia, the worse the movement response. The allowable load moment of inertia (JL) depends on motor capacity, as shown above. This value is provided strictly as a guideline and results may vary depending on servomotor drive conditions. Use the AC servo drive capacity selection program SigmaJunmaSize+ to check the operation conditions. The program can be downloaded for free from our web site (http://www.e-mechatronics.com/). An overvoltage alarm (A.400) 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 regenerative overload alarm (A.320). Take one of the following steps if this occurs. ∙ Reduce the torque limit. ∙ Reduce the deceleration rate. ∙ Reduce the maximum speed. ∙ Install an external regenerative resistor if the alarm cannot be cleared using the steps above. Refer to Regenerative Resistors on page 386. 1Allowable Radial and Thrust Loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table. Servomotor Model Allowable Radial Load (Fr) N Allowable Thrust Load (Fs) N LR mm 686 196 45 10¡¡A21 15¡¡A21 20¡¡A21 SGMSV- LR Fr 25¡¡A21 30¡¡A21 980 40¡¡A21 50¡¡A21 70¡¡A21 79 Reference Diagram 1176 Fs 392 63 Servomotors Rotary Motors SGMSV External Dimensions Units: mm 1Without Holding Brakes 36 LR LG Shaft End 0.04 A LE LR &KC A 30 Dia. A 0.02 17 KB1 R1 KL1 S Dia. 50 S Dia. .# KC & &KC LE LB Dia. 79 Dia. .* □LC 45 Dia. L LL LM Rotary Servomotors (1) 1.0 to 5.0 kW Q 4-㧸㨆 Dia. Mounting Holes KB2 Note: For the specifications of the other shaft ends, refer to page 79. Flange Face Dimensions Model SGMSV- L LL LM LR KB1 KB2 Shaft End Dimensions KL1 Approx. Mass LA LB LC LE LF LG LH LZ S Q kg 76 135 96 115 95 -0 -0.035 100 3 3 10 130 7 24 -0 -0.013 40 4.1 45 86 145 96 115 95 -0 -0.035 100 3 3 10 130 7 24 -0 -0.013 40 4.6 45 102 161 96 115 95 -0 -0.035 100 3 3 10 130 7 24 -0 -0.013 40 5.4 45 125 184 96 115 95 -0 -0.035 100 3 3 10 130 7 24 -0 -0.013 40 6.8 160 63 124 184 114 145 110 -0 -0.035 130 6 6 12 165 9 28 -0 -0.013 55 10.5 233 197 63 161 221 114 145 110 -0 -0.035 130 6 6 12 165 9 28 -0 -0.013 55 13.5 273 237 63 201 261 114 145 110 -0 -0.035 130 6 6 12 165 9 28 -0 -0.013 55 16.5 10¡¡A21 192 15¡¡A21 202 157 121 20¡¡A21 218 173 137 25¡¡A21 241 196 160 30¡¡A21 259 196 40¡¡A21 296 50¡¡A21 336 147 111 45 Note: Models with oil seals are of the same configuration. ∙C able Specifications for Encoder-end Connector (20-bit Encoder) 3 1 4 7 10 8 ∙C able Specifications for Servomotor-end Connector Receptacle: CM10-R10P-D Applicable plug (To be provided by the customer) Plug: CM10-AP10S-¡-D (Angle) CM10-SP10S-¡-D (Straight) (Boxes (¡) indicate a value that varies, depending on cable size.) Manufacturer: DDK Ltd. With an Incremental Encoder With an Absolute Encoder 1 PS 6 BAT (+) 1 PS 6 2 /PS 7 2 /PS 7 3 - 8 - - 3 - 8 4 PG 5V 9 PG 0V 4 PG 5V 9 PG 0V 5 BAT (-) 10 FG (Frame ground) 5 - 10 FG (Frame ground) D C A B A Phase U B Phase V C Phase W D FG (Frame ground) ∙ SGMSV-10 to -25 Manufacturer: DDK Ltd. ∙ SGMSV-30 to -50 Manufacturer: Japan Aviation Electronics Industry, Ltd. 80 External Dimensions Units: mm (2) 7.0 kW (only for 200 V servomotors) Notes: 1 L eave a minimum space of 70 mm around the servomotor to allow for a sufficient amount of cooling air. 2 Cooling Fan : single-phase 220 V, 50/60Hz, 17/15 W, 0.11/0.09 A 397 70 334 63 291 0.04 12 6 Shaft End A 144 130 −0.013 130 Dia. 43 63 28 Dia. 144 130 45 Dia. 30 Dia. 50 55 114 80 108 R1 5 Cooling Air Flow 165 14 110 0 −0.035 Dia. 28 0 6 A 20 201 4-9 Dia. 261 0.04 Dia. A 0.02 Cooling Fan Approx. Mass: 18.5 kg ∙C able Specifications for Servomotor-end Connector Connector for Cooling Fan D A 17 49 Note: For the specifications of the other shaft ends, refer to page 79. C B A Phase U B Phase V C Phase W D FG (Frame ground) Manufacturer: Japan Aviation Electronics Industry, Ltd. Connector for Connector for Encoder Motor ∙ Cable Specifications for Fan-end Connector ・Specifications of Cooling Fan ・Specifications of rotation error detector A Contact Capacity: ・Max. allowable voltage: 350 V (AC, DC) ・Max. allowable current: 120 mA (AC, DC) ・Max. controllable power: 360 mW Alarm Contact: ・ON at normal fan rotation. ・OFF at 1680±100 min-1 or less. ・(OFF during 3 seconds at start-up) Single-phase 220 V 50/60 Hz 17/15 W 0.11/0.09 A F D Note: Servomotor-end connectors (receptacles) are RoHScompliant. Contact the respective connector manufacturers for RoHS-compliant cable-end connectors. ∙C able Specifications for Encoder-end Connector (20-bit Encoder) 3 1 4 7 10 8 Receptacle: CM10-R10P-D Applicable plug (To be provided by the customer) Plug: CM10-SP10S-¡-D (Straight) (Boxes (¡) indicate a value that varies, depending on cable size.) Use straight plugs to avoid interference with the fan cover. Manufacturer: DDK Ltd. With an Incremental Encoder With an Absolute Encoder 81 B C E Receptacle:MS3102A14S-6P Applicable plug Plug:MS3108B14S-6S Cable clamp:MS3057-6A 1 PS 6 BAT (+) 1 PS 6 2 /PS 7 2 /PS 7 3 - 8 - 3 - 8 4 PG 5V 9 PG 0V 4 PG 5V 9 PG 0V 5 BAT (-) 10 FG (Frame ground) 5 - 10 FG (Frame ground) - A Fan motor B Fan motor C - D Alarm terminal E Alarm terminal F FG (Frame ground) Servomotors Rotary Motors SGMSV External Dimensions Units: mm 1With Holding Brakes Rotary Servomotors (1) 1.0 to 5.0 kW L LR Shaft End LM LG 0.04 A 0.04 Dia. A LE LA Dia D S Dia. LB Dia. . LE ia. 4-LZ Dia. Mounting Holes A 0.02 17 11 R1 KL1 KL3 50 79 Dia. S Dia. LH LR □LC 45 Dia. 36 30 Dia. LL Q KB1 KB3 *: No brake connector ޓfor 200-V models. KB2 Model Note: For the specifications of the other shaft ends, refer to page 79. KB1 L LL LM KB3* LR SGMSV- KL1 KL3* Flange Face Dimensions Shaft End Dimensions KB2 200V 400V 400V Approx.Mass 200V 400V 400V LA LB LC LE LF LG LH LZ S Q ㎏ 5.5 10¡¡A2¡ 233 188 152 45 67 76 176 118 102 96 69 115 95-0 -0.035 100 3 3 10 130 7 24-0 -0.013 40 15¡¡A2¡ 243 198 162 45 77 86 186 128 102 96 69 115 95-0 -0.035 100 3 3 10 130 7 24-0 -0.013 40 6 100 3 3 10 130 7 24-0 -0.013 40 6.8 20¡¡A2¡ 259 214 178 45 93 102 202 144 102 96 69 115 95-0 -0.035 25¡¡A2¡ 292 247 211 45 116 125 225 177 102 96 69 115 95-0 -0.035 100 3 3 10 130 7 24-0 -0.013 40 8.7 30¡¡A2¡ 295 232 196 63 114 124 220 176 119 114 81 145 110-0 -0.035 130 6 6 12 165 9 28-0 -0.013 55 13 40¡¡A2¡ 332 269 233 63 151 161 257 213 119 114 81 145 110-0 -0.035 130 6 6 12 165 9 28-0 -0.013 55 16 50¡¡A2¡ 372 309 273 63 191 201 297 253 119 114 81 145 110-0 -0.035 130 6 6 12 165 9 28-0 -0.013 55 19 *: No brake connector for 200-V models (there are brake terminals on the servomotor-end connectors). Note: Models with oil seals are of the same configuration. ∙C able Specifications for Encoder-end Connector (20-bit Encoder) 3 1 4 7 10 8 200-V Class ∙C able Specifications for Servomotor-end Connector Receptacle: CM10-R10P-D Applicable plug (To be provided by the customer) Plug: CM10-AP10S-¡-D (Angle) CM10-SP10S-¡-D (Straight) (Boxes (¡) indicate a value that varies, depending on cable size.) Manufacturer: DDK Ltd. F E D A A G B C With an Absolute Encoder 6 BAT (+) /PS 7 - 8 - 1 PS 2 3 4 PG 5V 9 PG 0V 5 BAT (-) 10 FG (Frame ground) Phase V C Phase W D FG(Frame ground) E Brake terminal F Brake terminal G - Manufacturer: Japan Aviation Electronics Industry, Ltd. Note: No polarity for connection to the brake terminals 400-V Class ∙C able Specifications for Servomotor-end Connector A With an Incremental Encoder D 1 PS 2 /PS 7 3 - 8 - 4 PG 5V 9 PG 0V 5 - 10 FG (Frame ground) 6 Phase U B C A B Phase U B Phase V C Phase W D FG (Frame ground) ∙ SGMSV-10 to -25 Manufacturer: DDK Ltd. ∙ SGMSV-30 to -50 Manufacturer: Japan Aviation Electronics Industry, Ltd. ∙C able Specifications for Brake-end Connector Receptacle: CM10-R2P-D Applicable plug (To be provided by the customer) Plug: CM10-AP2S-¡-D (Angle) CM10-SP2S-¡-D (Straight) (Boxes (¡) indicate a value that varies, depending on cable size.) Manufacturer: DDK Ltd. Brake terminal Brake terminal Note: No polarity for connection to the brake terminals 82 External Dimensions Units: mm 1Shaft End SGMSV - ¡¡¡¡¡¡¡ Code Specifications Remarks 2 Straight without key 6 Straight with key and tap for one location (Key slot is JIS B1301-1996 fastening type) Code Optional/Non-stock Specifications Standard/Stock Model SGMSV- Shaft End 10 LR 2 Straight without Key S Dia. LR Q QK P S Dia. U W Straight with Key and Tap 1 R 83 20 25 30 40 50 LR 45 63 Q 40 55 S 24 -0.013 0 28 -0.013 LR 45 63 Q 40 55 QK 32 50 S 24 -0.013 0 28 -0.013 Q R1 6 15 T 0 0 W 8 T 7 U 4 P M8 Screw Depth16 70 Servomotors SGMSV Rotary Motors Selecting Cables 1Cables Connections SGDV SERVOPACK 2Encoder Cable Extension from 30 to 50 m (Example) SGDV SERVOPACK Relay Encoder Cable Rotary Servomotors 2Standard Wiring (Max. encoder cable length: 20 m) Cable with a Battery (Required when an absolute encoder is used.) Encoder Cable Servomotor Main Circuit Cable Battery Case (Required when an absolute encoder is used.) Servomotor Main Circuit Cable Cable with Connectors, or Cable Encoder-end Cable SGMSV Servomotor SGMSV Servomotor CAUTION ∙ Separate the servomotor main circuit cable wiring from the I/O signal cable and encoder cable at least 30 cm, and do not bundle or run them in the same duct. ∙ When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops. 84 Selecting Cables 1Servomotor Main Circuit Cables Voltage Name Servomotor Rated Output 1.0kW to 2.5kW Servomotor Power Cable (for Servomotor without Holding Brake) 3.0kW 4.0 to 7.0kW *4 1.0kW to 2.5kW 200V Servomotor Power Cable (for Servomotor with Holding Brake) *3 3.0kW 4.0 to 5.0kW *4 Fan Cable 7.0kW 1.0kW to 2.5kW Servomotor Power Cable (for Servomotor with or without Holding Brake) *1 3.0 to 5.0kW 400V Holding Brake Cable 1kW to 5kW Length Order No. Value Type Premium Type *2 03 m B1EV-03(A)-E B1EP-03(A)-E 05 m B1EV-05(A)-E B1EP-05(A)-E 10 m B1EV-10(A)-E B1EP-10(A)-E 15 m B1EV-15(A)-E B1EP-15(A)-E 20 m B1EV-20(A)-E B1EP-20(A)-E 03 m B3EV-03(A)-E B3EP-03(A)-E 05 m B3EV-05(A)-E B3EP-05(A)-E 10 m B3EV-10(A)-E B3EP-10(A)-E 15 m B3EV-15(A)-E B3EP-15(A)-E 20 m B3EV-20(A)-E B3EP-20(A)-E 03 m B4EV-03(A)-E B4EP-03(A)-E 05 m B4EV-05(A)-E B4EP-05(A)-E 10 m B4EV-10(A)-E B4EP-10(A)-E 15 m B4EV-15(A)-E B4EP-15(A)-E 20 m B4EV-20(A)-E B4EP-20(A)-E 03 m BABEV-03(A)-E BABEP-03(A)-E 05 m BABEV-05(A)-E BABEP-05(A)-E 10 m BABEV-10(A)-E BABEP-10(A)-E 15 m BABEV-15(A)-E BABEP-15(A)-E 20 m BABEV-20(A)-E BABEP-20(A)-E 03 m BCBEV-03(A)-E BCBEP-03(A)-E 05 m BCBEV-05(A)-E BCBEP-05(A)-E 10 m BCBEV-10(A)-E BCBEP-10(A)-E 15 m BCBEV-15(A)-E BCBEP-15(A)-E 20 m BCBEV-20(A)-E BCBEP-20(A)-E 03 m BDBEV-03(A)-E BDBEP-03(A)-E 05 m BDBEV-05(A)-E BDBEP-05(A)-E 10 m BDBEV-10(A)-E BDBEP-10(A)-E 15 m BDBEV-15(A)-E BDBEP-15(A)-E 20 m BDBEV-20(A)-E BDBEP-20(A)-E 03 m BFEV-03(A)-E 05 m BFEV-05(A)-E 10 m BFEV-10(A)-E 15 m BFEV-15(A)-E 20 m BFEV-20(A)-E 03 m B1EV-03(A)-E B1EP-03(A)-E 05 m B1EV-05(A)-E B1EP-05(A)-E 10 m B1EV-10(A)-E B1EP-10(A)-E 15 m B1EV-15(A)-E B1EP-15(A)-E 20 m B1EV-20(A)-E B1EP-20(A)-E 03 m B3EV-03(A)-E B3EP-03(A)-E 05 m B3EV-05(A)-E B3EP-05(A)-E 10 m B3EV-10(A)-E B3EP-10(A)-E 15 m B3EV-15(A)-E B3EP-15(A)-E 20 m B3EV-20(A)-E B3EP-20(A)-E 03 m BBEV-03(A)-E - 05 m BBEV-05(A)-E - 10 m BBEV-10(A)-E - 15 m BBEV-15(A)-E - 20 m BBEV-20(A)-E - 03 m - BBEP-03(A)-E 05 m - BBEP-05(A)-E 10 m - BBEP-10(A)-E 15 m - BBEP-15(A)-E 20 m - BBEP-20(A)-E Specifications L Details 125 mm (1) L 125 mm (5) L 125 mm (4) - L 125 mm (1) L 125 mm (2) L 125 mm (3) *1 400V Servomotors with holding brakes require a holding brake cable in addition to a power cable. *2 Premium cables have a braided cable shield and are intended for use in applications that require CE. Premium cables have a continuous flex rating and are intended for use in movable sections such as robot arms. *3 200V servomotors with holding brakes use a combined power and brake cable *4 The 7.0kW, 200V servomotor requires a separate fan cable. 7.0kW units are not available with holding brake. 85 Servomotors Rotary Motors SGMSV Selecting Cables 3Value Type 3Premium Type SERVOPACK-end Leads Servomotor-end Connector SERVOPACK-end Leads Servomotor-end Connector Wire Label Signal Signal Pin No. Wire Label Signal Signal Pin No. G FG FG D G FG FG D W Phase W Phase W C W Phase W Phase W C V Phase V Phase V B V Phase V Phase V B U Phase U Phase U A U Phase U Phase U A *400V servomotors with holding brakes require a separate holding brake cable. See (2) and (3). *400V servomotors with holding brakes require a separate holding brake cable. See (2) and (3). (2) Wiring Specifications for the Value Type Brake Cable for 400V Servomotors SERVOPACK-end Leads Servomotor-end Connector (3) Wiring Specifications for the Premium Type Brake Cable for 400V Servomotors SERVOPACK-end Leads Servomotor-end Connector Wire Color Signal Signal Pin No. Wire Color Signal Signal Black Brake Brake 1 Black Brake Brake 1 White Brake Brake 2 Blue Brake Brake 2 Green/Yellow Shield Note: No polarity for connection to a holding brake. (4) Wiring Specifications for the Fan on 200V 7.0kW Servomotors SERVOPACK-end Leads Rotary Servomotors (1) Wiring Specifications for 200V and 400V Servomotors without Holding Brakes* Pin No. Shield Wire Note: No polarity for connection to a holding brake. Servomotor-end Connector Wire Label Signal FAN Fan Fan Motor A FAN Fan Fan Motor B ALM Alarm Alarm Terminal D ALM Alarm Alarm Terminal E GND FG FG F Signal Pin No. Notes: No polarity for connection to a fan. No polarity for connection to an alarm circuit. (5) Wiring Specifications for 200V Servomotors with Holding Brakes 3Value Type 3Premium Type SERVOPACK-end Leads Wire Label Signal U Phase U V Servomotor-end Connector SERVOPACK-end Leads Servomotor-end Connector Pin No. Wire Label Signal Phase U A U Phase U Phase U A Phase V Phase V B V Phase V Phase V B W Phase W Phase W C W Phase W Phase W C G FG FG D G FG FG * D Signal Signal Pin No. BK Brake Brake E BK Brake Brake E BK Brake Brake F BK Brake Brake F Note: No polarity for connection to a holding brake. Note: No polarity for connection to a holding brake. * For 200V Premium Cable, shield is connected to FG wire on the servomotor-end of the cable. 1Customer Cable Assembly Customers may assemble the servomotor’s main circuit cables and attach connectors to connect the SERVOPACKs and the SGMSV servomotors. The connectors for these models are round. The connectors specified by Yaskawa are required. Note that the connectors vary depending on the operation environment of servomotors. Two types of connectors are available. ∙ Standard connectors ∙ Protective structure IP67 and European Safety Standards compliant connectors Yaskawa does not specify which cables to use. Use appropriate cables for the connectors. 86 Selecting Cables 1Standard Connectors 3Connector Configuration Servomotor-end Connector (Receptacle) Straight Plug Cable Clamp Cable L-shaped Plug SGMSV Servomotor (1) Without Holding Brakes Servomotor-end Connector For 1.0 to 7.0 kW Capacity kW Servomotor-end Connector (Receptacle) Straight Plug L-shaped Plug Cable Clamp MS3102A18-10P MS3106B18-10S MS3108B18-10S MS3057-10A MS3102A22-22P MS3106B22-22S MS3108B22-22S MS3057-12A Cable-end Connector (Not provided by Yaskawa) 1.0 to Servomotor-end Connector 2.5 3.0 to 7.0 Note: Servomotor-end connectors (receptacles) are RoHS-compliant. Contact the respective connector manufacturers for RoHS-compliant cable-end connectors. (2) With Holding Brakes (200 V) No brake connector for 200-V models (there are brake terminals on the servomotor-end connectors). Servomotor-end Connector For 1.0 to 5.0 kW Capacity kW Servomotor-end Connector (Receptacle) Cable-end Connector (Not provided by Yaskawa) Straight Plug L-shaped Plug Cable Clamp MS3102A20-15P MS3106B20-15S MS3108B20-15S MS3057-12A MS3102A24-10P MS3106B24-10S MS3108B24-10S MS3057-16A 1.0 to 2.5 Servomotor-end Connector 3.0 to 5.0 Note: Servomotor-end connectors (receptacles) are RoHS-compliant. Contact the respective connector manufacturers for RoHS-compliant cable-end connectors. 87 Servomotors Rotary Motors SGMSV Rotary Servomotors Selecting Cables (3) With Holding Brakes (400 V) Servomotor-end Connector For 1.0 to 5.0 kW Capacity kW Servomotor-end Connector (Receptacle) Straight Plug L-shaped Plug Cable Clamp MS3102A18-10P MS3106B18-10S MS3108B18-10S MS3057-10A MS3102A22-22P MS3106B22-22S MS3108B22-22S MS3057-12A Cable-end Connector (Not provided by Yaskawa) 1.0 to Servomotor-end Connector 2.5 Brake Power Supply Connector 3.0 to 5.0 Note: Servomotor-end connectors (receptacles) are RoHS-compliant. Contact the respective connector manufacturers for RoHS-compliant cable-end connectors. Brake Power Supply Connector For 1.0 to 5.0 kW Capacity kW Servomotor-end Connector (Receptacle) 1.0 to CM10-R2P-D 5.0 Cable-end Connector (Not provided by Yaskawa) Straight Plug L-shaped Plug CM10-SP2S-S-D Applicable Cable: 4.0 dia. to 6.0 dia. CM10-AP2S-S-D Applicable Cable: 4.0 dia. to 6.0 dia. CM10-SP2S-M-D Applicable Cable: 6.0 dia. to 9.0 dia. CM10-AP2S-M-D Applicable Cable: 6.0 dia. to 9.0 dia. CM10-SP2S-L-D Applicable Cable: 9.0 dia. to 11.6 dia. CM10-AP2S-L-D Applicable Cable: 9.0 dia. to 11.6 dia. Manufacturer DDK Ltd. To order a brake power supply connecter kit (1.0 to 5.0 kW) with the order no. below, contact your Yaskawa representative. J Z S P - C V B 9 - S M S2 - E Connector Type S: Straight plug A: L-shaped plug Bush Size*1 Contact Pin Size S : Size S (4.0 dia. to 6.0 dia.) S2: Soldered M: Size M (6.0 dia. to 9.0 dia.) C3: Crimping type*2 L : Size L (9.0 dia. to 11.6 dia.) connector kit is available as standard equipment. *12:: AA size-M * crimp tool (model: 357J-50448T) by DDK Ltd. is required. 88 Selecting Cables Units: mm 3Cable-end Connectors (1) MS3106B¡¡-¡¡S : Straight Plug L J Shell Size W Length of Joint Portion Joint Screw A J±0.12 Y Q A V L Shell Size W U Q V Cable Clamp Set Screw V +0 Q −0.38 Effective Screw Length W min. Maximum Width Y max. 18 1-1/8-18UNEF 18.26 52.37 34.13 1-20UNEF 9.53 42 1-1/4-18UNEF 18.26 55.57 37.28 1-3/16-18UNEF 9.53 47 22 1-3/8-18UNEF 18.26 55.57 40.48 1-3/16-18UNEF 9.53 50 24 1-1/2-18UNEF 18.26 58.72 43.63 1-7/16-18UNEF 9.53 53 Joint Screw A Length of Joint Portion R A Outer Diameter of Joint Nut 20 (2) MS3108B¡¡-¡¡S : L-shaped Plug J Overall Length L max. J±0.12 Overall Length L max. Outer Diameter of Joint Nut +0 R U ±0.5 ±0.5 Q −0.38 Effective Screw Length W min. Cable Clamp Set Screw V 18 1-1/8-18UNEF 18.26 68.27 34.13 20.5 30.2 1-20UNEF 9.53 20 1-1/4-18UNEF 18.26 76.98 37.28 22.5 33.3 1-3/16-18UNEF 9.53 22 1-3/8-18UNEF 18.26 76.98 40.48 24.1 33.3 1-3/16-18UNEF 9.53 24 1-1/2-18UNEF 18.26 86.51 43.63 25.6 36.5 1-7/16-18UNEF 9.53 (3) MS3057-¡¡A : Cable Clamp with Rubber Bushing A C J Dia. (Inner Diameter of Bushing) E Dia. (Inner Diameter of Cable Clamp) V G Q Dia. 1.6 H (Slide Range) Cable Clamp Type Applicable Connector Shell Size Overall Length A±0.7 Effective Screw Length C E Diameter G±0.7 H J Diameter Set Screw V Outer Diameter Q±0.7 Dia. Attached Bushing MS3057-10A 18 23.8 10.3 15.9 31.7 3.2 14.3 1-20UNEF 30.1 AN3420-10 MS3057-12A 20，22 23.8 10.3 19 37.3 4 15.9 1-3/16-18UNEF 35.0 AN3420-12 MS3057-16A 24 26.2 10.3 23.8 42.9 4.8 19.1 1-7/16-18UNEF 42.1 AN3420-16 3Dimensional Drawings of Brake Power Supply Items 32.5 21 Dia. 21 Dia. 21 Dia. Specifications Connector Order No. CM10- ¡P2S-¡ -D (Cables are not included.) Protective Structure IP67 Manufacturer DDK Ltd. Instructions Angled plug (CM10-AP2S- ¡ -D): TC-573, Straight plug (CM10-SP2S- ¡ -D): TC-583 Electrical contact (100 pcs in one bag) (34) (51.4) Straight Plug ∙ Crimping type: CM10-#22SC(C3)-100, Wire size: AWG16 to 20, Angled Plug 21 Dia. (51.4) Straight Plug 89 32.5 21 Dia. 21 Dia. 21 Dia. Electrical Contact Order No. Outer diameter of sheath: 1.87 to 2.45 dia., Hand tool: 357J-50448T ∙ Soldered type: CM10-#22SC (S2)-100, Wire size: AWG16 max. Real contact (4000 pcs on one reel) ∙ Crimping type: CM10-#22SC(C3)-4000, Wire size: AWG 16 to 20, Outer diameter of sheath: 1.87 to 2.45 dia., (34) Angled Plug Semi-automatic tool: AP-A50541T (product name for one set), AP-A50541T-1 (product name for applicator) Note: The product name of the semi-automatic tool refers to the product name of the press and applicator (crimper) as a set. Servomotors Rotary Motors SGMSV Selecting Cables 1Protective Structure IP67 and European Safety Standards Compliant Connector Rotary Servomotors 3Connector Configuration Servomotor-end Connector (Receptacle) Conduit Plug Cable Waterproof Straight Plug SGMSV Servomotor Waterproof Cable Clamp Waterproof L-shaped Plug (1) Without Holding Brakes Cable Note: For the conduit grounding, contact the manufacturer of the conduit being used. Servomotor-end Connector For 1.0 to 7.0 kW Capacity kW Servomotor-end Connector (Receptacle) 1.0 Servomotor-end Connector CE05-2A18- to 10PD-D 2.5 3.0 JL04HV-2E22- to 22PE-B-R 7.0 Cable-end Connector (Not Provided by Yaskawa) Plug Cable Clamp Applicable Cable Diameter (For Reference) Manufacturer Straight Plug L-shaped Plug CE05-6A18- CE05-8A18- 10SD-D-BSS 10SD-D-BAS JL04V- JL04V-6A22-22SE-EB-R JL04V-8A22-22SE-EB-R JL04-2022CK (09) -R 6.5 Dia. to 9.5 Dia. 6A22- or or JL04-2022CK (12) -R 9.5 Dia. to 13.0 Dia. Electronics 22SE-R JA06A-22-22S-J1-EB-R* JA08A-22-22S-J1-EB-R* JL04-2022CK (14) -R 12.9 Dia. to 15.9 Dia. Industry, Ltd. CE056A1810SD-D CE3057-10A-1-D 10.5 dia. to 14.1 dia. CE3057-10A-2-D 8.5 dia. to 11.0 dia. CE3057-10A-3-D 6.5 dia. to 8.7 dia. DDK Ltd. Japan Aviation *: Not compliant with European Safety Standards, but compliant with protective structure IP67. (2) With Holding Brakes (200 V) No brake connector for 200-V models (there are brake terminals on the servomotor-end connectors). Servomotor-end Connector For 1.0 to 5.0 kW Capacity kW 1.0 to Servomotor-end Connector 2.5 3.0 to 5.0 Servomotor-end Connector (Receptacle) JL04V-2E2015PE-B-R JL04V-2E2410PE-B-R Cable-end Connector (Not Provided by Yaskawa) Plug Straight Plug L-shaped Plug JL04V-6A20-15SE-EB-R JL04V-8A20-15SE-EB-R JL04V6A2015SE-R JL04- JL04V-6A24-10SE-EB-R JL04V-8A24-10SE-EB-R 6A24- or or 10SE-R JA06A-24-10S-J1-EB-R* JA08A-24-10S-J1-EB-R* Cable Clamp Applicable Cable Diameter (For Reference) Manufacturer JL04-2022CK (09) -R 6.5 Dia. to 9.5 Dia. JL04-2022CK (12) -R 9.5 Dia. to 13.0 Dia. JL04-2022CK (14) -R 12.9 Dia. to 15.9 Dia. JL04-2428CK (11) -R 9.0 Dia. to 12.0 Dia. Electronics JL04-2428CK (14) -R 12.0 Dia. to 15.0 Dia. Industry, Ltd. JL04-2428CK (17) -R 15.0 Dia. to 18.0 Dia. JL04-2428CK (20) -R 18.0 Dia. to 20.0 Dia. Japan Aviation *: Not compliant with European Safety Standards, but compliant with protective structure IP67. 90 Selecting Cables (3) With Holding Brakes (400 V) Servomotor-end Connector For 1.0 to 5.0 kW Capacity kW 1.0 Servomotor-end Connector Brake Power Supply Connector 10PD-D 2.5 to Plug Straight Plug L-shaped Plug CE05-6A18- CE05-8A18- 10SD-D-BSS 10SD-D-BAS JL04V- JL04V-6A22SE-EB-R JL04V-8A22-22SE-EB-R 6A22- or or 22SE-R JA06A-22-22S-J1-EB-R* JA08A-22-22S-J1-EB-R* CE05- CE05-2A18- to 3.0 Cable-end Connector (Not Provided by Yaskawa) Servomotor-end Connector (Receptacle) 6A1810SD-D JL04HV-2E22- 5.0 22PE-B-R Cable Clamp Applicable Cable Diameter (For Reference) CE3057-10A-1-D 10.5 dia. to 14.1 dia. CE3057-10A-2-D 8.5 dia. to 11.0 dia. CE3057-10A-3-D 6.5 dia. to 8.7 dia. JL04-2022CK(09)-R 6.5 Dia. to 9.5 Dia. JL04-2022CK(12)-R 9.5 Dia. to 13.0 Dia. JL04-2022CK(14)-R 12.9 Dia. to 15.9 Dia. *: Not compliant with European Safety Standards, but compliant with protective structure IP67. Brake Power Supply Connector For 1.0 to 5.0 kW Capacity kW 1.0 to Cable-end Connector (Not provided by Yaskawa) Servomotor-end Connector (Receptacle) CM10-R2P-D 5.0 Straight Plug L-shaped Plug CM10-SP2S-S-D Applicable Cable: 4.0 dia. to 6.0 dia. CM10-AP2S-S-D Applicable Cable: 4.0 dia. to 6.0 dia. CM10-SP2S-M-D Applicable Cable: 6.0 dia. to 9.0 dia. CM10-AP2S-M-D Applicable Cable: 6.0 dia. to 9.0 dia. CM10-SP2S-L-D Applicable Cable: 9.0 dia. to 11.6 dia. CM10-AP2S-L-D Applicable Cable: 9.0 dia. to 11.6 dia. Manufacturer DDK Ltd. To order a brake power supply connecter kit (1.0 to 5.0 kW) with the order no. below, contact your Yaskawa representative. J Z S P - C V B 9 - S M S2 - E Connector Type S: Straight plug A: L-shaped plug Bush Size*1 Contact Pin Size S : Size S (4.0 dia. to 6.0 dia.) S2: Soldered M: Size M (6.0 dia. to 9.0 dia.) C3: Crimping type*2 L : Size L (9.0 dia. to 11.6 dia.) connector kit is available as standard equipment. *12:: AA size-M * crimp tool (model: 357J-50448T) by DDK Ltd. is required. 91 Manufacturer DDK Ltd. Japan Aviation Electronics Industry, Ltd. Servomotors Rotary Motors SGMSV Selecting Cables 1Encoder Cables (Max. length: 20 m) JZSP-CVP11-05-E 10 m JZSP-CVP01-10-E JZSP-CVP11-10-E 15 m JZSP-CVP01-15-E JZSP-CVP11-15-E 20 m JZSP-CVP01-20-E JZSP-CVP11-20-E 3m JZSP-CVP02-03-E JZSP-CVP12-03-E 5m JZSP-CVP02-05-E JZSP-CVP12-05-E 10 m JZSP-CVP02-10-E JZSP-CVP12-10-E 15 m JZSP-CVP02-15-E JZSP-CVP12-15-E 20 m JZSP-CVP02-20-E JZSP-CVP12-20-E 3m JZSP-CVP06-03-E JZSP-CVP26-03-E 5m JZSP-CVP06-05-E JZSP-CVP26-05-E 10 m JZSP-CVP06-10-E JZSP-CVP26-10-E 15 m JZSP-CVP06-15-E JZSP-CVP26-15-E 20 m JZSP-CVP06-20-E JZSP-CVP26-20-E 3m JZSP-CVP07-03-E JZSP-CVP27-03-E 5m JZSP-CVP07-05-E JZSP-CVP27-05-E 10 m JZSP-CVP07-10-E JZSP-CVP27-10-E 15 m JZSP-CVP07-15-E JZSP-CVP27-15-E 20 m JZSP-CVP07-20-E JZSP-CVP27-20-E SERVOPACK End Encoder End L Connector (Crimped) (Molex Japan Co., Ltd.) CM10-SP10S-¡-D (DDK Ltd.) (1) SERVOPACK End Rotary Servomotors JZSP-CVP11-03-E JZSP-CVP01-05-E molex JZSP-CVP01-03-E 5m Details Encoder End L molex 3m Connector (Crimped) (Molex Japan Co., Ltd.) CM10-AP10S-¡-D (DDK Ltd.) SERVOPACK End L Encoder End Battery Case (Battery Attached) Connector CM10-SP10S-¡-D (Crimped)(Molex Japan Co., Ltd.) (DDK Ltd.) SERVOPACK End L (2) Encoder End Battery Case (Battery Attached) Connector CM10-AP10S-¡-D (Crimped)(Molex Japan Co., Ltd.) (DDK Ltd.) Soldered SERVOPACK-end Connector Kit JZSP-CMP9-1-E (3) (Molex Japan Co., Ltd.) JZSP-CVP9-1-E Encoder-end Connectors for Protective Structure IP67 Straight Plug JZSP-CVP9-3-E JZSP-CVP9-2-E Encoder-end Connectors for Protective Structure IP67 L-shaped Plug JZSP-CVP9-4-E Cables Specifications Flexible Type* molex Encoder Cable with Connectors (For Absolute Encoder, with a Battery Case) Order No. Standard Type molex Encoder Cable with Connectors (For Incremental Encoder) Length (L) molex Name Non-Stock Items Connector Specifications Plug: CM10-SP10S-M-D Electrical Contact: (Crimped)** CM10-#22SC(C4)-100 Applicable Cable Diameter: 6.0 dia. to 9.0 dia. + Electrical Contact Connector Specifications Plug: CM10-SP10S-M-D Electrical Contact: (Soldered) CM10-#22SC(S1)-100 Applicable Cable Diameter: 6.0 dia. to 9.0 dia Connector Specifications Plug: CM10-AP10S-M-D Electrical Contact: (Crimped)** CM10-#22SC(C4)-100 Applicable Cable Diameter: 6.0 dia. to 9.0 dia. Connector Specifications Plug: CM10-AP10S-M-D Electrical Contact: (Soldered) CM10-#22SC(S1)-100 Applicable Cable Diameter: 6.0 dia. to 9.0 dia 3m JZSP-CMP09-03-E JZSP-CSP39-03-E 5m JZSP-CMP09-05-E JZSP-CSP39-05-E 10 m JZSP-CMP09-10-E JZSP-CSP39-10-E 15 m JZSP-CMP09-15-E JZSP-CSP39-15-E 20 m JZSP-CMP09-20-E JZSP-CSP39-20-E - (DDK Ltd.) + Electrical Contact - (DDK Ltd.) (4) * Use flexible cables for movable sections such as robot arms. ** A crimp tool (357J-52667T) is required 92 Selecting Cables (1) Wiring Specifications for Cable with Connectors (For incremental encoder) ∙ Standard Type Pin No. Signal 6 /PS 5 PS 4 BAT（−） 3 BAT（+） 2 PG 0V 1 PG 5V Shell FG ∙ Flexible Type Encoder (Servomotor) End SERVOPACK End Pin No. 2 1 5 6 9 4 10 Shield Wire Pin No. Signal 6 /PS 5 PS 4 BAT（−） 3 BAT（+） 2 PG 0V 1 PG 5V Shell FG (2) Wiring Specifications for Cable with Connectors (For absolute encoder, with a battery case) ∙ Standard Type Pin No. Signal 6 /PS 5 PS 4 BAT（−） 3 BAT（+） 2 PG 0V 1 PG 5V Shell FG Battery Case Pin No. Signal Pin No. 2 1 5 6 9 4 10 Shield Wire SERVOPACK End Pin No. Signal 6 /PS 5 PS 4 BAT（−） 3 BAT（+） 2 PG 0V 1 PG 5V Shell FG Wire Color Light blue/white Light blue Orange/white Orange Black Red FG Battery Case Pin No. Signal BAT（−） BAT（+） 2 1 Shield Wire Pin No. 2 1 5 6 9 4 10 Wire Color Black/pink Red/pink Black/light blue Red/light blue Green Orange FG ∙ Flexible Type Encoder (Servomotor) End SERVOPACK End Encoder (Servomotor) End SERVOPACK End Wire Color Light blue/white Light blue Orange/white Orange Black Red FG 2 1 Encoder (Servomotor) End Pin No. Wire Color 2 Black/pink 1 Red/pink 5 Black/light blue 6 Red/light blue 9 Green 4 Orange 10 FG Shield Wire BAT（−） BAT（+） (3) SERVOPACK-end Connector Kit Specifications Items External Dimensions (Units: mm) Specifications JZSP-CMP9-1-E Molex Japan Co., Ltd. 55100-0670 (soldered) (19) Order No. Manufacturer Connector Model (For standard) ５ ６ ３ ４ １ ２ (12) (33) Note: The mating connector model on SERVOPACK: 54280-800 The mating connector model on servomotor: 55102-0600 (4) Cable Specifications Items Order No.* Standard Type Flexible Type JZSP-CMP09-¡¡-E JZSP-CSP39-¡¡-E Cable Length Specifications 20 m max. UL20276 (Max. rating temperature: 80˚C) AWG22×2C + AWG24×2P AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.15 dia. AWG24 (0.20 mm2) Outer diameter of insulating sheath: 1.09 dia. Finished Dimensions 6.5 dia. 6.8 dia. Blue Internal Configuration and Lead Color Yaskawa Standards Specifications (Standard Length) *: Specify the cable length in ¡¡ of order no. Example: JZSP-CMP09-05-E (5 m) 93 UL20276 (Max. rating temperature: 80˚C) AWG22×2C + AWG24×2P AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.35 dia. AWG24 (0.20 mm2) Outer diameter of insulating sheath: 1.21 dia. Blue/ white Red Orange Black/ light blue Black Red/ light blue Orange Orange/ white Black/ pink Cable length: 5 m, 10 m, 15 m, 20 m Green Red/ pink Servomotors Rotary Motors SGMSV Selecting Cables 1Encoder Cables (For extending from 30 to 50 m) Length Order No. Specifications SERVOPACK End Encoder-end Cables (For incremental and absolute encoder) 0.3 m molex JZSP-CVP01-E Plug Connector (Crimped) (Molex Japan Co., Ltd.) 0.3 m SERVOPACK End CM10-SP10S-¡-D (DDK Ltd.) Plug Connector (Crimped) (Molex Japan Co., Ltd.) 40 m JZSP-UCMP00-40-E 50 m JZSP-UCMP00-50-E SERVOPACK End Connector (Crimped) (Molex Japan Co., Ltd.) Relay Cables 30 m JZSP-CMP19-30-E 40 m JZSP-CMP19-40-E 50 m JZSP-CMP19-50-E JZSP-CSP12-E* Encoder End 0.3 m molex 0.3 m (2) Socket Connector (Soldered) (Molex Japan Co., Ltd.) molex SERVOPACK End Cable with a Battery Case (For absolute encoder) Encoder End L molex JZSP-UCMP00-30-E CM10-AP10S-¡-D (DDK Ltd.) molex 30 m (1) Encoder End 0.3 m molex JZSP-CVP02-E Cable with Connectors (For incremental and absolute encoder) Datails Encoder End Rotary Servomotors Name Limited Stock Items Battery Case (Battery attachesl) Socket Connector (Soldered) Connector (Crimped) (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.) (3) (4) *: When using an incremental encoder or using an absolute encoder with a battery connected to the host controller, no battery case is required. (1) Wiring Specifications for Encoder-end Cable (For incremental and absolute encoder) Encoder (Servomotor) End SERVOPACK End Pin No. Signal 6 /PS 5 PS 4 BAT（−） 3 BAT（+） 2 PG 0V 1 PG 5V Shell FG Shield Wire Pin No. 2 1 5 6 9 4 10 Wire Color Light blue/white Light blue Orange/white Orange Black Red FG Note: The signals BAT(+) and BAT(-) are used when using an absolute encoder. (3) Wiring Specifications for Cable with a Battery Case (For absolute encoder) SERVOPACK End Pin No. Signal 6 /PS 5 PS 4 BAT (−) 3 BAT (+) 2 PG 0V 1 PG 5V Shell FG Battery Case Pin No. Signal 2 BAT (−) 1 BAT (+) Shield Wire Encoder (Servomotor) End Pin No. Wire Color 6 Lignt blue/white 5 Light blue 4 Orange/white 3 Orange 2 Black 1 Red Shell FG (2) Wiring Specifications for Cable with Connectors (For incremental and absolute encoder) SERVOPACK End Pin No. Signal 6 /PS 5 PS 4 BAT (−) 3 BAT (+) 2 PG 0V 1 PG 5V Shell FG Shield Wire Encoder (Servomotor) End Pin No. Wire Color 6 Light blue/white 5 Light blue 4 Orange/white 3 Orange 2 Black 1 Red Shell FG (4) Relay Encoder Cable Specifications Item Standard Type Order No.* JZSP-CMP19-¡¡-E Cable Length Specifications 50 m max. UL20276 (Max. rating temperature: 80˚C) AWG16×2C+AWG26×2P AWG16 (1.31 mm2) Outer diameter of insulating sheath: 2.0 dia. mm AWG26 (0.13 mm2) Outer diameter of insulating sheath: 0.91 dia. mm Finished Dimensions Internal Configuration and Lead Colors Yaskawa Standard Specifications (Standard Length) 6.8 dia. Orange Orange /white Black Red Light Blue Light Blue /white Cable length: 30 m, 40 m, 50 m *: Specify the cable length in ¡¡ of order no. Example: JZSP-CMP19-30-E (30 m) 94 Rotary Servomotor General Instructions 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. (1) Installation Environment Items Condition Ambient Temperature 0 to 40˚C (no freezing) Ambient Humidity 20% to 80%RH (no condensation) Installation Site ∙ Free of corrosive or explosive gases. ∙ Well-ventilated and free of dust and moisture. ∙ Facilitates inspection and cleaning. ∙ Elevation :1,000 m max. ∙ Free of high magnetic field Storage Environment Store the servomotor in the following environment if it is stored with the power cable disconnected. Ambient temperature during storage: -20 to +60˚C (no freezing) Ambient humidity during storage: 20% to 80%RH (no condensation) (2) Enclosure The servomotor enclosure* is described table as follows. Model SGMAV，SGMJV SGMPS Flange Without Gears With Gears IP65 IP55 IP55 IP67 (optional) IP55 SGMGV IP67 – SGMSV IP67 (SGMSV-70 servomotor only: IP22) – Through shaft section This refers to the gap where the shaft protrudes from the end of the motor. Shaft *: Except through shaft section. The enclosure specification can be satisfied only when using a specified cable. 3Do not use servomotors in a location that is subject to oil. If the servomotor is used in a location that is subject to water or oil mist, order a servomotor with an oil seal to seal the through shaft section. Precautions on Using Servomotor with Oil Seal: 3Put the oil surface under the oil seal lip. 3Use an oil seal in favorably lubricated condition. 3When using a servomotor with its shaft upward direction, be sure that oil will not stay in the oil seal lips. (3) Orientation 3Servomotors can be installed either horizontally or vertically. When installing servomotors vertically, make cable traps to keep out water. When mounting servomotors with the shaft up, take measures with the connected machine to prevent oil from getting into the servomotors through gear boxes etc. 95 Horizontal Vertical Cable Trap Servomotors General Instructions Rotary Motors (4) Alignment Align the shaft of the servomotor with the shaft of the equipment, and then couple the shafts. 1 Install the servomotor so that alignment accuracy falls within the following range. Vibration that will damage the bearings and encoders if the shafts are not properly aligned. Alignment Accuracy *: Measure this distance at * Coupling * four different positions on the circumference. The difference between the maximum and minimum measurements must be 0.03 mm or less. Note: Turn together with coupling. 2 Do not allow any direct impact to the shafts when installing the couplings. Do not hit the area near encoders with a hammer etc., as impacts may damage the encoders. 3 Before installation, thoroughly remove the anticorrosive paint from the end of the motor shaft. Only after removing the paint can servomotors be installed on the machines. Rotary Servomotor General Instructions IMPORTANT Anticorrosive paint is coated here. (5) Cable Stress 3Make sure there is no bending or tension on the cables themselves, the connections, or the cable lead inlets. Be especially careful to wire encoder cables so that they are not subject to stress because the core wires of encoder cables and main circuit cables are very thin at only 0.2 to 0.3 mm2. (6) Connectors Observe the following precautions: 3When the connectors are connected to the motor, be sure to connect the end of motor main circuit cables before connecting the encoder cable’s end. If the encoder cable’s end is connected, the encoder may break because of the voltage differences between FG. 3Make sure there is no foreign matters such as dust and metal chips in the connector before connecting. 3Do not apply shock to resin connectors. Otherwise, they may be damaged. 3Make sure of the pin arrangement. 3Be sure not to apply stress on the connector, when using flexible cables. The connector may be damaged by stress. 3When handling a servomotor with its cables connected, hold the servomotor or the connectors and cables will be damaged. 3Fix the cable connector to SGMJV, SGMAV, SGMPS-01/-02/-04 or SGMGV-03/-05 servomotors with screws. Refer to “Cable connections to SGMJV, SGMAV and SGMPS servomotors” or “Cable connections to SGMGV-03/-05 servomotors.”Make sure that the connector is securely fixed with screws. 3If connectors are not connected properly, the protective structure specifications may not be satisfied. 96 Cable Connections to SGMJV, SGMAV and SGMPS Servomotors Connect the main circuit cable and encoder cable to SGMJV, SGMAV or SGMPS-01/-02/-04 servomotor in the following manner. CAUTION Do not directly touch the connector pins provided with the servomotor. Particularly, the encoder may be damaged by static electricity, etc. STEP1 Remove the protective tape and cap from the servomotor connector. Cap Protective Tape STEP2 Mount the cable connector on the servomotor and fix it with screws as shown in the figure below. Encoder Cable For all models 2-M2 pan-head screws Tightening torque: 0.15 N†m U Rubber Packing V W Servomotor Main Circuit Cable 2-M2 Tapped Holes 2-M2 Tapped Holes ・For 550 W or less servomotors G 2-M2 pan-head screws Tightening torque: 0.15 N†m ・For 750 W or more servomotors 2-M2.5 pan-head screws Tightening torque: 0.33 N†m IMPORTANT 3First, connect the servomotor to the servomotor main circuit cable end. 3Do not remove the rubber packing. Mount the connector so that the rubber packing is seated properly. If the rubber packing is not seated properly, the requirements for the protective structure specifications may not be met. 97 Servomotors General Instructions Rotary Motors Cable Connections to SGMGV-03/-05 Servomotors Connect the main circuit cable and encoder cable to SGMGV-03/-05 servomotor in the following manner. CAUTION STEP1 Remove the protective cap from the servomotor connector. Protective Cap STEP2 Mount the cable connector on the servomotor and fix it with screws as shown in the figure below. Rotary Servomotor General Instructions Do not directly touch the connector pins provided with the servomotor. Particularly, the encoder may be damaged by static electricity, etc. molex Encoder Cable û All models U O-ring V W G Servomotor Main Circuit Cable û SGMGV-03/-05 4-M3 pan-head screws Tightening torque: 0.44 Nûm Lead on Non-load Side Lead on Load Side IMPORTANT 3First, connect the servomotor to the servomotor main circuit cable end. 3Do not remove the O-ring. Mount the connector so that the O-ring is seated properly. If the O-ring is not seated properly, the requirements for the protective structure specifications may not be met. 98 Mechanical Specifications 1Mechanical Tolerance(T.I.R. : Total lndicator Reading) The following figure shows tolerances for the servomotor’s output shaft and installation area. For more details on tolerances, refer to the external dimensions of the individual servomotor. Perpendicularity between the flange face and output shaft 0.04 A Run-out at the end of the shaft 0.02 A Mating concentricity of the flange O.D. 0.04 Dia. A 1Direction of Servomotor Rotation Positive rotation of the servomotor without a gear is counterclockwise when viewed from the load. Counterclockwise Refer to Ratings and Specifications for each series regarding rotation direction of the servomotor with a gear. The direction of rotation can be reversed by changing the SERVOPACK parameters. 1Shock Resistance Mount the servomotor with the axis horizontal. The servomotor will withstand the following vertical impacts: 3Impact Acceleration: 490 m/s2 3Impact occurrences: 2 Vertical Impact Applied to the Servomotor 1Vibration Resistance Front to Back Side to Side Vertical 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. Servomotor Model Horizontal Impact Applied to the Servomotor Vibration Acceleration at Flange SGMJV, SGMAV, SGMPS 49 m/s2 SGMGV -03 to -44, SGMSV -10 to -50 49 m/s2 (Front to back direction: 24.5 m/s2) SGMGV -55 to -1E 24.5 m/s2 SGMSV -70 14.7 m/s2 The amount of vibration the servomotor endures will vary depending on the application. Check the vibration IMPORTANT acceleration being applied to your servomotor for each application. 1Vibration Class The vibration class for the servomotors at rated motor speed is V15. (A vibration class of V15 indicates a total vibration amplitude of 15 μ m maximum on the servomotor during rated rotation.) Rotor Moment of Inertia Small-capacity servomotors come in a medium inertia series “SGMJV servomotor,” “SGMPS servomotor” and low inertia series “SGMAV servomotor.” The rotor moment of inertia of SGMJV servomotor and SGMPS servomotor are twice as large as that of SGMAV. Select servomotors based on the specifications of your devices, such as load moment of inertia or machine rigidity. 3 When the rotor moment of inertia is large: Servomotors are capable of corresponding load changes. This has the benefit of reducing settling time and speed ripple. This should also improve control stability of machines with low rigidity. 3 When mounting the servomotor with low rotor moment of inertia to devices with load moment of inertia: Acceleration/deceleration torque increases and effective load ratio increases. Check the effective load ratio when you select motor capacity. 99 Servomotors General Instructions Rotary Motors Servomotor Heating Conditions The motor rated specifications are continuous allowable values at an ambient temperature of 40˚C when servomotors are installed with heat sinks. When the motor is mounted on a small surface, the motor temperature may rise considerably because of the limited heat radiating abilities of the surface. See the following graph for the relation between heat sink size and derating (derating ratio). SGMJV-02 80% 80% 60% 40% SGMJV-04 60% 40% 0 50 100 150 200 Heat Sink (mm) 20% 250 0 SGMAV-A5/-01 SGMAV-C2 60% 40% 100 150 200 Heat Sink (mm) 20% 250 100% 80% 80% 60% 40% 50 100 150 200 Heat Sink (mm) 20% 250 0 80% Derating 80% 40% 50 100 150 200 Heat Sink (mm) 20% 50 250 50 100 150 200 250 300 SGMPS-08 80% SGMPS-04 60% 20% 100 150 200 250 Heat Sink (mm) 100% 40% 0 SGMAV-10 60% SGMPS-02 100% 60% 300 40% SGMPS-01 20% 100 150 200 250 Heat Sink (mm) SGMAV-08 100% 100% Derating 50 Derating Derating Derating 80% 0 60% SGMAV-02/-04/-06 100% 20% 80% 40% Derating 20% SGMJV-08 100% Derating 100% Derating Derating SGMJV-A5/-01 100% Rotary Servomotor General Instructions IMPORTANT The actual temperature rise depends on how the heat sink (servomotor mounting section) is fixed on the installation surface, what material is used for the motor mounting section, and motor speed. Always check the actual motor temperature. SGMPS-15 60% 40% 0 50 Heat Sink (mm) 100 150 200 250 20% 50 100 150 Heat Sink (mm) 200 250 300 Heat Sink (mm) Holding Brake Delay Time Holding brakes have motion delay time that varies depending on when the brake is open and when the brake is operating. The following table shows the brake delay time of each servomotor. IMPORTANT Make sure the holding brake delay time is correct for your servomotor. 3 Example, switching the holding brakes on the DC side Model SGMAV-A5 to -04 SGMAV-06 to -10 SGMJV-A5 to -04 SGMJV-08 SGMPS-01, -08 SGMPS-02, -04, -15 Voltage 24 V 24 V 24 V Brake Open Time ms Brake Operation Time ms Model Voltage Brake Open Time ms Brake Operation Time ms 60 100 SGMGV-03 to -20 100 80 80 100 SGMGV-30,-44 170 100 (24 V), 80 (90 V) 60 100 SGMGV-55,-75,-1A 24 V, 170 80 80 100 SGMGV-1E 90 V 250 80 20 100 SGMSV-10 to -25 170 80 40 100 SGMSV-30 to -50 100 80 100 Rotary Cables with Model Numbers Beginning with "JZSP" 1Standard Cables Standard servomotor main circuit cables, encoder cables, and relay cables cannot be used in cases where high flexibility is needed, as when the cables themselves move or are twisted or turned. Recommended minimum bend radius of standard cables: R = radius (of cable) x 15. Use flexible cables for flexible applications. 1Flexible Cables (1) Life of Flexible Cable The flexible cable supports 10,000,000 or more operations of bending life with the recommended bending radius R = 90 mm under the following test conditions. 3Conditions 1 Repeat moving one end of the cable forward and backward for 320 mm using the test equipment shown in the following figure. 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 reciprocation is counted as one test. Shifting Distance 320 mm Shifting End Bending Radius R=90 mm Fixed End Notes: 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 followed 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 cause 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. Do not put stress on the servomotor-end and SERVOPACK-end connectors. (c) Cable length If the cable length is too long, it may result the cable sagging. If the cable length is too short, excessive tension on the fixed points 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. 101 Servomotors General Instructions Rotary Motors Rotary Cables with Model Numbers NOT Beginning with "JZSP" 1Standard Cables Model B1EV Recommended Bend Radius (mm) 72 Outer Diameter (mm) 14.4 B2EV B3EV B4EV B5EV B6EV B7EV B6EP B7EP BABEV BCBEV BDBEV BBEV BFEV 82 119.5 89.5 191.8 226.1 151.2 201.6 87.65 94.6 107.3 35.2 47.24 16.4 23.9 17.9 27.4 32.3 25.2 33.6 17.53 18.92 21.46 8.8 11.81 Note: All models in the chart refer to the first set of characters of the cable’s model number. 1Flexible Cables (1) Life of Flexible Cable The flexible cable supports several million cycles or more of bending life with the recommended bending radius under the following test conditions. 3Conditions 1 Repeat moving one end of the cable forward and backward for 500 mm using the test equipment shown in the following figure. 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 reciprocation is counted as one cycle. Shifting Distance 500 mm Rotary Servomotor General Instructions Standard servomotor main circuit cables, encoder cables, and relay cables cannot be used in cases where high flexibility is needed, as when the cables themselves move or are twisted or turned. Use flexible cables for flexible applications. For bend radius, refer to the following chart. Shifting End Bending Radius Fixed End Notes: 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 affect the performance of cable sheathing are caused. Disconnecting the shield wire is not taken into account. (2) Specific Cable Details The following chart contains details for each flexible cable with model not beginning with “JZSP” Model B1EP Recommended Bend Radius (mm) 140 165 Outer Diameter (mm) 14.0 16.5 Cycles (million) B2EP B3EP 8-20 B4EP B5EP BABEP BCBEP BDBEP BBEP 224 191 180 177.1 190.3 50 22.4 19.1 15.0 16.1 17.3 7.7 9 10 Note: All models in the chart refer to the first set of characters of the cable’s model number.. (3) Wiring Precautions Even if the recommended bending radius is followed in the mechanical design, incorrect wiring may cause early disconnection. Observe the following precautions when wiring. (a) Cable twisting Straighten the flexible cables wiring. Twisted cables cause early disconnection. Check the indication on the cable surface to make sure 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. Do not put stress on the servomotor-end and SERVOPACK-end connectors. (c) Cable length If the cable length is too long, it may result in the cable sagging. If the cable length is too short, excessive tension on the fixed points will cause 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. 102 Battery Case 1Battery Case (Model: JUSP-BA01-E) Use this battery case if your battery case needs replacing due to damage etc.. This battery case cannot be used with an incremental encoder cable. IMPORTANT 1 The battery case (JUSP-BA01-E) is not provided with a battery. A battery must be purchased separately. 2 Install the battery case where the ambient temperature is between 0˚C to 55˚C. Absolute encoder cable Note: Cable and connector to connect encoder cable and battery case are not included. SERVOPACK-end Connector JZSP-CSP04-¡¡-E 05-¡¡-E 06-¡¡-E 07-¡¡-E JUSP-CVP¡6-¡¡-E ¡7-¡¡-E Mount a battery (JZSP-BA01). Battery Case (JUSP-BA01-E) (1) Mounting a Battery in a Battery Case Prepare a lithium battery (JZSP-BA01) and mount in a battery case. 2 1 Red Red Connector ER3 V Lithium Battery (3.6 V, 1000 mAh, manufactured by Toshiba Battery Co., Ltd.) (2) Connecting a Battery to the Host Controller Use a battery that meets the specifications of the host controller. Use an ER6VC3N (3.6 V, 2000 mAh, manufactured by Toshiba Battery Co., Ltd.) or equivalent battery. 103 General Instructions Rotary Motors Rotary Servomotor General Instructions Servomotors 104 Direct Drive Servomotors SGMCS Model Designations SGMCS - 02 Direct Drive Servomotor 1st+2nd digits B 3 C 1 1 3rd digit 4th digit 5th digit 6th digit 7th digit SGMCS 1st+2nd digits Rated Torque 1Small-capacity Code Specifications Code Motor Outer Diameter Specifications B 135 dia. mm 5th digit Design Revision Order Code Specifications A Model of servomotor outer diameter code M, N C 175 dia. mm B Model of servomotor outer diameter code E 02 2.0 N∙m D 230 dia. mm C Model of servomotor outer diameter code B, C, D 04 4.0 N∙m E 290 dia. mm 05 5.0 N∙m M 280 dia. mm 07 7.0 N∙m N 360 dia. mm 08 8.0 N∙m 10 10 N∙m 14 14 N∙m 16 16 N∙m 17 17 N∙m 25 25 N∙m 35 35 N∙m 1Medium-capacity Code 105 3th digit 4th digit Code 3 D Encoder Specifications 45 N∙m 80 80 N∙m Flange Specifications Specifications Specifications 20-bit absolute (without multiturn data) (standard) 20-bit incremental (option) Motor Outer Diameter Code (3rd digit) Flange Specifications Code B C D E M Non-load side Mounted Side ○ ○ ○ ○ – – load end – – – – ○ ○ – 1 C-face 3 C-face Non-load side – – – – ○ ○ C-face Non-load side (with cable on side) ○ ○ ○ ○ – 4 ○ : Applicable Model Specifications 45 6th digit 7th digit NOTE: Shaded items are non-stock. 1A 110 N∙m Code 1E 150 N∙m 1 2Z 200 N∙m Option Specifications Without options N ダイレクトドライブサーボモータ 回転形 SGMCS形 Features Application Examples 1Directly coupled to a load without a mechanical transmission such as a gear. 1Semiconductor equipment 1LCD manufacturing equipment 1Powerful and smooth operation throughout the speed range from low to high. 1Units for inspection and testing (Instantaneous peak torque: 6 to 600 N∙m maximum speed: 250 to 500 min-1) 1Electronic parts assembling machines 1High-resolution, 20-bit encoder for highly precise indexing. 1IC handlers 1Easy wiring and piping with the hollow structure. 1Inspection units for integrated circuits Direct Drive Servomotors 1Automated machines 1Robots Rated Torque / Peak Torque 1Small-capacity 1Medium-capacity Inst. Peak Torque Rated Torque Inst. Peak Torque Rated Torque Outer Diameter 280 mm, Inner Diameter 75 mm Outer Diameter 135 mm, Inner Diameter 20 mm SGMCS-02B SGMCS-05B SGMCS-07B （Rated Torque 2.0 / Inst. Peak Torque 6.0 N・m） SGMCS-45M （5.0/15.0） (110/330) SGMCS-1AM 40 60 80 N・m 200 （4.0/12.0） (80/240) SGMCS-80N （10.0/30.0） (150/450) SGMCS-1EN （14.0/42.0） SGMCS-14C 600 N・m 400 Outer Diameter 360 mm, Inner Diameter 118 mm Outer Diameter 175 mm, Inner Diameter 35 mm SGMCS-10C (80/240) SGMCS-80M （7.0/21.0） 20 SGMCS-04C (Rated Torque 45 / Inst. Peak Torque 135 N・m) SGMCS-2ZN (200/600) 20 40 60 80 N・m 200 400 600 N・m Outer Diameter 230 mm, Inner Diameter 60 mm （8.0/24.0） SGMCS-08D （17.0/51.0） SGMCS-17D （25.0/75.0） SGMCS-25D 20 40 60 80 N・m Outer Diameter 290 mm, Inner Diameter 75 mm （16.0/48.0） SGMCS-16E SGMCS-35E （35.0/105.0） 20 40 60 80 100 N・m 106 Ratings and Specifications 1Small-capacity Series Withstand Voltage: 1500 VAC for one minute Enclosure: Totally enclosed, self-cooled, IP42 (except for gaps on the rotating section of the shaft) Ambient Humidity: 20% to 80% (no condensation) Drive Method: Direct drive Rotation Direction: C ounterclockwise (CCW) with forward run reference when viewed from the load side Time Rating: Continuous Vibration Class: V15 Insulation Resistance: 500 VDC, 10 MΩ min. Ambient Temperature: 0 to 40˚C Excitation: Permanent magnet Mounting: Flange method Thermal Class: A Voltage 200 V Servomotor Model SGMCS-¡¡¡¡¡ 02B¡C 05B¡C 07B¡C 04C¡C 10C¡C 14C¡C 08D¡C 17D¡C 25D¡C 16E¡B Rated Output*1 W 42 105 147 84 209 293 168 356 393 335 35E¡B 550 Rated Torque*1, *2 N∙m 2.0 5.0 7.0 4.0 10.0 14.0 8.0 17.0 25.0 16.0 35.0 Instantaneous Peak Torque*1 N∙m 6.0 15.0 21.0 12.0 30.0 42.0 24.0 51.0 75.0 48.0 105 Stall Torque*1 N∙m 2.05 5.15 7.32 4.09 10.1 14.2 8.23 17.4 25.4 16.5 35.6 Rated Current*1 Arms 1.8 1.7 1.4 2.2 2.2 2.8 1.9 2.5 2.6 3.3 3.5 Instantaneous Max. Current*1 Arms 5.4 5.1 4.1 7.0 7.0 8.3 5.6 7.5 8.0 9.4 10.0 Rated Speed*1 min-1 200 150 200 150 Max. Speed*1 min-1 500 500 350 250 500 250 Torque Constant N∙m/Arms Rotor Moment of Inertia ×10-4 kg∙m2 Rated Power Rate*1 kW/s 1.4 4.9 6.4 2.1 7.1 8.9 2.2 Rated Angular Acceleration*1 rad/s2 710 980 910 520 710 640 280 Absolute Accuracy arc-sec Repeatability arc-sec ±1.3 ±1.3 ±1.3 ±1.3 Applicable SERVOPACK SGDV-¡¡¡¡ 2R8A 2R8A 2R8A 5R5A 200 200 500 400 300 1.18 3.17 5.44 2.04 5.05 5.39 5.1 7.8 10.8 5.58 11.1 28 51 77 77 140 220 285 510 750 930 1430 5.7 8.3 2.75 8.57 330 330 170 ±15 ±15 ±15 240 ±15 *1: These items and torque-motor speed characteristics quoted in combination with an SGDV SERVOPACK are at an armature winding temperature of 100˚C. Other values quoted at 20˚C. *2: Rated torques are continuous allowable torque values at 40˚C with a steel heat sink attached. Heat sink: SGMCS-¡¡B : 350 mm × 350 mm × 12 mm SGMCS-¡¡C : 450 mm × 450 mm × 12 mm SGMCS-¡¡D : 550 mm × 550 mm × 12 mm SGMCS-¡¡E : 650 mm × 650 mm × 12 mm Notes: 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. 107 0 1.5 3.0 4.5 6.0 7.5 Torque (N・m) 500 SGMCS-10C 400 300 200 100 A 0 0 500 B 6 12 18 24 30 Torque (N・m) SGMCS-25D 400 300 200 100 Motor Speed (min-1) A B 0 0 15 30 45 60 75 Torque (N・m) 200 0 B A 100 0 3 6 9 12 15 Torque (N・m) SGMCS-14C 500 400 300 200 A 100 0 B 0 10 20 30 40 50 Torque (N・m) SGMCS-16E 500 400 300 200 A 100 0 0 B 9 18 27 36 45 Torque (N・m) : Intermittent Duty Zone(Note2) SGMCS-07B 500 400 300 200 A 100 0 B 5 10 15 20 25 Torque (N・m) 0 SGMCS-08D 500 400 300 200 A 100 0 Motor Speed (min-1) 0 B 300 B 0 B 6 12 18 24 30 Torque (N・m) Motor Speed (min-1) A 100 400 Motor Speed (min-1) 200 SGMCS-05B 500 : Continuous Duty Zone Motor Speed (min-1) 300 A Motor Speed (min-1) 400 Motor Speed (min-1) SGMCS-02B 500 Motor Speed (min-1) Motor Speed (min-1) Motor Speed (min-1) Motor Speed (min-1) 1Small-capacity Series: Torque-Motor Speed Characteristics SGMCS-04C 500 400 300 200 0 500 B A 100 3 6 9 12 15 Torque (N・m) 0 SGMCS-17D 400 300 200 100 0 A B 0 12 24 36 48 60 Torque (N・m) SGMCS-35E 500 400 300 200 100 0 A B 0 20 40 60 80 100 Torque (N・m) Notes: 1 The solid, dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations: ∙ The solid line: With a three-phase 200 V SERVOPACK ∙ The dotted line: With a single-phase 100 V SERVOPACK 2 When the effective torque during intermittent duty is within the rated torque, the servomotor can be used within the intermittent duty zone. 3 W hen the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops. Direct Drive Servomotors Rotary Motors SGMCS Ratings and Specifications 1Medium-capacity Series Withstand Voltage: 1500 VAC for one minute Enclosure: Totally enclosed, self-cooled, IP44 (except for shaft opening) Ambient Humidity: 20% to 80% (no condensation) Drive Method: Direct drive Rotation Direction: C ounterclockwise (CCW) with forward run reference when viewed from the load side Time Rating: Continuous Vibration Class: V15 Insulation Resistance: 500 VDC, 10 MΩ min. Ambient Temperature: 0 to 40˚C Excitation: Permanent magnet Mounting: Flange method Thermal Class: F 200 V Servomotor Model SGMCS-¡¡¡¡¡ 45M¡Ａ 80M¡Ａ 1AM¡Ａ 80N¡Ａ 1EN¡Ａ 2ZN¡Ａ Rated Output*1 W 707 1260 1730 1260 2360 3140 Rated Torque*1, *2 N∙m 45 80 110 80 150 200 Instantaneous Peak Torque*1 N∙m 135 240 330 240 450 600 Stall Torque*1 N∙m 45 80 110 80 150 200 Rated Current*1 Arms 5.80 9.74 13.4 9.35 17.4 18.9 Instantaneous Max. Current*1 Arms 17 28 42 28 56 56 Rated Speed*1 min-1 Max. Speed*1 min-1 Torque Constant N∙m/Arms 8.39 8.91 8.45 9.08 9.05 11.5 Rotor Moment of Inertia ×10-4 kg∙m2 388 627 865 1360 2470 3060 Rated Power Rate*1 kW/s 52.2 102 140 47.1 91.1 131 Rated Angular Acceleration*1 rad/s2 1160 1280 1270 588 607 654 Applicable SERVOPACK SGDV-¡¡¡¡ 7R6A 120A 180A 120A 200A 200A Direct Drive Servomotors Voltage 150 300 250 SGMCS-45M SGMCS-80M 1Medium-capacity Series: Torque-Motor Speed Characteristics 0 0 150 SGMCS-45M SGMCS-1AM 200 200 100 100 0 00 0 300 300 A A B B 50 100 150 100 200(N・300 Torque m) 400 Torque (N・m) SGMCS-1AM SGMCS-1EN 200 200 100 100 A A B B 0 00 100 200 300 400 0 100 200 300 400 (N・m ) 500 Torque Torque (N・m) -1) -1) (min (min Motor Motor Speed Speed 300 300 50 100 Torque (N・m) -1) -1) (min (min Motor Motor Speed Speed -1) -1) (min (min Motor Motor Speed Speed -1) -1) (min (min Motor Motor Speed Speed 0 0 300 300 A 100 200 Torque (N・m) 0 00 0 300 300 B B 100 200 100 (N 200 ・m) Torque Torque (N・m) 300 300 SGMCS-80N SGMCS-2ZN 200 200 100 100 A A B B 0 : Continuous Duty 0 Zone 50 SGMCS-80M SGMCS-80N A A A B 0 100 200 300 00 0 200 400(N・600 Torque m) 800 Torque (N・m) 100 A B 0 (Note1) B : Intermittent Duty Zone 0 100 200 100 150 Torque (N・m) Torque (N・m) 300 200 200 100 100 100 Motor Speed (min-1) B 300 SGMCS-1AM 200 100 0 0 300 A B 100 200 300 400 Torque (N・m) SGMCS-1EN 200 100 Motor Speed (min-1) A A B 0 0 100 200 300 400 500 Torque (N・m) 300 300 SGMCS-80N 200 100 A 0 0 300 Motor Speed (min-1) 100 Motor Speed (min-1) B Motor Speed (min-1) A Motor Speed (min-1) 100 Motor Speed (min-1) Motor Speed (min-1) 45Mspeed characteristics quoted 80Mwith an SGDV SERVOPACK SGMCSSGMCSThese items and torque-motor in combination are at an armature winding temperature 300 300 of 20˚C. 300 300 at 40˚C with a steel heat sink attached. Rated torques are continuous allowable torque values Heat sink: 750 mm × 750 mm × 45 mm 200 200 Notes: 1 SGMCS servomotor with holding brake is not available. 200 200 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: *2: B 100 200 Torque (N・m) 300 SGMCS-2ZN 200 100 0 0 A B 200 400 600 800 Torque (N・m) 200 100 A B 0 0 100 200 300 400 500 Torque (N・m) Motor Speed (min-1) Motor Speed (min-1) 1ENduring intermittent duty is within 2ZN SGMCSNotes: 1 When theSGMCSeffective torque the rated torque, the servomotor can be used within the intermittent duty zone. 300 2 W 300 hen the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops. 200 100 0 0 A B 200 400 600 800 Torque (N・m) 108 Ratings and Specifications 1Allowable Load Moment of Inertia at the Motor Shaft Rated Torque N∙m Servomotor Model 02B¡C, 05B¡C, 07B¡C, 04C¡C SGMCS- 2.0, 5.0, 7.0, 4.0 Allowable Load Moment of Inertia (Rotor Moment of Inertia Ratio) 10 times 10C¡C 10.0 5 times 14C¡C, 08D¡C, 17D¡C, 25D¡C, 16E¡B, 35E¡B 14.0, 8.0, 17.0, 25.0, 16.0, 35.0 3 times 45M¡A, 80M¡A, 1AM¡A, 80N¡A, 1EN¡A, 2ZN¡A 45, 80, 110, 150, 200 3 times 1Load Moment of Inertia The larger the load moment of inertia, the worse the movement response. The allowable load moment of inertia (JL) depends on motor capacity, as shown above. This value is provided strictly as a guideline and results may vary depending on servomotor drive conditions. Use the AC servo drive capacity selection program SigmaJunmaSize+ to check the operation conditions. The program can be downloaded for free from our web site (http://www.e-mechatronics.com/). An overvoltage alarm (A.400) 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 regenerative overload alarm (A.320). Take one of the following steps if this occurs. ∙ Reduce the torque limit. ∙ Reduce the deceleration rate. ∙ Reduce the maximum speed. ∙ Install an external regenerative resistor if the alarm cannot be cleared using the steps above. Refer to Regenerative Resistors on page 386. 109 Direct Drive Servomotors Rotary Motors SGMCS Mechanical Specifications 1Allowable 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. L F F Where F is external force, Thrust load: Fa=F+Load mass Moment load: M=0 Servomotor Model SGMCS-¡ Dimension A 05B mm N Allowable Moment Load (M) N∙m A (See the table below for the dimension A of each servomotor model.) Where F is external force, Thrust load: Fa=Load mass Moment load: M=F×(L+A) Where F is external force, Thrust load: Fa=F+Load mass Moment load: M=F×L 02B Allowable Thrust Load (Fa) L 40 07B 04C 10C 14C 08D 17D 25D 16E 35E 45M 80M 1AM 80N 1EN 2ZN 0 0 0 0 33 37.5 1500 3300 4000 11000 9000 16000 180 350 50 64 70 75 90 93 103 135 250 320 Direct Drive Servomotors F Note: SGMCS-02B to -35E servomotors, set dimensions A to 0 (zero). 1Mechanical Tolerance The following table shows tolerances for the servomotor’s output shaft and installation area. See the dimensional drawing of the individual servomotor for more details on tolerances. (1) Small-capacity Series ② A ¡ Dia. B Servomotor Model SGMCS- Tolerance T.I.R. (Total Indicator Reading) Units: mm ① 02B 05B 07B 04C 10C 14C 08D 17D 25D 16E 35E Drive End Run-out of the Surface of the Shaft 0.02 0.02 0.02 0.02 Run-out at the End of the Shaft 0.04 0.04 0.04 0.04 Opposite Drive End ④ Dia. A Perpendicularity between the Flange Face and Output Shaft 0.07 0.07 0.08 0.08 Coaxiality of Output Axis and Mounting Socket Joint 0.07 0.07 0.08 0.08 ¡ Dia. ③ B (2) Medium-capacity Series ④ Dia. A B A ② Drive End ¡ Dia. ¡ Dia. ¡ Dia. Servomotor Model SGMCS- Tolerance T.I.R. (Total Indicator Reading) Units: mm B ② ① ⑤A B Opposite Drive End Medium-capacity Series 24.5 m/s2 1EN Run-out at the End of the Shaft 0.04 0.04 Perpendicularity between the Flange Face and Output Shaft − − Coaxiality of Output Axis and Mounting Socket Joint 0.08 0.08 Right angle between Flange Face and Output Shaft 0.08 0.08 1Impact Resistance Mount the servomotor with the axis horizontal. The servomotor will withstand the following vertical impacts: ∙ Impact Acceleration: 490 m/s2 ∙ Number of Impacts: 2 2ZN Vertical Impact applied to the servomotor 1Vibration Class 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. 49 m/s2 80N 0.02 1Vibration Resistance Small-capacity Series 1AM 0.02 Positive rotation of the servomotor is counterclockwise when viewed from the load. Vibration Acceleration at Flange 80M Run-out of the Surface of the Shaft 1Direction of Rotation Servomotor Type 45M Vertical Front to back Side to Side Vibration applied to the servomotor The vibration class at rated motor speed is V15. (A vibration class of V15 indicates a total vibration amplitude of 15 µm maximum on the servomotor during rated rotation.) 1Enclosure Servomotor Type Enclosure Small-capacity Series IP42 (except for gaps on the rotating section of the shaft) Medium-capacity Series IP44 110 External Dimensions Units: mm 1Small-capacity Series (1) Rated Torque 2.0 to 7.0 N∙m (Outer Diameter 135 mm Inner Diameter 20 mm) ∙ Applicable Flange: 1 6 × M4 Tapped Holes, Depth 8 0.07 B (Divided into six equal sections of sixty degrees) L (LL) 4 4±0.9 B 6 × M4 Tapped Holes, Depth 8 (Divided into six equal sections of sixty degrees) 0.02 90 D ia. 0.07 Dia. A Na .4 25 23 .4 R4 0 Con .5 MA nec X. tor Are a me pla te (0.5: Bolt Section) (1) (9) *1 *2 A Nameplate 90˚ 100 - 00.035 Dia. (70 Dia.) 135 Dia. ia. R26 120 - 00.035 Dia. 90 D 20+0.4 0 Dia. *1 0.04 Model SGMCS- L (LL) Approx. Mass kg 02B¡C11 59 51 4.8 05B¡C11 88 80 5.8 07B¡C11 128 120 8.2 *1 The shaded section shows the rotating section. *2 The hatched section shows the non-rotating section. ∙ Applicable Flange: 4 300±50 (35) 4±0.9 B 0.02 6 × M4 Tapped Holes, Depth 8 (Divided into six equal sections of sixty degrees) 20 0.07 Dia. A *1 Dia 135 Dia. 0 120 - 0.035 Dia. (80 Dia.) 90 . (0.5:Bolt Section) 0.1 20+0.4 0 Dia. (70 Dia.) 100 - 00.035 Dia. 90 6 × M4 Tapped Holes, Depth 8 (Divided into six equal sections of sixty degrees) L (LL) 4 a. 10 (22) 0.07 B Di 50 30 (1) *2 *1 A 0.04 Nameplate Nameplate Model SGMCS- L (LL) Approx. Mass kg 02B¡C41 59 51 4.8 05B¡C41 88 80 5.8 07B¡C41 128 120 8.2 *1 The shaded section shows the rotating section. *2 The hatched section shows the non-rotating section. 2Servomotor Connector for Small-capacity Series Servomotors (Applicable Flange: 1) Servomotor-end Connector Specifications 1 3 2 4 Encoder-end Connector Specifications 1 3 4 7 8 10 Model: JN1AS10ML1 Manufacturer: Japan Aviation Electronics Industry, Ltd. Applicable plug: JN1DS10SL1 (Provided by the customer.) 1 Phase U Red 1 PS Light blue 6 – – 2 Phase V White 2 /PS Light blue/ white 7 FG (Frame ground) Shield 3 Phase W Blue 3 – – 8 – – FG Green 4 PG5V Red 9 PG0V Black (Frame ground) (yellow) 5 – – 10 – – 4 111 Model: JN1AS04MK2 Manufacturer: Japan Aviation Electronics Industry, Ltd. Applicable plug: JN1DS04FK1 (Provided by the customer.) Direct Drive Servomotors Rotary Motors SGMCS External Dimensions Units: mm (2) Rated Torque 4.0 to 14.0 N∙m (Outer Diameter 175 mm Inner Diameter 35 mm) ∙ Applicable Flange: 1 25 .4 12 (9) 2 Nameplate 60˚ Model SGMCS- 0 130 -0.040 Dia. *1 A Nameplate L 35 +0.4 0 Dia. (1) *2 rea 3.4 0.04 Direct Drive Servomotors R5 1 Co MAX nne cto . rA (1: Bolt Section) 0 175 Dia. . 6.5 R3 2 × M5 Tapped Holes, Depth 8 (Only for use by Yaskawa) *1 160 -0.040 Dia. 130 Dia 6 × M5 Tapped Holes, Depth 8 (Divided into six equal sections of sixty degrees) 0.02 0D 0.07 Dia. A 2 × M5 Tapped Holes, Depth 8 (Only for use by Yaskawa) B (100 Dia.) 6 × M5 Tapped Holes, Depth 8 (Divided into six equal sections of sixty degrees) 5±0.9 (LL) 5 ia. L 0.07 B *1 The shaded section shows the rotating section. *2 The hatched section shows the non-rotating section. Approx. Mass kg (LL) 04C¡C11 69 59 7.2 10C¡C11 90 80 10.2 14C¡C11 130 120 14.2 ∙ Applicable Flange: 4 300±50 (35) 0.07 B 0.07 Dia. A 175 Dia. ia. 5±0.9 6 × M5 Tapped Holes, Depth 8 (Divided into six equal sections of sixty degrees) B 0.02 0D 12 *1 (1: Bolt Section) 0.1 *2 2 × M5 Tapped Holes, Depth 8 (Only for use by Yaskawa) 130 -00.040 Dia. 2×M5 Tapped Holes, Depth 8 (Only for use by Yaskawa) 0D L (LL) 20 160 -00.040 Dia. (100 Dia.) 13 5 35 +0.4 0 Dia. (100 Dia.) 10 (22) 6 × M5 Tapped Holes, Depth 8 (Divided into six equal sections of sixty degrees) ia. 50 30 (1) *1 A Nameplate Model SGMCS- 0.04 Nameplate L (LL) *1 The shaded section shows the rotating section. *2 The hatched section shows the non-rotating section. Approx. Mass kg 04C¡C41 69 59 7.2 10C¡C41 90 80 10.2 14C¡C41 130 120 14.2 2Servomotor Connector (Applicable Flange: 4) Servomotor-end Connector Specifications 1 2 3 4 Model ∙ Plug : 350779-1 ∙ Pin : 350561-3 or 350690-3 (No.1 to 3) ∙ Ground pin : 350654-1or 350669-1 (No.4) Manufacturer: Tyco Electronics AMP K.K. Applicable plug ∙ Cap : 350780-1 ∙ Socket : 350536-6 or 350550-6 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 FG (Frame ground) Green (yellow) Encoder-end Connector Specifications Model Manufacturer 5 3 1 : 55102-0600 : Molex Japan Co., Ltd 6 Applicable plug : 54280-0600 4 2 1 PG5V Red 2 PG0V Black 3 - - 4 - - 5 PS Light blue 6 /PS Light blue/ white Connector Case FG (Frame ground) Shield 112 External Dimensions Units: mm (3) Rated Torque 8.0 to 25.0 N∙m (Outer Diameter 230 mm Inner Diameter 60 mm) ∙ Applicable Flange: 1 L 5 5±0.9 (LL) 0.02 2 × M6 Tapped Holes, Depth 10 (Only for use by Yaskawa) 4 23. 25 .4 R6 7 Co .5 M nne AX cto . rA rea (0.5: Bolt Section) 60 +0.4 0 Dia. (140 Dia.) 0 170 -0.040 Dia. R53 0 230 Dia. ia. 200 -0.046 Dia. *1 160 D 6 × M6 Tapped Holes, Depth 10 (Divided into six equal sections of sixty degrees) B ia. B 16 0D 0.08 6 × M6 Tapped Holes, Depth 10 (Divided into six equal sections of 0.08 Dia. A sixty degrees) 2 × M6 Tapped Holes, Depth 10 (Only for use by Yaskawa) (1) (9) *1 * 2 60˚ A 0.04 Nameplate Model SGMCS- Nameplate L *1 The shaded section shows the rotating section. *2 The hatched section shows the non-rotating section. Approx. Mass kg (LL) 08D¡C11 74 64 14.0 17D¡C11 110 100 22.0 25D¡C11 160 150 29.7 ∙ Applicable Flange: 4 300±50 (35) 50 30 5±0.9 0.02 *1 0D 230 Dia. 200 -00.046 Dia. (140 Dia.) ia. . 5 6 × M6 Tapped Holes, Depth 10 (Divided into six equal sections of sixty degrees) B Dia 6 × M6 Tapped 0.08 Dia. A Holes, Depth 10 (Only for use by Yaskawa) L (LL) 20 (0.5: Bolt Section) 0.1 60 +0.4 0 Dia. (140 Dia.) 0 170 -0.040Dia. 16 0.08 B 160 10 (22) 6 × M6 Tapped Holes, Depth 10 (Divided into six equal sections of sixty degrees) *2 2 × M6 Tapped Holes, Depth 10 (Only for use by Yaskawa) *1 (1) A Nameplate Model SGMCS- 113 L Nameplate (LL) Approx. Mass kg 08D¡C41 74 64 14.0 17D¡C41 110 100 22.0 25D¡C41 160 150 29.7 0.04 *1 The shaded section shows the rotating section. *2 The hatched section shows the non-rotating section. Direct Drive Servomotors Rotary Motors SGMCS External Dimensions Units: mm (4) Rated Torque 16.0 to 35.0 N∙m (Outer Diameter 290 mm Inner Diameter 75 mm) ∙ Applicable Flange: 1 4 23. R8 Co 0 M nn AX ec . tor Ar (9) a. ) 0 75+0.4 0 Dia. (180 Dia.) 0 290 Dia. 5 R6 260 -0.052 Dia. . 4 2 × M8 Tapped Holes, Depth 14 (Only for use by Yaskawa) *1 200 Dia 25. 0.02 *1 (1) *2 ea Nam epla te (4) Nameplate 60˚ A 0.04 Model SGMCS- L (LL) Approx. Mass kg 16E¡B11 88 76 26.0 35E¡B11 112 100 34.0 ∙ Applicable Flange: 4 *1 The shaded section shows the rotating section. *2 The hatched section shows the non-rotating section. Direct Drive Servomotors 2 × M8 Tapped Holes, Depth 14 (Only for use by Yaskawa) 6±1.6 ia. 6 0.08 Dia. A 6 × M8 Tapped Holes, Depth 14 (Divided into six equal sections of sixty degrees) B Di L (LL) 20 0D B (2 80 0.08 220 -0.046 Dia. 6 × M8 Tapped Holes, Depth 14 (Divided into six equal sections of sixty degrees) 300±50 a. ) ia. Di 0 0D 0.02 (2 8 0.1 *2 Nameplate L B Nameplate (LL) 2 × M8 Tapped Holes, Depth 14 (Only for use by Yaskawa) 220 290 Dia. . Dia 75+0.4 0 Dia. 200 260-00.052 Dia. (160 Dia.) *1 Model SGMCS- 6±1.6 6 × M8 Tapped Holes, Depth 14 (Divided into six equal sections of sixty degrees) 20 6 L (LL) 20 Dia. 10 (Divided into six equal sections of sixty degrees) 2 × M8 Tapped 0.08 B Holes, Depth 14 (Only for use 0.08 Dia. A by Yaskawa) 0 -0.046 50 30 （180 Dia.） 6 × M8 Tapped Holes, Depth 14 (22) (35) *1 (1) (4) A 0.04 *1 The shaded section shows the rotating section. *2 The hatched section shows the non-rotating section. Approx. Mass kg 16E¡B41 88 76 26.0 35E¡B41 112 100 34.0 114 External Dimensions Units: mm 1Medium-capacity Series (1) Rated Torque 45 to 110 N∙m (Outer Diameter 280 mm, Inner Diameter 75 mm) ∙ Applicable Flange: 1 12 * M6 Screws, Depth 15 (Divided into equal sections) 41 30° 15 LL KB2 6 0.08 A B KB1 15(within 280 -00.052 Dia.) 140 Dia. 280 -00.052 Dia. 75+00.019 Dia. . Dia 15(within 75 +00.019Dia.) 110 -00.035 Dia. 0.04 * 75.2 Dia. ia . A 182 5 88 250 Dia. 115 Dia. 147 1 .5 (Rotating Section) 264 D 280±0.5 Dia. 0.08 Dia. A B * * 12 * M6 Screws, Depth 18 (Divided into equal sections) B 0.04 *: The shaded section shows the rotating section. Model Approx. Mass LL KB1 KB2 45M¡A11 141 87.5 122 38 80M¡A11 191 137.5 172 45 1AM¡A11 241 187.5 222 51 SGMCS- kg ∙ Applicable Flange: 3 0.08 C 10° L LL KB2 KB1 6 12 * M6 Screws, Depth 15 (Divided into equal sections) 15 C 0.02 41 5 * 0.04 75+00.019 Dia. 110 -00.035 Dia. 140 Dia. 75.2 Dia. A 15(within 75 +00.019Dia.) . * Dia 115 Dia. 1.5 (Rotating Section) 88 280 Dia. 248 -00.046 Dia. 264 Dia 147 . 0.08 Dia. A B 182 12 * M6 Screws, Depth 18 (Divided into equal sections) * B 0.04 *: The shaded section shows the rotating section. Model SGMCS45M¡A31 L LL KB1 KB2 150 135 102.5 137 Approx. Mass kg 38 80M¡A31 200 185 152.5 187 45 1AM¡A31 250 235 202.5 237 51 2Servomotor Connector for Medium-capacity Series Servomotors (Applicable Flange: 1, 3) Servmotor-end Connector Specifications (Same for All Medium-capacity Models) A B D C Model : CE05-2A18-10PD Manufacturer : DDK Ltd. Applicable plug and cable clamp Plug : CE05-6A18-10SD-B-BSS Cable clamp : CE3057-10A-¡（D265） Encoder-end Connector Specifications (Same for All Medium-capacity Models) 3 1 4 7 8 10 A Phase U 1 PS 6 – B Phase V 2 /PS 7 FG (Frame ground) C Phase W 3 – 8 – FG 4 PG5V 9 PG0V (Frame ground) 5 – 10 – D 115 : JN1AS10ML1 : Japan Aviation Electronics Industry, Ltd. Applicable plug : JN1DS10SL1 Model Manufacturer Direct Drive Servomotors SGMCS External Dimensions Rotary Motors Units: mm (2) Rated Torque 80 to 200 N∙m (Outer Diameter 360 mm, Inner Diameter 118 mm) ∙ Applicable Flange: 1 6 12 * M8 Screws, Depth 15 (Divided into equal sections) 41 30° 15 LL KB2 0.08 A B KB1 15(within 360 0 -0.057 Dia.) B 222 Di a . 344 190 Dia. 360 -00.057 Dia. * 12 * M8 Screws, Depth 20 (Divided into equal sections) 0.04 *: The shaded section shows the rotating section. Model Approx. Mass LL KB1 KB2 151 98 132 50 1EN¡A11 201 148 182 68 2ZN¡A11 251 198 232 86 SGMCS80N¡A11 Direct Drive Servomotors * 0.04 Dia. 15(within 118 +00.022 Dia.) Rotating Section A * 118.2 Dia. (Rotating Section) 5 118 +00.022 Dia. 0 160 -0.040 Dia. 360±0.5 Dia. 1.5 135 325 Dia. 166 Dia. 186 0.08 Dia. A B kg ∙ Applicable Flange: 3 0.08 C 6 12 * M8 Screws, Depth 15 (Divided into equal sections) 15 C 0.02 12 * M8 Screws, Depth 20 (Divided into equal sections) 0.08 Dia. A B 5 118 +00.022 Dia. 0 160 -0.040 Dia. 190 Dia. 15(within 118 +00.022 Dia.) 0.04 Dia. 360 Dia. 323 -00.057 Dia. A * 135 166 Dia. 118.2 Dia. Dia 344 186 . 1.5 (Rotating Section) 41 222 10˚ L LL KB2 KB1 * * B 0.04 *: The shaded section shows the rotating section. Model SGMCS80N¡A31 L LL KB1 KB2 160 145 113 147 Approx. Mass kg 50 1EN¡A31 210 195 163 197 68 2ZN¡A31 260 245 213 247 86 116 Selecting Cables 1Cables Connections SGDV SERVOPACK Encoder Cable See page 118 for encoder cable extension from 30 to 50 m. SGMCS Servomotor Encoder Cable Servomotor Main Circuit Cable Servomotor Main Circuit Cable (See below.) View A A 1Servomotor Main Circuit Cables Cable with Loose Wire at SERVOPACK End Small Capacity (02B-35E) Standard Type Flexible Type*1 3m JZSP-CMM60-03-E JZSP-CSM60-03-E 5m JZSP-CMM60-05-E JZSP-CSM60-05-E 10 m JZSP-CMM60-10-E JZSP-CSM60-10-E 15 m JZSP-CMM60-15-E JZSP-CSM60-15-E 20 m JZSP-CMM60-20-E JZSP-CSM60-20-E 3m JZSP-CMM00-03-E JZSP-CMM01-03-E 5m JZSP-CMM00-05-E JZSP-CMM01-05-E 10 m JZSP-CMM00-10-E JZSP-CMM01-10-E 15 m JZSP-CMM00-15-E JZSP-CMM01-15-E 20 m JZSP-CMM00-20-E JZSP-CMM01-20-E Cables Medium Capacity (45M, 80M, 80N, 1AM) Cable with Loose Wire at SERVOPACK End 117 Specifications Details Applicable Flange*2 : 1 SERVOPACK End 50 mm L Servomotor End M4 Crimped Terminals Applicable Flange*2 : 4 SERVOPACK End 8.5±0.5 (Exposed core wire) 50 L Servomotor End Sheath to Bind Core Wires (1) 35 Heat-shrinkable Tube Servomotor-end Connector Medium Capacity (1EN, 2ZN) Order No. Length (L) &KC Name JN1DS04FK1 5m JZSP-CSM90-05-E JZSP-CSM80-05-E 10 m JZSP-CSM90-10-E JZSP-CSM80-10-E 15 m JZSP-CSM90-15-E JZSP-CSM80-15-E 20 m JZSP-CSM90-20-E JZSP-CSM80-20-E 50 m JZSP-CSM90-50-E JZSP-CSM80-50-E Value Type Premium Type*3* 3m B1EV-03(A)-E B1EP-03(A)-E 5m B1EV-05(A)-E B1EP-05(A)-E 10 m B1EV-10(A)-E B1EP-10(A)-E 15 m B1EV-15(A)-E B1EP-15(A)-E 20 m B1EV-20(A)-E B1EP-20(A)-E 3m B2EV-03(A)-E B2EP-03(A)-E 5m B2EV-05(A)-E B2EP-05(A)-E 10 m B2EV-10(A)-E B2EP-10(A)-E 15 m B2EV-15(A)-E B2EP-15(A)-E 20 m B2EV-20(A)-E B2EP-20(A)-E *1: Use flexible cables for movable sections such as robot arms. *2: For applicable flanges, see model designations on page 105. *3 Premium cables are intended for use in applications that require CE. They have a continuous flex rating and are intended for use in movable sections such as robot arms. M4 Crimped Terminals Cable: UL2517 (AWG20×4C) Cap : 350780-1(4-pole) Socket : 350536-6(Chained) Soldered (3) (4) L 125 mm (2) NOTES: Shaded items are non-stock. SGMCS servomotors with holding brakes are not available. Direct Drive Servomotors SGMCS Rotary Motors Selecting Cables (1) Small Capacity Series: Wiring Specifications for Cables 3Applicable Flange: 1 SERVOPACK End 3Applicable Flange: 4 SERVOPACK End Servomotor End Servomotor End Wire Color Signal Signal Pin No. Wire Color Signal Signal Pin No. Red Phase U Phase U 1 Red Phase U Phase U 1 White Phase V Phase V 2 White Phase V Phase V 2 Blue Phase W Phase W 3 Blue Phase W Phase W 3 Green/(yellow) FG FG 4 Green/(yellow) FG FG 4 (2) Medium Capacity Series: Wiring Specifications for Cables 3Premium Type SERVOPACK-end Leads Servomotor-end Connector SERVOPACK-end Leads Servomotor-end Connector Wire Label Signal Signal Pin No. Wire Label Signal Signal Pin No. G FG FG D G FG FG D W Phase W Phase W C W Phase W Phase W C V Phase V Phase V B V Phase V Phase V B U Phase U Phase U A U Phase U Phase U A *For servomotors with holding brakes, the holding brake cable must also be wired. *For servomotors with holding brakes, the holding brake cable must also be wired. Direct Drive Servomotors 3Value Type (3) Small-capacity Series: Servomotor-end Connector Specifications Items Manufacturer Order No. 350780-1 350550-6 Applicable Wire Size Hand tool Applicator AWG20 to 14 90296-2 687763-2 27.7 Cap Socket Crimp Tool Specifications Tyco Electronics AMP K.K. JZSP-CMM9-3-E External Dimensions mm 7.6 27.4 14.7 (4) Small-capacity Series: Cable Specifications Items Order No.* Specifications Standard Type Flexible Type JZSP-CSM90-¡¡-E (50 m max.) JZSP-CSM80-¡¡-E (50 m max.) UL2517 (Max. operating temperature: 105˚C) AWG22×6C For power line: AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.37 dia. mm For holding brake line: AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.37 dia. mm UL2517 (Max. operating temperature: 105˚C) AWG20×6C For power line: AWG20 (0.52 mm2) Outer diameter of insulating sheath: 1.53 dia. mm For holding brake line: AWG20 (0.52 mm2) Outer diameter of insulating sheath: 1.53 dia.mm Finished Dimensions 7 ± 0.3 mm Black Internal Configuration and Lead Color Green/ (yellow) White Blue Red Black Yaskawa Standard Specifications (Standard Length) *: Cable length : 5 m, 10 m, 15 m, 20 m, 50 m Specify the cable length ¡¡ of order no. Example: JZSP-CSM90-15-E (15 m) 118 Selecting Cables (Medium-capacity Series (SGMCS-¡¡M and N): Connector Specifications Standard Straight Plug SGMCS Servomotor Non-waterproof Cable Clamp Cable Standard L-shaped Plug Servomotor-end Connector Cable-end Connector Servomotor-end Connector (Receptacle) L-shaped Plug Straight Plug Cable Clamp MS3102A18-10P MS3108B18-10S MS3106B18-10S MS3057-10A ∙ Dimensional Drawings: MS3108B L-shaped Plug Shell Units: mm L R J Shell Size W U Q A Model No. V MS 3108B Length of Joint Portion Joint Screw A ±0.12 1 1/818UNEF 18 18.26 Overall Length L Max. Outer Diameter of Joint Nut R U ±0.5 ±0.5 20.5 30.2 +0 Q -0.38 68.27 34.13 Overall Length L Max. Outer Diameter of Joint Nut Cable Clamp Set Screw V Effective Screw Length W Min. 1-20UNEF 9.53 ∙ Dimensional Drawings: MS3106B Straight Plug Shell Units: mm L W J Model No. ±0.12 Y Q A Shell Size Length of Joint Portion Joint Screw A MS 3106B V 1 1/818UNEF 18 18.26 +0 Cable Clamp Set Screw V Effective Screw Length W Min. Maximum Width Y Max. 34.13 1-20UNEF 9.53 42 Q -0.38 52.37 ∙ Dimensional Drawings: MS3057-10A Cable Clamp with Rubber Bushing A 1.6 C J (Inner Bushing Diameter) E (Inner Cable Clamp Diameter) G Q V H (Slide Range) Units: mm 119 E A±0.7 Effective Screw Length C 23.8 10.3 15.9 Model No. Applicable Connector Shell Size Overall Length MS3057-10A 18 G±0.7 H 31.7 3.2 J 14.3 Set Screw V 1-20UNEF Outer Diameter Q±0.7 30.1 Attached Bushing AN3420-10 Direct Drive Servomotors Rotary Motors SGMCS Selecting Cables 1Encoder Cables and Connectors (Max. length: 20 m) Cable with Connectors (For Incremental and Absolute Encoder) Cable with Loose Wire at Encoder End (For Incremental and Absolute Encoder) Order No. Length (L) Standard Type Flexible Type*1 3m JZSP-CMP60-03-E JZSP-CSP60-03-E 5m JZSP-CMP60-05-E JZSP-CSP60-05-E 10 m JZSP-CMP60-10-E JZSP-CSP60-10-E 15 m JZSP-CMP60-15-E JZSP-CSP60-15-E 20 m JZSP-CMP60-20-E JZSP-CSP60-20-E 3m JZSP-CMP00-03-E JZSP-CMP10-03-E 5m JZSP-CMP00-05-E JZSP-CMP10-05-E 10 m JZSP-CMP00-10-E JZSP-CMP10-10-E 15 m JZSP-CMP00-15-E JZSP-CMP10-15-E 20 m JZSP-CMP00-20-E JZSP-CMP10-20-E Connector (Molex Japan Co., Ltd.) 3m JZSP-CMP03-03-E JZSP-CMP13-03-E SERVOPACK End 5m JZSP-CMP03-05-E JZSP-CMP13-05-E 10 m JZSP-CMP03-10-E JZSP-CMP13-10-E 15 m JZSP-CMP03-15-E JZSP-CMP13-15-E 20 m JZSP-CMP03-20-E JZSP-CMP13-20-E Specifications Applicable Flange*2: 1, 3 SERVOPACK End L Details Encoder (Servomotor) End (1) Connector (Crimped) (Molex Japan Co., Ltd.) Straight Plug (Crimped) (Japan Aviation Electronics Industry, Ltd.) Applicable Flange*2 : 4 SERVOPACK End L Encoder End (2) Socket Connector (Molex Japan Co., Ltd.) L Connector (Crimped) (Molex Japan Co., Ltd.) Encoder End 60 mm Wire Markers 1 2 3 4 5 6 (3) Soldered SERVOPACK-end Connector Kit JZSP-CMP9-1-E Direct Drive Servomotors Name (Molex Japan Co., Ltd.) JN1DS10SL1 Encoder-end Connector (Socket Contact) JN1-22-22S-PKG100 Cables (Japan Aviation Electronics Industry, Ltd.) 5m JZSP-CMP09-05-E JZSP-CSP39-05-E 10 m JZSP-CMP09-10-E JZSP-CSP39-10-E 15 m JZSP-CMP09-15-E JZSP-CSP39-15-E 20 m JZSP-CMP09-20-E JZSP-CSP39-20-E (5) NOTE: Shaded items are non-stock. *1: Use flexible cables for movable sections such as robot arms. *2: For applicable flanges, see model designations on page 105. (1) Wiring Specifications for Cable with Connectors ∙ Applicable Flange: 1, 3 (Standard type) Encoder (Servomotor) End SERVOPACK End Pin No. 1 2 5 6 Shell Signal PG5V PG0V PS /PS FG (4) Crimping Type (A crimp tool is required.) Encoder-end Connector (Straight Plug) Shield Wire Pin No. 4 9 1 2 7 Wire Color Red Black Light blue Light blue/white FG Shield wire (Flexible type) Encoder End SERVOPACK End Pin No. 1 2 5 6 Shell Signal PG5V PG0V PS /PS FG Shield Wire Pin No. 4 9 1 2 7 Wire Color Orange Green Black/light blue Red/light blue FG Shield wire Note: Be sure to connect the shield wire of encoder cable to the connector case (shell). (2) Wiring Specifications for Cable with Connectors ∙ Applicable Flange: 4 (Standard type) Encoder (Servomotor) End SERVOPACK End Pin No. 1 2 5 6 Shell Signal PG5V PG0V PS /PS FG Shield Wire Pin No. 1 2 5 6 7 Wire Color Red Black Light blue Light blue/white FG Shield wire (Flexible type) Encoder End SERVOPACK End Pin No. 1 2 5 6 Shell Signal PG5V PG0V PS /PS FG Shield Wire Pin No. 1 2 5 6 7 Wire Color Orange Green Red/light blue Black/light blue FG Shield wire Note: Be sure to connect the shield wire of encoder cable to the connector case (shell). 120 Selecting Cables (3) Wiring Specifications for Cable with Loose Wire at Encoder End (Standard type) SERVOPACK End (Flexible type) Encoder (Servomotor) End Pin No. Signal Wire Color Marker 6 /PS Light blue/white 6 5 PS Light blue 5 4 Orange/white 4 3 BAT(-) BAT(+) Orange 3 2 PG0V Black 2 1 PG5V Red 1 Shell FG Encoder (Servomotor) End SERVOPACK End Pin No. 1 2 3 4 5 6 Shell Shield Wire Marker Wire Color 1 Orange 2 Green 3 Red/pink 4 Black/pink 5 Red/light blue 6 Black/light blue Signal PG5V PG0V BAT(+) BAT(-) PS /PS FG Shield Wire Notes: 1 The signals BAT (+) and BAT (-) are not needed when using single turn absolute feedback. 2 Be sure to connect the shield wire of encoder cable to the connector case (shell). (4) SERVOPACK-end Connector Specifications Items SERVOPACK End Encoder End JZSP-CMP9-1-E Tools are not included. Molex Japan Co., Ltd. Japan Aviation Electronics Industry, Ltd. Order No. Manufacturer Straight plug: 55100-0670 (soldered) JN1DS10SL1 (crimped) Socket contact type: JN1-22-22S-PKG100 Connector Note: 55100-0670 (soldered) when using a connector kit Outer diameter of applicable cable : 5.7 dia. to 7.3 dia. mm Applicable wire size: AWG21 to 25 Outer diameter of insulating sheath: 0.8 dia. to 1.5 dia. mm Crimp tool (hand tool) model: CT150-2-JN 51.5 max. 5 6 3 4 1 2 (10) 18.8 Dia. (19) External Dimensions (Units: mm) (36) 3 7 1 4 10 8 (5) Cable Specifications Items Order No.* Standard Type Flexible Type JZSP-CMP09-¡¡-E JZSP-CSP39-¡¡-E 20 m max. Cable Length Specifications UL20276 (Rated temperature: 80˚C) AWG22×2C+AWG24×2P AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.15 dia. mm AWG24 (0.20 mm2) Outer diameter of insulating sheath: 1.09 dia. mm 6.5 dia. mm Finished Dimensions Internal Configuration and Lead Colors Red Orange * 121 Specify the cable length in ¡¡ of order no. Example: JZSP-CMP09-05-E (5 m) 6.8 dia. mm Blue/ white Blue Yaskawa Standard Specifications (Standard Length) UL20276 (Rated temperature: 80˚C) AWG22×2C+AWG24×2P AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.35 dia. mm AWG24 (0.20 mm2) Outer diameter of insulating sheath: 1.21 dia. mm Red/ light blue Black/ light blue Orange Black Orange/ white Black/ pink Cable length: 5 m, 10 m, 15 m, 20 m Green Red/ pink Direct Drive Servomotors SGMCS Rotary Motors Selecting Cables 1Relay Encoder Cables (For extending from 30 to 50 m) Name Order No. Length Specifications Standard Type Encoder End Details SERVOPACK End 300± 30 0.3 m Plug (Japan Aviation Electronics Industry,Ltd.) Cable with Connectors (For incremental and absolute encoder) Cables 30 m JZSP-UCMP00-30-E 40 m JZSP-UCMP00-40-E 50 m JZSP-UCMP00-50-E 30 m 40 m 50 m JZSP-CMP19-30-E JZSP-CMP19-40-E SERVOPACK End Plug Connector (Soldered) (Molex Japan Co., Ltd.) Encoder End L （2） Plug Connector (Crimped) (Molex Japan Co., Ltd.) Socket Connector (Soldered) (Molex Japan Co., Ltd.) （3） JZSP-CMP19-50-E (1) Wiring Specifications for Encoder-end Cable (2) Wiring Specifications for Cable with Connectors Encoder (Servomotor) End SERVOPACK End （1） JZSP-CSP15-E SERVOPACK End Encoder (Servomotor) End Pin No. Signal Pin No. Wire Color Pin No. Signal Pin No. Wire Color 1 PG 5V 4 Red 6 /PS 6 Light blue/white 2 PG 0V 9 Black 5 PS 5 Light blue 5 PS 1 Light blue 4 BAT（−） 4 Orange/white 6 /PS 2 Light blue/white 3 BAT（+） 3 Orange Shell FG 7 FG Shield wire 2 PG 0V 2 Black 1 PG 5V 1 Red Shell FG Shell FG Direct Drive Servomotors Encoder-end Cables (For incremental and absolute encoder) Shield Wire Note: Be sure to connect the shield wire of encoder cable to the connector case (shell). Shield Wire (3) Cable Specifications Items Standard Type Order No.* JZSP-CMP19-¡¡-E Cable Length Specifications 50 m max. UL20276 (Rated temperature: 80˚C) AWG16×2C+AWG26×2P AWG16 (1.31 mm2) Outer diameter of insulating sheath: 2.0 dia.mm AWG26 (0.13 mm2) Outer diameter of insulating sheath: 0.91 dia. mm Finished Dimensions 6.8 dia. mm Black Internal Configuration and Lead Colors Orange Light blue Orange/white Light blue/white Red Yaskawa Standard Specifications (Standard Length) * Cable length: 30 m, 40 m, 50 m Specify the cable length in ¡¡ of order no. Example: JZSP-CMP19-30-E (30 m) 122 Linear Servomotors SGLGW (Coreless Type) Model Designations 2Moving Coil SGL G W - 30 A 050 C P ¡ Connector for Main Circuit Cable Series Linear Linear Servomotor Code Specifications Blank Connector by Tyco Electronics AMP K.K. All models Connector by Interconnectron GmbH SGLGW -30A, -40A, -60A Servomotor Type Code G Specifications Applicable Model Coreless W : Moving Coil D Magnet Height Hall Sensor/Cooling Method Voltage A: 200 VAC Code Specifications Applicable Model Length of Moving Coil P With hall sensor All models C Forced cooling Design Revision Order A, B, C... H With hall sensor and forced cooling SGLGW-40A, -60A, -90A Blank Without hall sensor All models 2Magnetic Way SGL G Series Linear Linear Servomotor Servomotor Type Code G Specifications Coreless M: Magnetic Way 123 M - 30 108 A ¡ Options Code Specifications Applicable Model Blank (standard) All models -M High force SGLGM-40, -60 Design Revision Order A, B, C*... Magnet Height *: The coreless linear servomotor has revision CT. C = without mounting holes on the bottom CT = with mounting holes on the bottom Length of Magnetic Way NOTE: Shaded items are non-stock. リニア SGLGW(コアレス形) Features Application Examples 1Direct-feed mechanism for high-speed and highprecision positioning. 1Feeders and loaders 1Semiconductor equipment 1Lack of magnetic attraction force helps extend the life of linear motion guides and minimizes noise. 1LCD manufacturing equipment Linear Servomotors 1Zero cogging for minimal force ripple. 2 Precautions on Moving Coil with Hall Sensor When using a moving coil with a hall sensor, the magnetic way must completely cover the bottom of the hall sensor. Refer to the example showing the correct installation. When determining the length of the moving coil’s stroke or the length of the magnetic way, consider the total length of the moving coil and the hall sensor unit. Refer to the following table. Hall Sensor Moving Coil Movement Direction Moving Coil Magnetic Way Magnetic Way End The total length of moving coil with hall sensor A Hall Sensor L L1 Moving Coil Moving Coil Length of Model Moving Coil SGLGW30A050¡P¡ Length of Hall Sensor Unit Total Length L1 (mm) A (mm) L (mm) 50 0 50 (Included in the length of Magnetic Way 30A080¡P¡ 80 40A140¡P¡ 140 moving coil) 80 156 40A253¡P¡ 252.5 40A365¡P¡ 365 16 268.5 60A140¡P¡ 140 60A253¡P¡ 252.5 60A365¡P¡ 365 90A200¡P¡ 199 0 199 90A370¡P¡ 367 (Included in the length of 367 90A535¡P¡ 535 moving coil) 535 381 156 16 268.5 381 124 Ratings and Specifications Time Rating: Continuous Insulation Resistance: 500 VDC, 10 MΩ min. Ambient Temperature: 0 to 40˚C Excitation: Permanent magnet Withstand Voltage: 1500 VAC for one minute Enclosure: Self-cooled, air-cooling (Only self-cooled type available for SGLGW-30A linear servomotor) Ambient Humidity: 20% to 80% (no condensation) Allowable Winding Temperature: 130˚C (Thermal class B) 1With Standard-force Magnetic Ways 30A Linear Servomotor Model SGLGW- 60A 90A 080C 140C 253C 365C 140C 253C 365C 200C 370C 5 5 5 5 5 4.8 4.8 4.8 4 4 535C 4 47 93 140 70 140 210 325 550 750 Peak Speed* m/s Rated Force* N 12.5 25 Rated Current* Arms 0.51 0.79 0.8 1.6 2.4 1.2 2.2 3.3 4.4 7.5 10.2 Peak Force* N 40 80 140 280 420 220 440 660 1300 2200 3000 40.8 Peak Current* Arms 1.62 2.53 2.4 4.9 7.3 3.5 7.0 10.5 17.6 30.0 Moving Coil Mass kg 0.10 0.15 0.34 0.60 0.87 0.42 0.76 1.10 2.15 3.6 4.9 Force Constant N/Arms 26.4 33.9 61.5 61.5 61.5 66.6 66.6 66.6 78.0 78.0 78.0 BEMF Constant V/(m/s) 8.8 11.3 20.5 20.5 20.5 22.2 22.2 22.2 26.0 26.0 26.0 Motor Constant N/Q W 3.7 5.6 7.8 11.0 13.5 11.1 15.7 19.2 26.0 36.8 45.0 Electrical Time Constant ms 0.2 0.4 0.4 0.4 0.4 0.5 0.5 0.5 1.4 1.4 1.4 Mechanical Time Constant ms 7.30 4.78 5.59 4.96 4.77 3.41 3.08 2.98 3.18 2.66 2.42 Thermal Resistance (With heat sink) K/W 5.19 3.11 1.67 0.87 0.58 1.56 0.77 0.51 0.39 0.26 0.22 Thermal Resistance (Without heat sink) K/W 8.13 6.32 3.02 1.80 1.23 2.59 1.48 1.15 1.09 0.63 0.47 Magnetic Attraction N Applicable SERVOPACK SGDV Notes: 125 40A 050C 0 0 0 0 0 0 0 0 0 0 0 R70A R90A R90A 1R6A 2R8A 1R6A 2R8A 5R5A 120A 180A 200A 1 The items marked with an * and Force and Speed Characteristics (the table on the next page) are the values at a motor winding temperature of 100˚C during operation in combination with a SERVOPACK. The others are at 20˚C. 2 The above specifications show the values under the cooling condition when a heat sink (aluminium board) listed in the following table is mounted on the moving coil. Heat Sink Size 200 mm × 300 mm × 12 mm : SGLGW-30A050C, -30A080C, -40A140C, -60A140C 300 mm × 400 mm × 12 mm : SGLGW-40A253C, -60A253C 400 mm × 500 mm × 12 mm : SGLGW-40A365C, -60A365C 800 mm × 900 mm × 12 mm : SGLGW-90A200C, -90A370C, -90A535C Linear Servomotors SGLGW (Coreless Type) Linear Ratings and Specifications 1Force and Speed Characteristics SGLGW-30A050C 5.0 B 2.0 1.0 0 0 10 20 30 40 4.0 B 2.0 1.0 0 50 A 3.0 0 20 Force (N) SGLGW-40A140C 5.0 4.0 A 3.0 2.0 B 1.0 0 0 50 100 4.0 2.0 B 1.0 0 150 A 3.0 0 100 200 6.0 5.0 4.0 3.0 SGLGW-60A253C 5.0 5.0 A 1.0 B 4.0 3.0 2.0 A 1.0 B Motor Speed (m/s) 5.0 Motor Speed (m/s) 6.0 2.0 0 0 0 50 100 150 200 250 4.0 3.0 2.0 1.0 0 150 300 450 600 750 Force (N) SGLGW-90A535C SGLGW-90A370C 5.0 5.0 5.0 A B 0 4.0 3.0 2.0 A 1.0 B Force (N) 4.0 3.0 2.0 1.0 A B 0 0 0 300 600 900 1200 1500 Motor Speed (m/s) 6.0 Motor Speed (m/s) 6.0 1.0 B Force (N) SGLGW-90A200C 2.0 A 0 6.0 3.0 SGLGW-60A365C 0 100 200 300 400 500 Force (N) 4.0 0 100 200 300 400 500 Force (N) 6.0 3.0 B 1.0 6.0 4.0 A 2.0 0 300 SGLGW-40A365C Force (N) SGLGW-60A140C Motor Speed (m/s) 80 100 5.0 Force (N) Motor Speed (m/s) 60 SGLGW-40A253C 6.0 Motor Speed (m/s) Motor Speed (m/s) 6.0 40 Force (N) Linear Servomotors A 3.0 : Intermittent Duty Zone 5.0 Motor Speed (m/s) 4.0 B SGLGW-30A080C 6.0 Motor Speed (m/s) Motor Speed (m/s) 6.0 : Continuous Duty Zone A 0 500 10001500 2000 2500 Force (N) 0 700 1400 2100 2800 3500 Force (N) Notes: 1. When the effective force during intermittent duty is within the rated force, the servomotor can be used within the intermittent duty zone. 2. The solid, dotted, and dashed-dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations: ∙ The solid line: With a three-phase 200 V or a single-phase 230 V SERVOPACK ∙ The dotted line: With a single-phase 200 V SERVOPACK ∙ The dashed-dotted line: With a single-phase 100 V SERVOPACK 126 Ratings and Specifications 1With High-force Magnetic Ways 40A Linear Servomotor Model SGLGW- 60A 140C 253C 365C 140C 253C 365C Peak Speed* m/s 4.2 4.2 4.2 4.2 4.2 4.2 Rated Force* N 57 114 171 85 170 255 Rated Current* Arms 0.8 1.6 2.4 1.2 2.2 3.3 Peak Force* N 230 460 690 360 720 1080 Peak Current* Arms 3.2 6.5 9.7 5.0 10.0 14.9 Moving Coil Mass kg 0.34 0.60 0.87 0.42 0.76 1.10 Force Constant N/Arms 76.0 76.0 76.0 77.4 77.4 77.4 BEMF Constant V/(m/s) 25.3 25.3 25.3 25.8 25.8 25.8 Motor Constant N/Q W 9.6 13.6 16.7 12.9 18.2 22.3 Electrical Time Constant ms 0.4 0.4 0.4 0.5 0.5 0.5 Mechanical Time Constant ms 3.69 3.24 3.12 2.52 2.29 2.21 Thermal Resistance (With heat sink) K/W 1.67 0.87 0.58 1.56 0.77 0.51 Thermal Resistance (Without heat sink) K/W 3.02 1.80 1.23 2.59 1.48 1.15 Magnetic Attraction N Applicable SERVOPACK SGDV 0 0 0 0 0 0 1R6A 2R8A 3R8A 1R6A 3R8A 7R6A Notes: 1 The items marked with an * and Force and Speed Characteristics (the table on the next page) are the values at a motor winding temperature of 100˚C during operation in combination with a SERVOPACK. The others are at 20˚C. 2 The above specifications show the values under the cooling condition when a heat sink (aluminium board) listed in the following table is mounted on the moving coil. Heat Sink Size 200 mm × 300 mm × 12 mm : SGLGW-40A140C, -60A140C 300 mm × 400 mm × 12 mm : SGLGW-40A253C, -60A253C 400 mm × 500 mm × 12 mm : SGLGW-40A365C, -60A365C 127 Linear Servomotors SGLGW (Coreless Type) Linear Ratings and Specifications 1Force and Speed Characteristics 2 1 B 0 2 1 0 50 100 150 200 250 A 3 B SGLGW-60A140C 2 B 1 0 B 0 200 400 600 800 SGLGW-60A365C 5 4 A 3 2 B 1 0 0 1 SGLGW-60A253C Motor Speed (m/s) Motor Speed (m/s) A 2 Force (N) 5 3 A 3 Force (N) 5 4 4 0 0 100 200 300 400 500 Force (N) SGLGW-40A365C 5 80 160 240 320 400 Force (N) Motor Speed (m/s) 0 4 : Intermittent Duty Zone 4 3 2 A B 1 0 0 200 400 600 800 Force (N) 0 240 480 720 960 1200 Force (N) Notes: 1. When the effective force during intermittent duty is within the rated force, the servomotor can be used within the intermittent duty zone. 2. The solid, dotted, and dashed-dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations: ∙ The solid line: With a three-phase 200 V or a single-phase 230 V SERVOPACK ∙ The dotted line: With a single-phase 200 V SERVOPACK ∙ The dashed-dotted line: With a single-phase 100 V SERVOPACK Linear Servomotors A 3 Motor Speed (m/s) Motor Speed (m/s) 4 SGLGW-40A253C 5 B : Continuous Duty Zone Motor Speed (m/s) SGLGW-40A140C 5 A 1Mechanical Specifications (1) Impact Resistance · Impact acceleration: 196 m/s2 · Impact occurrences: twice (2) Vibration Resistance The linear servomotors will withstand the following vibration acceleration in three directions: Vertical, side to side, and front to back. · Vibration acceleration: 49 m/s2 128 External Dimensions Units: mm (1) SGLGW-30 3Moving Coil: SGLGW-30A¡¡¡C¡ (With a connector by Tyco Electronics AMP K.K.) 17 4-M4 Mounting Screws, Depth 5 2-Screws #4-40 UNC 500±50 L5 500±50 Cable UL20276, AWG26 15 (5.3 Dia.) The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. Cable UL2517, AWG25 Nameplate 22 2 × 2-M4 Mounting Screws, Depth 5 on Both Sides L1 L3 48.5 3 (5 Dia.) 1 12 L4 (1) (57) 44 L2 G (Gap) G (Gap) 24 Hall Sensor Connector Specifications 9 6 5 1 Pin Connector: 17JE-23090-02 (D8C) by DDK Ltd. Linear Servomotor Connector Specifications Pin No. Signal 1 +5V (Power supply) 2 Phase U 3 Phase V 4 Phase W 5 0V (Power supply) The Mating Connector 6 Not used Socket Connector : 17JE-13090-02 (D8C) Stud : 17L-002C or 17L-002C1 7 Not used 8 Not used 9 Not used Hall Sensor Output Signals Pin No. Signal 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 FG Green Plug : 350779-1 Pin : 350924-1 or 770672-1 by Tyco Electronics AMP K.K. Wire Color When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of e a c h m o t o r p h a s e Vu , V v, V w becomes as shown in the figure below. The Mating Connector Vu Cap : 350780-1 Socket : 350925-1 or 770673-1 Su Inverse Power Vv (V) Sv Vw Sw 0 Moving Coil Model SGLGW- L1 L2 L3 L5 G (Gap) Approx. Mass* kg 30A050C¡ 50 48 30 20 20 0.85 0.14 30A080C¡ 80 72 50 30 25 0.95 0.19 *: The values indicate the mass of moving coil with a hall sensor unit. 129 L4 180 360 540 Electrical Angle ( ˚ ) Linear Servomotors SGLGW External Dimensions Linear (Coreless Type) Units: mm 17 3Moving Coil: SGLGW-30A¡¡¡C¡D (With a connector by Interconnectron GmbH) L5 2-Screws #4-40 UNC Cable UL2517,AWG25 L1 15 L3 48.5 1 3 12 (5.3 Dia) (5 Dia) 2 × 2-M4 Mounting Screws, Depth 5 on Both Sides Linear Servomotors 500±50 Name plate L4 The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. 500±50 Cable UL20276, AWG26 22 4-Ｍ4 Mounting Screws, Depth 5 (57) 44 (1) L2 G (Gap) G (Gap) 24 Hall Sensor Connector Specifications 9 5 Pin No. 6 1 Pin Connector : 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector : 17JE-13090-02 (D8C) Stud : 17L-002C or 17L-002C1 Moving Coil Model SGLGW- L1 Signal 1 +5V (Power supply) 2 Phase U 3 Phase V 4 Phase W 5 0V (Power supply) 6 Not used Hall Sensor Output Signals Linear Servomotor Connector Specifications 1 2 6 3 5 4 The Mating Connector Plug : SPUC06KFSDN236 Socket: 020.030.1020 7 Not used Pin No. 8 Not used 1 Phase U Red 9 Not used 2 Phase V White L2 L3 L4 When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Extension: SROC06JMSCN169 Pin : 021.423.1020 by Interconnectron GmbH L5 Signal 3 Phase W Blue 4 Not used – 5 Not used – 6 FG Green G (Gap) Vu Su Wire Color Inverse Power (V) Vv Sv Vw Sw 0 180 360 Electrical Angle (°) 540 Approx. Mass* kg 30A050C¡D 50 48 30 20 20 0.85 0.14 30A080C¡D 80 72 50 30 25 0.95 0.19 *: The values indicate the mass of moving coil with a hall sensor unit. 130 External Dimensions Units: mm 3Magnetic Way: SGLGM-30¡¡¡A 7.6 Warning Label 44 Nameplate 4.5 Pitch 45 N-4.5 Dia. Mounting Holes (Per unit) 8 Dia. Counter Boring, Depth 5 on Both Sides. 36 24 L2 (18) L1 --00..31 (Unit) N-M4 Mounting Screws, Depth6 Pitch 54 (27) L2 27 Magnetic Way Model SGLGM- L1 30108A 30216A 30432A L2 N Approx. Mass kg 108 54 2 0.6 216 162 4 1.1 432 378 8 2.3 Note: If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 131 Linear Servomotors SGLGW External Dimensions Linear (Coreless Type) Units: mm (2) SGLGW-40 3Moving Coil: SGLGW-40A¡¡¡C¡ (With a connector by Tyco Electronics AMP K.K.) 500±50 The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. L1 L3 L4 Mounting Holes on Both Sides 45 N1-M4 Tapped Holes, Depth 6 16 (7.5) 7 L2 Gap 0.8 Gap 0.8 Linear Servomotor Connector Specifications Hall Sensor Connector Specifications 9 5 Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. 6 Pin No. Signal 1 +5V (Power supply) 2 Phase U 1 Pin Connector : 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector : 17JE-13090-02 (D8C) Stud : 17L-002C or 17L-002C1 3 Phase V 4 Phase W 5 0V (Power supply) 6 Not used 7 Not used 8 Not used 9 Not used Pin No. Signal 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 FG Green Plug : 350779-1 Pin : 350561-3 or 350690-3 (No.1 to 3) 350654-1 350669-1 (No.4) by Tyco Electronics AMP K.K. The Mating Connector Wire Color Vu Su Inverse Vv Power (V) Cap : 350780-1 Socket : 350570-3 or 350689-3 Sv Vw Sw 0 Moving Coil Model SGLGW- L1 L2 L3 L4 L5 L6 N1 N2 Linear Servomotors 78 63 1 30 15 14 4 15 (5.3 Dia.) (7 Dia.) 0.5 7 .2 Nameplate 17 45 500±50 25.4 6.5 4.8 L6 Mounting Holes N2-M4 Tapped Holes, Depth 6 L5 2-Screws #4-40 UNC 180 360 540 Electrical Angle (°) Approx. Mass* kg 40A140C¡ 140 125 90 30 52.5 45 3 4 0.40 40A253C¡ 252.5 237.5 180 37.5 60 135 5 8 0.66 40A365C¡ 365 350 315 30 52.5 270 8 14 0.93 *: The values indicate the mass of moving coil with a hall sensor unit. 132 External Dimensions Units: mm 3Moving Coil: SGLGW-40A¡¡¡C¡D (With a connector by Interconnectron GmbH) 500±50 (5.3 Dia.) (7 Dia.) L4 The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. L1 L3 Mounting Holes on Both Sides 45 N1-M4 Tapped Holes, Depth 6 63 78 1 30 15 14 4 0.5 16 15 7.2 Name plate 17 45 500±50 25.4 6.5 4.8 L6 Mounting Screws, N2-M4 Tapped Holes, Depth 6 L5 2-Screws #4-40 UNC (7.5) 7 L2 Gap 0.8 Gap 0.8 Hall Sensor Connector Specifications 9 5 6 1 Pin Connector : 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector : 17JE-13090-02 (D8C) Stud : 17L-002C or 17L-002C1 Moving Coil Model SGLGW- L1 Pin No. Signal 1 +5V (Power supply) 2 Phase U 1 2 6 3 Extension: SROC06JMSCN169 Pin : 021.423.1020 by Interconnectron GmbH 3 Phase V 4 Phase W 5 0V (Power supply) 6 Not used 7 Not used Pin No. Signal 8 Not used 1 Phase U Red 9 Not used 2 Phase V White 3 Phase W Blue 4 Not used – 5 Not used – 6 FG Green N1 N2 L2 L3 4 5 L4 L5 When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. The Mating Connector Plug : SPUC06KFSDN236 Socket: 020.030.1020 L6 Vu Su Wire Color Inverse Power Vv Sv (V) Vw Sw 0 180 360 Electrical Angle (°) Approx. Mass* kg 40A140C¡D 140 125 90 30 52.5 45 3 4 0.40 40A253C¡D 252.5 237.5 180 37.5 60 135 5 8 0.66 40A365C¡D 365 350 315 30 52.5 270 8 14 0.93 *: The values indicate the mass of moving coil with a hall sensor unit. 133 Hall Sensor Output Signals Linear Servomotor Connector Specifications 540 Linear Servomotors SGLGW External Dimensions Linear (Coreless Type) Units: mm 3Magnetic Way : SGLGM-40¡¡¡C (Without mounting holes on the bottom) SGLGM-40¡¡¡CT (With mounting holes on the bottom) -0.1 -0.3 (1 Unit) 25.4 25.4 9±0.2 7.4±0.2 4-C1 9±0.2 7.4±0.2 4-C1 62 62 L1 Warning Label Nameplate 7 X Pitch 45 Pitch 45 X 5.4 5.4 X-X X-X N-M5 Mounting Screws, Depth 13 (Per unit) (Only for SGLGMCT) X Type Standard-force Magnetic Way Model SGLGM- Standard Force SGLGM40¡¡¡CT SGLGM40¡¡¡C L1 L2 N Approx. Mass kg 40090C or 40090CT 90 45 2 0.8 40225C or 40225CT 225 180 5 2.0 40360C or 40360CT 360 315 8 3.1 40405C or 40405CT 405 360 9 3.5 40450C or 40450CT 450 405 10 3.9 Note: If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. Linear Servomotors 5.5 Dia. (22.5) L2 22.5 (13) 5.5 Dia. N-5.5 Dia. Mounting Holes (Per unit) 10 Dia. 12.7 (22.5) L2 10 Dia. X 22.5 3High-force Magnetic Way : SGLGM-40¡¡¡C-M (Without mounting holes on the bottom) SGLGM-40¡¡¡CT-M (With mounting holes on the bottom) 31.8 31.8 (1 Unit) 7.4±0.2 4-C1 12.2 ±0.2 12.2 ±0.2 7.4±0.2 4-C1 Nameplate Warning Label Pitch 45 (22.5) L2 N-5.5 Dia. Mounting Holes (Per unit) Pitch 45 5.4 X-X X Type High Force SGLGM40¡¡¡C-M N-M5 Mounting Screws, Depth 13 (Per unit) (Only for SGLGMCT-M) High-force Magnetic Way Model SGLGM- L1 L2 N Approx. Mass kg 40090C-M or 40090CT-M 90 45 2 1.0 40225C-M or 40225CT-M 225 180 5 2.6 40360C-M or 40360CT-M 360 315 8 4.1 40405C-M or 40405CT-M 405 360 9 4.6 40450C-M or 40450CT-M 450 405 10 5.1 (13) X (22.5) L2 22.5 15.9 5.5 Dia. 10 Dia. X 22.5 5.5 Dia. 10 Dia. 7 X 62 -0.1 -0.3 62 L1 5.4 X-X SGLGM40¡¡¡CT-M Note: If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 134 External Dimensions Units: mm (3) SGLGW-60 3Moving Coil: SGLGW-60A¡¡¡C¡ (With a connector by Tyco Electronics AMP K.K.) L5 2-Screws ＃4-40 UNC L6 Mounting Holes N2-M4 Tapped Holes, Depth 6 Nameplate 25.4 4.8 16 The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. L1 L3 L4 Mounting Holes on Both Sides 45 N1-M4 Tapped Holes, Depth 6 30 1 15 4 14 0.5 (5.3 Dia.) (7 Dia.) 500±50 7.2 (7.5) 7 98 L2 83 6.5 15 500±50 17 45 Gap 0.8 Gap 0.8 Hall Sensor Connector Specifications 9 Linear Servomotor Connector Specifications 6 5 Hall Sensor Output Signals Pin No. Signal Pin No. Signal 1 +5V (Power supply) 1 Phase U Red 2 Phase U 2 Phase V White 3 Phase V 3 Phase W Blue 4 Phase W 4 FG Green 1 Pin Connector : 17JE-23090-02 (D8C) by DDK Ltd. 5 0V (Power supply) The Mating Connector 6 Not used Socket Connector : 17JE-13090-02 (D8C) Stud : 17L-002C or 17L-002C1 7 Not used 8 Not used 9 Not used Plug : 350779-1 Pin : 350561-3 or 350690-3 (No.1 to 3) 350654-1 350669-1 (No.4) by Tyco Electronics AMP K.K. Wire Color When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Vu Su The Mating Connector Inverse Vv Power (V) Cap : 350780-1 Socket : 350570-3 or 350689-3 Sv Vw Sw 0 Moving Coil Model SGLGW- L1 L2 L4 L5 L6 N1 N2 Approx. Mass* kg 60A140C¡ 140 125 90 30 52.5 45 3 4 0.48 60A253C¡ 252.5 237.5 180 37.5 60 135 5 8 0.82 60A365C¡ 365 350 315 30 52.5 270 8 14 1.16 *: The values indicate the mass of moving coil with a hall sensor unit. 135 L3 180 360 540 Electrical Angle（°） Linear Servomotors SGLGW External Dimensions Linear (Coreless Type) Units: mm 3Moving Coil: SGLGW-60A¡¡¡C¡D (With a connector by Interconnectron GmbH) L5 2-Screws L6 Mounting Screws, Depth N2-M4 Tapped Holes, Depth 6 45 Name plate (5.3 Dia.) (7 Dia.) 16 The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. L1 L3 L4 Mounting Holes on Both Sides 45 N1-M4 Tapped Holes, Depth 6 (7.5) 7 98 L2 83 30 1 15 4 500±50 14 0.5 7.2 Linear Servomotors 25.4 6.5 4.8 15 500±50 17 ＃4-40 UNC Gap 0.8 Gap 0.8 Hall Sensor Connector Specifications 9 5 Pin No. 6 1 Pin Connector : 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector : 17JE-13090-02 (D8C) Stud : 17L-002C or 17L-002C1 Moving Coil Model SGLGW- L1 Signal 1 +5V (Power supply) 2 Phase U 3 Phase V 4 Phase W 5 0V (Power supply) 6 Not used 7 Not used 8 Not used 9 Not used L2 Linear Servomotor Connector Specifications 1 2 6 3 5 L3 4 Hall Sensor Output Signals Extension: SROC06JMSCN169 Pin : 021.423.1020 by Interconnectron GmbH When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. The Mating Connector Plug : SPUC06KFSDN236 Socket: 020.030.1020 Pin No. Signal Wire Color 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 Not used – 5 Not used – 6 FG Green L4 L5 Vu Su Inverse Power Vv Sv (V) Vw Sw 0 L6 N1 180 360 Electrical Angle (°) N2 540 Approx. Mass* kg 60A140C¡D 140 125 90 30 52.5 45 3 4 0.48 60A253C¡D 252.5 237.5 180 37.5 60 135 5 8 0.82 60A365C¡D 365 350 315 30 52.5 270 8 14 1.16 *: The values indicate the mass of moving coil with a hall sensor unit. 136 External Dimensions Units: mm 3Magnetic Way : SGLGM-60¡¡¡C (Without mounting holes on the bottom) SGLGM-60¡¡¡CT (With mounting holes on the bottom) 25.4 9±0.2 7.4±0.2 4-C1 82 Warning Label Nameplate 25.4 9±0.2 7.4±0.2 4-C1 82 -0.1 L1 -0.3 (1 Unit) 7 X X (22.5) 5.4 5.4 X-X X N-M5 Mounting Screws, Depth 13 (Per unit) (Only for SGLGMCT) Standard Force X-X SGLGM60¡¡¡CT SGLGM60¡¡¡C Standard-force Magnetic Way Model SGLGM- Type L1 L2 N Approx. Mass kg 60090C or 60090CT 90 45 2 1.1 60225C or 60225CT 225 180 5 2.6 60360C or 60360CT 360 315 8 4.1 60405C or 60405CT 405 360 9 4.6 60450C or 60450CT 450 405 10 5.1 5.5 Dia. 10 Dia. N-5.5 Dia. Mounting Holes (Per unit) L2 Pitch 45 12.7 (13) (22.5) L2 5.5 Dia. 22.5 Pitch 45 10 Dia. X 22.5 Note: If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 3High-force Magnetic Way : SGLGM-60¡¡¡C-M (Without mounting holes on the bottom) SGLGM-60¡¡¡CT-M (With mounting holes on the bottom) 31.8 31.8 7.4±0.2 4-C1 Warning Label ±0.2 82 Nameplate 12.2 7.4±0.2 ±0.2 4-C1 12.2 82 L1 --00..13 (1 Unit) Pitch 45 (22.5) L2 N-5.5 Dia. Mounting Holes (Per unit) X (22.5) L2 Pitch 45 5.4 X-X X Type High Force 137 SGLGM60¡¡¡C-M N-M5 Mounting Screws, Depth 13 (Per unit) (Only for SGLGMCT-M) High-force Magnetic Way Model SGLGM- L1 L2 N Approx. Mass kg 60090C-M or 60090CT-M 90 45 2 1.3 60225C-M or 60225CT-M 225 180 5 3.3 60360C-M or 60360CT-M 360 315 8 5.2 60405C-M or 60405CT-M 405 360 9 5.9 60450C-M or 60450CT-M 450 405 10 6.6 (13) 22.5 15.9 5.5 Dia. 10 Dia. X 22.5 5.5 Dia. 10 Dia. 7 X 5.4 X-X SGLGM60¡¡¡CT-M Note: If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. Linear Servomotors SGLGW External Dimensions Linear (Coreless Type) Units: mm (4) SGLGW-90 3Moving Coil: SGLGW-90A¡¡¡C¡ (With a connector by Tyco Electronics AMP K.K.) L5 L6 N2-M6Mounting Screws, Depth 9 32 95 L3 The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. 121 (φ 10.5) 2 65 L2 Gap1 11.8 Linear Servomotors Gap1 L1 L4 Cable UL2517,AWG15 138 110 26 ( φ 5.3) 2×N1-M6 Mounting Screws, Depth 9 (on Both Sides) Nameplate 8 49 500±50 Cable UL20276,AWG26 500±50 2-Screws #4-40 UNC 50.8 Hall Sensor Connector Specifications 6 9 5 Hall Sensor Output Signals Linear Servomotor Connector Specifications 1 Pin Connector : 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector : 17JE-13090-02 (D8C) Stud : 17L-002C or 17L-002C1 Pin No. Signal 1 +5V (Power supply) 2 Phase U 3 Phase V 4 Phase W 5 0V (Power supply) 6 Not used 7 Not used 8 Not used 9 Not used Pin No. Signal 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 FG Green Plug：350779-1 Pin ：350218-3 or 350547-3 (No.1 or 3) 350654-1 350669-1 (No.4) by Tyco Electronics AMP K.K. Wire Color When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Vu Inverse Power The Mating Connector Cap ：350780-1 Socket：350536-3 or 350550-3 Su Vv Sv (V) Vw Sw 0 Moving Coil Model SGLGW- L1 L2 L3 L4 L5 L6 N1 N2 180 360 Electrical Angle (°) 540 Approx. Mass* kg 90A200C¡ 199 189 130 40 60 95 3 4 2.2 90A370C¡ 367 357 260 40 55 285 5 8 3.65 90A535C¡ 535 525 455 40 60 380 8 10 4.95 *: The values indicate the mass of moving coil with a hall sensor unit. 138 External Dimensions Units: mm 3Magnetic Way: SGLGM-90¡¡¡A L1 --00..13 (1 Unit) Warning Label 13.8 18.5 X X 31.5 Pitch 63 L2 N-Mounting Holes (Per unit) 19 L2 50.8 (31.5) (44) Pitch 63 12 Dia. 6.6 Dia. 8.5 110 95.5 Neameplate 6 .5 X-X N-M6 Mounting Screws, Depth 14.5 Magnetic Way SGLGM- L1 L2 N 90252A 252 189 4 7.3 90504A 504 441 8 14.7 Approx. Mass kg Note: If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 139 Linear Servomotors SGLGW Linear (Coreless Type) Selecting Cables 1Cables Connections SGDV SERVOPACK Cable for Connecting Serial Converter Unit (Between SERVOPACK connector CN2 and serial converter unit) Linear Servomotor Main Circuit Cable Linear Servomotors Serial Converter Unit (See page 202.) Encoder Cable Cable for Connecting Hall Sensor (Between serial converter unit and hall sensor unit) Linear Scale (To be provided by users) Hall Sensor Unit Linear Servomotor 1Cables Name Applicable Linear Servomotor Model SGLGW-30,-40,-60 Linear Servomotor SGLGW-90 Main Circuit Cables Length Order No. 1m JZSP-CLN11-01-E 3m JZSP-CLN11-03-E 5m JZSP-CLN11-05-E 10 m JZSP-CLN11-10-E 15 m JZSP-CLN11-15-E 20 m JZSP-CLN11-20-E 1m JZSP-CLN21-01-E 3m JZSP-CLN21-03-E 5m JZSP-CLN21-05-E 10 m JZSP-CLN21-10-E 15 m JZSP-CLN21-15-E 20 m JZSP-CLN21-20-E 1m JZSP-CLN14-01-E SGLGW 3m JZSP-CLN14-03-E -30¡¡¡¡¡¡D 5m JZSP-CLN14-05-E -40¡¡¡¡¡¡D 10 m JZSP-CLN14-10-E -60¡¡¡¡¡¡D 15 m JZSP-CLN14-15-E 20 m JZSP-CLN14-20-E *1: Connector by Tyco Electronics AMP K.K. *2: Connector by Interconnectron GmbH Specifications SERVOPACK End Details Linear Servomotor End (1) *1 SERVOPACK End Linear Servomotor End (2) *1 SERVOPACK End Linear Servomotor End (3) *2 (Cont’d) NOTE: Shaded items are non-stock. 140 Selecting Cables 1Cables Applicable Linear Servomotor Model Name Length Cables for Connecting All models Linear Scales* Cables for Connecting Serial All models Converter Units Cables for Connecting Hall All models Sensors Order No. Specifications 1m JZSP-CLL00-01-E 3m JZSP-CLL00-03-E 5m JZSP-CLL00-05-E 10 m JZSP-CLL00-10-E 15 m JZSP-CLL00-15-E 1m JZSP-CLP70-01-E 3m JZSP-CLP70-03-E 5m JZSP-CLP70-05-E 10 m JZSP-CLP70-10-E 15 m JZSP-CLP70-15-E 20 m JZSP-CLP70-20-E 1m JZSP-CLL10-01-E 3m JZSP-CLL10-03-E 5m JZSP-CLL10-05-E 10 m JZSP-CLL10-10-E 15 m JZSP-CLL10-15-E Serial Converter Unit End Details Linear Scale End (4) Serial Converter Unit End SERVOPACK End (5) Hall Sensor Unit End Serial Converter Unit End (6) * When using the serial converter unit, JZDP-G00¡-¡¡¡-E, the maximum cable length is 3 m. ∙ Wiring Specifications (1) Linear Servomotor Main Circuit Cables: JZSP-CLN11-¡¡-E SERVOPACK End M4 Crimped Terminal Linear Servomotor End U V W G Wire Markers SERVOPACK-end Leads 35 mm L Heat-shrinkableTube 50 mm Finished Diameter 6.8 Dia. 4 27.7 8.5 mm 1 Cable (UL2464) AWG18/4C Cap: 350780-1 (4-pole) Socket: 350536-3 (Chained) by Tyco Electronics AMP K.K. 7.6 8.5 mm Heat-shrinkable Tube Finished Diameter 11.9 Dia. 4 27.7 U V M4 Crimped Terminal W G 1 Cable (UL2570) AWG14/4C Wire Markers L 50 mm 51 mm 141 1 Phase V 2 Blue Phase W Phase W 3 Green/yellow FG FG 4 Linear Servomotor-end Connector Wire Color Signal Signal Red Phase U Phase U 1 White Phase V Phase V 2 Blue Phase W Phase W 3 Green/yellow FG FG 4 Wire Color Heat-shrinkable Tube Wire Markers Phase U Phase V SERVOPACK-end Leads 28 Dia. W G Phase U Pin. No. ∙ Wiring Specifications Linear Servomotor End SERVOPACK End U V Red White 14.7 (3) Linear Servomotor Main Circuit Cables: JZSP-CLN14-¡¡-E SERVOPACK End M4 Crimped Terminal Pin. No. 7.6 Cap: 350780-1 (4-pole) Socket: 350537-3 (Chained) by Tyco Electronics AMP K.K. 8.5 mm Signal SERVOPACK-end Leads 35 mm L Signal ∙ Wiring Specifications Linear Servomotor End 50 mm Wire Color 14.7 (2) Linear Servomotor Main Circuit Cables: JZSP-CLN21-¡¡-E SERVOPACK End Linear Servomotor-end Connector Finished Diameter 6.8 Dia. 16 P 3 4 SPUC06KFSDN236 by Interconnectron Gmbh Signal Pin No. Black (White 1) Phase U Phase U 1 Black (White 2) Phase V Phase V 2 Black (White 3) Phase W Phase W 3 5 2 Cable (UL2464) AWG18/4C Signal Linear Servomotor-end Connector Green/yellow FG 4 5 FG 6 Linear Servomotors SGLGW (Coreless Type) Linear Selecting Cables (4) Cables for Connecting Linear Scales: JZSP-CLL00-¡¡-E Serial Converter Unit End 9 1 9 Connector： 17JE-13150-02 (D8C) (With stud) (15-pin，soldered) 15 by DDK Ltd. Finished Diameter 9.5 Dia. 15 ∙ Wiring Specifications 8 8 Cable (UL2584) (AWG22 × 3C + AWG25 × 6P) Linear Scale End Serial Converter Unit End Pin No. Signal Pin No. 1 /Cos (V1−) 1 /Cos（V1−） 2 /Sin (V2−) 2 /Sin（V2−） 3 Ref (V0+) 3 Ref（V0+） 4 +5V 4 +5V 5 5Vs 5 5Vs 6 BID 6 BID 7 Vx 7 Vx 8 Vq 8 Vq Cos（V1+） Signal 9 Cos (V1+) 9 10 Sin (V2+) 10 Sin（V2+） 11 /Ref (V0+) 11 /Ref（V0−） 12 0V 12 0V 13 0Vs 13 0Vs 14 DIR 14 DIR 15 Inner 15 Inner Case Shield Case Shield Linear Servomotors Connector： 17JE-23150-02 (D8C) (15-pin，soldered) by DDK Ltd. Linear Scale End L 1 (5) Cables for Connecting Serial Converter Units: JZSP-CLP70-¡¡-E SERVOPACK End Serial Converter Unit End L Finished Diameter 6.8 Dia. Connector: 55100-0670 (6-pin, soldered) by Molex Japan Co., Ltd. Connector: 17JE-23090-02 (D8C) (9-pin, soldered) by DDK Ltd. Cable (UL20276) (AWG22×2C+AWG24×2P) Serial Converter Unit End SERVOPACK End ∙ Wiring Specifications Pin No. Signal Wire Color Pin No. Signal 1 PG5V Red 1 +5 V Red 2 PG0V Black 5 0V Black 3 − − 3 − − 4 − − 4 − − 5 PS Light blue 2 Phase S output Light blue 6 /PS Light blue/white 6 Phase /S output Light blue/white Shell Shield − Case Shield − 7 − − 8 − − 9 − − Wire Color (6) Cables for Connecting Hall Sensors: JZSP-CLL10-¡¡-E Hall Sensor End Serial Converter Unit End L 6 Connector: 17JE-23090-02 (D8C) (9-pin, soldered) 9 by DDK Ltd. ∙ Wiring Specifications 1 Finished Diameter 6.8 Dia. 5 Cable (UL20276) (AWG22×2C+AWG24×2P) Serial Converter Unit End 1 6 5 9 Connector: 17JE-13090-02 (D8C) (With stud) (9-pin, soldered) by DDK Ltd. Hall Sensor End Pin No. Signal Pin No. 1 +5V 1 +5V 2 Phase U input 2 Phase U input 3 Phase V input 3 Phase V input 4 Phase W input 4 Phase W input 5 0V 5 0V 6 − 6 − 7 − 7 − 8 − 8 − 9 − 9 − Case Shield Case Shield Signal 142 Linear Servomotors SGLFW (With F-type iron core) Model Designations 2Moving Coil SGL Linear F W - 20 A 090 A P ¡ Series Connector for Main Circuit Cable Linear Servomotor Code Specifications Blank Connector by Tyco Electronics AMP K.K. All models D Connector by Interconnectron GmbH SGLFW-35, -50, -1Z¡200B, -1ZD380B Servomotor Type Code F Specifications F-type iron core W: Moving Coil Magnet Height Hall Sensor Voltage A: 200 VAC D: 400 VAC Code P Specifications With hall sensor Blank Without hall sensor Length of Moving Coil Design Revision Order A, B, ... ◦Magnetic Way SGL Linear F Series M - 20 324 A ¡ Options Linear Servomotor Code Servomotor Type Blank C Code F Specifications Standard With magnet cover Specifications F-type iron core Design Revision Order A, B, ... M: Magnetic Way Length of Magnetic Way Magnet Height NOTE: Shaded items are non-stock. 143 Applicable Model リニア SGLGW（コアレス形） Features Application Examples 2Direct-feed mechanism for high-speed and high-precision positioning. 2Feeders and loaders 2Semiconductor equipment 2The magnetic attraction force between the moving and stationary members can be used effectively to increase the rigidity of the linear guidance by preloading the linear motion bearings. 2LCD manufacturing equipment Linear Servomotors 2The magnetic preloading on certain types of compliant linear motion bearings can help increase the system’s frequency response, improving its deceleration and settling performances. 2 Precautions on Moving Coil with Hall Sensor When using a moving coil with a hall sensor, the magnetic way must completely cover the bottom of the hall sensor. Refer to the example showing the correct installation. When determining the length of the moving coil’s stroke or the length of the magnetic way, consider the total length of the moving coil and the hall sensor unit. Refer to the following table. Moving Coil Movement Direction Moving Coil Hall Sensor Magnetic Way Magnetic Way End The total length of moving coil with hall sensor A L Moving Coil Length of L1 Model Moving Coil SGLFW- L1 (mm) Moving Coil Magnetic Way 20A090AP¡ 91 20A120AP¡ 127 35¡120AP¡ 127 35¡230AP¡ 235 50¡200¡P¡ 215 50¡380¡P¡ 395 1Z¡200¡P¡ 215 1Z¡380¡P¡ 395 Length of Hall Sensor Unit Total Length A (mm) L (mm) 22 22 22 22 113 149 149 257 237 417 237 417 144 Ratings and Specifications Time Rating: Continuous Insulation Resistance: 500 VDC, 10 MW min. Ambient Temperature: 0 to 40˚C Excitation: Permanent magnet Withstand Voltage: 1500 VAC for one minute Enclosure: Self-cooled Ambient Humidity: 20% to 80% (no condensation) Allowable Winding Temperature: 130˚C (Thermal class B) 200-V Class Linear Servomotor Model 20A SGLFW- 35A 50A 1ZA 090A 120A 120A 230A 200B 380B 200B 380B Peak Speed m/s 5.0 5.0 5.0 5.0 5.0 5.0 4.9 4.9 Rated Force* N 25 40 80 160 280 560 560 1120 Rated Current* Arms 0.70 0.80 1.4 2.8 5.0 10.0 8.7 17.5 Peak Force* N 86 125 220 440 600 1200 1200 2400 43.6 Peak Current* Arms 3.0 2.9 4.4 8.8 12.4 25.0 21.6 Moving Coil Mass kg 0.7 0.9 1.3 2.3 3.5 6.9 6.4 11.5 Force Constant N/Arms 36.0 54.0 62.4 62.4 60.2 60.2 69.0 69.0 BEMF Constant V/(m/s) 12.0 18.0 20.8 20.8 20.1 20.1 23.0 23.0 Motor Constant N/Q W 7.9 9.8 14.4 20.4 34.3 48.5 52.4 74.0 Electrical Time Constant ms 3.2 3.3 3.6 3.6 15.9 15.8 18.3 18.3 Mechanical Time Constant ms 11.0 9.3 6.2 5.5 3.0 2.9 2.3 2.1 Thermal Resistance (With Heat Sink) K/W 4.35 3.19 1.57 0.96 0.56 0.38 0.47 0.2 Thermal Resistance (Without Heat Sink) K/W 7.69 5.02 4.10 1.94 1.65 0.95 1.3 0.73 Magnetic Attraction N 314 462 809 1590 1650 3260 3300 6520 Applicable SERVOPACK SGDV- 1R6 1R6 1R6 3R8 5R5 120A 120A 200A Notes: 1 The items marked with an * and Force and Speed Characteristics (the table on the next page) are the values at a motor winding temperature of 100˚C during operation in combination with a SERVOPACK. The others are at 20˚C. 2 The above specifications show the values under the cooling condition when a heat sink (aluminum board) listed in the following table is mounted on the moving coil. Heat Sink Size :125 mm × 125 mm × 13 mm: SGLFW-20A090A, -20A120A 254 mm × 254 mm × 25 mm: SGLFW-35A120A, -35A230A 400 mm × 500 mm × 40 mm: SGLFW-50A200B, -50A380B, -1ZA200B 600 mm × 762 mm × 50 mm: SGLFW-1ZA380B 400-V Class Linear Servomotor Model 35D SGLFW- 50D 1ZD 120A 230A 200B 380B 200B 380B Peak Speed m/s 4.5 4.5 5.0 5.0 5.0 5.0 Rated Force* N 80 160 280 560 560 1120 Rated Current* Arms 0.6 1.3 2.3 4.5 4.9 9.8 Peak Force* N 220 440 600 1200 1200 2400 24.6 Peak Current* Arms 2.0 4.0 5.6 11.0 12.3 Moving Coil Mass kg 1.3 2.3 3.5 6.9 6.4 11.5 Force Constant N/Arms 136.0 136.0 134.7 134.7 122.6 122.6 BEMF Constant V/(m/s) 45.3 45.3 44.9 44.9 40.9 40.9 Motor Constant N/Q W 14.2 20.1 33.4 47.2 51.0 72.1 Electrical Time Constant ms 3.7 3.6 15.0 15.0 17.4 17.2 Mechanical Time Constant ms 5.2 5.1 3.2 3.2 2.5 2.2 Thermal Resistance (With Heat Sink) K/W 1.57 0.96 0.56 0.38 0.47 0.2 Thermal Resistance (Without Heat Sink) K/W 4.1 1.94 1.65 0.95 1.3 0.73 Magnetic Attraction N 810 1590 1650 3260 3300 6520 Applicable SERVOPACK SGDV- 1R9D 1R9D 3R5D 5R4D 5R4D 120D Notes: 1 The items marked with an * and Force and Speed Characteristics (the table on the next page) are the values at a motor winding temperature of 100˚C during operation in combination with a SERVOPACK. The others are at 20˚C. 2 The above specifications show the values under the cooling condition when a heat sink (aluminum board) listed in the following table is mounted on the moving coil. Heat Sink Size :254 mm × 254 mm × 25 mm: SGLFW-35D120A, -35D230A 400 mm × 500 mm × 40 mm: SGLFW-50D200B, -50D380B, -1ZD200B 600 mm × 762 mm × 50 mm: SGLFW-1ZD380B 145 Linear Servomotors Linear SGLFW (With F-type iron core) Ratings and Specifications 1Force and Speed Characteristics : Continuous Duty Zone A B : Intermittent Duty Zone (Note1) 200-V Class 1. 0 0 0 20 40 60 2.0 1.0 0 80 100 B A 3. 0 B 2. 0 1. 0 0 0 2.0 1.0 5.0 4.0 3.0 1.0 0 200 400 600 800 B A 2.0 0 500 Force (N) 5.0 4.0 B 2.0 1.0 0 0 50 100 150 200 250 A 3.0 0 100 200 300 400 500 Force (N) SGLFW-50A380B 6.0 Motor Speed (m/s) Motor Speed (m/s) 5. 0 4. 0 B Force (N) SGLFW-50A200B 6.0 A 3.0 0 0 20 40 60 80 100 120 140 Force (N) 4.0 1000 SGLFW-1ZA200B 6.0 5.0 4.0 3.0 A 2.0 B 1.0 0 1500 Force (N) 0 500 Force (N) 1000 SGLFW-1ZA380B 6.0 5.0 4.0 3.0 1.0 0 1500 B A 2.0 0 1000 Force (N) 2000 3000 Force (N) Notes: 1. When the effective force during intermittent duty is within the rated force, the servomotor can be used within the intermittent duty zone. 2. The solid, dotted, and dashed-dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations: ∙ The solid line: With a three-phase 200 V or a single-phase 230 V SERVOPACK ∙ The dotted line: With a single-phase 200 V SERVOPACK ∙ The dashed-dotted line: With a single-phase 100 V SERVOPACK Linear Servomotors 2. 0 A 3.0 5.0 Motor Speed (m/s) B 4.0 SGLFW-35A230A 6.0 Motor Speed (m/s) A 3. 0 5.0 SGLFW-35A120A 6.0 Motor Speed (m/s) 4. 0 Motor Speed (m/s) Motor Speed (m/s) 5. 0 SGLFW-20A120A 6.0 Motor Speed (m/s) SGLFW-20A090A 6.0 400-V Class A 3.0 B 2.0 1.0 0 0 5.0 4.0 B 2.0 1.0 0 50 100 150 200 250 A 3.0 0 100 200 300 400 500 Force (N) SGLFW-1ZD200B 6.0 5.0 4.0 A 3.0 B 2.0 1.0 0 0 500 1000 1500 Force (N) 5.0 4.0 A 3.0 B 2.0 1.0 0 0 200 400 Force (N) 600 800 SGLFW-50D380B 6.0 5.0 4.0 A 3.0 2.0 B 1.0 0 0 500 1000 1500 Force (N) SGLFW-1ZD380B 6.0 Motor Speed (m/s) Motor Speed (m/s) Force (N) SGLFW-50D200B 6.0 Motor Speed (m/s) 4.0 Motor Speed (m/s) Motor Speed (m/s) 5.0 SGLFW-35D230A 6.0 Motor Speed (m/s) SGLFW-35D120A 6.0 5.0 4.0 A 3.0 B 2.0 1.0 0 0 1000 2000 3000 Force (N) Notes: 1. When the effective force during intermittent duty is within the rated force, the servomotor can be used within the intermittent duty zone. 2. The dotted line indicates the characteristics when a 400-VAC linear servomotor is used with 200-V input power supply. In this case, a serial converter unit is required. Contact your Yaskawa representative for details. 1Mechanical Specifications (1) Impact Resistance ∙Impact acceleration: 196 m/s2 ∙Impact occurrences: twice (2) Vibration Resistance ∙ The linear servomotors will withstand the following vibration acceleration in three directions: Vertical, side to side, and front to back. ∙ Vibration acceleration: 49 m/s2 146 External Dimensions Units: mm (1) SGLFW-20 3Moving Coil: SGLFW-20A¡¡¡A¡ (With a connector by Tyco Electronics AMP K.K.) 50 Min. 30 ) ia. A−A 12.5 36 8 22.5 20 ②SGLFW-20A120A¡ 3-M4 Tapped Holes, Depth 5.5 22.5 20 12.5 30 (7.5) 2 .5 1D ( 6. .) Dia 30 Min. 12 Nameplate ①SGLFW-20A090A¡ 2-M4 Tapped Holes, Depth 5.5 The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. 7 See the figures1 and 2 below. L3 50 0± 50 A (12.5) 20 (12) 50 A 5.5 45±0.1 0 5 0± (4.2: With Magnet Cover) 2-Screws (4 : Without Magnet Cover) #4-40 UNC (Gap 0.8: With Magnet Cover) (Gap 1: Without Magnet Cover) ( 4.2 (10.2: With Magnet Cover) (10: Without Magnet Cover) 40 (20) 22 34 12.5 22.5 0.5 (6) (25) 36 Magnetic Way 5.5 17.5 2 (22) (22) (44) Hall Sensor (10) (32) L1 L2 30 30 36 72 Hall Sensor Connector Specifications 6 9 5 Pin No. Signal 1 +5V (Power supply) 2 Phase U 3 Phase V 4 Phase W 5 0V (Power supply) 6 Not used 7 Not used 8 Not used 1 Pin Connector : 17JE-13090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1 9 Not used Linear Servomotor Connector Specifications Plug:350779-1 Pin :350218-3 or 350547-3(No.1 to 3) 350654-1 350669-1(No.4) by Tyco Electronics AMP K.K. Hall Sensor Output Signals Pin No. Signal Wire Color 1 Phase U Red 2 Phase V White 3 Phase W Black 4 FG Green The Mating Connector Cap : 350780-1 Socket: 350536-3 or 350550-3 Note: Models compatible with connectors by Interconnectron GmbH are also available. When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Vu Su Inverse Power Vv (V) Sv Vw Sw 0 Moving Coil Model SGLFW- 147 L3 Approx. Mass kg 36 72 0.7 72 108 0.9 L1 L2 20A090A¡ 91 20A120A¡ 127 180 360 Electrical Angle(°) 540 Linear Servomotors SGLFW (With F-type iron core) External Dimensions Linear Units: mm 3Magnetic Way: SGLFM-20¡¡¡A (L3) 9.9° (4.5) 35 22 (22) 44 (40) (17.5) Moving Coil 2 × N-4.8 Dia. Mounting Holes NSNS NSNS O/N S/N MADE IN JAPAN YASKAWA 4 (34) 45±0.1 YASKAWA O/N S/N MADE 4.5 TYPE: Reference Mark (Two 4 dia. marks are engraved.) Nameplate 54 0 30.8 -0.2 (Gap1) Reference Mark L2 (Reference Mark) (54) (30.8) 01 L1 --0..3 The Height of Screw Head: 4.2 Max. Assembly Dimensions Notes: 1 Multiple SGLFM-20¡¡¡A magnetic ways can be connected. Connect magnetic ways so that the reference marks match one on the other in the same direction as shown in the figure. 2 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. Magnetic Way Model SGLFM- L1-0.1 -0.3 L2 (L3) N Approx. Mass kg 20324A 324 270 (54 × 5) (331.6) 6 0.9 20540A 540 486 (54 × 9) (547.6) 10 1.4 20756A 756 702 (54 × 13) (763.6) 14 2 Linear Servomotors 6 10 (22.5) TYPE: 148 External Dimensions Units: mm (2) SGLFW-35 3Moving Coil: SGLFW-35¡¡¡¡A¡ (With a connector by Tyco Electronics AMP K.K.) 50 Min. L1 L2 18 (7.5) A (8.5) 55 50 See the figures① and ② below. 0± 50 0± .) 1D ( 6. Dia 50 ) ia. A−A 2.5 8 L3 30 Min. 12 50 5.5 (35) 37 30 25 (10.2：With Magnet Cover) (10：Without Magnet Cover) 2-Screws #4-40 UNC (4.2 (4.2：With Magnet Cover) (4：Without Magnet Cover) (Gap 0.8：With Magnet Cover) 45±0.1 (Gap1：Without Magnet Cover) 34 A 35 Magnetic Way 12.5 (60) (30) (30) 0.5 (6) (25) (10.5) 2 5.5 (32) 36 Hall Sensor (12.5) 30 30 7 The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. Nameplate ①SGLFW-35¡120A¡ ②SGLFW-35¡230A¡ 35 18 12.5 8.5 8.5 12-M4 Tapped Holes, Depth 5.5 36 72 Hall Sensor Connector Specifications 6 9 5 30 30 30 35 18 12.5 6-M4 Tapped Holes, Depth 5.5 30 36 180(36 × 5) Linear Servomotor Connector Specifications Hall Sensor Output Signals Pin No. Signal Pin No. Signal 1 +5V (Power supply) Wire Color 1 Phase U Red 2 Phase U 2 Phase V White 3 Phase V 3 Phase W Black 4 Phase W 4 FG Green 5 0V (Power supply) 6 Not used 7 Not used 8 Not used 9 Not used 1 Pin Connector 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02(D8C) Stud:17L-002C or 17L-002C1 Plug: 350779-1 Pin : 350218-3 or 350547-3 (No.1 to 3) 350654-1 350669-1 (No.4) by Tyco Electronics AMP K.K. The Mating Connector Cap : 350780-1 Socket: 350536-3 or 350550-3 When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Vu Su Inverse Power Vv (V) Sv Vw 149 Moving Coil Model SGLFW- L1 35¡120A¡ 127 35¡230A¡ 235 L3 Approx. Mass kg 72 108 1.3 180 216 2.3 L2 Sw 0 180 360 Electrical Angle(°) 540 Linear Servomotors Linear SGLFW (With F-type iron core) External Dimensions Units: mm 3Moving Coil: SGLFW-35¡¡¡¡A¡D (With a connector by Interconnectron GmbH) 18 A A (12.5) (8.5) 50 0± See the figures① and ② below. L3 50 30 Min. 12 ( 4.2 0 ±5 00 .) 1D ( 6. Dia 5 5.5 (4.2：With Magnet Cover) 2-Screws #4-40 UNC (4：Without Magnet Cover) (10.2：With Magnet Cover) (Gap 0.8：With Magnet Cover) (10：Without Magnet Cover) 45±0.1 (Gap1：Without Magnet Cover) 34 2.5 8 12.5 55 (35) 37 30 25 (60) (30) (30) 0.5 (6) (7.5) Magnetic Way 25 (10.5) 2 36 ) ia. A−A 35 Hall Sensor 5.5 (32) L1 L2 7 The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. Linear Servomotors 50 Min. 30 30 Nameplate ①SGLFW-35¡120A¡D ②SGLFW-35¡230A¡D 35 18 12.5 8.5 18 8.5 12-M4 Tapped Holes, Depth 5.5 30 36 72 6 5 30 36 180(36 × 5) Linear Servomotor Connector Specifications Hall Sensor Connector Specifications 9 30 30 35 12.5 6-M4 Tapped Holes, Depth 5.5 Pin No. Signal 1 +5V (Power supply) 2 Phase U 3 Phase V 1 Pin Connector : 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1 4 Phase W 5 0V (Power supply) 6 Not used 7 Not used 8 Not used 9 Not used 5 4 6 Hall Sensor Output Signals 1 2 Extension: ARRA06AMRPN182 Pin : 021.279.1020 by Interconnectron GmbH Pin No. Name 1 Phase U 2 Phase V 4 Phase W 5 Not used 6 Not used When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Ground Vu The Mating Connector Plug : APRA06BFRDN170 Socket: 020.105.1020 Inverse Power (V) Su Vv Sv Vw 0 Moving Coil Model SGLFW- L1 L2 L3 N Approx. Mass kg 35¡120A¡D 127 72 108 6 1.3 35¡230A¡D 235 180 216 12 2.3 Sw 180 360 Electrical Angle(°) 540 150 External Dimensions Units: mm 3Magnetic Way: SGLFM-35¡¡¡A (L3) 9.9° (30) 51 (4.5) 2 × N-4.8 Dia. Mounting Holes N S N S N S N S 30 60 (55) (30) (25) Moving Coil YASKAWA YASKAWA TYPE: DATE O/N S/N MADE 4.5 TYPE: O/N S/N MADE IN JAPAN 6 4 10 (34) Reference Mark (Two 4 dia. marks are engraved.) (Gap1) 54 32.2 -00.2 45±0.1 Reference Mark Nameplate (54) (Reference Mark) (32.2) L2 L1 --00..31 The Height of Screw Head: 4.2 Max. Assembly Dimensions Notes: 1 Multiple SGLFM-35¡¡¡A magnetic ways can be connected. Connect magnetic ways so that the reference marks match one on the other in the same direction as shown in the figure. 2 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. Magnetic Way Model SGLFM- 151 L1-0.1 -0.3 L2 (L3) N Approx. Mass kg 1.2 35324A 324 270 (54 × 5) (334.4) 6 35540A 540 486 (54 × 9) (550.4) 10 2 35756A 756 702 (54 × 13) (766.4) 14 2.9 Linear Servomotors Linear SGLFW (With F-type iron core) External Dimensions Units: mm (3) SGLFW-50 3Moving Coil: SGLFW-50¡¡¡¡B¡ (With a connector by Tyco Electronics AMP K.K.) 50 Min. 30 (5.2) 43±0.05 (15) 50 Min. 25 .) Dia 0.5 #4-40UNC (5.2：With Magnet Cover) (5：Without Magnet Cover) (Gap 0.8：With Magnet Cover) (Gap 1：Without Magnet Cover) ( 4.2 See the figures① and ② below. ) ia. Nameplate ①SGLFW-50□200B□ ②SGLFW-50□380B□ 48 23.5 12-M5 Tapped Holes, Depth 9.5 14 12 48 23.5 6-M5 Tapped Holes, Depth 9.5 14 10 0 5 0± 50 (14.2：With Magnet Cover) (14：Without Magnet Cover) 12 L3 The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. 4D ( 7. 58±0.1 0 5 0± 50 2-Screws (40) 60 Linear Servomotors (48) (9) Hall Sensor Magnetic Way (64.5) 7 37.75 33.75 71.5 (75) (37.5) (37.5) 3 L1 L2 (12) 23.5 (40) 55 55 55 60 300(60 × 5) 60 120 Linear Servomotor Connector Specifications Hall Sensor Connector Specifications 9 6 5 Hall Sensor Output Signals Pin No. Signal Pin No. Signal +5V (Power supply) Wire Color 1 1 Phase U Red 2 Phase U 2 Phase V White 3 Phase V 3 Phase W Black 4 Phase W 4 FG Green 5 0V (Power supply) 6 Not used 7 Not used 8 Not used 9 Not used 1 Pin Connector : 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1 Plug:350779-1 Pin :350218-3 or 350547-3(No.1 to 3) 350654-1 350669-1(No.4) by Tyco Electronics AMP K.K. The Mating Connector Cap : 350780-1 Socket: 350536-3 or 350550-3 When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Vu Su Inverse Power Vv (V) Sv Vw Sw 0 Moving Coil Model SGLFW- L1 L2 L3 Approx. Mass kg 50¡200B¡ 215 120 180 3.5 50¡380B¡ 395 300 360 6.9 180 360 Electrical Angle(°) 540 152 External Dimensions Units: mm 3Moving Coil: SGLFW-50¡¡¡¡B¡D (With a connector by Interconnectron GmbH) 50 Min. Hall Sensor Magnetic Way 43 50 Min. 25 ) ia. 58±0.1 5 0± 50 ) ia. Nameplate ①SGLFW-50¡200B¡D ②SGLFW-50¡380B¡D 48 23.5 12-M5 Tapped Holes, Depth 9.5 14 12 48 23.5 6-M5 Tapped Holes, Depth 9.5 12 10 0 (14.2：With Magnet Cover) (14：Without Magnet Cover) 14 The moving coil moves in the direction indicated by the arrow when current flows L3 in the order of phase U, V, and W. 4D ( 7. (Gap 0.8：With Magnet Cover) (Gap 1：Without Magnet Cover) See the figures① and ② below. (12) 50 0± 50 2D ( 4. 2-Screws 0.5 #4-40 UNC (5.2：With Magnet Cover) (5：Without Magnet Cover) 48 23.5 71.5 37.75 33.75 14 (48) 50.5 (75) (37.5) (37.5) (9) 40 60 (15) 3 7 (40) L1 L2 55 30 55 55 60 300(60 × 5) 60 120 Hall Sensor Connector Specifications 6 9 5 Pin No. Signal 1 +5V (Power supply) 2 Phase U 3 Phase V 1 Pin Connector : 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1 4 Phase W 5 0V (Power supply) 6 Not used 7 Not used 8 Not used 9 Not used Linear Servomotor Connector Specifications 5 4 6 Hall Sensor Output Signals Pin No. Name 1 Phase U 1 2 Extension: ARRA06AMRPN182 Pin : 021.279.1020 by Interconnectron GmbH 2 Phase V 4 Phase W 5 Not used 6 Not used When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Ground Vu The Mating Connector Plug : APRA06BFRDN170 Socket: 020.105.1020 Su Inverse Power Vv (V) Sv Vw 0 Moving Coil Model SGLFW- 153 L1 L2 L3 N Approx. Mass kg 50¡200B¡D 215 120 180 6 3.5 50¡380B¡D 395 300 360 12 6.9 Sw 180 360 Electrical Angle(°) 540 Linear Servomotors Linear SGLFW (With F-type iron core) External Dimensions Units: mm 3Magnetic Way: SGLFM-50¡¡¡A (L3) 8.6˚ 75 65 37.5 (37.5) (5) 2 × N-5.8 Dia. Mounting Holes N S N S YASKAWA TYPE: N S N S O/N YASKAWA S/N MADE IN JAPAN TYPE: DATE 5 (71.5) (37.75) (33.75) Moving Coil 5 14 (43) 67.5 Nameplate Reference Mark 39.4-00.2 (Gap1) L2 58±0.1 (67.5) (Reference Mark) (39.4) L1--00..13 The Height of Screw Head: 5.2 Max. Assembly Dimensions Notes: 1 Multiple SGLFM-50¡¡¡A magnetic ways can be connected. Connect magnetic ways so that the reference marks match one on the other in the same direction as shown in the figure. 2 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. Magnetic Way Model SGLFM- L1-0.1 -0.3 L2 (L3) 50405A 405 337.5 (67.5 × 5) 50675A 675 607.5 (67.5 × 9) 50945A 945 877.5 (67.5 × 13) N Approx. Mass kg (416.3) 6 2.8 (686.3) 10 4.6 (956.3) 14 6.5 Linear Servomotors 9 Reference Mark (Two 4 dia. marks are engraved.) 154 External Dimensions Units: mm (4) SGLFW-1Z 3Moving Coil: SGLFW-1Z¡¡¡¡B¡ (With a connector by Tyco Electronics AMP K.K.) 50 Min. 30 L1 L2 55 60 Hall Sensor 61.5 50 14 2-Screws #4-40 UNC See the figures① and ② below. ( 4.2 50 Min. 25 Dia The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. L3 10 .) 50 0± ( 8.4 50 .) Dia 0.5 (5.2：With Magnet Cover) 43 ( ： 5 Without Magnet Cover) (Gap 0.8：With Magnet Cover) 58±0.1 (Gap 1：Without Magnet Cover) (14.2：With Magnet Cover) (14：Without Magnet Cover) 96 119 35.5 35.5 57.5 96 98 (125) (62.5) (62.5) 50 0± (9) 40 (15) Magnetic Way (12) 3 7 (40) Nameplate ①SGLFW-1Z□200B□ 9-M5 Tapped Holes, Depth 9.5 ②SGLFW-1Z□380B□ 55 14 12 12 14 96 35.5 35.5 96 35.5 35.5 18-M5 Tapped Holes, Depth 9.5 60 55 60 300(60×5) 120 Linear Servomotor Connector Specifications Hall Sensor Connector Specifications 6 9 5 Hall Sensor Output Signals Pin No. Signal Pin No. Signal 1 +5V (Power supply) Wire Color 1 Phase U Red 2 Phase U 2 Phase V White 3 Phase V 3 Phase W Black 4 Phase W 4 FG Green 5 0V (Power supply) 6 Not used 7 Not used The Mating Connector 8 Not used 9 Not used Cap : 350780-1 Socket: 350536-3 or 350550-3 1 Pin Connector : 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1 Plug:350779-1 Pin :350218-3 or 350547-3(No.1 to 3) 350654-1 350669-1(No.4) by Tyco Electronics AMP K.K. When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Vu Su Inverse Power Vv (V) Sv Vw 0 Moving Coil Model SGLFW- 155 L1 L2 L3 N Approx. Mass kg 1Z¡200B¡ 215 120 180 9 6.4 1Z¡380B¡ 395 300 360 18 11.5 Sw 180 360 Electrical Angle(°) 540 Linear Servomotors Linear SGLFW (With F-type iron core) External Dimensions Units: mm 3Moving Coil: SGLFW-1Z¡¡¡¡B¡D (With a connector by Interconnectron GmbH) 50 Min. 30 Magnetic Way Hall Sensor L1 L2 55 14 2-Screws #4-40 UNC See the figures① and ② below. ( 4.2 50 Min. 25 Dia .) 50 0± 96 The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. L3 10 4D ( 8. 50 ) ia. 0.5 (5.2：With Magnet Cover) 43 ( ： 5 Without Magnet Cover) (Gap 0.8：With Magnet Cover) 58±0.1 (Gap 1：Without Magnet Cover) (14.2：With Magnet Cover) (14：Without Magnet Cover) (9) Linear Servomotors 61.5 119 35.5 35.5 57.5 96 98 (125) (62.5) (62.5) 50 0± 50 40 (15) 60 (12) 3 7 (40) Nameplate ①SGLFW-1Z□200B□D ②SGLFW-1ZD380B□D 9-M5 Tapped Holes, Depth 9.5 96 35.5 35.5 14 12 14 12 96 35.5 35.5 18-M5 Tapped Holes, Depth 9.5 60 55 55 60 300(60×5) 120 Linear Servomotor Connector Specifications Hall Sensor Connector Specifications 9 6 5 1 Pin No. Signal Pin Connector : 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1 1 +5V (Power supply) 2 Phase U 3 Phase V 4 Phase W 5 0V (Power supply) 6 Not used 7 Not used 8 Not used 9 5 4 Hall Sensor Output Signals 61 Pin No. Name 1 Phase U 2 Extension: ARRA06AMRPN182 Pin : 021.279.1020 by Interconnectron GmbH 2 Phase V 4 Phase W 5 Not used 6 Not used When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Ground The Mating Connector Vu Plug : APRA06BFRDN170 Socket: 020.105.1020 Su Inverse Power Vv (V) Not used Sv Vw 0 Moving Coil Model SGLFW- L1 L2 L3 N Approx. Mass kg 1Z¡200B¡D 215 120 180 9 6.4 1ZD380B¡D 395 300 360 18 11.5 Sw 180 360 540 Electrical Angle(°) 156 External Dimensions Units: mm 3Magnetic Way: SGLFM-1Z¡¡¡A (L3) (6.5) 8.6° 2×N-7 Dia.Mounting Holes 11.5 Dia. counter boring, Depth 1.5 125 112 N S N S N S N S 62.5 (61.5) (119) (57.5) (62.5) Moving Coil O/N S/N MADE IN JAPAN DATE YASKAWA 9 14 6.5 TYPE: 5 (43) YASKAWA TYPE: Nameplate Reference Mark 67.5 43.2 -00.2 (Gap1) 58±0.1 (67.5) (Reference Mark) (43.2) L1--00..13 Reference Mark (Two 4 dia. marks are engraved.) φ 11.5 1.5 L2 The Height of Screw Head: 6.7 Max. Assembly Dimensions Notes: 1 Multiple SGLFM-1Z¡¡¡A magnetic ways can be connected. Connect magnetic ways so that the reference marks match one on the other in the same direction as shown in the figure. 2 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. Magnetic Way Model SGLFM- 157 L1 -0.1 -0.3 L2 L3 N Approx. Mass kg 1Z405A 405 337.5 (67.5 × 5) (423.9) 6 5 1Z675A 675 607.5 (67.5 × 9) (693.9) 10 8.3 1Z945A 945 877.5 (67.5 × 13) (963.9) 14 12 Linear Servomotors SGLFW (With F-type iron core) Linear Selecting Cables 1Cables Connections SGDV SERVOPACK ԚCable for Connecting Serial Converter Unit (Between SERVOPACK connector CN2 and serial converter unit) ԘLinear Servomotor Main Circuit Cable ԙEncoder Cable ԛCable For Connecting Hall Sensor (Between serial converter unit and hall sensor unit) Linear Scale (To be provided by users) Linear Servomotors Serial Converter Unit (See page 202.) Hall Sensor Unit Linear Servomotor 158 Selecting Cables 1Cables Name Applicable Linear Servomotor Model SGLFW-20, -35 SGLFW-50, -1Z Linear Servomotor Main Circuit Cables SGLFW¡¡A¡¡¡¡¡D SGLFW¡¡D¡¡¡¡¡D Cables for Connecting Linear Scales*3 Cables for Connecting Serial Converter Units Cables for Connecting Hall Sensors All models All models All models Length Order No. 01 m JZSP-CLN11-01-E 03 m JZSP-CLN11-03-E 05 m JZSP-CLN11-05-E 10 m JZSP-CLN11-10-E 15 m JZSP-CLN11-15-E 20 m JZSP-CLN11-20-E 01 m JZSP-CLN21-01-E 03 m JZSP-CLN21-03-E 05 m JZSP-CLN21-05-E 10 m JZSP-CLN21-10-E 15 m JZSP-CLN21-15-E 20 m JZSP-CLN21-20-E 1m JZSP-CLN14-01-E 3m JZSP-CLN14-03-E 5m JZSP-CLN14-05-E 10 m JZSP-CLN14-10-E 15 m JZSP-CLN14-15-E 20 m JZSP-CLN14-20-E 1m JZSP-CLN15-01-E 3m JZSP-CLN15-03-E 5m JZSP-CLN15-05-E 10 m JZSP-CLN15-10-E 15 m JZSP-CLN15-15-E 20 m JZSP-CLN15-20-E 01 m JZSP-CLL00-01-E 03 m JZSP-CLL00-03-E 05 m JZSP-CLL00-05-E 10 m JZSP-CLL00-10-E 15 m JZSP-CLL00-15-E 01 m JZSP-CLP70-01-E 03 m JZSP-CLP70-03-E 05 m JZSP-CLP70-05-E 10 m JZSP-CLP70-10-E 15 m JZSP-CLP70-15-E 20 m JZSP-CLP70-20-E 01 m JZSP-CLL10-01-E 03 m JZSP-CLL10-03-E 05 m JZSP-CLL10-05-E 10 m JZSP-CLL10-10-E 15 m JZSP-CLL10-15-E *1: Connector by Tyco Electronics AMP K.K. *2: Connector by Interconnectron GmbH *3: When using the serial converter unit, JZDP-G00¡-¡¡¡-E, the maximum cable length is 3 m. NOTE: Shaded items are non-stock. 159 Specifications SERVOPACK End Details Linear Servomotor End (1) *1 SERVOPACK End Linear Servomotor End (2) *1 SERVOPACK End Linear Servomotor End (3) *2 SERVOPACK End Linear Servomotor End (4) *2 Serial Converter Unit End Linear Scale End (5) SERVOPACK End Serial Converter Unit End Serial Converter Unit End Hall Sensor Unit End (6) (7) Linear Servomotors Linear SGLFW (With F-type iron core) Selecting Cables (1) Linear Servomotor Main Circuit Cables: JZSP-CLN11-¡¡-E 8.5 mm M4 Crimped Terminal 50 mm U V W G Wire Markers ∙ Wiring Specifications Linear Servomotor End L Heat-shrinkable Tube Finished Diameter 6.8 Dia. 35 mm SERVOPACK-end Leads 4 27.7 SERVOPACK End 1 Cable (UL2464) AWG18/4C Cap : 350780-1 (4-pole) Socket: 350536-3 (Chained) by Tyco Electronics AMP K.K. 7.6 Linear Servomotor-end Connector Wire Color Signal Signal Red Phase U Phase U Pin No. 1 White Phase V Phase V 2 Blue Phase W Phase W 3 Green/yellow FG FG 4 14.7 (2) Linear Servomotor Main Circuit Cables: JZSP-CLN21-¡¡-E U V W G M4 Crimped Terminal L Heat-shrinkable Tube Finished Diameter 11.9 Dia. Linear Servomotor End 35 mm SERVOPACK-end Leads 4 27.7 SERVOPACK End 8.5 mm 50 mm Wire Color Signal Signal Red Phase U Phase U Pin No. 1 White Phase V Phase V 2 Blue Phase W Phase W 3 Green/yellow FG FG 4 1 Cable (UL2570) AWG14/4C 7.6 14.7 Cap : 350780-1 (4-pole) Socket: 350537-3 (Chained) by Tyco Electronics AMP K.K. Wire Markers Linear Servomotor-end Connector Linear Servomotors ∙ Wiring Specifications (3) Linear Servomotor Main Circuit Cables: JZSP-CLN14-¡¡-E ∙ Wiring Specifications SERVOPACK End 8.5 mm 50 mm Linear Servomotor-end Linear Servomotor End L 51 mm Heat-shrinkable Tube 28 Dia. Finished Diameter 6.8 Dia. U 1 V SERVOPACK End M4 Crimped Terminal 6 P 3 4 5 2 SERVOPACK-end Leads Connector Wire Color Signal Black (White 1) Phase U Black (White 2) Phase V Signal Pin No. Phase U 1 Phase V 2 Black (White 3) Phase W Phase W 3 4 Green/yellow FG 5 W G Wire Markers Cable (UL2464) AWG18/4C SPUC06KFSDN236 by Interconnectron GmbH FG 6 160 Selecting Cables (4) Linear Servomotor Main Circuit Cables: JZSP-CLN15-¡¡-E ∙ Wiring Specifications SERVOPACK End 8.5 mm 50 mm Linear Servomotor End 61 mm L Linear Servomotor-end 3.4 mm 27.2 Dia. Heat-shrinkable Tube SERVOPACK-end Leads Signal Signal Pin No. Red Phase U Phase U 1 5 White Phase V Phase V 2 4 Black Phase W Phase W 3 Finished Diameter 11.9 Dia. U 1 V M4 Crimped Terminal 2 W G Green/yellow Cable (UL2464) AWG18/4C LPRA06BFRDN182 by Interconnectron GmbH Serial Converter Unit End Linear Scale End L 1 9 8 15 Finished Diameter 9.5 Dia. 15 8 Cable (UL 2584) (AWG22×3C+AWG25×6P) Connector ： 17JE-23150-02 (D8C) (15-pin, soldered ) by DDK Ltd. Connector ： 17JE-13150-02 (D8C) (With stud)(15-pin, soldered) by DDK Ltd. ∙ Wiring Specifications Serial Converter Unit End 161 4 5 (5) Cables for Connecting Linear Scales: JZSP-CLL00-¡¡-E 1 FG FG Wire Markers 9 Connector Wire Color Linear Scale End Pin No. Signal Pin No. Signal 1 /Cos（V1−） 1 /Cos（V1−） 2 /Sin（V2−） 2 /Sin（V2−） 3 Ref（V0+） 3 Ref（V0+） 4 +5V 4 +5V 5 5Vs 5 5Vs 6 BID 6 BID 7 Vx 7 Vx 8 Vq 8 Vq Cos（V1+） 9 Cos（V1+） 9 10 Sin（V2+） 10 Sin（V2+） 11 /Ref（V0+） 11 /Ref（V0−） 12 0V 12 0V 13 0Vs 13 0Vs 14 DIR 14 DIR 15 Inner 15 Inner Case Shield Case Shield 6 Linear Servomotors SGLFW (With F-type iron core) Linear Selecting Cables (6) Cables for Connecting Serial Converter Units: JZSP-CLP70-¡¡-E SERVOPACK End Serial Converter Unit End L Finished Diameter 6.8 Dia. Cable (UL20276) （AWG22×2C+AWG24×2P） Connector: 55100-0670 (6-pin, soldered) by Molex Japan Co., Ltd. Connector：17JE-23090-02（D8C） (9-pin, soldered) by DDK Ltd. ∙ Wiring Specifications SERVOPACK End Serial Converter Unit End Signal Wire Color Pin No. Signal 1 PG5V Red 1 +5V Red 2 PG0V Black 5 0V Black 3 − − 3 − − 4 − − 4 − − 5 PS Light blue 2 Phase S output Light blue 6 /PS Light blue/white 6 Phase /S output Light blue/white Shell Shield − Case Shield − 7 8 − − − − 9 − − Linear Servomotors Wire Color Pin No. (7) Cables for Connecting Hall Sensors: JZSP-CLL10-¡¡-E Hall Sensor End Serial Converter Unit End L 6 1 9 5 Finished Diameter 6.8 Dia. Cable (UL20276) 1 6 5 9 （AWG22×2C+AWG24×2P） Connector :17JE-13090-02 (D8C) (With stud)(9-pin, soldered) by DDK Ltd. Connector :17JE-23090-02 (D8C) (9-pin, soldered) by DDK Ltd. ∙ Wiring Specifications Serial Converter Unit End Hall Sensor End Pin No. Signal Pin No. 1 +5V 1 Signal +5V 2 Phase U input 2 Phase U input 3 Phase V input 3 Phase V input 4 Phase W input 4 Phase W input 5 0V 5 0V 6 − 6 − 7 − 7 − 8 − 8 − 9 − 9 − Case Shield Case Shield 162 Linear Servomotors SGLTW (With T-type iron core) Model Designations 2Moving Coil (All Models are Non-Stock) SGL T W - 20 A 170 A P ¡ Linear Series Connector for Main Circuit Cable Code Servomotor Type Code Specifications T T-type iron core Blank Specification Connector by Tyco Electronics AMP K.K. MS connector W: Moving Coil Magnet Height D Voltage A: 200 VAC D: 400 VAC Connector by Interconnectron GmbH Applicable Model SGLTW -20A¡¡¡¡¡ -35A¡¡¡¡¡ -50A¡¡¡¡¡ SGLTW -40¡¡¡¡B¡ -80¡¡¡¡B¡ SGLTW -35D¡¡¡H¡ -50D¡¡¡H¡ Hall Sensor Length of Moving Coil Code P Design Revision Order A, B, ... H: High-efficiency Type Blank Specifications With hall sensor Without hall sensor Note: Shaded items are non-stock 2Magnetic Way (All Models are Non-Stock) SGL T Linear Series 324 A ¡ Options Linear Servomotor Code Servomotor Type Blank Code Specifications T T-type iron core M: Magnetic Way Magnet Height Length of Magnetic Way 163 M - 20 Specifications Applicable Model Standard All models C With magnet cover Models with core Y With base and magnet cover SGLTM-20, -35, -40, -80(Note) Note: Not available for these models: the SGLTM-35¡¡¡H and the SGLTM-50¡¡¡H. Design Revision Order A, B, ... H: High-efficiency Type リニア SGLGW（コアレス形） Features Application Examples 3 D irect-feed mechanism for high-speed and highprecision positioning. 3 Feeders and loaders 3 Mounters 3 Yaskawa's unique construction principles of the TW linear motors negate the effects of the magnetic attraction force between the relative motor members. 3 Machine tools 3 Lack of magnetic attraction helps to extend the life of the linear motion guides and to minimize operation noise. 3 Very little cogging. 2 Precautions on Moving Coil with Hall Sensor When using a moving coil with a hall sensor, the magnetic way must completely cover the bottom of the hall sensor. Refer to the example showing the correct installation. When determining the length of the moving coil’s stroke or the length of the magnetic way, consider the total length of the moving coil and the hall sensor unit. Refer to the following table. < Correct > Hall Sensor < Incorrect > Moving Coil Movement Direction Moving Coil Magnetic Way Magnetic Way End The total length of moving coil with hall sensor L A Hall Sensor L1 Moving Coil Magnetic Way Moving Coil Length of Model Moving Coil Length of Hall Sensor Unit Total Length A (mm) L (mm) SGLTW- L1 (mm) 20A170AP¡ 170 20A320AP¡ 315 20A460AP¡ 460 494 35A170AP¡ 170 204 35A320AP¡ 315 35A460AP¡ 460 35¡170HP¡ 170 35¡320HP¡ 315 50¡170HP¡ 170 50¡320HP¡ 315 40A400AP¡ 395 204 34 34 349 349 494 34 34 26 204 349 204 349 421 40A600AP¡ 585 36 621 80A400AP¡ 395 26 421 36 80A600AP¡ 585 40¡400BP¡ 395 40¡600BP¡ 575 80¡400BP¡ 395 80¡600BP¡ 575 26 26 621 421 601 421 601 164 Ratings and Specifications Time Rating: Continuous Insulation Resistance: 500 VDC, 10 MW min. Ambient Temperature: 0 to 40˚C Excitation: Permanent magnet Withstand Voltage: 1500 VAC for one minute Enclosure: Self-cooled Ambient Humidity: 20% to 80% (no condensation) Allowable Winding Temperature: 130˚C (Thermal class B) 200-V Class Standard Type Linear Servomotor Model SGLTW- 20A Peak Speed m/s Rated Force* N High-efficiency Type 35A 40A 80A 35A 50A 170A 320A 460A 170A 320A 460A 400B 600B 400B 600B 170H 320H 170H 5 5 5 5 5 5 3.1 3.1 2.5 2.5 4.8 4.8 3.2 320H 3.1 130 250 380 220 440 670 670 1000 1300 2000 300 600 450 900 Rated Current* Arms 2.3 4.4 6.7 3.5 7 10.7 7.3 10.9 11.1 17.1 5.1 10.1 4.9 9.8 Peak Force* N 380 760 1140 660 1320 2000 2600 4000 5000 7500 600 1200 900 1800 22.9 Peak Current* Arms 7.7 15.4 23.2 12.1 24.2 36.7 39.4 60.6 57.9 86.9 11.9 23.9 11.5 Moving Coil Mass kg 2.5 4.6 6.7 3.7 6.8 10 15 23 24 35 4.9 8.8 6 11 Force Constant N/Arms 61 61 61 67.5 67.5 67.5 99.1 99.1 126 126 64 64 98.5 98.5 BEMF Constant V/(m/s) 20.3 20.3 20.3 22.5 22.5 22.5 33 33 42 42 21.3 21.3 32.8 32.8 Motor Constant N/√ w 18.7 26.5 32.3 26.7 37.5 46.4 61.4 75.2 94.7 116 37.4 52.9 50.3 71.1 Electrical Time Constant ms 5.9 5.9 5.9 6.9 6.8 7 15.2 15.2 17 17 15.1 15.1 16.5 16.5 Mechanical Time Constant ms 7.5 6.5 6.4 5.2 4.8 4.6 4 4 3 3 3.3 3.3 2.8 2.8 Thermal Resistance (With Heat Sink) K/W 1.01 0.49 0.38 0.76 0.44 0.32 0.24 0.2 0.22 0.18 0.76 0.4 0.61 0.3 Thermal Resistance (Without Heat Sink) K/W 1.82 1.11 0.74 1.26 0.95 0.61 0.57 0.4 0.47 0.33 1.26 0.83 0.97 0.8 Magnetic Attraction*1 N 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Magnetic Attraction(on one side)*2 N 800 1590 2380 1400 2780 4170 3950 5890 7650 11400 1400 2780 2000 3980 3R8A 7R6A 120A 5R5A 120A 180A 180A 330A 330A 550A 5R5A 120A 5R5A 120A Applicable SERVOPACKSGDV- *1 : The unbalanced magnetic gap resulted from the moving coil installation condition causes a magnetic attraction on the moving coil. *2 : The value indicates the magnetic attraction generated on one side of the magnetic way. Notes: 1 The items marked with an * and Force and Speed Characteristics (on the next page) are the values at a motor winding temperature of 100˚C during operation in combination with a SERVOPACK. The others are at 20˚C. 2 The above specifications show the values under the cooling condition when a heat sink (aluminum board) listed in the following table is mounted on the moving coil. Heat Sink Size 254 mm×254 mm×25 mm : SGLTW-20A170A,-35A170A 400 mm×500 mm×40 mm : SGLTW-20A320A,-20A460A,-35A170H,-35A320A,-35A320H,-35A460A,-50A170H 609 mm×762 mm×50 mm : SGLTW-40A400B,-40A600B,-50A320H,-80A400B,-80A600B 400-V Class Standard Type Linear Servomotor Model SGLTW- 40D High-efficiency Type 80D 35D 50D 400B 600B 400B 600B 170H 320H 170H 320H Peak Speed m/s 3.1 3.1 3.1 3.1 5 5 4 4 Rated Force* N 670 1000 1300 2000 300 600 450 900 Rated Current* Arms 3.7 5.5 7.2 11.1 3.2 6.5 3.2 6.3 Peak Force* N 2600 4000 5000 7500 600 1200 900 1800 Peak Current* Arms 20.7 30.6 37.6 56.4 7.7 15.5 7.4 14.8 Moving Coil Mass kg 15 23 24 35 4.7 8.8 6 11 Force Constant N/Arms 196.1 196.1 194.4 194.4 99.6 99.6 153.3 153.3 BEMF Constant V/(m/s) 65.4 65.4 64.8 64.8 33.2 33.2 51.1 51.1 Motor Constant N/√ w 59.6 73 85.9 105.2 36.3 51.4 48.9 69.1 Electrical Time Constant ms 14.3 14.4 15.6 15.6 14.3 14.4 15.6 15.6 Mechanical Time Constant ms 4.3 4.2 3.2 3.2 3.5 3.3 2.5 2.5 Thermal Resistance (With Heat Sink) K/W 0.24 0.2 0.22 0.18 0.76 0.4 0.61 0.3 Thermal Resistance (Without Heat Sink) K/W 0.57 0.4 0.47 0.33 1.26 0.83 0.97 0.8 Magnetic Attraction*1 N 0 0 0 0 0 0 0 0 Magnetic Attraction(on one side)*2 N 3950 5890 7650 11400 1400 2780 2000 3980 120D 170D 170D 260D 3R5D 8R4D 3R5D 8R4D Applicable SERVOPACKSGDV- *1 : The unbalanced magnetic gap resulted from the moving coil installation condition causes a magnetic attraction on the moving coil. *2 : The value indicates the magnetic attraction generated on one side of the magnetic way. Notes: 1 The items marked with an * and Force and Speed Characteristics are the values at a motor winding temperature of 100˚C during operation in combination with a SERVOPACK. The others are at 20˚C. 2 The above specifications show the values under the cooling condition when a heat sink (aluminum board) listed in the following table is mounted on the moving coil. Heat Sink Size 400 mm×500 mm×40 mm : SGLTW-35D170H,-35D320H,-50D170H 609 mm×762 mm×50 mm : SGLTW-40D400B,-40D600B,-50D320H,-80D400B,-80D600B 165 Linear Servomotors SGLTW (With T-type iron core) Linear Ratings and Specifications 1Force and Speed Characteristics : Continuous Duty Zone A : Intermittent Duty Zone B 200-V Class Standard Type 5 5 5 A 2 B 1 3 B A 2 1 0 200 Force (N) 0 200 400 600 800 1000 1200 400 600 800 3 A B 1 Force (N) 6 5 5 4 3 B A 2 1 0 SGLTW-35A460A 6 Motor Speed (m/s) 4 0 200 SGLTW-40A400B 400 800 A 2 B 1 0 500 1000 1500 2000 2500 1200 1400 Force (N) SGLTW-80A400B SGLTW-40A600B 2 A B Motor Speed (m/s) Motor Speed (m/s) 3 3 2 A 1 B 2000 0 3000 4 3 2 A 1 B 0 0 0 SGLTW-80A600B 4 4 1000 3 Force (N) 4 0 4 0 0 600700 400 Force (N) 1 1 SGLTW-35A320A Motor Speed (m/s) Motor Speed (m/s) 5 0 B A 2 Force (N) SGLTW-35A170A 2 3 0 0 0 100 200 300 400 6 4 2000 Force (N) 3 2 1 A B 0 0 4000 Linear Servomotors 3 4 Motor Speed (m/s) 4 Motor Speed (m/s) 6 0 Motor Speed (m/s) SGLTW-20A460A SGLTW-20A320A 6 Motor Speed (m/s) Motor Speed (m/s) SGLTW-20A170A 6 2000 Force (N) 4000 0 6000 Force (N) 2000 4000 6000 8000 Force (N) 200-V Class High-efficiency Type 3 A 2 B 1 0 4 3 A 2 B 1 200 400 Force (N) 600 3 2 A 1 B 0 0 0 4 Motor Speed (m/s) 5 4 4 Motor Speed (m/s) 5 SGLTW-50A320H SGLTW-50A170H SGLTW-35A320H 6 Motor Speed (m/s) Motor Speed (m/s) SGLTW-35A170H 6 0 400 800 Force (N) 1200 3 2 A B 1 0 0 300 600 900 Force (N) 0 600 1200 1800 Force (N) Note: When the effective force during intermittent duty is within the rated force, the servomotor can be used within the intermittent duty zone. 166 Ratings and Specifications 1Force and Speed Characteristics (cont’d) A : Continuous Duty Zone B : Intermittent Duty Zone 400-V Class Standard Type SGLTW-40D400B SGLTW-40D600B SGLTW-80D400B 2 A B 1 0 3 2 A B 1 0 0 1000 2000 3 2 A B 1 0 0 3000 4 Motor Speed (m/s) 3 SGLTW-80D600B 4 Motor Speed (m/s) 4 Motor Speed (m/s) Motor Speed (m/s) 4 Force (N) 2000 4000 3 2 A B 1 0 0 2000 Force (N) 4000 6000 0 2000 4000 6000 8000 Force (N) Force (N) 400-V Class High-efficiency Type 5 5 4 4 A 3 B 2 1 0 4 A 3 B 2 1 200 400 600 Force (N) SGLTW-50D170H 0 400 800 1200 Force (N) SGLTW-50D320H 5 3 A 2 B 1 4 3 A 2 B 1 0 0 0 0 Motor Speed (m/s) 5 Motor Speed (m/s) SGLTW-35D320H 6 Motor Speed (m/s) Motor Speed (m/s) SGLTW-35D170H 6 0 300 600 Force (N) 900 0 600 1200 1800 Force (N) Notes: 1 When the effective force during intermittent duty is within the rated force, the servomotor can be used within the intermittent duty zone. 2 T he dotted line indicates the characteristics when a 400-VAC linear servomotor is used with 200-V input power supply. In this case, a serial converter unit is required. Contact your Yaskawa representative for details. 1Mechanical Specifications (1) Impact Resistance ·Impact acceleration: 196 m/s2 ·Impact occurrences: twice (2) Vibration Resistance The linear servomotors will withstand the following vibration acceleration in three directions: Vertical, side to side, and front to back. ·Vibration acceleration: 49 m/s2 167 Linear Servomotors Linear SGLTW (With T-type iron core) External Dimensions Units: mm (1) Standard Type SGLTW-20 3Moving Coil: SGLTW-20A¡¡¡A¡ (With a connector by Tyco Electronics AMP K.K.) N-M6 Tapped Holes, Depth 12 (15) (55) 51 47.5 12 Magnetic Way L1 L2 50 10 (L3) 48 80 20 28 60 100 60 (70) 1 (19.2：With Magnet Cover) (19：Without Magnet Cover) (Gap 0.8：With Magnet Cover) (Gap 1：Without Magnet Cover) (4.2 Dia.) (7.4 Dia.) 5 63 Min. Nameplate 500±50 90 Min. Hall Sensor Connector Specifications 9 The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. Hall Sensor 500±50 Linear Servomotors (15) 2-Screws #4-40 UNC Linear Servomotor Connector Specifications 6 1 Pin Connector: 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1 Hall Sensor Output Signals Signal Pin No. Signal 1 +5VDC Wire Color 1 Phase U Red 2 Phase U White 3 Phase V 4 Phase W Pin No. 5 0V 6 Not used Plug: 350779-1 Pin : 350218-3 or 350547-3 (No.1 to 3) 350654-1 350669-1 (No.4) by Tyco Electronics AMP K.K. 7 Not used The Mating Connector 8 Not used 9 Not used Cap : 350780-1 Socket: 350536-3 or 350550-3 2 Phase V 3 Phase W Black 4 Ground Green When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Vu Su Inverse Power Vv (V) Sv Vw Sw 0 Moving Coil Model SGLTW- L1 L2 (L3) N Approx. Mass kg 20A170A¡ 170 144 (48×3) (16) 8 2.5 20A320A¡ 315 288 (48×6) (17) 14 4.6 20A460A¡ 460 432 (48×9) (18) 20 6.7 180 360 540 Electrical Angle (˚ ) 168 External Dimensions Units: mm 3Magnetic Way : SGLTM-20¡¡¡A¡ L1 --00..31 L2 0 13.7 -0.2 (54) 31.7-00.2 87 (100) (1) Gap1±0.3 15 *70±0.3 15 (54) 54 *2.4±0.3 6 R Nameplate O/N DATE S/N MADE IN JAPAN 1 C 2 × N-7 Dia. Mounting Holes (See the sectional view for the depth.) (29.3) (8) Spacers: Do not remove them until the moving coil is mounted on the machine. . x. Mount the magnetic way so that its corner surfaces are flush with the inner step. ax M R1 62 +00.6 *70±0.3 27 Ma 8 2 × N-M6 Screws, Depth 8 3 R0 .5 19 YASKAWA TYPE: 32 (29.3) L2 Moving Coil 1 C 103 Max.(Preshipment) 71.5±1(Preshipment) (55) 40 9˚ 9. 27 54 9.9˚ *2.4±0.3 54 Mount the magnetic way so that its corner surfaces are flush with the inner step. 40.3 -00.2 (9.4) L2 L1 --00..13 (54) Assembly Dimensions Notes: 1 Two magnetic ways for both ends of moving coil make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the moving coil is mounted on a machine. 2 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 3 Two magnetic ways in a set can be connected to each other. 4 The dimensions marked with an * are the dimensions between the magnetic ways. Be sure to follow exactly the dimensions specified in the figure above. Mount magnetic ways as shown in Assembly Dimensions. The values with a ♣ are the dimensions at preshipment. 5 Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use stainless steel screws. Magnetic Way Model SGLTM- 169 L1-0.1 -0.3 L2 N Approx. Mass kg 20324A¡ 324 270 (54×5) 6 3.4 20540A¡ 540 486 (54×9) 10 5.7 20756A¡ 756 702 (54×13) 14 7.9 Linear Servomotors SGLTW (With T-type iron core) External Dimensions Linear Units: mm 3Magnetic Way with Base: SGLTM-20¡¡¡AY 11.7 20 （54） L2 54 （70） （55） 27 Base 15 40 9˚ 9. 15 S/N MADE IN JAPAN DATE 132 116 87 YASKAWA O/N S/N MADE IN JAPAN DATE （14） 74 （162） L4 2 × N2-10 Dia. Mounting Holes (See the sectional view for the depth.) L5 Moving Coil 74 Gap Includes a 0.2 thick magnet cover. 2 × N1-M6 Screws, Depth 8 15 27 9.9˚ （2.4±0.3） 2 × N1-M6 Bolts, Depth 16 2.3 54 20 Linear Servomotors （100） 60 （0.8） O/N 70±0.3 YASKAWA 2.4±0.3 TYPE: 15 19.2 0.8±0.3 TYPE: 1 （54） L2 L3 L1 --00..13 （11.7） Notes: 1 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 2 Two magnetic ways in a set can be connected to each other. 3 The characteristics of the magnetic way with base are the same as of the magnetic way without base (SGLTM-20¡¡¡A). Magnetic Way Model SGLTM- L1 L2 L3 L4 L5 N1 N2 Approx. Mass kg 20324AY 324 270 310 162 162 6 2 5.1 20540AY 540 486 526 378 189 10 3 8.5 20756AY 756 702 742 594 198 14 4 12 170 External Dimensions Units: mm (2) Standard Type SGLTW-35A 3Moving Coil: SGLTW-35A¡¡¡A¡ (With a connector by Tyco Electronics AMP K.K.) (15) (70) 66 55 12 N-M6 Tapped Holes, Depth 12 L1 (L3) L2 48 50 10 Magnetic Way 80 20 28 60 100 60 (70) 1 (19.2： With Magnet Cover) (19： Without Magnet Cover) (Gap 0.8： With Magnet Cover) (Gap 1： Without Magnet Cover) (15) 2-Screws #4-40 UNC (4.2 Dia.) 63 Min. (8.4 Dia.) Nameplate 500±50 100 Min. Hall Sensor Connector Specifications 9 5 The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. Hall Sensor 500±50 6 Linear Servomotor Connector Specifications Pin No. 1 Pin Connector: 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1 Hall Sensor Output Signals Wire Color Signal Pin No. Signal 1 +5VDC 1 Phase U Red 2 Phase U 2 Phase V White 3 Phase W Black 4 Ground Green 3 Phase V 4 Phase W 5 0V 6 Not used 7 Not used 8 Not used 9 Not used Plug: 350779-1 Pin : 350218-3 or 350547-3 (No.1 to 3) 350654-1 350669-1 (No.4) by Tyco Electronics AMP K.K. The Mating Connector Cap : 350780-1 Socket: 350536-3 or 350550-3 When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Vu Su Inverse Power Vv (V) Sv Vw Moving Coil Model SGLTW- 171 L1 L2 (L3) N Approx. Mass kg 35A170A¡ 170 144 (48×3) (16) 8 3.7 35A320A¡ 315 288 (48×6) (17) 14 6.8 35A460A¡ 460 432 (48×9) (18) 20 10 Sw 0 180 360 Electrical Angle (˚ ) 540 Linear Servomotors SGLTW (With T-type iron core) External Dimensions Linear Units: mm 3Magnetic Way: SGLTM-35¡¡¡A¡ L1 --00..13 L2 15 -00.2 (54) *2.4±0.3 6 R Nameplate 1 C 19 (30.6) (8) O/N S/N MADE IN JAPAN DATE 2 × N-7 Dia. Mounting Holes (See the sectional view for the depth.) Spacers: Do not remove them until the moving coil is mounted on the machine. Mount the magnetic way so that its corner surfaces are flush with the inner step. R1 x Ma 34.5 x. 9.9˚ . Ma 3 R0 .5 62 +00.6 *70±0.3 4 2 × N-M6 Screws, Depth 8 *2.4±0.3 Mount the magnetic way so that its corner surfaces are flush with the inner step. 39-00.2 Linear Servomotors (100) (1) 87 15 *70±0.3 Gap1±0.3 47 (30.6) (54) L2 54 YASKAWA TYPE: 15 71.5±0.1(Preshipment) 33 -00.2 Moving Coil 1 C 103 Max. (Preshipment) (70) 55 9˚ 9. 34.5 54 54 L2 (12) (54) L1 --00..31 Assembly Dimensions Notes: 1 Two magnetic ways for both ends of moving coil make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the moving coil is mounted on a machine. 2 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 3 Two magnetic ways in a set can be connected to each other. 4 The dimensions marked with an * are the dimensions between the magnetic ways. Be sure to follow exactly the dimensions specified in the figure above. Mount magnetic ways as shown in Assembly Dimensions. The values with a ♣ are the dimensions at preshipment. 5 Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use stainless steel screws. Magnetic Way Model SGLTM- L1-0.1 -0.3 L2 N Approx. Mass kg 4.8 35324A¡ 324 270 (54×5) 6 35540A¡ 540 486 (54×9) 10 8 35756A¡ 756 702 (54×13) 14 11 172 External Dimensions Units: mm 3Magnetic Way with Base: SGLTM-35¡¡¡AY 20 13 (54) L2 15 34.5 54 (85) (70) 9. 9˚ 55 15 Base 132 116 87 (100) 60 DATE （0.8） O/N S/N MADE IN JAPAN 70±0.3 YASKAWA 2.4±0.3 YASKAWA TYPE: 15 19.2 0.8±0.3 TYPE: 1 O/N S/N MADE IN JAPAN DATE 74 （14） 74 L5 Moving Coil （162） L4 2 × N2-10 Dia. Mounting Holes (See the sectional view for the depth.) Gap Includes a 0.2 thick magnet cover. 2 × N1-M6 Screws, Depth 8 9.9 ˚ 15 34.5 （2.4±0.3） 2 × N1-M6 Bolts, Depth 16 54 20 (54) L2 L3 -0.1 L1-0.3 1 （13） Notes: 1 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 2 Two magnetic ways in a set can be connected to each other. 3 The characteristics of the magnetic way with base are the same as of the magnetic way without base (SGLTM-35¡¡¡A). Magnetic Way Model SGLTM- 173 L1 L2 L3 L4 L5 N1 N2 Approx. Mass kg 6.4 35324AY 324 270 310 162 162 6 2 35540AY 540 486 526 378 189 10 3 11 35756AY 756 702 742 594 198 14 4 15 Linear Servomotors Linear SGLTW (With T-type iron core) External Dimensions Units: mm (3) Standard Type SGLTW-40 3Moving Coil: SGLTW-40¡¡¡¡B¡ (With an MS connector) Hall Sensor (19.1) (83) 78 75 16 N-M8 Tapped Holes, Depth 16 63 20 40 Receptacle Magnetic Way L1 L2 (L3) 60 500±50 Linear SERVO MOTOR TYPE MADE IN JAPAN m/s N W ins. A V S/N O/N DATE YASKAWA ELECTRIC Nameplate Hall Sensor Connector Specifications 9 The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. 64 Min. 6 5 1 Pin Connector: 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1 Linear Servomotor Connector Specifications Pin No. Signal Hall Sensor Output Signals Pin No. Signal Phase U 1 +5VDC A 2 Phase U B Phase V 3 Phase V C Phase W 4 Phase W D Ground 5 0V 6 Not used 7 Not used 8 Not used 9 Not used Receptacle type: MS3102A-22-22P by DDK Ltd. When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. The Mating Connector L-shaped plug type Straight plug type Cable clamp type : MS3108B22-22S : MS3106B22-22S : MS3057-12A Vu Su Inverse Power Vv (V) Sv Vw Moving Coil Model SGLTW- L1 40¡400B¡ 40¡600B¡ Linear Servomotors (4.2 Dia.) 124 30 38 98 150 97 2-Screws #4-40 UNC (25.3：With Magnet Cover) (25.1：Without Magnet Cover) (Gap 1.2：With Magnet Cover) (Gap 1.4：Without Magnet Cover) (19.1) (111.8) 1 L2 (L3) N Approx. Mass kg 395 360(60×6) (15) 14 15 575 540(60 ×9) (15) 20 22 0 Sw 180 360 540 Electrical Angle (˚ ) 174 External Dimensions Units: mm 3Magnetic Way : SGLTM-40¡¡¡A¡ L1 --00..13 15 -00.2 (67.5) L2 ° 5.6 39 67.5 O/N S/N MADE IN JAPAN DATE 131 (150) Gap 1.4±0.3 (1.4) 19.1 25.1 *111.8±0.3 ∗1.4±0.3 2×N-9 Dia. Mounting Holes (See the sectional view for the depth.) Spacers: Do not remove them until the moving coil is mounted on the machine. 2×N-M8 Screws, Depth 10 Nameplate (36.1) (15) 6 48 Ma 5.6° . ax x. M R1 39 4 ♣113±1(Preshipment) 19.1 ♣153 Max.(Preshipment) (36.1) (67.5) L2 67.5 1 C R0 .5 37.5 -00.2 Moving Coil YASKAWA TYPE: (83) 63 100+00.6 Mount the magnetic way so that its corner surfaces are flush with the inner step. *111.8±0.3 Mount the magnetic way so that its corner surfaces are flush with the inner step. O/N S/N YASKAWA TYPE: YASKAWA TYPE: MADE IN JAPAN O/N S/N MADE I *1.4±0.3 67.5 52.5 -00.2 (7.6) L2 -0.1 L1 -0.3 (67.5) Assembly Dimensions Notes: 1 Two magnetic ways for both ends of moving coil make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the moving coil is mounted on a machine. 2 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 3 Two magnetic ways in a set can be connected to each other. 4 The dimensions marked with an * are the dimensions between the magnetic ways. Be sure to follow exactly the dimensions specified in the figure above. Mount magnetic ways as shown in Assembly Dimensions. The values with a ♣ are the dimensions at preshipment. 5 Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use stainless steel screws. Magnetic Way Model SGLTM- 175 L1-0.1 -0.3 L2 N Approx. Mass kg 40405A¡ 405 337.5 (67.5×5) 6 9 40675A¡ 675 607.5 (67.5×9) 10 15 40945A¡ 945 877.5 (67.5×13) 14 21 Linear Servomotors SGLTW (With T-type iron core) External Dimensions Linear Units: mm 3Magnetic Way with Base: SGLTM-40¡¡¡AY 12.5 25 (67.5) L2 67.5 39 (103) (83) 5. 6 ﾟ 63 1.4 ±0.3 YASKAWA 19.1 25.3 1.2±0.3 TYPE: L5 Moving Coil Gap 92.5 92.5 L4 (17.5) (202.5) 2 × N2 -12 Dia. Mounting Holes (See the sectional view for the depth.) 2 × N1 - M8 Screws, Depth 10 Includes a 0.2 thick magnet cover. O/N S/N MADE IN JAPAN DATE 20 39 5.6ﾟ (1.4±0.3) 2 × N1-M8 Bolts, Depth 25 Linear Servomotors 190 170 131 (150) (1.2) 90 111.8±0.3 O/N S/N MADE IN JAPAN DATE 1 YASKAWA Base TYPE: 19.1 20 67.5 25 (67.5) (12.5) L2 L3 -0.1 L1-0.3 5 Notes: 1 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 2 Two magnetic ways in a set can be connected to each other. 3 The characteristics of the magnetic way with base are the same as of the magnetic way without base (SGLTM-40¡¡¡A). Magnetic Way Model SGLTM- L1 L2 L3 L4 L5 N1 N2 Approx. Mass kg 40405AY 405 337.5 387.5 202.5 202.5 6 2 13 40675AY 675 607.5 657.5 472.5 236.25 10 3 21 40945AY 945 877.5 927.5 742.5 247.5 14 4 30 176 External Dimensions Units: mm (4) Standard Type SGLTW-80 3Moving Coil: SGLTW-80¡¡¡¡B¡ (With an MS connector) Hall Sensor （120） Receptacle Magnetic Way 16 N-M8 Tapped Holes, Depth 16 L1 L2 （L3） 60 124 （4.2 Dia.） （Gap 1.4：Without Magnet Cover） （Gap 1.2：With Magnet Cover） 500±50 2-Screws #4-40 UNC Nameplate Hall Sensor Connector Specifications 6 9 5 The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. 64 Min. Linear SERVO MOTOR TYPE MADE IN JAPAN m/s W ins. A V S/N O/N DATE YASKAWA ELECTRIC （25.1：Without Magnet Cover） 97 30 38 98 150 1 （25.3：With Magnet Cover） （19.1） （111.8） （19.1） 115 75 63 20 40 1 Pin Connector: 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1 Linear Servomotor Connector Specifications Pin No. Signal Hall Sensor Output Signals Pin No. Signal Phase U 1 +5VDC A 2 Phase U B Phase V 3 Phase V C Phase W 4 Phase W D Ground 5 0V 6 Not used 7 Not used 8 Not used 9 Not used Receptacle type: MS3102A-22-22P by DDK Ltd. When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. The Mating Connector L-shaped plug type Straight plug type Cable clamp type : MS3108B22-22S : MS3106B22-22S : MS3057-12A Vu Su Inverse Power Vv (V) Sv Vw 177 Moving Coil Model SGLTW- L1 L2 L3 N Approx. Mass kg 80¡400B¡ 395 360(60×6) (15) 14 24 80¡600B¡ 575 540(60×9) (15) 20 35 0 Sw 180 360 540 Electrical Angle (˚ ) Linear Servomotors SGLTW (With T-type iron core) External Dimensions Linear Units: mm 3Magnetic Way : SGLTM-80¡¡¡A¡ -0.1 L1 -0.3 L2 0 16.9 -0.2 (67.5) 6° 5. (37.9) (67.5) L3 33.75 *1.5±0.3 7 R 2×N2-9 Dia. Mounting Holes (See the sectional view for the depth.) Spacers: Do not remove them until the moving coil is mounted on the machine. (37.9) (15) 85 M R1 +0.6 100 0 *111.8±0.3 Assembly Dimensions 6 5.6° YASKAWA TYPE: O/N S/N MADE IN JAPANDATE YASKAWA TYPE: O/N S/N MADE IN JAPAN 57 4 x. *1.5±0.3 ax. Mount the magnetic way so that its corner surfaces are flush with the inner step. 67.5 0 50.6-0.2 (11.3) Linear Servomotors 131 (150) C 1 25.1 39.4 -0.2 Nameplate 2 × N1-M8 Screws, Depth 10 Ma Mount the magnetic way so that its corner surfaces are flush with the inner step. Gap 1.4±0.3 (1.4) 19.1 *111.8±0.3 ♣113±1(Preshipment) 19.1 R0 .5 0 Moving Coil 1 C ♣153 Max.(Preshipment) O/N S/N MADE IN JAPANDATE (120) 100 YASKAWA TYPE: 57 67.5 (67.5) L2 L1 --00..13 Notes: 1 Two magnetic ways for both ends of moving coil make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the moving coil is mounted on a machine. 2 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 3 Two magnetic ways in a set can be connected to each other. 4 The dimensions marked with an * are the dimensions between the magnetic ways. Be sure to follow exactly the dimensions specified in the figure above. Mount magnetic ways as shown in Assembly Dimensions. The values with a ♣ are the dimensions at preshipment. 5 Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use stainless steel screws. Magnetic Way Model SGLTM- L1-0.1 -0.3 L2 L3 N1 N2 Approx. Mass kg 80405A¡ 405 337.5(67.5×5) 337.5(33.75×10) 6 11 14 80675A¡ 675 607.5(67.5×9) 10 19 24 80945A¡ 945 877.5(67.5×13) 607.5(33.75×18) 887.5(33.75×26) 14 27 34 178 External Dimensions Units: mm 3Magnetic Way with Base: SGLTM-80¡¡¡AY 14.4 25 (67.5) L2 57 67.5 33.75 100 Base Moving Coil 190 170 131 (150) (1.2) 90 111.8 ±0.3 O/N S/N MADE IN JAPAN DATE 1 YASKAWA 19.1 (140) (120) TYPE: 20 5.6 ﾟ 2 × N2 - 12 Dia. Mounting Holes (See the sectional view for the depth.) 1.5 ±0.3 YASKAWA 19.1 25.3 1.2 ±0.3 TYPE: O/N S/N MADE IN JAPAN DATE 92.5 L5 92.5 L4 (17.5) (202.5) 2 × N1-M8 Screws, Depth 10 Gap Includes a 0.2 thick magnet cover. 5. 6ﾟ 20 57 (1.5±0.3) 2 × N3-M8 Bolts, Depth 25 25 33.75 67.5 (67.5) (14.4) L2 L3 -0.1 L1-0.3 3.1 Notes: 1 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 2 Two magnetic ways in a set can be connected to each other. 3 The characteristics of the magnetic way with base are the same as of the magnetic way without base (SGLTM-80¡¡¡A). Magnetic Way Model SGLTM- 179 L1 L2 L3 L4 L5 N1 N2 N3 Approx. Mass kg 80405AY 405 337.5 387.5 202.5 202.5 6 2 11 18 80675AY 675 607.5 657.5 472.5 236.25 10 3 19 31 80945AY 945 877.5 927.5 742.5 247.5 14 4 27 43 Linear Servomotors SGLTW (With T-type iron core) External Dimensions Linear Units: mm (5) High-efficiency Type SGLTW-35A¡¡¡H¡ 100±0.15 Hall Sensor Protective Tube (4.2 Dia.) 500±50 The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. Linear Servomotors 2-Screws #4-40 UNC 500±50 28 Nameplate (Gap0.8 :With Magnet Cover) (Gap1.0 :Without Magnet Cover) (L3) 48±0.15 60 120±0.1 20±0.1 30 m/s ins. DATE 30 N V (19.2 :With Magnet Cover) (19 :Without Magnet Cover) W A YASKAWA ELECTRIC MADE IN JAPAN (90) S/N O/N TYPE 1 L1 L2 30 10 20 Magnetic Way Linear SERVO MOTOR (15) N-M6 Screws, Depth 12 (70) 66 62.5 12 80±0.05 (15) 3Moving Coil: SGLTW-35A¡¡¡H¡ (With a connector by Tyco Electronics AMP K.K.) Cable UL20276, AWG28 35 43 63 Min. Hall Sensor Connector Specifications 9 5 Lead Specifications of Moving Coil 6 1 Pin Connector: 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1 Pin No. Signal 1 +5VDC 2 Phase U 3 Phase V 4 Phase W 5 0V 6 Not used 7 Not used 8 Not used 9 Not used ・ If this cable is bent repetitively, the cable will disconnect. Phase V Phase U Phase W Ground Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. (View from Top of Moving Coil) Name Color Phase U Phase V Wire Size U Black Phase W Ground Code V 2 mm2 W Green – Vu Su Inverse Power Vv (V) Sv 2 mm2 Vw Sw 0 180 360 540 Electrical Angle (˚ ) Moving Coil Model SGLTW- L1 L2 (L3) N Approx. Mass kg 35A170H¡ 170 144 (48×3) (16) 8 4.7 35A320H¡ 315 288 (48×6) (17) 14 8.8 180 External Dimensions Units: mm 30 10 20 L1 L2 (L3) 48±0.15 100±0.15 60 120±0.1 28 30 The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. Hall Sensor Protective tube 500±50 2-Screws #4-40 UNC (4.2 Dia.) 30 1 Nameplate (Gap0.8 :With Magnet Cover) (Gap1.0 :Without Magnet Cover) 20±0.1 Magnetic Way m/s ins. DATE (19.2 :With Magnet Cover) (19 :Without Magnet Cover) N V (15) W A YASKAWA ELECTRIC MADE IN JAPAN (90) S/N O/N TYPE (15) N-M6 Screws, Depth 12 (70) 66 62.5 12 Linear SERVO MOTOR 80±0.05 3Moving Coil: SGLTW-35D¡¡¡H¡D (With a connector by Interconnectron GmbH) 500±50 Cable UL20276,AWG28 35 43 63 Min. Hall Sensor Connector Specifications 9 6 1 5 Pin Connector: 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1 Linear Servomotor Connector Specifications Pin No. Signal 1 +5VDC 2 Phase U 3 Phase V 4 Phase W 5 0V 6 Not used 7 Not used 8 Not used 9 Not used 5 4 6 1 2 Extension : ARRA06AMRPN182 Pin : 021.279.1020 by Interconnectron GmbH Hall Sensor Output Signals Pin No. Signal 1 Phase U 2 Phase V 4 Phase W 5 Not used 6 Not used When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Ground The Mating Connector Plug : APRA06BFRDN170 Socket : 020.105.1020 Vu Su Inverse Power Vv (V) Sv Vw Moving Coil Model SGLTW- 181 (L3) N Approx. Mass kg L1 L2 35D170H¡D 170 144(48× 3) (16) 8 4.7 35D320H¡D 315 288(48×6) (17) 14 8.8 0 Sw 180 360 540 Electrical Angle (˚ ) Linear Servomotors SGLTW (With T-type iron core) External Dimensions Linear Units: mm 3Magnetic Way: SGLTM-35¡¡¡H¡ -0.1 0 15 -0.2 L1 -0.3 L2 (54) L2 （30.6） 107 (120) Model Nameplate R6 0.8±0.3 15±0.1 4.2±0.1 YASKAWA TYPE: C1 (30.6) (8) O/N S/N MADE IN JAPAN DATE 2 × N-7 Dia. Mounting Holes (See the sectional view for the depth.) Gap Includes a 0.2 thick magnet cover. (4) 2 × N-M6 Screws, Depth 8 Spacer: Do not remove them until the moving coil is mounted on the machine. 34.5 9˚ 9. *2.4±0.3 82 +00.6 *90±0.3 Mount the magnetic way so that its corner surfaces are flush with the inner step. 54 39 -00.2 3 R1 M ax . R0 .5 Ma x. Linear Servomotors (0.8) *90±0.3 *2.4±0.3 C1 47 （54） 54 DATE 91.5±1(Preshipment) 33-00.2 Moving Coil O/N S/N MADE IN JAPAN 15±0.1 (70) 55 YASKAWA TYPE: 123 Max. (Preshipment) 9˚ 9. 34.5 54 L2 (54) L1 --00..13 (12) Mount the magnetic way so that its corner surfaces are flush with the inner step. Assembly Dimensions Notes: 1 Two magnetic ways for both ends of moving coil make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the moving coil is mounted on a machine. 2 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 3 Two magnetic ways in a set can be connected to each other. 4 The dimensions marked with an * are the dimensions between the magnetic ways. Be sure to follow exactly the dimensions specified in the figure above. Mount magnetic ways as shown in Assembly Dimensions. The values with a ♣ are the dimensions at preshipment. 5 Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use stainless steel screws. Magnetic Way Model SGLTM- L1-0.1 -0.3 L2 N Approx. Mass kg 4.8 35324H¡ 324 270 (54×5) 6 35540H¡ 540 486 (54×9) 10 8 35756H¡ 756 702 (54×13) 14 11 182 External Dimensions Units: mm (6) High-efficiency Type SGLTW-50 3Moving Coil: SGLTW-50A¡¡¡H¡ (With a connector by Tyco Electronics AMP K.K.) 100±0.15 (4.1) (L3) 48±0.15 Hall Sensor Protective Tube (4.2 Dia.) 2-Screws #4-40 UNC The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. 500±50 28 Nameplate (Gap0.8 : With Magnet Cover) (Gap1.0 : Without Magnet Cover) L1 L2 30 10 20 Magnetic Way 60 120±0.1 20±0.1 30 m/s ins. DATE 80±0.05 N V (23.3 : With Magnet Cover) (23.1 : Without Magnet Cover) W A YASKAWA ELECTRIC MADE IN JAPAN (19.1) O/N S/N TYPE 1 Linear SERVO MOTOR (90) (19.1) N-M6 Screws, Depth 12 (85) 81 62.5 12 500±50 Hall Sensor End Connector Cable UL20276, AWG28 35 43 63 Min. Lead Specifications of Moving Coil Hall Sensor Connector Specifications 9 6 5 1 Pin Connector: 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1 Pin No. Signal 1 +5VDC 2 Phase U 3 Phase V 4 Phase W 5 0V 6 Not used 7 Not used 8 Not used 9 Not used • If this cable is bent repetitively, the cable will disconnect. Phase V Phase U Phase W Ground Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. (View from Top of Moving Coil) Vu Name Color Phase U Phase V U Black Phase W Ground V 2 mm2 W Green – Su Wire Size Code 2 mm2 Inverse Power Vv (V) Sv Vw Sw 0 Moving Coil Model SGLTW- 183 L1 L2 (L3) N Approx. Mass kg 50A170H¡ 170 144 (48×3) (16) 8 6 50A320Ｈ□ 315 288 (48×6) (17) 14 11 180 360 540 Electrical Angle (˚ ) Linear Servomotors Linear SGLTW (With T-type iron core) External Dimensions Units: mm 3Moving Coil: SGLTW-50D¡¡¡H¡D (With a connector by Interconnectron GmbH) L1 L2 30 10 20 (L3) 48±0.15 100±0.15 (4.1) Magnetic Way 60 120±0.1 28 30 Nameplate (Gap0.8 :With Magnet Cover) (Gap1.0 :Without Magnet Cover) Hall Sensor Protective tube The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. 2-Screws #4-40 UNC Linear Servomotors 500±50 (4.2 Dia.) 20±0.1 (23.3 :With Magnet Cover) (23.1 :Without Magnet Cover) 1 m/s ins. DATE (19.1) N V (90) W A YASKAWA ELECTRIC MADE IN JAPAN (19.1) S/N O/N TYPE Linear SERVO MOTOR 80±0.05 N-M6 Screws, Depth 12 (85) 81 62.5 12 500±50 Cable UL20276,AWG28 35 43 63 Min. Hall Sensor Connector Specifications 9 5 6 1 Pin Connector: 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1 Linear Servomotor Connector Specifications Pin No. Signal 1 +5VDC 2 Phase U 3 Phase V 4 Phase W 5 0V 6 Not used 7 Not used 8 Not used 9 Not used 5 4 6 1 Hall Sensor Output Signals Pin No. Signal 1 Phase U 2 Extension : ARRA06AMRPN182 Pin : 021.279.1020 by Interconnectron GmbH 2 Phase V 4 Phase W 5 Not used 6 Not used When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Ground The Mating Connector Plug : APRA06BFRDN170 Socket : 020.105.1020 Vu Su Inverse Power Vv (V) Sv Vw Moving Coil Model SGLTW- L1 L2 (L3) N Approx. Mass kg 50D170H¡D 170 144(48×3) (16) 8 6 50D320H¡D 315 288(48×6) (17) 14 11 0 Sw 180 360 540 Electrical Angle (˚ ) 184 External Dimensions Units: mm 3Magnetic Way: SGLTM-50¡¡¡H¡ L1 --00..13 L2 9 -00.2 (54) 19.1±0.1 (4.1) (0.8) 27 -00.2 (54) 112 (120) *90±0.3 DATE a. C1 12 Di Model Nameplate YASKAWA 4.2±0.1 19.1±0.1 0.8±0.3 TYPE: C1 O/N S/N MADE IN JAPAN DATE 2 × N-7 Dia. Mounting Holes (See the sectional view for the depth.) Moving Coil (8) 62 (27) L2 54 O/N S/N MADE IN JAPAN 91.5±1(Preshipment) (85) 70 YASKAWA TYPE: 131 Max. (Preshipment) 42 54 Gap 3 R1 M ax . R0 .5 Ma x. 2 × N-M6 Screws, Depth 8 0 54 45 -0.2 L2 (54) -0.1 82 +00.6 *90±0.3 Mount the magnetic way so that its corner surfaces are flush with the inner step. Spacers: Do not remove them until the moving coil is mounted on the machine. 42 (4) Includes a 0.2 thick magnet cover. L1 -0.3 Mount the magnetic way so that its corner surfaces are flush with the inner step. Assembly Dimensions Notes: 1 Two magnetic ways for both ends of moving coil make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the moving coil is mounted on a machine. 2 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 3 Two magnetic ways in a set can be connected to each other. 4 The dimensions marked with an * are the dimensions between the magnetic ways. Be sure to follow exactly the dimensions specified in the figure above. Mount magnetic ways as shown in Assembly Dimensions. The values with a ♣ are the dimensions at preshipment. 5 Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use stainless steel screws. Magnetic Way Model SGLTM- 185 L1-0.1 -0.3 L2 N Approx. Mass kg 50324H¡ 324 270 (54×5) 6 8 50540H¡ 540 486 (54×9) 10 13 50756H¡ 756 702 (54×13) 14 18 Linear Servomotors Linear SGLTW (With T-type iron core) Selecting Cables 1Cables Connections 5)&8 5'4812#%- Cable for Connecting Serial Converter Unit (Between SERVOPACK connector CN2 and serial converter unit) Linear Servomotor Main Circuit Cable Serial Converter Unit (See page 202.) Linear Servomotors Encoder Cable Cable for Connecting Hall Sensor (Between serial converter unit and hall sensor unit) Linear Scale (To be provided by users) Hall Sensor Unit Linear Servomotor 1Cables Name Applicable Linear Servomotor Model Length Order No. 01 m JZSP-CLN21-01-E 03 m JZSP-CLN21-03-E SGLTW 05 m JZSP-CLN21-05-E -20, -35, -50 10 m JZSP-CLN21-10-E 15 m JZSP-CLN21-15-E 20 m JZSP-CLN21-20-E 01 m JZSP-CLN39-01-E 03 m JZSP-CLN39-03-E 05 m JZSP-CLN39-05-E 10 m JZSP-CLN39-10-E 15 m JZSP-CLN39-15-E 20 m JZSP-CLN39-20-E Specifications SERVOPACK End SGLTW-40,-80 Linear Servomotor 1m JZSP-CLN14-01-E 3m JZSP-CLN14-03-E SGLTW- 5m JZSP-CLN14-05-E ¡¡A¡¡¡¡¡D 10 m JZSP-CLN14-10-E 15 m JZSP-CLN14-15-E 20 m JZSP-CLN14-20-E 1m JZSP-CLN15-01-E 3m JZSP-CLN15-03-E SGLTW- 5m JZSP-CLN15-05-E ¡¡D¡¡¡¡¡D 10 m JZSP-CLN15-10-E 15 m JZSP-CLN15-15-E 20 m JZSP-CLN15-20-E Main Circuit Cables Details Linear Servomotor End (1) *1 SERVOPACK End Linear Servomotor End (2) *2 SERVOPACK End Linear Servomotor End (3) *3 *1: Connector by Tyco Electronics AMP K.K. *2: MS connector *3: Connector by Interconnectron GmbH NOTE: Shaded items are non-stock. SERVOPACK End Linear Servomotor End (4) *3 (cont’d) 186 Selecting Cables Applicable Linear Servomotor Model Name Cables for Connecting All models Linear Scales* Cables for Connecting Serial All models Converter Units Cables for Connecting Hall All models Sensors Length Order No. Specifications 01 m JZSP-CLL00-01-E 03 m JZSP-CLL00-03-E 05 m JZSP-CLL00-05-E 10 m JZSP-CLL00-10-E 15 m JZSP-CLL00-15-E 01 m JZSP-CLP70-01-E 03 m JZSP-CLP70-03-E 05 m JZSP-CLP70-05-E 10 m JZSP-CLP70-10-E 15 m JZSP-CLP70-15-E 20 m JZSP-CLP70-20-E 01 m JZSP-CLL10-01-E 03 m JZSP-CLL10-03-E 05 m JZSP-CLL10-05-E 10 m JZSP-CLL10-10-E 15 m JZSP-CLL10-15-E Serial Converter Unit End Details Linear Scale End (5) Serial Converter Unit End SERVOPACK End (6) Serial Converter Unit End Hall Sensor Unit End (7) * When using serial converter unit JZSP-GD00¡ - ¡¡¡ -E, the maximum cable length is 3 m. 3 Wiring Specifications (1) Linear Servomotor Main Circuit Cables: JZSP-CLN21-¡¡-E SERVOPACK End 8.5 mm SERVOPACK-end Leads Linear Servomotor End 35 mm L 50 mm Heat-shrinkable Tube Finished Diameter 11.9 Dia. M4 Crimped Terminal 4 27.7 U V W G 1 Cable (UL2570) AWG14/4C Cap : 350780-1 (4-pole) Socket: 350537-3 (Chained) by Tyco Electronics AMP K.K. Wire Markers 7.6 Linear Servomotor-end Connector Wire Color Signal Signal Red Phase U Phase U 1 White Phase V Phase V 2 Blue Phase W Phase W 3 Green/yellow FG FG 4 Pin No. 14.7 (2) Linear Servomotor Main Circuit Cables: JZSP-CLN39-¡¡-E A connector is not provided on the linear-servomotor end of the main circuit cable (JZSP-CLN39-¡¡-E). This connector is provided by the customer. 3 Wiring Specifications 50 mm L 35 mm 8.5 mm 2 mm SERVOPACK-end Leads Heat-shrinkable Tube Finished Diameter 15.8 Dia. U V M4 Crimped Terminal 187 W G Wire Markers Cable (UL2570) AWG11/4C Linear Servomotor-end Connector Wire Color Signal Signal Red Phase U Phase U 1 White Phase V Phase V 2 Blue Phase W Phase W 3 Green/yellow FG FG 4 Pin No. Linear Servomotors Linear SGLTW (With T-type iron core) Selecting Cables 1JZSP-CLN39 Cable Connectors Applicable Linear Servomotor Model Attached Connector SGLTW-40, -80 MS3102A22-22P Plug Straight Cable Clamp Straight L-shaped MS3106B22-22S MS3108B22-22S or MS3106A22-22A MS3057-12A (a) MS3106B: Straight Plug with Front-shell and Back-shell Separated L Joint Y Q A Shell Joint Screw Size A 22 V Max. Length Overall J±0.12 Length L 18.26 55.57 Joint Overall 1 3/8 -18UNEF Outer Cable Min. Diameter of Clamp Effective Nut Mounting Screw Q+0 -0.38 Screw V Length W 40.48 1 3/16 -18UNEF 9.53 Max. Width Y 50 Linear Servomotors Units: mm W J (b) MS3106A: Straight Plug with Solid Shell Units: mm L J W Joint Screw Size A Length Length J±0.12 L±0.5 18.26 54 Outer Q 22 1 3/8 -18UNEF Outer Diameter of Diameter Nut N±0.5 Q+0 -0.38 N A Shell 40.48 Cable Min. Clamp Effective Mounting Screw Screw V Length W 1 3/16- 34.99 18UNEF 9.53 V (c) MS3108B: L-shaped Plug with Front-shell and Back-shell Separated Units: mm L R J Q A Shell V 22 Joint Length Overall A J±0.12 Length L 18.26 76.98 1 3/8 -18UNEF Outer Cable Min. R U Diameter Clamp Effective ±0.5 ±0.5 of Nut Mounting Screw Q+0 -0.38 Screw V Length W Max. Screw W U Size Joint 24.1 33.3 40.48 1 3/16 -18UNEF 9.53 (d) MS3057-12A: Cable Clamp with Rubber Bushing Units: mm A J Dia. (Bushing Inner Diameter) G Q 1.6 V C E Dia. (Cable Clamp Inner Diameter) H (Movable Range on One Side) Overall Applicable Shell Size 20, 22 Effective Length Screw A±0.7 Length C 23.8 10.3 E 19.0 G±0.7 37.3 H 4.0 J 15.9 Mounting Outer Rubber Screw Diameter Bushing V Q±0.7 1 3/16 -18UNEF 35.0 Type AN3420 -12 188 Selecting Cables (3) Linear Servomotor Main Circuit Cables: JZSP-CLN14-¡¡-E 3 Wiring Specifications SERVOPACK End 8.5 mm 50 mm Linear Servomotor End 51 mm L SERVOPACK-end Leads 28 Dia. Heat-shrinkable Tube Finished Diameter 6.8 Dia. U Black (White 3) Phase W 6 1 V SERVOPACK End M4 Crimped Terminal Wire Color Signal Black (White 1) Phase U Black (White 2) Phase V P 5 Green / yellow Linear Servomotor-end Connector Signal Pin No. Phase U 1 Phase V 2 Phase W 3 4 FG 2 3 5 4 W FG Cable (UL2464) AWG18/4C G 6 SPUC06KFSDN236 by Interconnectron GmbH Wire Markers (4) Linear Servomotor Main Circuit Cables: JZSP-CLN15-¡¡-E 3 Wiring Specifications SERVOPACK End Linear Servomotor End SERVOPACK-end Leads 8.5 mm 50 mm 61 mm L Wire Color Signal Red Phase U 27.2 Dia. Heat-shrinkable Tube Finished Diameter 11.9 Dia. U V W G M4 Crimped Terminal 5 4 6 1 2 Linear Servomotor-end Connector Signal Pin No. Phase U 1 White Phase V Phase V 2 Black Phase W Green / yellow FG FG Phase W 3 4 5 Cable (UL2570) AWG14/4C Wire Markers 6 APRA06BFRDN170 by Interconnectron GmbH (2) Cables for Connecting Linear Scales: JZSP-CLL00-¡¡-E Serial Converter unit End Connector： 17JE-23150-02 (D8C) (15-pin，soldered) by DDK Ltd. 9 1 L 1 Finished Diameter 9.5 Dia. 15 8 Cable (UL2584) (AWG22 × 3C + AWG25 × 6P) 3Wiring Specifications Serial Converter Unit End Pin No. Signal /Cos（V1-） 1 /Sin（V2-） 2 Ref（V0+） 3 +5V 4 5Vs 5 BID 6 7 Vx 8 Vq Cos（V1+） 9 Sin（V2+） 10 /Ref（V0+） 11 0V 12 0Vs 13 DIR 14 15 Inner Case Shield 189 Linear Scale End Linear Scale End Pin No. Signal /Cos（V1-） 1 /Sin（V2-） 2 Ref（V0+） 3 +5V 4 5Vs 5 BID 6 7 Vx 8 Vq Cos（V1+） 9 Sin（V2+） 10 /Ref（V0-） 11 0V 12 0Vs 13 DIR 14 15 Inner Case Shield 8 9 Connector： 17JE-13150-02 (D8C) (With stud) (15-pin，soldered) 15 by DDK Ltd. Linear Servomotors SGLTW (With T-type iron core) Linear Selecting Cables (6) Cables for Connecting Serial Converter Units: JZSP-CLP70-¡¡-E SERVOPACK End Serial Converter Unit End L Finished Diameter 6.8 Dia. Connector: 55100-0670 (6-pin, soldered) by Molex Japan Co., Ltd. Connector: 17JE-23090-02 (D8C) (9-pin, soldered) by DDK Ltd. Cable (UL20276) (AWG22×2C+AWG24×2P) 3 Wiring Specifications Serial Converter Unit End Pin No. Signal Wire Color +5V 1 Red 5 0V Black − − 3 − − 4 2 Phase S output Light blue 6 Phase /S output Light blue/white − Case Shield − − 7 − − 8 − − 9 Linear Servomotors SERVOPACK End Pin No. Signal Wire Color 1 PG5V Red 2 PG0V Black − − 3 − − 4 5 PS Light blue 6 Light blue/white /PS − Shell Shield (7) Cables for Connecting Hall Sensors: JZSP-CLL10-¡¡-E Hall Sensor End Serial Converter Unit End 6 Connector: 17JE-23090-02 (D8C) (9-pin, soldered) 9 by DDK Ltd. 1 5 L Finished Diameter 6.8 Dia. Cable (UL20276) (AWG22×2C+AWG24×2P) 1 5 6 Connector: 17JE-13090-02 (D8C) (With stud) 9 (9-pin, soldered) by DDK Ltd. 3 Wiring Specifications Serial Converter Unit End Pin No. Signal +5V 1 2 Phase U input 3 Phase V input 4 Phase W input 0V 5 − 6 − 7 − 8 − 9 Case Shield Hall Sensor End Pin No. Signal + 5V 1 2 Phase U input 3 Phase V input 4 Phase W input 0V 5 − 6 − 7 − 8 − 9 Case Shield 190 Linear Servomotor General Instructions Serial Converter Unit (Model: JZDP-¡00¡-¡¡¡-E) 1Characteristics and Specifications Items JZDP-D00¡-¡¡¡-E Electrical Characteristics Current Consumption*1 Signal Resolution Max. Response Frequency Analog lnput Signals*2 (cos, sin, Ref) Hall Sensor lnput Signal Mechanical Characteristics Environmental Conditions *2: *3: 191 120 mA Typ. 350 mA max. Input two-phase sine wave: 1/256 pitch Input two-phase sine wave: 1/4096 pitch 250 kHz 100 kHz Differential input amplitude: 0.4 to 1.2 V Input signal level: 1.5 to 3.5 V CMOS level Output Signals*3 Position data, hall sensor information, and alarms Output Method Serial data transmission Output Circuit *1: JZDP-G00¡-¡¡¡-E + 5.0V ± 5%, ripple content 5% max. Power Supply Voltage Approx. Mass Vibration Resistance Impact Resistance Balanced transceiver (SN75LBC176 or the equivalent) Internal terminal resistance: 120 Ω 150 g 98 m/s2 max. (10 to 2500 Hz) in three directions 980 m/s2, (11 ms) two times in three directions Ambient Temperature 0 to 55˚C Storage Temperature -20 to +80˚C Humidity 20% to 90% RH (no condensation) The current consumption of the linear scale and hall sensor is not included in this value. The current consumption of linear scale and hall sensor must be taken into consideration for the current capacity of host controller that supplies the power. The current consumption of hall sensor: Approx. 40 mA. Input a value within the specified range. Otherwise, incorrect position information is output, and the device may be damaged. The power is turned on, and the transmission is enabled after 100 ms to 300 ms. Linear Servomotors Linear General Instructions Serial Converter Unit (Model: JZDP-¡00¡-¡¡¡-E) 1Model Designations JZDP - ¡00¡ - ¡¡¡ - E Serial Converter Unit Model Appearance Scale Applicable Linear Servomotor Hall Sensor Servomotor Model D003 Manufactured by HEIDENHAIN Corp. None G003 SGLGW(Coreless) D005 When a standardforce magnetic way is used. Manufactured by RENISHAW plc. None G005 D006 Manufactured by HEIDENHAIN Corp. Provided G006 D008 Manufactured by RENISHAW plc. G008 Non-Stock Items Provided SGLGW+ SGLGM-M (Coreless) When a high-force magnetic way is used Global Stock Items SGLFW- Symbol Servomotor Model Symbol 30A050C 250 20A170A 011 30A080C 251 20A320A 012 40A140C 252 20A460A 013 40A253C 253 35A170A 014 40A365C 254 35A320A 015 60A140C 258 35A460A 016 60A253C 259 35A170H 105 60A365C 260 35A320H 106 90A200C 264 50A170H 108 90A370C 265 50A320H 109 40A400B 185 40A600B 186 90A535C 266 40A140C 255 SGLTW(Iron core, T-type) 40A253C 256 80A400B 187 40A365C 257 80A600B 188 60A140C 261 35D170H 193 60A253C 262 35D320H 194 60A365C 263 50D170H 195 20A090A 017 50D320H 196 20A120A 018 40D400B 197 35A120A 019 40D600B 198 35A230A 020 80D400B 199 50A200B 181 80D600B 200 50A380B 182 1ZA200B 183 1ZA380B 184 35D120A 211 35D230A 212 50D200B 189 Linear Servomotor General Instructions Code Applicable Linear (Iron core, F-type) 50D380B 190 1ZD200B 191 1ZD380B 192 192 Serial Converter Unit (Model: JZDP-¡00¡-¡¡¡-E) 1Analog Signal Input Timing The following figure shows the input timing of the analog signals. When the cos and sin signals are shifted 180 degrees, the differential signals are the /cos and /sin signals. The specifications of the cos, /cos, sin, and /sin signals are identical except for the phase. Input the signals Ref and /Ref so that they shall cross each other as shown in the figure because they are input into the converter. When they are crossed, the output data will be counted up. * 0.2 to 0.6 V 100% cos (A+) 45° cos，/cos，sin，/sin Input Voltage Range: 1.5 to 3.5 V /cos (A−) Ref，/Ref Input Voltage Range: 1.5 to 3.5 V /Ref (R−) Ref (R+) 0.2 V Min. /sin (B−) 0.2 V Min. sin (B+) 5% to 75% 5% to75% Zero Point Count Up Direction *:If the analog signal amplitude declines to about 0.35 V because of differential amplitude, the serial converter outputs an alarm. IMPORTANT ■ Precautions 1 2 Never perform insulation resistance and withstand voltage tests. When analog signals are input to the serial converter unit, noise influence on the analog signals affects the unit’s ability to output correct position information. The analog cable must be as short as possible and shielded. 3 Use the serial converter unit without gases such as H2S. 4 Do not connect or disconnect the unit while power is being supplied, or the unit may be damaged. 5 When using multiple axes, use a shield cable for each axis. Do not use a shield cable for multiple axes. 193 Linear Servomotors General Instructions Serial Converter Unit (Model: JZDP-¡00¡-¡¡¡-E) Linear Units: mm 1Without Cable for Hall Sensor (For Linear Scale by HEIDENHAIN Corporation) Serial Converter Unit Model: JZDP-¡003-¡¡¡-E (1) Connection Example SERVOPACK Serial Converter Unit JZDP-¡003-¡¡¡-E SGDV-¡¡¡¡ CN2 CN1 JZSP-CLP70-¡¡-E CN2 JZSP-CLL00-¡¡-E* Connection Cable by HEIDENHAIN Corp. Linear Scale by HEIDENHAIN Corp. * When using serial converter unit JZDP-G00¡-¡¡¡-E, the maximum cable length is 3 m. (2) External Dimensions Linear Scale End Analog Signal Input Connector (CN2) 4-4.2 Dia. Holes 2-#4-40 UNC Tapped Holes Nameplate 2-4.2 Dia. Holes 65±0.3 72 82±0.3 90 1.5 3 2-#4-40 UNC Tapped Holes 22.5 14.35±0.3 Linear Servomotor General Instructions 33.32±0.4 52±0.3 60 10 24.99±0.3 SERVOPACK End Serial Data Output Connector (CN1) 4-M5 Tapped Holes, Depth 10 Pin No. Signal 1 +5V 2 Phase S output 3 Not used 4 Not used 5 0V 6 Phase /S output 7 Not used 8 9 Case CN1 SERVOPACK End Serial Data Output 5 9 Pin No. cos input (A+) 2 0V 3 sin input (B+) 4 +5V 5 Not used 6 Not used 7 /Ref input (R-) Not used 8 Not used Not used 9 /cos input (A-) Shield 10 0V sensor 6 1 17-series Connector: 17LE-13090-27-FA (Socket) by DDK Ltd. 11 /sin input (B-) 12 5V sensor 13 Not used 14 Ref input (R+) 15 Not used Case Notes: Signal 1 CN2 Linear Scale End Analog Signal Input 1 9 8 15 17-series Connector: 17LE-13150-27-FA (Socket) by DDK Ltd. Shield 1 Do not use the unused pins. 2 Contact HEIDENHAIN Corporation for details of connection cables (analog 1 Vp-p output, D-sub 15-pin, male) by HEIDENHAIN Corporation. 3 Use the same terminal for 5-V sensor and phase-W input. 4 Phase U, V, and W input are internally pulled up at 10 kW. 194 Serial Converter Unit (Model: JZDP-¡00¡-¡¡¡-E) Units: mm 1Without Cable for Hall Sensor (For Linear Scale by Renishaw plc.) Serial Converter Unit Model: JZDP-¡005-¡¡¡-E (1) Connection Example Serial Converter Unit JZDP-¡005-¡¡¡-E SERVOPACK SGDV-¡¡¡¡ CN2 CN1 CN2 JZSP-CLL00-¡¡-E* JZSP-CLP70-¡¡-E Connection Cable by Renishaw plc. * When using serial converter unit JZDP-G00¡-¡¡¡-E, the maximum cable length is 3 m. Linear Scale by Renishaw plc. (2) External Dimensions 2-#4-40 UNC Tapped Holes 2-4.2 Dia.Holes Linear Scale End Analog Signal Input Connector (CN2) 4-4.2 Dia.Holes Nameplate 10 60 52 ± 0.3 24.99 ± 0.4 SERVOPACK End Serial Data Output Connector (CN1) 300 ± 30 65 ± 0.3 72 82 ± 0.3 90 1.5 3 22.5 14.35 ± 0.4 4-M5 Tapped Holes, Depth 10 Pin No. Signal 1 +5V 2 Phase S output 3 Not used 4 Not used 5 0V 6 Phase /S output 7 Not used 8 9 Case CN1 SERVOPACK End Serial Data Output 5 9 Pin No. cos input (V1-) 2 sin input (V2-) 3 Ref input (V0+) 4 +5V 5 5Vs 6 Not used 7 Not used Not used 8 Not used Not used 9 cos input (V1+) Shield 10 sin input (V2+) SERVOPACK does not have the function to process Vq signals. 6 1 17-series Connector: 17LE-13090-27-FA (Socket) by DDK Ltd. 11 /Ref input (V0-) 12 0V 13 0Vs 14 Not used 15 inner (0V) Case Notes: 195 Signal 1 Shield 1 Do not use the unused pins. 2 Contact Renishaw plc. for details of connection cables (analog 1 Vp-p output, D-sub 15-pin, male) by Renishaw plc. However, the BID and DIR signals are not connected. 3 Use the linear scale-end connector to change the zero point specifications of the linear scale. CN2 Linear Scale End Analog Signal Input 1 9 8 15 17-series Connector: 17JE-13150-02 (D8C) A-CG (Socket) by DDK Ltd. Linear Servomotors General Instructions Serial Converter Unit (Model: JZDP-¡00¡-¡¡¡-E) Linear Units: mm 1With Cable for Hall Sensor (For Linear Scale by HEIDENHAIN Corporation) Serial Converter Unit Model: JZDP-¡006-¡¡¡-E (1) Connection Example Serial Converter Unit JZDP-¡006-¡¡¡-E Hall sensor SERVOPACK CN3 JZSP-CLL10-¡¡-E CN2 JZSP-CLL00-¡¡-E* SGDV-¡¡¡¡ CN2 CN1 JZSP-CLP70-¡¡-E Connection Cable by HEIDENHAIN Corp. Linear Scale by HEIDENHAIN Corp. * When using serial converter unit JZDP-G00¡-¡¡¡-E, the maximum cable length is 3 m. (2) External Dimensions 2-#4-40 UNC Tapped Holes 2-4.2 Dia. Holes 4-4.2 Dia. Holes Nameplate 60 52±0.3 10 24.99 ± 0.4 SERVOPACK End Serial Data Output Connector (CN1) 300 ± 30 65 ± 0.3 72 82 ± 0.3 90 1.5 3 22.5 14.35 ± 0.4 Linear Scale End Analog Signal Input Connector (CN2) 4-M5 Tapped Holes, Depth 10 CN2 Linear Scale End Analog Signal Input CN1 SERVOPACK End Serial Data Output 1 9 5 6 1 8 17-series Connector: 17LE-13090-27-FA (Socket) by DDK Ltd. Pin No. Signal +5V 2 Phase S output 3 Not used 4 Not used 5 0V 6 Phase /S output 7 Not used 8 Not used 9 Not used Case Notes: 17-series Connector: 17JE-13150-02 (D8C) A-CG (Socket) by DDK Ltd. 1 CN3 Linear Servomotor End Hall Sensor Signal Input 9 15 Shield Linear Servomotor General Instructions Linear Servomotor End Hall Sensor Signal Input Connector (CN3) Pin No. Signal 1 cos input (A+) 2 0V 3 sin input (B+) 4 +5V 5 Not used 6 Not used 7 /Ref input (R-) 8 Not used 9 /cos input (A-) 10 0V sensor 11 /sin input (B-) 12 5V sensor 13 Not used 14 Ref input (R+) 15 Case Not used Shield 1 6 5 9 17-series Connector: 17JE-13090-02 (D8C) A-CG by DDK Ltd. Pin No. Signal 1 +5V 2 Phase U input 3 Phase V input 4 Phase W input 5 0V 6 Not used 7 Not used 8 Not used 9 Not used Case Shield 1 Do not use the unused pins. 2 Contact HEIDENHAIN Corporation for details of connection cables (analog 1 Vp-p output, D-sub 15-pin, male) by HEIDENHAIN Corporation. 3 Phase U, V, and W input are internally pulled up at 10 kΩ. 196 Serial Converter Unit (Model: JZDP-¡00¡-¡¡¡-E) Units: mm 1With Cable for Hall Sensor (For Linear Scale by Renishaw plc.) Serial Converter Unit Model: JZDP-¡008-¡¡¡-E (1) Connection Example Serial Converter Unit JZDP-¡008-¡¡¡-E Hall Sensor SERVOPACK CN3 JZSP-CLL10-¡¡-E CN2 JZSP-CLL00-¡¡-E* SGDV-¡¡¡¡ CN2 CN1 JZSP-CLP70-¡¡-E Connection Cable by Renishaw plc. * When using serial converter unit JZDP-G00¡-¡¡¡-E, the maximum cable length is 3 m. Linear Scale by Renishaw plc. (2) External Dimensions Linear Servomotor End Hall Sensor Signal Input Connector (CN3) 2-4.2 Dia. Holes 2-#4-40 UNC Tapped Holes 4-4.2 Dia. Holes Nameplate 60 52 ± 0.3 10 24.99 ± 0.4 SERVOPACK End Serial Data Output Connector (CN1) 300 ± 30 65 ± 0.3 72 82 ± 0.3 90 Linear Scale End Analog Signal Input Connector (CN2) 22.5 1.5 3 14.35 ± 0.4 4-M5 Tapped Holes, Depth 10 CN2 Linear Scale End Analog Signal Input CN1 SERVOPACK End Serial Data Output 1 9 5 6 1 8 17-series Connector: 17LE-13090-27-FA (Socket) by DDK Ltd. Pin No. +5V 2 Phase S output 3 Not used 4 Not used 5 0V 6 Phase /S output 7 Not used 8 Not used 9 Not used Case Notes: 9 15 17-series Connector: 17JE-13150-02 (D8C) A-CG (Socket) by DDK Ltd. Signal 1 Shield Pin No. Signal 1 /cos input (V1-) 2 /sin input (V2-) 3 Ref input (V0+) 4 +5V 5 5Vs 6 Not used 7 Not used 8 Not used 1 6 5 9 17-series Connector: 17JE-13090-02 (D8C) A-CG by DDK Ltd. Pin No. Signal 1 +5V 2 Phase U input Phase V input 9 cos input (V1+) 3 10 sin input (V2+) 4 Phase W input 11 /Ref input (V0-) 5 0V 12 0V 6 Not used 7 Not used 8 Not used 9 Not used 13 0 Vs 14 Not used 15 Inner Case Shield 1 Do not use the unused pins. 2 Contact Renishaw plc. for details of connection cables (analog 1 Vp-p output, D-sub 15-pin, male) by Renishaw plc. However, the BID and DIR signals are not connected. 3 Use the linear scale-end connector to change the zero point specifications of the linear scale. 4 Phase U, V, and W input are internally pulled up at 10 kΩ. 197 CN3 Linear Servomotor End Hall Sensor Signal Input Case Shield Linear Servomotors General Instructions Linear Flexible Cables 1Life of Flexible Cable Cable Type Model Recommended Bending Radius mm JZSP-CLN11-¡¡-E 35 JZSP-CLN21-¡¡-E 38 JZSP-CLN39-¡¡-E 50 JZSP-CLN14-¡¡-E 35 Cables for Connecting Linear Scales JZSP-CLL00-¡¡-E 57 Cables for Connecting Hall Sensors JZSP-CLL10-¡¡-E 46 Cables for Connecting Serial Converter Units JZSP-CLP70-¡¡-E 46 Linear Servomotor Main Circuit Cables 1Conditions epeat moving one end of the cable forward and backward for 320 mm with using the test equipment shown in the following 1 R figure. 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 Shifting End Bending Radius R Notes: Fixed End Linear Servomotor General Instructions The flexible cable supports 10,000,000 or more operations of bending life with the recommended bending radius R. The following table shows the recommended bending radius R of each cable. 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. 1Wiring Precautions Even if the recommended bending radius R is respected in the mechanical design, incorrect wiring may cause early disconnection. Observe the following precautions when wiring. (1) Cable twisting Straighten the flexible cables before wiring. Twisted cables cause early disconnection. Check the indication on the cable surface to make sure that the cable is not twisted. (2) Fixing method Do not fix the moving points of the flexible cable. Stress on the fixed points may cause early disconnection. Fix the cable at the minimum number of points. (3) Cable length If the cable length is too long, it may cause the cable’s sagging. Besides the cable length is too short, it may cause the excessive tension on the fixed points that will cause early disconnection. Use a flexible cable with the optimum length. (4) 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. 198 Linear Slides -Trac Model Designations Designation SGT 1 F3 1 - 030 AR -Trac Series Linear Slide * Options: 4: Cable Track Assembly Linear Slide Type 1 : Standard (Aluminum base) * Limit sensors and covers sold separately. See Cables, Connectors, and Accessories. Mounted Linear Servomotor Moving Coil Model Voltage SGLFW-35A120A SGLFW-35A230A SGLFW-50A200B F9 FA SGLFW-35D120A FD SGLFW-50D200B Surface Treatment 0 : Aluminum base: Clear anodized F4 SGLFW-50A380B SGLFW-35D230A 400 V SGLFW-50D380B Number of Tables (per Axis) 1 : 1 table 199 Code F3 200 V 20 - 0 4 Linear Scale Resolution 20 : 20 μ m FE FF Standard FG Stroke Length 007 : 70 mm to 195 : 1950 mm Linear Slides Linear -Trac Features Application Examples 1Factory assembled, fully integrated linear motor driven slide reduces machine design complexity and commissioning time. 1Pick and Place 1Precision Dispensing 1Automatic motor recognition by Yaskawa amplifiers eliminates need for user to input motor coil parameters. 1Vision Inspection 1Long strokes and high-speed, high accuracy positioning. 1Laser Cutting/Machining. 1Large integrated cable carrier allows space for peripheral cables and hoses. 1 Engraving 1Flat Panel Display Manufacture (LCD Substrate Handling) 1Covers and accessories available as accessories (up to 1 m stroke). 1Industrial Laser and Ink Jet Printing 1See www.yaskawa.com for "Quick Ship" program details. 1Electronic Component Assembly 1Insertion Machines (Packaging) Model Classification 2Force Single-phase Three-phase Three-phase 100 VAC 200 VAC 400 VAC -Trac Series Linear Slides Model 2R1F 1R6A – SGT1F31-¡¡¡ – – 1R9D SGT1FD1-¡¡¡ – 3R8A – SGT1F41-¡¡¡ – – 1R9D SGT1FE1-¡¡¡ – 5R5A – SGT1F91-¡¡¡ – – 3R5D SGT1FF1-¡¡¡ – 120A – SGT1FA1-¡¡¡ – – 5R4D SGT1FG1-¡¡¡ Force 200 N 400 N 600 N 800 N 1000 N 1200 N Rated force Peak force Linear Slides SERVOPACK Model SGDV- 2Stroke Length Model SGT1F31-¡¡¡ SGT1FD1-¡¡¡ SGT1F41-¡¡¡ SGT1FE1-¡¡¡ SGT1F91-¡¡¡ SGT1FF1-¡¡¡ SGT1FA1-¡¡¡ SGT1FG1-¡¡¡ Stroke Length 500 mm 1000 mm 1500 mm 2000 mm 1950 mm 80 mm 180 mm 70 mm 170 mm 1830 mm 1830 mm 1650 mm 200 SGT1F31, SGT1F41, SGT1FD1, and SGT1FE1 Linear Slides 1Ratings and Specifications Time Rating: Continuous Insulation Resistance: 500 VDC, 10 MΩ min. Ambient Temperature: 0 to 40˚C Excitation: Permanent magnet Withstand Voltage: 1500 VAC for one minute Enclosure: Self-cooled Ambient Humidity: 20% to 80% (no condensation) Winding Insulation: Class A 200 V Models Linear Slide Model*1 400 V Models SGT1F31-¡¡¡ AR20-04 SGT1F41-¡¡¡ AR20-04 SGT1FD1-¡¡¡ AR20-04 SGT1FE1-¡¡¡ AR20-04 35D230AP Mounted Linear Servomotor Model SGLFW- 35A120AP 35A230AP 35D120AP Applicable SERVOPACK Model SGDV- 2R1F, 1R6A 3R8A 1R9D 1R9D Mounted Serial Converter Unit Model JZDP- D008-019 D008-020 D008-211 D008-212 Rated Force N 80 160 80 160 Peak Force N 220 440 220 440 Force Constant N / Arms 62.4 62.4 136 136 20.1 Motor Constant N/Q W 14.4 20.4 14.2 Maximum Payload*2, *3 kg 30 70 30 70 Movable Member Mass kg 4.3 6.6 4.3 6.6 Total Mass kg Effective Stroke mm See Table 1 on the next page. See Table 2 on the next page. See Table 1 on the next page. See Table 2 on the next page. Resolution μm μm μm μm Repeatability*4 Absolute Accuracy Straightness and Flatness 0.078 (20 ±1.0 μ m / 256) ±1.0 0.078 (20 ±1.0 μ m / 256) ±1.0 Consult factory Consult factory Consult factory Consult factory *1: Squares (¡¡¡) are used to indicate the stroke length code shown in Tables 1 and 2. *2: Values obtained when the acceleration is 4.9 m/s2. *3: Contact your Yaskawa representative if the expected payload exceeds the value indicated in the table. *4: Values obtained when the ambient temperature is constant. 1Performance Curves Force - Speed Effective Force - Ambient Temperature When the sensor temperature is 50˚C or less Average speed (m/s) : 0 1 2 A : Continuous Duty Zone B : Intermittent Duty Zone (Note) B 1 0 (2) SGT1F41, 6 SGT1FE1 5 Speed (m/s) A 2 0 50 100 150 200 250 Force (N) 4 3 A 2 B 1 0 0 100 200 300 400 500 Force (N) Note: When the effective force during intermittent duty is within the rated force, the servomotor can be used within the intermittent duty zone. 201 Acceleration (m/s2) 3 45 40 35 30 25 20 15 10 5 0 0 20 40 60 80 100 Effective Force [Load Ratio] (%) 45 40 35 30 25 20 15 10 5 0 0 20 40 60 80 100 Effective Force [Load Ratio] (%) 80 70 60 50 40 30 20 10 0 0 10 20 Load Mass (kg) 30 100 Acceleration (m/s2) 4 Ambient Temperature (˚C) Speed (m/s) SGT1FD1 5 Note: Average speed＝Total movement distance (m)/ cycle time (s) Ambient Temperature (˚C) 6 (1) SGT1F31, Load Mass - Acceleration 80 60 40 20 0 0 10 20 30 40 50 60 70 Load Mass (kg) Linear Slides Linear -Trac SGT1F31, SGT1F41, SGT1FD1, and SGT1FE1 Linear Slides Units: mm 1External Dimensions Table 1 2 x N - Ø 7 Thru Mounting Holes Ø 14, Depth 0.5 L5 40 40 40 141 158 180 L3 1.55 100 6 - Ø 5, Depth 12 Dowel Holes 38.85 32.50 22 L4 8 - M6x1.0 Tapped Holes, Depth12 L2 6.35 38.85 32.50 Stopper Stopper Opening for Limit Sensor Wires (both ends) 10 L1 L1 + 12.7 Scale Head L4 mm L5 mm 008 030 041 052 063 074 085 096 107 118 129 140 151 162 173 184 195 80 300 410 520 630 740 850 960 1070 1180 1290 1400 1510 1620 1730 1840 1950 360 580 690 800 910 1020 1130 1240 1350 1460 1570 1680 1790 1900 2010 2120 2230 295 515 625 735 845 955 1065 1175 1285 1395 1505 1615 1725 1835 1945 2055 2165 270 440 550 660 770 880 990 1100 1210 1320 1430 1540 1650 1760 1870 1980 2090 45 90 70 110 2.50 1.55 100 14.50 L4 32.25 11 6.35 L3 mm 29.50 A 111 170 Total Mass kg 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 10.4 14.4 16.3 18.2 20.0 21.9 23.9 26.0 27.8 29.8 31.6 33.5 35.6 37.5 39.4 41.3 43.2 10.50 6.30 97.84 DETAIL A 267.84 Linear Scale N 2.50 122.84 165 120 22 170 148 100.50 X X Y Y L2 mm 15 M8 x 1.25, Depth 16 Provision for Lifting (both ends) L1 mm 9 (Note 1) Length 3.50 Stroke Code 48.97 99.50 (1) SGT1F31, SGT1FD1 Note: Endplate removed in this view L3 mm 018 029 040 051 062 073 084 095 106 117 128 139 150 161 172 183 180 290 400 510 620 730 840 950 1060 1170 1280 1390 1500 1610 1720 1830 580 690 800 910 1020 1130 1240 1350 1460 1570 1680 1790 1900 2010 2120 2230 515 625 735 845 955 1065 1175 1285 1395 1505 1615 1725 1835 1945 2055 2165 440 550 660 770 880 990 1100 1210 1320 1430 1540 1650 1760 1870 1980 2090 100 10 5 , Depth 12 Dowel Holes 1.55 38.85 40 L4 12 - M6x1.0 Tapped Holes, Depth 12 6.35 22 L2 38.85 32.50 Stopper Opening for Limit Sensor Wires (both ends) 2.50 1.55 32.50 Stopper 22 40 40 40 40 141 221 263 285 L3 100 14.50 L5 L2 mm 10 L1 L1 + 12.7 Scale Head Linear Scale 165 120 29.50 L4 mm 70 111 170 L5 mm 110 N Total Mass kg 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 16.5 18.5 20.4 22.2 24.2 26.1 28.6 30.1 32.0 33.8 35.8 37.7 39.8 41.6 43.6 44.3 2.50 122.84 10.50 6.30 A 97.84 267.84 9 100.50 32.25 L4 L1 mm 48.97 99.50 2 x N - 7 Thru Mounting Holes 14, Depth 0.5 X X Y Y 170 148 11 6.35 Length 15 M8 x 1.25, Depth 16 Provision for Lifting (both ends) 3.50 Stroke Code (Note 1) Linear Slides Table 2 (2) SGT1F41, SGT1FE1 DETAIL A Note: Endplate removed in this view Notes: 1 The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. 2 When installing the linear slide, the surface should be flat to the equivalent of a maximum discrepancy of 0.02/200 mm (reference value). • Connector Specifications for the View X-X View Y-Y For Motor Cable 4 3 2 1 Plug : 350779-1 (by Tyco Electronics AMP K.K.) Pins : 350924-1 or 770672-1 (by Tyco Electronics AMP K.K.) -Trac Series Linear Slides (All Models) Pin Signal No. 1 Phase-U output 2 Phase-V output 3 Phase-W output 4 FG For Encoder Connection Encoder Plug 5 6 3 4 1 2 Plug : 55100-0600 (by Molex.) Connector (Socket): 54280-0600 (by Molex.) Pin Signal 1 2 3 4 5 6 PG 5V PG 0V − − Data + Data - Wire Color Red Black − − Light Blue White/Light Blue 202 SGT1F91, SGT1FA1, SGT1FF1, and SGT1FG1 Linear Slides 1Ratings and Specifications Time Rating: Continuous Insulation Resistance: 500 VDC, 10 MΩ min. Ambient Temperature: 0 to 40˚C Excitation: Permanent magnet Withstand Voltage: 1500 VAC for one minute Enclosure: Self-cooled Ambient Humidity: 20% to 80% (no condensation) Winding Insulation: Class A 200 V Models Linear Slide Model*1 400 V Models SGT1F91-¡¡¡ AR20-04 SGT1FA1-¡¡¡ AR20-04 SGT1FF1-¡¡¡ AR20-04 SGT1FG1-¡¡¡ AR20-04 50D380BP Mounted Linear Servomotor Model SGLFW- 50A200BP 50A380BP 50D200BP Applicable SERVOPACK Model SGDV- 5R5A 120A 3R5D 5R4D Applicable Serial Converter Unit Model JZDP- D008-181 D008-182 D008-189 D008-190 Rated Force N 280 560 280 560 Peak Force N 600 1200 600 1200 Force Constant N / Arms 60.2 60.2 134.7 134.7 Motor Constant N/Q W 34.3 48.5 34.4 47.2 Maximum Payload*2, *3 kg 100 215 100 215 Movable Member Mass kg 8.5 14.5 8.5 14.5 Total Mass kg Effective Stroke mm See Table 1 on the next page. See Table 2 on the next page. See Table 1 on the next page. See Table 2 on the next page. Resolution μm μm μm μm Repeatability*4 Absolute Accuracy Straightness and Flatness μ m / 256) ±1.0 μ m / 256) ±1.0 0.078 (20 0.078 (20 Consult factory Consult factory Consult factory Consult factory *1: Squares (¡¡¡) are used to indicate the stroke length code shown in Tables 1. *2: Values obtained when the acceleration is 4.9 m/s2. *3: Contact your Yaskawa representative if the expected payload exceeds the value indicated in the table. *4: Values obtained when the ambient temperature is constant. 1Performance Curves Force - Speed Effective Force - Ambient Temperature When the sensor temperature is 50˚C or less Average speed (m/s) : 0 1 2 A : Continuous Duty Zone B : Intermittent Duty Zone (Note) 2 1 0 (2) SGT1FA1, 6 SGT1FG1 5 Speed (m/s) B A 0 200 400 Force (N) 600 700 4 3 A 2 B 1 0 0 400 800 12001400 Force (N) Note: When the effective force during intermittent duty is within the rated force, the servomotor can be used within the intermittent duty zone. 203 100 Acceleration (m/s2) 3 45 40 35 30 25 20 15 10 5 0 45 40 35 30 25 20 15 10 5 0 80 60 40 20 0 0 20 40 60 80 100 Effective Force [Load Ratio] (%) 0 20 40 60 80 100 Load Mass (kg) 100 Acceleration (m/s2) 4 Ambient Temperature (˚C) Speed (m/s) SGT1FF1 5 Note: Average speed＝Total movement distance (m)/ cycle time (s) Ambient Temperature (˚C) 6 (1) SGT1F91, Load Mass - Acceleration 0 20 40 60 80 100 Effective Force [Load Ratio] (%) 80 60 40 20 0 0 50 100 150 200 Load Mass (kg) Linear Slides Linear -Trac SGT1F91, SGT1FA1, SGT1FF1, and SGT1FG1 Linear Slides 1External Dimensions Table 1 L4 35 L5 53 38.85 32.50 Stopper 53 8 - M8x1.25 Tapped Holes, Depth 16 22 L2 38.85 32.50 Stopper 1.55 L4 L5 Total mm Mass 70 kg mm 440035 375350300 720 70 720048 655480540 850 90 850062 785620675 990 87.5 990075 9257508101120 90 112008910558909451260 87.5 126010211951020 10801390 90 1390 1325 1215 87.5 116 1160 1530 1530 1465 1350 90 129 1290 1660 1660 1595 1485 87.5 180014317351430 16201800 90 193015618651560 17551930 87.5 207017020051700 18902070 90 220018321351830 20252200 87.5 2.50 L2 655 100 540 4 785 675 5 925 810 6 7 1055 945 8 1195 1080 9 1325 1215 10 1465 135 1350 11 1595 1485 12 1735 1620 13 1865 1755 14 2005 1890 15 16 2135 2025 187 138 11 L1 L1 + 12.7 Scale Head A 128 192 32 100 26.9 87.5 29.5 90 32.2 87.5 35.0 135 90 37.7 87.5 40.3 90 43.0 87.5 45.8 90 48.5 17.3 5 22.8 6 25.6 7 28.4 8 31.0 9 33.8 10 36.6 11 39.3 12 41.9 13 44.7 14 47.5 15 50.2 51.2 87.5 16 53.0 10.50 6.30 95.84 287.84 Linear Scale 4 90 15.9 87.5 21.3 90 24.1 64.47 Opening for Limit Sensor Wires (both ends) Total N Mass kg 2.50 122.84 115.50 24 20 1.55 115.50 65 , Depth 12 Dowel Holes 53 199 243 265 L3 70 350 480 620 750 890 1020 1160 6.35 1290 1430 1560 1700 1830 L1 9 117 035 048 062 075 089 102 116 L4 129 143 156 170 183 Length L3 Code Length mm mm mm L1 L2 L3 L4 L5 N 007 70 440 375 300 3.50 Code 2 x N - 9 Thru Mounting Holes 18, Depth007 0.5 X X Y Y 192 168 12 Stroke 115 M8 x 1.25, Depth 16 Provision for Lifting (both ends) Stroke Table 1 See page 212 for details on each connector specifications. (Note 1) 22 (1) SGT1F91, SGT1FF1 6.35 Units: mm DETAIL A (2) SGT1FA1, SGT1FG1 Table 2 Stroke (Note 1) M8 x 1.25, Depth 16 Provision for Lifting (both ends) X X Y Y 53 53 199 411 423 445 L3 53 53 53 6.35 22 38.85 1.55 L2 N Total Mass kg 28.7 170 720 655 540 90 5 850 785 675 87.5 6 31.6 044 440 990 925 810 90 7 34.4 945 87.5 8 37.0 90 9 39.7 057 570 1120 1055 071 710 1260 1195 1080 084 840 1390 1325 1215 87.5 098 980 1530 1465 1350 111 1110 1660 1595 1485 87.5 12 47.9 125 1250 1800 1735 1620 13 50.6 138 1380 1930 1865 1755 87.5 14 53.4 152 1520 2070 2005 1890 15 56.2 165 1650 2200 2135 2025 87.5 2.50 22 90 90 90 135 10 42.6 11 45.3 16 58.9 2.50 122.84 187 138 Scale Head Linear Scale 32 128 192 A 95.84 287.84 6.30 3.50 L1 L1 + 12.7 10.50 9 Stopper 64.47 115 Stopper L5 mm 300 32.50 32.50 Opening for Limit Sensor Wires (both ends) L4 16 - M8x1.25 Tapped 16 Holes, Depth L4 mm 030 20 1.55 38.85 53 L3 mm Length 115.50 24 115.50 10 5 , Depth 12 Dowel Holes 53 L2 mm 017 11 L5 35 L4 L1 mm Code 2 x N - 9 Thru Mounting Holes 18, Depth 0.5 117 192 168 12 6.35 Linear Slides Note: Endplate removed in this view DETAIL A Note: Endplate removed in this view Notes: 1 The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. 2 When installing the linear Slide, the surface should be flat to the equivalent of a maximum discrepancy of 0.02/200 mm (reference value). 204 Selecting Cables, Connectors, and Accessories 1Connection diagrams Reference Input Form from Host Controller To CN5 Analog Monitor Cable For Pulse Train Reference or Analog Voltage Reference CN6 MECHATROLINK Communications Cable Personal Computer CN3 CN3 Personal Computer Cable Power Supply Molded Case Circuit Breaker With Front Cover Open (SERVOPACK for MECHATROLINK-II Communications) ON 1 Digital Operator Cable Host Controller CN1 CN1 I/O Signal Cable DF0300413 PC S/N D0024B958810004 To Other Stations Using MECHATROLINK/ MECHATROLINK-II. Digital Operator JUSP-OP05A-1-E With Front Cover Open (SERVOPACK for Analog Voltage/Pulse Train Reference Communications) CN5 For MECHATROLINK Communications CN5 I/O Signal Cable Digital Operator To External Devices such as LED Indicators POWER COM Noise Filter Linear Scale Incremental for 200 V Models only To CN2 UVW Magnetic Contactor CN3 CN1 DC Power Supply (24 VDC) for 400 V Models only) CN2 Regenerative Resistor 205 Serial Cable Power Encoder Cable Cable Linear Slides Linear -Trac Selecting Cables, Connectors, and Accessories Servo Drive Σ-Trac Series Model Incremental Linear Scale Type Moving Coil (MC) Motor Type Three-phase 200 V Three-phase 400 V - - - 1R6A - SGT1FD1-¡¡¡ AR20-04 - - 1R9D SGT1F41-¡¡¡ AR20-04 - 3R8A - SGT1FE1-¡¡¡ AR20-04 - - 1R9D SGT1F91-¡¡¡ AR20-04 - 5R5A - SGT1FF1-¡¡¡ AR20-04 - - 3R5D SGT1FA1-¡¡¡ AR20-04 - 120A - SGT1FG1-¡¡¡ AR20-04 - - 5R4D Σ-Trac Series [CN2] Power Cable (Flexible Type) Pulse-train or Analog Voltage Reference Encoder Cable Serial Cable (Flexible Type) I/O Signal Connector [CN1] Connector Terminal Block Converter Unit Cable with Loose Wires at One End Connector Kit (CN1) JZSP-CLN11-¡¡ JZSPCSI01-¡-E JZSP-CMP00-¡¡ (A) JUSPThe numbers in the boxes(¡¡) TA50PG-E indicate the cable length. 03 = 3 m (with a 0.5 m 05 = 5 m cable) 10 = 10 m 15 = 15 m 20 = 20 m JZSP-CLN11-¡¡ JZSP-CLN21-¡¡ The number in the box (¡) indicates the cable length. 1=1m 2=2m 3=3m JZSPCSI9-1-E JZSP-CLN21-¡¡ MECHATROLINK Communications SERVOPACK Model SGDVSingle-phase 100 V I/O Signal Connector [CN1] Three-phase 200 V Three-phase 400 V 2R1F, - - - 1R6A - SGT1FD1-¡¡¡ AR20-04 - - 1R9D SGT1F41-¡¡¡ AR20-04 - 3R8A - SGT1FE1-¡¡¡ AR20-04 - - 1R9D SGT1F91-¡¡¡ AR20-04 - 5R5A - SGT1FF1-¡¡¡ AR20-04 - - 3R5D SGT1FA1-¡¡¡ AR20-04 - 120A - SGT1FG1-¡¡¡ AR20-04 - - 5R4D Model Linear Scale Connection Cables Motor Servo Drive SGT1F31-¡¡¡ AR20-04 Incremental Single-phase 100 V 2R1F, SGT1F31-¡¡¡ AR20-04 Moving Coil (MC) Motor Cable SERVOPACK SERVOPACK Model SGDV- Connector Terminal Block Converter Cable ¡ None = 0.5 m 1=1m 2=2m MECHATROLINK Communications Connector [CN6A] or [CN6B] Connector Kit (CN1) JZSPTA26P-¡-E JZSPCSI9-2-E (DE9411354) Cables for Setting Devices/Monitors MECHATROLINK communications cable: JEPMC-W6002-¡¡-E The numbers in the boxes(¡¡) indicate the cable length. A5 = 0.5 m 20 = 20 m 01 = 1 m 30 = 30 m 03 = 3 m 40 = 40 m 05 = 5 m 50 = 50 m 10 = 10 m [CN3] Setting Devices [CN5] Personal Computer Cable Analog Monitor Cable JZDPCMS02-E (2 m) Linear Slides Linear Scale Type Motor Type 1Applicable Cables and Connectors JZSPCA01-E (1 m) MECHATROLINK terminator: JEPMC-W6022-E 1Applicable Accessories Limit Sensor Kits: SGTA-LSK¡¡¡ Cover Kits: SGTA-CVR 3 - 030 Stroke Code for Motor Selected Motor Code 3 Covers for SGT1F31, SGT1FD1 4 Covers for SGT1F41, SGT1FE1 9 Covers for SGT1F91, SGT1FF1 A Covers for SGT1FA1, SGT1FG1 Note: Cover kit includes 1 top cover, 2 side covers, and all mounting hardware. Stroke Codes Stroke Codes SGT1FA1 SGT1FG1 Cover Length (mm) 007 - 452.7 PNO PNP Normally Open 035 017 732.7 NNO NPN Normally Open 702.7 048 030 862.7 NNC NPN Normally Closed 812.7 062 044 1002.7 051 922.7 075 057 1132.7 062 1032.7 089 071 1272.7 073 1142.7 102 084 1402.7 084 1252.7 095 1362.7 SGT1F41 SGT1FE1 Cover Length (mm) SGT1F91 SGT1FF1 008 - 372.7 030 018 592.7 041 029 052 040 063 074 085 096 107 SGT1F31 SGT1FD1 Code Description Kit includes 1 sensor plus mounting screw. 206 Analog Voltage/Pulse Train Reference Type SERVOPACKs SGDV-¡¡¡¡01 (For Rotary Servomotors) SGDV-¡¡¡¡05 (For Linear Servomotors) Model Designations SGDV - R70 A 01 B 002000 Options Code v Series SGDV SERVOPACK Specifications 002000 Base-mounted, varbish(standard) 008000 Single-phase, 200VAC Input (model: SGDV-120A01A008000) Cooling Method Code Fan-Cooling B Fanless Cooling Voltage Interface Code Specifications F 100 VAC A 200 VAC D 400 VAC Current Code 207 100 V (Single Phase) Applicable Servomotor Max. Capacity kW Code Specifications A 200 V (Three Phase) Applicable Servomotor Max. Capacity kW Code Specifications 01 Analog voltage/pulse train reference type (for rotary servomotors) 05 Analog voltage/pulse train reference type (for linear servomotors) Code 400 V (Three Phase) Applicable Servomotor Max. Capacity kW R70 0.05 R70* 0.05 1R9 0.5 R90 0.1 R90* 0.1 3R5 1.0 2R1 0.2 1R6* 0.2 5R4 1.5 2R8 0.4 2R8* 0.4 8R4 2.0 3R8 0.5 120 3.0 5R5* 0.75 170 5.0 7R6 1.0 210 6.0 120** 1.5 260 7.5 180 2.0 280 11 200 3.0 370 15 330 5.0 NOTE: Shaded items are non-stock. 470 6.0 550 7.5 590 11 780 15 * These amplifiers can be powered with single or three-phase. ** SGDV-120A¡1A008000, a special version of the 1.5kW amplifier can be used for single-phase operation. リニア SGLGW（コアレス形） Features 1Unprecedented ease-of-use through cutting-edge technology • New tuning-less function means no adjustment needed. • Impressive load regulation with strengthened vibration suppression function. 1Slashed setup time • Setup wizard function and wiring conformation function of engineering tool SigmaWin+ allows easy setup just by watching the monitor. 1High response characteristics at 1 kHz min. • New advanced autotuning. • Reduced positioning time through model following control, and smooth machine control enabled by vibration suppression function. Ratings Single-phase 100 V Single-phase 200 V SERVOPACK Model SGDV-¡¡¡¡ R70F R90F 2R1F 2R8F SERVOPACK Model SGDV-¡¡¡¡ R70A R90A 1R6A 2R8A 5R5A Applicable Servomotor Max. Capacity kW 0.05 0.1 0.2 0.4 Applicable Servomotor Max. Capacity kW 0.05 0.1 0.2 0.4 0.75 120 1.5 Continuous Output Current Arms 0.66 0.91 2.1 2.8 Continuous Output Current Arms 0.66 0.91 1.6 2.8 5.5 11.6 Max. Output Current Arms 2.1 2.9 6.5 9.3 Max. Output Current Arms 2.1 2.9 6.5 9.3 16.9 28 Main Circuit (Single Phase) 100 to 115 VAC+10% to -15% 50/60 Hz Main Circuit (Single Phase) 220 to 230 VAC +10% to -15% 50/60 Hz Control Circuit (Single Phase) 100 to 115 VAC+10% to -15% 50/60 Hz Control Circuit (Single Phase) 220 to 230 VAC +10% to -15% 50/60 Hz SERVOPACK Model SGDV-¡¡¡¡ 120A 180A 200A 330A 470A 550A 590A 780A kW 0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5 2.0 3.0 5.0 6 7.5 11 15 Continuous Output Current Arms 0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6 32.9 46.9 54.7 58.6 78 Max. Output Current Arms 2.1 2.9 6.5 9.3 11 16.9 17 28 42 56 84 110 130 140 170 Applicable Servomotor Max. Capacity R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A Main Circuit Three-phase 200 to 230 VAC+10% to -15% 50/60 Hz Control Circuit Single-phase 200 to 230 VAC+10% to -15% 50/60 Hz Three-phase 400 V SERVOPACK Model SGDV-¡¡¡¡ 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D kW 0.5 1.0 1.5 2.0 3.0 5.0 6 7.5 11 15 Continuous Output Current Arms 1.9 3.5 5.4 8.4 11.9 16.5 20.8 25.4 28.1 37.2 Max. Output Current Arms 5.5 8.5 14 20 28 42 55 65 70 85 Applicable Servomotor Max. Capacity Three-phase 380 to 480 VAC+10% to -15% 50/60 Hz Main Circuit 24 VDC ±15% Control Circuit 370D Analog/Pulse Type SERVOPACKs Three-phase 200 V 10000 10000 1000 1000 1000 100 10 SGMJV 100 10 SGMAV-02, 04, 06, 08， SGMPS 10 SGMAV-A5, 01, C2 1 100 200 300 350 Torque reference(percent of rated torque) (%) 1 100 200 300 Torque reference(percent of rated torque) (%) Detecting time (s) 10000 Detecting time (s) Detecting time (s) 1SERVOPACK Overload Characteristics SGMGV-03A, -05A, -09A, -13A，-20A, -30A, -1AA, -1EA SGMGV-□□D SGMSV-□□□ 100 10 SGMGV-44A, -55A, -75A 1 Rated Approx. torque Rated torque + Max. torque 2 Max. torque Note: Overload characteristics shown above do not guarantee continuous duty of 100% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics. 208 Specifications Items Specifications Main Circuit Input Power Supply Control Circuit 100 V Single-phase 100 to 115 VAC + 10% to - 15% 50/60 Hz 200 V Three-phase 200 to 230 VAC + 10% to - 15% 50/60 Hz 400 V Three-phase 380 to 480 VAC + 10% to - 15% 50/60 Hz 100 V Single-phase 100 to 115 VAC + 10% to - 15% 50/60 Hz 200 V Single-phase 200 to 230 VAC + 10% to - 15% 50/60 Hz 400 V 24 VDC ± 15% For 100 V, for 200 V, for 400 V, single-phase or three-phase full-wave rectification IGBT PWM control, sine-wave driven Control Method Serial encoder: 13-bit (incremental encoder) Feedback Operating Conditions Rotary Servomotors : 17-bit (incremental/absolute encoder) : 20-bit (incremental/absolute encoder) Linear Servomotors Serial converter or serial data Surrounding/Storage Temperature Surrounding temperature: 0 to + 55˚C, storage temperature: - 20 to + 85˚C Ambient/Storage Humidity 90%RH or less (no condensation) Vibration/Shock Resistance Vibration resistance: 4.9 m/s2, Shock resistance: 19.6 m/s2 Protection class/Pollution degree Protection class: IP 1X, pollution degree: 2 Do not use SERVOPACKs in the following locations: ∙ Locations subject to corrosive or flammable gasses ∙ Locations subject to exposure to water, oil, or chemicals ∙ Locations subject to dust, including iron dust, and salts Others Do not use SERVOPACKs in the following locations: ∙ Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity Elevation 1000 m or less Compliant Standards UL 508C EN50178, EN55011 class A group 1, EN61800-3, EN61800-5-1 Configuration Base-mounted (Rack-mounting available as an option for some models. 6 kW or more models are duct-ventilated.) 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.) Speed Control Range Performance I/O Signals Speed Regulation* Load Regulation 0% to 100% load: ± 0.01% max. (at rated speed) Voltage Regulation Rated voltage : ± 10% : 0% (at rated speed) Temperature Regulation 25 ± 25˚C : ± 0.1% max. (at rated speed) Torque Control Tolerance (Repeatability) ± 1% Soft Start Time Setting 0 to 10 s (can be set individually for acceleration and deceleration.) Encoder Output Pulses Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. RS-422A Communications Communications USB Communications Display Interface Digital operator, RS-422A port of personal computers etc. 1:N communications RS-422A port: N= 15 max. available Axis address setting Set by parameters Function Status display, parameter settings, adjustment functions, utility functions, parameter copy functions Interface Personal computers (application: engineering tool SigmaWin+) 1:N communications Compliant with USB1.1 standard Function Status display, parameter settings, adjustment functions, utility functions, parameter copy functions, waveform trace Power Charge CHARGE for main circuit power supply input confirmation One LED (orange) Analog Monitor Analog monitor connector built in for monitoring speed, torque and other reference signals. Number of points: 2 Protective Functions Overcurrent, Overvoltage, low voltage, overload, regeneration error Utility Functions Alarm history, JOG operation, origin search, etc. Regenerative Processing 100 VAC model: External regenerative resistor (optional) 200 VAC SGDV-R70A, -R90A, -1R6A, -2R8A: External regenerative resistor (optional) 200 VAC SGDV-470A, -550A, -590A, -780A: External regenerative resistor unit (optional) 200 VAC models other than shown above: Built-in regenerative resistor 400 VAC SGDV-210D, -260D, -280D, -370D: External regenerative resistor unit (optional) 400 VAC models other than shown above: Built-in regenerative resistor Safety Functions Option Card Function Input /HWBB1, /HWBB2: Hard wire base block signal Output EDM1: Status monitor (fixed output) of built-in safety circuit Compliant Standards EN954 category 3 Stop category 0, IEC61508 SIL 2 Feedback Serial encoder communications input for fully-closed loop control *: Speed regulation is defined as follows: No-load motor speed - Total load motor speed Speed regulation = × 100% Rated motor speed The motor speed may change due to voltage variations or temperature variation. The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature variations. 209 Analog/Pulse Type SERVOPACKs SGDV-¡¡¡¡01/05 Specifications 1Rotary Servomotors Items Specifications Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. Encoder Output Pulses Fixed Input SEN signal Number of 7 channels Channels The signal allocation and positive/negative logic can be modified. Sequence Input Servo On (/S-ON), proportional control (/P-CON), Input Signals alarm reset (/ALM-RST), forward run prohibited (P-OT), which can be allocated reverse run prohibited (/N-OT), forward torque limit (/P-CL), Functions reverse torque limit(/N-CL), internal set speed selection (/SPD-D, / SPD-A, /SPD-B), control I/O Signal selection (/C-SEL), zero clamping (/ZCLAMP), reference pulse inhibit (/INHIBIT), gain selection (/G-SEL) Fixed Output Servo alarm (ALM), alarm code (ALO1, ALO2, ALO3) outputs Number of 3 channels Channels Sequence Output The signal allocation and positive/negative logic can be modified. Output Signals which can be allocated Positioning completion (/COIN), speed coincidence detection (/V-CMP), servomotor rotation detection (/TGON), servo ready Functions (/S-RDY), torque limit detection (/CLT), speed limit detection (/VLT), brake interlock (/BK), warning (/WRAN), near (/NEAR) Torque Control Analog Input Analog Input 7-segment 5-digit LED (Red) Switch Push switch: 4 channels Reference Voltage ± 3 VDC (Variable setting range: max. input voltage: ± 12 V Input Impedance About 14 kΩ min. Circuit Time Constant 16 μ s Reference Voltage ± 6 VDC (variable setting range: max. input voltage: ± 12 V Input Impedance About 14 kΩ min. Circuit Time Constant 30 μ s Speed Control Internal Set Speed Control Function Reference Pulse Position Control Rotation Direction Selection ± 2 to 10 VDC) at rated speed, Switches the direction by /P-CON (/SPD-D) Speed Selection Speed 1 to 3 selection Soft Start Setting 0 to 10 s (can be set individually for acceleration and deceleration.) Type Sign Form Non-insulated line driver ( + 5 V level), open collector Max. Input Pulse Frequency* + pulse train, 90°phase difference 2-phase pulse (phase A + phase B), or CCW + CW pulse train Sign+ Pulse train : 4 Mpps CW+ CCW pulse train : 4 Mpps 90˚ phase difference 2-phase pulse × 1 multiplier : 1 Mpps (before mlutiplier) × 2 multiplier : 1 Mpps (before mlutiplier) × 4 multiplier : 1 Mpps (before mlutiplier) Open collector Clear Signal ± 1 to 10 VDC) at rated torque, Analog/Pulse Type SERVOPACKs Panel Operator Display : 200 kpps Function Clears error pulse by external signals. Form Applicable to line driver, open collector *: If the maximum reference frequency exceeds 1 Mpps, use a shielded cable for I/O signals and ground both ends of the shield. Connect the shield at the SERVOPACK to the connector shell. 210 Specifications 1Linear Servomotors Items Specifications Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. Encoder Output Pulses Number of 7 channels Channels The signal allocation and positive/negative logic can be modified. Servo ON (/S-ON), proportional control (/P-CON), Sequence Input alarm reset (/ALM-RST), forward run prohibited (P-OT), Input Signals which can be allocated reverse run prohibited (N-OT), forward external force limit (/P-CL), reverse external force limit (/N-CL), Functions internal set speed selection (/SPD-D, /SPD-A, /SPD-B), control selection (/C-SEL), zero clamping (/ZCLAMP), I/O Signal reference pulse inhibit (/INHIBIT), gain selection (/G-SEL), polarity detection (P-DET) Fixed Output Servo alarm (ALM), alarm code (ALO1, ALO2, ALO3) outputs Number of 3 channels Channels Sequence Output The signal allocation and positive / negative logic can be modified. Output Signals which can be allocated Positioning completion (/COIN), speed coincidence detection (V/CMP), servomotor movement detection (/TGON), servo ready Functions (/S-RDY), force limit detection (/CLT), speed limit detection (/VLT), brake interlock (/BK), warning (/WARN), near (/NEAR) Panel Operator Force Control Analog Input Analog Input Speed Control Internal Set Speed Control Function Reference Pulse Position Control Display 7-segment 5-digit LED (Red) Switch Push switch: 4 channels Reference Voltage ± 3 VDC (variable setting range: ± 1 to 10 VDC), max. input voltage: ± 12 V Input Impedance About 14 kΩ min. Circuit Time Constant 16 μ s Reference Voltage ± 6 VDC (variable setting range: max. input voltage: ± 12 V Input Impedance About 14 kΩ min. Circuit Time Constant 30 μ s Movement Direction Selection /P-CON (/SPD-D) signal Speed Selection Speed 1 to 3 selection Soft Start Setting 0 to 10 s (can be set individually for acceleration and deceleration.) Type Sign+ pulse train, 90°phase difference 2-phase pulse (phase A+ phase B), or CCW+ CW pulse train Form Non-insulated line driver (+ 5 V level), open collector Max. Input Pulse Frequency* Sign+ Pulse train : 4 Mpps CW+ CCW pulse train : 4 Mpps 90˚ phase difference 2-phase pulse ×1 multiplier : 1 Mpps (before mlutiplier) ×2 multiplier : 1 Mpps (before mlutiplier) ×4 multiplier : 1 Mpps (before mlutiplier) Open collector Clear Signal ± 2 to 10 VDC) at rated speed, : 200 kpps Function Clears error pulse by external signals. Form Applicable to line driver, open collector *: If the maximum reference frequency exceeds 1 Mpps, use a shielded cable for I/O signals and ground both ends of the shield. Connect the shield at the SERVOPACK to the connector shell. 211 Analog/Pulse Type SERVOPACKs SGDV-¡¡¡¡01/05 Power Supply Capacities and Power Losses The following table shows SERVOPACK's power supply capacities and power losses at the rated output. Applicable Servomotor Max. Capacity SERVOPACK Model SGDV- kW Power Supply Capacity Output Current Main Circuit Power Loss kVA A W Regenerative Resistor Power Loss W Control Circuit Power Loss Total Power Loss W W 0.05 R70F 0.2 0.66 5.4 Signal-phase 0.1 R90F 0.3 0.91 7.8 22.4 100 V 0.2 2R1F 0.7 2.1 14.4 0.4 2R8F 1.4 2.8 25.6 42.6 0.05 R70A 0.2 0.66 5.2 22.2 — 0.1 R90A 0.3 0.91 7.4 Single-phase 0.2 1R6A 0.7 1.6 13.7 200 V 0.4 2R8A 1.2 2.8 24.9 0.75 5R5A 1.9 5.5 52.7 8 1.5 120A 4 11.6 68.2 10 0.05 R70A 0.2 0.66 5.1 0.1 R90A 0.3 0.91 7.3 0.2 1R6A 0.6 1.6 13.5 0.4 2R8A 1 2.8 24.0 0.5 3R8A 1.4 3.8 20.1 0.75 5R5A 1.6 5.5 43.8 1.0 7R6A 2.3 7.6 53.6 1.5 120A 3.2 11.6 65.8 2.0 180A 4 18.5 111.9 3.0 200A 5.9 19.6 113.8 5.0 330A 7.5 32.9 263.7 36 6.0 470A 10.7 46.9 279.4 (180)*1 7.5 550A 14.6 54.7 357.8 Three-phase 200 V 11 590A 21.7 58.6 431.7 15 780A 29.6 78 599.0 0.5 1R9D 1.1 1.9 24.6 1.0 3R5D 2.3 3.5 46.1 1.5 5R4D 3.5 5.4 71.3 2.0 8R4D 4.5 8.4 77.9 Three-phase 3.0 120D 7.1 11.9 108.7 400 V 5.0 170D 11.7 16.5 161.1 6.0 210D 12.4 20.8 172.7 7.5 260D 14.4 25.7 218.6 11 280D 21.9 28.1 294.6 15 370D 30.6 37.2 403.8 — 17 24.8 31.4 24.4 17 30.7 41.9 77.7 22 100.2 22.1 24.3 — 30.5 17 41.0 45.1 8 68.8 78.6 10 16 (350)*2 97.8 22 149.9 161.4 27 33 48 326.7 312.4 390.8 479.7 647.0 59.6 14 21 81.1 106.3 28 25 36 24 (180)*3 27 (350)*4 30 *1: For the optional JUSP-RA04-E regenerative resistor unit. *2: For the optional JUSP-RA05-E regenerative resistor unit. *3: For the optional JUSP-RA18-E regenerative resistor unit *4: For the optional JUSP-RA19-E regenerative resistor unit. Notes: 1 SGDV-R70F, -R90F, -2R1F, -2R8F, -R70A, -R90A, -1R6A, and -2R8A SERVOPACKs do not have built-in regenerative resistors. If the regenerative energy exceeds the specified value, connect an external regenerative resistor (optional). 2 SGDV-470A, -550A, -590A, -780A, -210D, -260D, -280D, -370D SERVOPACKs do not have built-in regenerative resistors. Be sure to connect a regenerative resistor unit (optional) or an external regenerative resistor (optional). 3 Regenerative resistor power losses are allowable losses. Take the following action if this value is exceeded. ∙ Remove the lead or short bar that is short-circuiting the SERVOPACK main circuit terminal B2 and B3. (SGDV-3R8A, -5R5A, -7R6A, -120A, -180A, -200A, -330A, or 400-V class SERVOPACKs.) ∙ Install an external regenerative resistor (optional). 130.9 161.7 221.1 199.7 245.6 324.6 433.8 Analog/Pulse Type SERVOPACKs Main Circuit Power Supply 212 External Dimensions Units: mm 1Base-mounted SERVOPACKs (1) Single-phase 100 VAC, Model: SGDV-R70F0¡A, -R90F0¡A, and -2R1F0¡A #KT(NQY /5ETGY*QNGU /QFGN +PRWV8QNVCIG %0 6YQ6GTOKPCNU %0 %0 %0 )TQWPF6GTOKPCN /5ETGYU 5'4812#%- ± /QWPVKPI2KVEJ ± /QWPVKPI2KVEJ Ʒ %0 #KT(NQY /QWPVKPI*QNG&KCITCO Approx. Mass: 1.1 kg (2) Single-phase 100 VAC, Model: SGDV-2R8F0¡A (17) Air Flow 5 (1 2 0˚ ) CN3 160 CN1 Two Terminals 160 CN7 Air Flow CN8 CN2 150±0.5(Mounting Pitch) Model 3-M4 Screw Holes Cooling Fan (20) Input Voltage Ground Terminal 2-M4 Screws SERVOPACK Rear View 6 (4) 23 (75) 70 180 Air Flow 58±0.5 (Mounting Pitch) 70 Mounting Hole Diagram Approx. Mass: 1.5 kg (3) Three-phase 200 VAC, Model: SGDV-R70A0¡B, -R90A0¡B, and -1R6A0¡B (17) CN3 5 CN7 Two Terminals 160 160 CN1 CN8 CN2 Ground Terminal 2-M4 Screws (25) 40 (75) 23 (4) 140 150±0.5(Mounting Pitch) ˚) 20 Model (1 Nameplate (20) 2-M4 Screw Holes Input Voltage SERVOPACK Rear View 35 40 Mounting Hole Diagram Approx. Mass: 0.9 kg 213 Analog/Pulse Type SERVOPACKs SGDV-¡¡¡¡01/05 External Dimensions Units: mm (4) Three-phase 200 VAC, Model: SGDV-2R8A0¡B (17) 2-M4 Screw Holes Model (1 20 ˚) CN3 150±0.5(Mounting Pitch) Nameplate 5 (20) Input Voltage CN7 Two Terminals 160 160 CN1 CN8 CN2 Ground Terminal 2-M4 Screws 23 (25) 40 (75) SERVOPACK Rear View 5 (4) 40 170 30±0.5 (Mounting Pitch) Mounting Hole Diagram Approx. Mass: 1.0 kg (5) Three-phase 200 VAC, Model: SGDV-3R8A0¡A, -5R5A0¡A, and 7R6A0¡A Air Flow (17) 5 3-M4 Screw Holes CN7 Two Terminals Air Flow 160 160 CN1 CN8 CN2 Ground Terminal 2-M4 Screws Air Flow 6 (25) 23 (75) 70 SERVOPACK Rear View 180 58±0.5 (Mounting Pitch) 70 Mounting Hole Diagram Approx. Mass: 1.5 kg (6) Three-phase 200 VAC, Model: SGDV-120A0¡A Model CN3 (17) 4-M4 Screw Holes 5 (1 2 0˚ ) CN7 160 160 CN1 CN8 Two Terminals CN2 Ground Terminal 2-M4 Screws (25) 23 (75) 90 Air Flow (4) 180 150±0.5(Mounting Pitch) Input Voltage (20) Air Flow Analog/Pulse Type SERVOPACKs 0˚) CN3 150±0.5(Mounting Pitch) (1 2 Model Nameplate (4) Cooling Fan (20) Input Voltage SERVOPACK Rear View 5 80±0.5 (Mounting Pitch) 90 Mounting Hole Diagram Approx. Mass: 2.4 kg 214 External Dimensions Units: mm (7) Single-phase 200 VAC, Model: SGDV-120A0¡A008000 (1.5 kW, single-phase input type) Three-phase 200 VAC, Model: SGDV-180A0¡A and -200A0¡A (17) Input Voltage 4-M4 Screw Holes (1 2 5 CN3 CN7 0˚ ) 180 180 CN1 CN8 CN2 Ground Terminal 2-M4 Screws (75) 100 90±0.5 (Mounting Pitch) 5 (4 ) 22 SERVOPACK Rear View 170±0.5(Mounting Pitch) Model (20) Air Flow 180 100 Air Flow Mounting Hole Diagram Approx. Mass: 2.8 kg (8) Three-phase 200 VAC, Model: SGDV-330A0¡A (17) Input Voltage CN3 CN7 4-M5 Screw Holes 6 (1 2 0˚ ) CN1 250 250 CN8 CN2 238.5±0.5(Mounting Pitch) Model (20) Air Flow SERVOPACK Rear View Air Flow Ground Terminal 2-M4 Screws 22 110 (75) Cooling Fan 210 (5) 5 100±0.5 (Mounting Pitch) 110 Mounting Hole Diagram Approx. Mass: 4.6 kg 215 Analog/Pulse Type SERVOPACKs SGDV-¡¡¡¡01/05 External Dimensions Units: mm Air Flow ˚) 20 (1 (17) 7.5 (20) (9) Three-phase 200 VAC, Model: SGDV-470A0¡A and -550A0¡A Input Voltage 4-M6 Screw Holes 350 350 CN8 CN2 Terminal 5-M6 Screws 335±0.5(Mounting Pitch) Model CN3 CN7 CN1 SERVOPACK Rear View Terminal 6-M6 Screws Ground Terminal 2-M6 Screws 22 170 25 210 (75) 120±0.5 (Mounting Pitch) 170 Air Flow Mounting Hole Diagram Approx. Mass: 10.2 kg (17) 450 450 CN3 CN7 CN1 CN8 CN2 Terminal 5-M6 Screws Terminal 6-M6 Screws Ground Terminal 2-M6 Screws 22 260 (75) 30 275 4-M6 Screw Holes SERVOPACK Rear View 200±0.5 (Mounting Pitch) 260 Analog/Pulse Type SERVOPACKs 7. 5 Input Voltage Model 435±0.5 (Mounting Pitch) Air Flow (20) (1 20 ˚) (10) Three-phase 200 VAC, Model: SGDV-590A0¡A and -780A0¡A Air Flow Mounting Hole Diagram Approx. Mass: 21.0 kg 216 External Dimensions Units: mm (20) (11) Three-phase 400 VAC, Model: SGDV-1R9D0¡A, -3R5D0¡A, and -5R4D0¡A (17) Model Nameplate (12 0˚) CN3 CN7 Two Terminals 160 CN1 160 4-M4 Screw Holes 5.5 Input Voltage CN8 CN2 Ground Terminal 2-M4 Screws 5 (25) 23 110 SERVOPACK Rear View 149.5±0.5 (Mounting Pitch) Air Flow (4) (75) 100±0.5 (Mounting Pitch) 110 180 Air Flow Mounting Hole Diagram Approx. Mass: 2.7 kg (12) Three-phase 400 VAC, Model: SGDV-8R4D0¡A and -120D0¡A (17) Model 4-M5 Screw Holes 6 (20) (120 ˚) Input Voltage Air Flow CN1 Ground Terminal 2-M4 Screws 250 250 CN8 CN2 Air Flow (75) SERVOPACK Rear View 100±0.5 (Mounting Pitch) 5 (4) 22 110 238.5±0.5(Mounting Pitch) CN3 CN7 Nameplate 180 110 Mounting Hole Diagram Approx. Mass: 3.7 kg (20) (13) Three-phase 400 VAC, Model: SGDV-170D0¡A Air Flow 6 ˚) 20 CN7 (1 CN3 250 CN1 250 CN8 CN2 238.5±0.5(Mounting Pitch) Air Flow 4-M5 Screw Holes (17) Input Voltage Model SERVOPACK Rear View 5 22 135 (75) 230 125±0.5 (Mounting Pitch) 135 Mounting Hole Diagram Approx. Mass: 5.6 kg 217 Analog/Pulse Type SERVOPACKs SGDV-¡¡¡¡01/05 External Dimensions Units: mm (14) Three-phase 400 VAC, Model: SGDV-210D0¡A and -260D0¡A Input Voltage ˚) (1 4-M6 Screw Holes 7.5 20 (20) Air Flow (17) Model CN3 CN7 CN8 350 350 CN2 Terminal 4-M6 Screws Terminal 6-M6 Screws Terminal 2-M4 Screws SERVOPACK Rear View 180±0.5 (Mounting Pitch) 230 25 13 Ground Terminal 2-M6 Screws 230 335±0.5(Mounting Pitch) CN1 210 (75) Air Flow Mounting Hole Diagram Approx. Mass: 11.3 kg (15) Three-phase 400 VAC, Model: SGDV-280D0¡A and -370D0¡A ) 0˚ ( 12 4-M6 Screw Holes 7.5 Input Voltage Model (20) Air Flow (17) CN3 CN7 Terminal 4-M6 Screws Terminal 6-M6 Screws Terminal 2-M4 Screws 230 Ground Terminal 2-M6 Screws 13 SERVOPACK Rear View 180±0.5 (Mounting Pitch) 230 25 (75) 250 Air Flow Mounting Hole Diagram Approx. Mass: 16.2 kg Analog/Pulse Type SERVOPACKs 400 400 CN8 CN2 385±0.5(Mounting Pitch) CN1 Connectors for Base-mounted SERVOPACKs Port Model Pin 50 Manufacturer CN1 10250-52A2PL CN2 53984-0671 CN3 HDR-EC14LFDTN-SLE-PLUS CN7 MNC23-5K5H00 5 ADVANCED-CONNECTEK INC. CN8 1981080-1 8 Tyco Electronics AMP K.K. 6 14 Sumitomo 3M Ltd. Molex Japan Co., Ltd. Honda Tsushin Kogyo Co., Ltd. Note: The connectors above or their equivalents are used for SERVOPACKs. 218 External Dimensions Units: mm 1Rack-mounted SERVOPACKs (6 kW or more models: duct-ventilated) (1) Single-phase 100 VAC, Model: SGDV-R70F0¡A001, -R90F0¡A001, and -2R1F0¡A001 Air Flow Input Voltage Model (12 160 CN1 195 195 CN7 CN8 CN2 7 SERVOPACK Rear View 166 Min. 180±0.5(Mounting Pitch) 0˚) CN3 Two Terminals 2-M4 Screw Holes 7.5 (17) 36 (20) 17.5 2 (2) Ground Terminal 2-M4 Screws 23 24.5 20 (75) 40 40 170 Air Flow Mounting Hole Diagram Approx. Mass: 1.1 kg (2) Single-phase 100 VAC, Model: SGDV-2R8F0¡A001 Model Cooling Fan (12 Two Terminals CN8 CN2 SERVOPACK Rear View 166 Min. Air Flow 195 160 195 CN7 180±0.5(Mounting Pitch) 0˚) CN3 CN1 2-M4 Screw Holes 7 (17) Input Voltage (20) 17.5 36 7.5 Air Flow 8.5 (2) Ground Terminal 2-M4 Screws 23 36.5 24.5 (75) 70 70 160 Air Flow Mounting Hole Diagram Approx. Mass: 1.5 kg 7.5 ˚) 195 160 CN1 Two Terminals CN8 CN2 Ground Terminal 2-M4 Screws SERVOPACK Rear View 166 Min. 20 CN3 CN7 Nameplate (1 Model 2-M4 Screw Holes Cooling Fan 180±0.5(Mounting Pitch) Input Voltage (17) 7 Air Flow 36 195 2 (20) 17.5 (3) Three-phase 200 VAC, Model: SGDV-R70A0¡A001, -R90A0¡A001, and -1R6A0¡A001 (2 ) Air Flow 40 (25) 23 24.5 (75) 20 140 40 Mounting Hole Diagram Approx. Mass: 0.9 kg 219 Analog/Pulse Type SERVOPACKs SGDV-¡¡¡¡01/05 External Dimensions Units: mm 0˚ ) CN3 Nameplate CN7 Two Terminals Ground Terminal 2-M4 Screws 195 195 160 CN1 CN8 CN2 SERVOPACK Rear View 166 Min. (1 2 Model 2-M4 Screw Holes Cooling Fan 180±0.5(Mounting Pitch) Input Voltage 7.5 (17) 7 Air Flow 36 2 (20) 17.5 (4) Three-phase 200 VAC, Model: SGDV-2R8A0¡A001 (2) Air Flow (25) 23 24.5 (75) 40 20 40 170 Mounting Hole Diagram Approx. Mass: 1.0 kg (5) Three-phase 200 VAC, Model: SGDV-3R8A0¡A001, -5R5A0¡A001, and -7R6A¡0A001 Model (12 Two Terminals Air Flow 195 195 160 CN1 CN8 CN2 Ground Terminal 2-M4 Screws SERVOPACK Rear View (2) Air Flow (25) (75) 70 36.5 23 24.5 70 180 Mounting Hole Diagram Approx. Mass: 1.5 kg Model CN3 CN7 7.5 (17) Input Voltage (1 2 0˚ ) 195 160 CN1 CN8 Two Terminals CN2 (2) Ground Terminal 2-M4 Screws (75) Air Flow 4-M4 Screw Holes SERVOPACK Rear View 20 (25) 23 24.5 90 7 Air Flow 70 195 180±0.5(Mounting Pitch) 166 Min. 10 (20) 17.5 (6) Three-phase 200 VAC, Model: SGDV-120A0¡A001 180 Analog/Pulse Type SERVOPACKs CN7 166 Min. 0˚) CN3 Nameplate 2-M4 Screw Holes Cooling Fan (20) Input Voltage 7.5 (17) 7 36 180±0.5(Mounting Pitch) 17.5 Air Flow 18.5 50±0.5 (Mounting Pitch) 90 Mounting Hole Diagram Approx. Mass: 2.5 kg 220 External Dimensions Units: mm (7) Single-phase 200 VAC, Model: SGDV-120A0¡A008000 (1.5 kW, single-phase input type) Three-phase 200 VAC, Model: SGDV-180A0¡A001 and -200A0¡A001 (17) (20) Model (1 2 CN3 CN7 0˚ ) 215 180 CN1 CN8 CN2 Ground Terminal (2.2) 2-M4 Screws 4-M4 Screw Holes 7 .5 7 Input Voltage 215 200±0.5(Mounting Pitch) 186 Min. 17.5 Air Flow (2) 100 22 102.2 50±0.5 (Mounting Pitch) 27.2 24.5 (75) SERVOPACK Rear View 180 102.2 ( 5) Air Flow Mounting Hole Diagram Approx. Mass: 3.1 kg (8) Three-phase 200 VAC, Model: SGDV-330A0¡A001 0˚ ) CN1 285 CN8 CN2 250 285 7 (1 2 SERVOPACK Rear View 256 Min. CN3 CN7 4-M5 Screw Holes (20) Model 7 .5 (17) Input Voltage 270±0.5 (Mounting Pitch) 17.5 Air Flow Air Flow Ground Terminal (2.5) 2-M4 Screws ( 2) 111 116 22 (2.5) (75) Cooling Fan 30.5 24.5 210 ( 6) 116 50±0.5 (Mounting Pitch) Mounting Hole Diagram Approx. Mass: 6.0 kg 221 Analog/Pulse Type SERVOPACKs SGDV-¡¡¡¡01/05 External Dimensions Units: mm 350 310 350 CN8 CN2 Terminal 5-M6 Screws 4-M6 Screw Holes 8.5 ( 8) 7. 5 (17) SERVOPACK Rear View 316 Min ˚) 335±0.5 (Mounting Pitch) Input Voltage Model CN3 CN7 CN1 20 (1 20 Air Flow (20) (9) Three-phase 200 VAC, SGDV-470A0¡A001 and -550A¡A001 (Duct-ventilated type) Punched Hole Terminal 6-M6 Screws Ground Terminal 2-M6 Screws 22 (75) 170 (77) 133 7.5 210 5 145±0.5 (Mounting Pitch) 160 Min 170 Air Flow Mounting Hole Diagram Approx. Mass: 8.5 kg Ground Terminal 2-M6 Screws 22 260 Air Flow (75) (107) 160 267 SERVOPACK Rear View Punched Hole 4.5 8 235±0.5 (Mounting Pitch) 244 Min Analog/Pulse Type SERVOPACKs Terminal 6-M6 Screws 9 7.5 Terminal 5-M6 Screws 450 450 CN3 CN7 CN1 CN8 CN2 4-M6 Screw Holes 415 (10) 435±0.5 (Mounting Pitch) (17) 25 Input Voltage Model 400 Air Flow (20) (1 20 ˚) (10) Three-phase 200 VAC, SGDV-590A0¡A001 and -780A¡A001 (Duct-ventilated type) 260 Mounting Hole Diagram Approx. Mass: 16.0 kg 222 External Dimensions Units: mm (1 20 ˚) CN7 195 CN1 160 195 Two Terminals CN8 CN2 180±0.5(Mounting Pitch) Model CN3 Nameplate 4-M4 Screw Holes 7 (17) Input Voltage SERVOPACK Rear View 166 Min. Air Flow 72 (20) 17.5 37 7.5 (11) Three-phase 400 VAC, Model: SGDV-1R9D0¡A001, -3R5D0¡A001, and -5R4D0¡A001 (2) Ground Terminal 2-M4 Screws Air Flow 48 (25) 23 24.5 (75) 110 50±0.5 (Mounting Pitch) 110 180 Mounting Hole Diagram Approx. Mass: 2.7 kg 7.5 CN3 CN7 Nameplate CN1 Ground Terminal 2-M4 Screws 285 285 250 CN8 CN2 Air Flow SERVOPACK Rear View ( 2) 24.5 22 (75) 110 6 4-M5 Screw Holes (17) 258 Min. Air Flow Input Voltage 80 Model 270±0.5(Mounting Pitch) 15 (20) (120 ˚) 17.5 (12) Three-phase 400 VAC, Model: SGDV-8R4D0¡A001 and -120D0¡A001 50±0.5 (Mounting Pitch) 30 180 110 Mounting Hole Diagram Approx. Mass: 3.8 kg CN2 22 135 (75) (2) 24.5 258 Min. 285 CN8 250 285 ) 0˚ CN1 Air Flow 4-M5 Screw Holes ( 12 Model CN3 CN7 (17) 6 Input Voltage 7.5 Air Flow 80 270±0.5(Mounting Pitch) 20 (20) 17.5 (13) Three-phase 400 VAC, Model: SGDV-170D0¡A001 SERVOPACK Rear View 35 230 135 50±0.5 (Mounting Pitch) Mounting Hole Diagram Approx. Mass: 5.7 kg 223 Analog/Pulse Type SERVOPACKs SGDV-¡¡¡¡01/05 External Dimensions Units: mm 7.5 (8) 7.5 (17) 300 Min. ˚) 335±0.5(Mounting Pitch) 20 (1 21 Input Voltage 294 Air Flow (20) (14) Three-phase 400 VAC, Model: SGDV-210D0¡A001 and -260D0¡A001 (Duct-ventilated type) Model 4-M6 Screw Holes CN3 CN7 CN1 CN8 Terminal 4-M6 Screws Terminal 6-M6 Screws Terminal 2-M4 Screws 230 13 Ground Terminal 2-M6 Screws 133 SERVOPACK Rear View Punched Hole 7.5 (77) 210 (75) 350 350 CN2 190 Min. 205±0.5 (Mounting Pitch) 230 12.5 Air Flow Mounting Hole Diagram Approx. Mass: 8.1 kg ) 0˚ ( 12 7.5 Input Voltage (17) 4-M6 Screw Holes 43 Model CN3 8.5 Air Flow (20) (15) Three-phase 400 VAC, Model: SGDV-280D0¡A001 and -370D0¡A001 (Duct-ventilated type) Terminal 2-M4 Screws 230 Ground Terminal 2-M6 Screws 13 (75) (108.6) 141 Punched Hole 205±0.5 (Mounting Pitch) 216 12 249.6 7 Air Flow 230 Analog/Pulse Type SERVOPACKs Terminal 6-M6 Screws SERVOPACK Rear View 364 Terminal 4-M6 Screws 400 325 400 CN1 CN8 CN2 385±0.5(Mounting Pitch) CN7 Mounting Hole Diagram Approx. Mass: 13.6 kg Connectors for Rack-mounted SERVOPACKs Port Model Pin 50 Manufacturer CN1 10250-52A2PL CN2 53984-0671 CN3 HDR-EC14LFDTN-SLE-PLUS CN7 MNC23-5K5H00 5 ADVANCED-CONNECTEK INC. CN8 1981080-1 8 Tyco Electronics AMP K.K. 6 14 Sumitomo 3M Ltd. Molex Japan Co., Ltd. Honda Tsushin Kogyo Co., Ltd. Note: The connectors above or their equivalents are used for SERVOPACKs. 224 Selecting Cables 1Cables for CN1 CN3 CN5 CN7 CN5 CN8 (Analog Voltage/Pulse Train Reference Type SERVOPACKs) Cable for Analog Monitor Digital Operator Converter Cable CN3 Digital Operator 㧿㨂㧻㧺 CN7 Connection Cable for Personal Computer 㧯㧻㧵㧺 㨂㧯㧹㧼 㨀㧳㧻㧺 㧯㧴㧭㧾㧳㧱 REF YASKAWA ALARM 㧾㧱㧿㧱㨀 㧿㧯㧾㧻㧸㧸 㧶㧻㧳 SVON READ 㧹㧻㧰㧱㧛㧿㧱㨀 㧰㧭㨀㧭 WRITE SERVO SERVO DIGITAL OPERATOR 㧶㨁㧿㧼−㧻㧼㧜㧡㧭−㧝−㧱 Host Controller Cable for I/O Signals CN1 CN8 Safety Cable Name Length Order No. Specifications Details Terminal Block and 0.5 m Connection Cable Connector Terminal Converter Unit CN1 Cables for I/O Signals Cables with Loose Wires at One End JUSP-TA50PG-E 1m JZSP-CSI01-1-E 2m JZSP-CSI01-2-E 3m JZSP-CSI01-3-E (1) Cable with Loose Wires at Peripheral Devices (2) With Connection Cable (1 m) ＳＶＯＮ Digital Operator JUSP-OP05A-1-E ＣＯＩＮ ＶＣＭＰ ＴＧＯＮ REF ＣＨＡＲＧＥ (3) YASKAWA ALARM ＲＥＳＥＴ ＳＣＲＯＬＬ ＪＯＧ SVON READ ＭＯＤＥ／ＳＥＴ ＤＡＴＡ WRITE SERVO SERVO DIGITAL OPERATOR ＪＵＳＰ−ＯＰ０５Ａ−１−Ｅ CN3 Cable with Connectors at Both Ends 0.3 m JZSP-CVS05-A3-E 3Ｍ 10314 Digital Operator Converter Cable*1 (4) JZSP-CVS05-A3-E Cable with Connctors at Both Ends CN7 Connection Cables for Personal Computer 2.5 m JZSP-CVS06-02-E (5) JZSP-CVS06-02-E SERVOPACK End CN5 Cables for Analog Monitor Cables with Connector*2 CN8 Cables for Safety Functions Connector Kit *3 1m JZSP-CA01-E (6) 3m JZSP-CVH03-03-E (7) Contact Tyco Electronics AMP K.K. Product name: I ndustrial Mini I/O D-shape Type1 Plug Connector Kit Model: 2013595-1 series digital operators (model: JUSP-OP05A) for series SERVOPACKs. *1 : A converter cable is required to use *2 : When using the safety function, connect this cable to the safety devices. Even when not using the safety function, use SERVOPACKs with the Safe Jumper Connector (model: JZSP-CVH05-E) connected. *3 : Use the connector kit when you make cables yourself. 225 Analog/Pulse Type SERVOPACKs SGDV-¡¡¡¡01/05 Selecting Cables (1) Connector Terminal Converter Unit for CN1 ∙ Configurations SERVOPACK Model Cable Length (L) JUSP-TA50PG-E CN1 +50 -0 Cable Length: 500 mm 0.5 m JUSP-TA50PG-1-E 1m JUSP-TA50PG-2-E 2m Note: Shaded items are non-stock. Model: JUSP-TA50PG-E 1 19 33 1 16 32 50 1 49 2 50 ∙ Dimensional Drawings of Terminal Block (Units: mm) 16 32 50 1 19 33 1 7 15.5 Connector Plug (50P) MR-50RMD2G+ 1 49 2 50 45 29.5 Terminal Block (50P) 7 M3.5 Screw ∙ Dimensional Drawings of Cable SERVOPACK End Connector (50P) 10150-6000EL (Sumitomo 3M Ltd.) Shell 10350-52Z0-008 (Sumitomo 3M Ltd.) Cable (Black) AWG#28, 25P UL20276 VW-1SC Terminal Converter Unit-end Connector (50P) MRP-50F01(Honda Tsushin Kogyo Co., Ltd.) Case MR-50L+ (Honda Tsushin Kogyo Co., Ltd.) 2-3.5 Dia. 3.5 2 43.5 247.5 (62) With Terminal Block Cover Open 3.5 20.5 Can be fixed on DIN rail L (2) Cable with Loose Wires at One End for CN1 SERVOPACK End Connector 10150-6000EL (50P)* Case 10350-52Z0-008* Sleeve F2 (Black) Cable (Black) SSRFPVV-SBAWG#28 × 25P UL20276VW?1SC L * : Manufactured by Sumitomo 3M Ltd. Note : See the next page for the connection diagram. Model Cable Length (L) JZSP-CSl01-1-E 1m JZSP-CSl01-2-E 2m JZSP-CSl01-3-E 3m Wire Markers 100 +10 -0 mm Analog/Pulse Type SERVOPACKs ∙ Dimensional Drawings of Cable 226 Units: mm 1Connector Kit for CN1 Connection Diagram of JZSP-CSI01-¡-E Cable Host Controller End 1 1 1 4 SEN Gray Black 1 5 V-REF White Red 1 6 SG White Black 1 7 PULS Yellow Red 1 8 /PULS Yellow Black 1 9 T-REF Pink Red 1 10 SG Pink Black 1 11 SIGN Orange Red 2 12 /SIGN Orange Black 2 13 PL2 Gray Red 2 14 /CLR White Red 2 15 CLR White Black 2 16 Gray Black 2 17 − − Yellow Red 2 18 PL3 Yellow Black 2 19 PCO Pink Red 2 20 /PCO Pink Black 2 21 BAT (+) Orange Red 3 22 BAT (-) Orange Black 3 23 Gray Red 3 24 − − Gray Black 3 25 /V-CMP+ White Red 3 26 /V-CMP− White Black 3 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49_ 50 /TGON+ Yellow Yellow Pink /S-RDY+ Pink /S-RDY− Orange ALM+ Orange ALM− Gray PAO Gray /PAO White PBO White /PBO Yellow ALO1 Yellow ALO2 Pink ALO3 Pink /S-ON /P-CON Orange Orange P-OT Gray N-OT /ALM-RST Gray White /P-CL White /N-CL +24V-IN Yellow Pink Pink Yellow - Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Red Black Black 3 3 3 3 4 4 4 4 4 4 4 4 4 4 5 5 5 5 5 5 5 5 5 5 Case /TGON− Shield 4 5 6 JZSP-CSI9-1-E 7 8 9 10 Case Model Model 1035052Z0-008* 19 20 21 22 23 24 25 26 Model Qty 10150-3000PE* 1 set 1 (Soldered) * : Manufactured by Sumitomo 3M Ltd. ∙ Dimensional Drawings of Case 17.0 11 12 13 14 15 16 17 18 Connector Qty 14.0 41.1 46.5 52.4 12.7 ∙ Dimensional Drawings of Connector 2.54 1.27 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 41.1 Pin No.1 15° 1.27 Pin No.26 30.48 36.7 : Represents twisted-pair wires. ∙ Cable Size Item 227 Specifications Cable Use twisted-pair or twisted-pair shielded wire. Applicable Wires AWG 24, 26, 28, 30 Cable Finished Diameter 16 dia. max. 19.3 Red Connector Kit （6.6） ay 1 3 2 （2.9） SG Red 2.3 2 Orange OrangeGr Black 5.1 PL1 Lead Marker 12.7 SG 3 Marking Color Dots ３Ｍ 1 Wire Color 39.0 23.8 Signal （5.2） SERVOPACK End Pin No. Use the following connector and cable to assemble the cable. The CN1 connector kit includes one case and one connector. 8 .5 1Cable with Loose Wires at One End for CN1 9.1 7.5 Selecting Cables Analog/Pulse Type SERVOPACKs SGDV-¡¡¡¡01/05 Selecting Cables Units: mm (3) Digital Operator (Model: JUSP-OP05A-1-E) 2-M3 Screws, Depth 5 (For mounting digital operator) 70 ＳＶＯＮ ＣＯＩＮ ＶＣＭＰ ＴＧＯＮ REF ＣＨＡＲＧＥ ＪＯＧ ＭＯＤＥ／ＳＥＴ Nameplate 111 ALARM ＲＥＳＥＴ 120 YASKAWA ＳＣＲＯＬＬ ＤＡＴＡ SVON READ WRITE SERVO SERVO DIGITAL OPERATOR ＪＵＳＰ−ＯＰ０５Ａ−１−Ｅ Connector: HDR-E14MAG1+(Honda Tsushin Kogyo Co., Ltd.) Case: HDR-E14LPA5(Honda Tsushin Kogyo Co., Ltd.) 17.8 57 1000 +030 (4) Digital Operator Converter Cable for CN3 (Model: JZSP-CVS05-A3-E) A converter cable is required to use series digital operators (model: JUSP-OP05A) for series SERVOPACKs. ∙ Dimensional Drawings 300 +−30 0 (35) (4.8 Dia.) Connector (14-pole)：10214-6202PL(Sumitomo 3M Ltd.) Cover： FA458036(Yasco Components Co., Ltd.) (8) JZSP-CVS05-A3-E Connector (14-pole)：HDR-E14MAG1+(Honda Tsushin Kogyo Co., Ltd.) Cover：HDR-E14LPA5(Honda Tsushin Kogyo Co., Ltd.) (5) Connection Cable for Personal Computer for CN7 (Model: JZSP-CVS06-02-E) ∙ Dimensional Drawings Analog/Pulse Type SERVOPACKs 3Ｍ 10314 (29.5) (12.7) (21) (39) 2,500 +−100 0 10 to 20 JZSP-CVS06-02-E (100) IMPORTANT (55) Use a cable specified by Yaskawa. When using other cables, operation cannot be guaranteed. 228 Selecting Cables Units: mm (6) Cable for Analog Monitor for CN5 (Model: JZSP-CA01-E) ∙ Dimensional Drawings ∙ Specifications Socket ：DF11-4DS-2C* Contact：DF11-2428SCF* +20 Black Black 3 1 4 2 1000 -0 mm * : Manufactured by Hirose Electric Corporation. White Red View from Cable End Pin No. Cable Color Signal 1 Red Analog Monitor 2 Motor speed : 1V/1000 min-1 Standard Settings 2 White Analog Monitor 1 Torque reference : 1V/100% rated torque 3, 4 Black (2 cables) GND(0V) − Note : The specifications above are factory settings. Monitor specifications can be changed by changing parameters Pn006 and Pn007. (7) Cable with Connector for CN8 (Model: JZSP-CVH03-03-E) ∙ Specifications ∙ Dimensional Drawings 3000 +150 (33) (20) (8 ) (11) Connector Kit：2013595-1 (Tyco Electronics AMP K.K.) 229 Pin No. Signal Lead Color 1 Not used − Marking Color − 2 Not used − − 3 /HWBB1− White Black 4 /HWBB1＋ White Red 5 /HWBB2− Gray Black 6 /HWBB2＋ Gray Red 7 EDM1− Orange Black 8 EDM1＋ Orange Red Analog/Pulse Type SERVOPACKs Analog/Pulse Type SERVOPACKs SGDV-¡¡¡¡01/05 230 MECHATROLINK-II Communications Reference Type SERVOPACKs SGDV-¡¡¡¡11 (For Rotary Servomotors) SGDV-¡¡¡¡15 (For Linear Servomotors) Model Designations SGDV - R70 A 01 B 002000 Options Code v Series SGDV SERVOPACK Specifications 002000 Base-mounted, varbish(standard) 008000 Single-phase, 200VAC Input (model: SGDV-120A01A008000) Cooling Method Code Fan-Cooling B Fanless Cooling Voltage Interface Code Specifications F 100 VAC A 200 VAC D 400 VAC Current Code 231 100 V (Single Phase) Applicable Servomotor Max. Capacity kW Code Specifications A 200 V (Three Phase) Applicable Servomotor Max. Capacity kW Code Specifications 11 MECHATROLINK-II communications Reference Type (for rotary servomotors) 15 MECHATROLINK-II communications Reference Type (for linear servomotors) Code 400 V (Three Phase) Applicable Servomotor Max. Capacity kW R70 0.05 R70* 0.05 1R9 0.5 R90 0.1 R90* 0.1 3R5 1.0 2R1 0.2 1R6* 0.2 5R4 1.5 2R8 0.4 2R8* 0.4 8R4 2.0 3R8 0.5 120 3.0 5R5* 0.75 170 5.0 7R6 1.0 210 6.0 120** 1.5 260 7.5 180 2.0 280 11 200 3.0 370 15 330 5.0 NOTE: Shaded items are non-stock. 470 6.0 550 7.5 590 11 780 15 * These amplifiers can be powered with single or three-phase. ** SGDV-120A¡1A008000, a special version of the 1.5kW amplifier can be used for single-phase operation. MECHATROLINK-II Type SERVOPACKs SGDV-¡¡¡¡11/15 Features 1Real-time communications MECHATROLINK-II communications enable high-speed control for 30 stations at a maximum transmission speed of 10 Mbps in a transmission cycle from 250 μ s to 4 ms (user setting). Such a high transmission speed allows real-time transmission of various data required for control. 1Cost savings Thirty stations can be connected to a single MECHATROLINK-II transmission line, so wiring costs and time are greatly reduced. Also, only one signal connector is required on the host controller. And, the all-digital network eliminates the need for conversion from digital to analog for speed/torque references and for a pulse generator to generate position references. 1High-precision motion control The SGDV SERVOPACK when connected to the host controller in the MECHATROLINK-II network provides not only torque, position, and speed control but also synchronized phase control that requires advanced control technology. The control mode can be changed online so that the machine can move smoothly in complex motions with great efficiency. Ratings Single-phase 100 V Single-phase 200 V SERVOPACK Model SGDV-¡¡¡¡ R70F R90F 2R1F 2R8F SERVOPACK Model SGDV-¡¡¡¡ R70A R90A 1R6A 2R8A 5R5A Applicable Servomotor Max. Capacity kW 0.05 0.1 0.2 0.4 Applicable Servomotor Max. Capacity kW 0.05 0.1 0.2 0.4 0.75 120 1.5 Continuous Output Current Arms 0.66 0.91 2.1 2.8 Continuous Output Current Arms 0.66 0.91 1.6 2.8 5.5 11.6 Max. Output Current Arms 2.1 2.9 6.5 9.3 Max. Output Current Arms 2.1 2.9 6.5 9.3 16.9 28 Main Circuit (Single Phase) 100 to 115 VAC+10% to -15% 50/60 Hz Main Circuit (Single Phase) 220 to 230 VAC +10% to -15% 50/60 Hz Control Circuit (Single Phase) 100 to 115 VAC+10% to -15% 50/60 Hz Control Circuit (Single Phase) 220 to 230 VAC +10% to -15% 50/60 Hz Three-phase 200 V SERVOPACK Model SGDV-¡¡¡¡ 120A 180A 200A 330A 470A 550A 590A 780A kW R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5 2.0 3.0 5.0 6 7.5 11 15 Continuous Output Current Arms 0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6 32.9 46.9 54.7 58.6 78 Max. Output Current Arms 2.1 2.9 6.5 9.3 11 16.9 17 28 42 56 84 110 130 140 170 Applicable Servomotor Max. Capacity Main Circuit Three-phase 200 to 230 VAC+10% to -15% 50/60 Hz Control Circuit Single-phase 200 to 230 VAC+10% to -15% 50/60 Hz Three-phase 400 V 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D kW 0.5 1.0 1.5 2.0 3.0 5.0 6 7.5 11 15 Continuous Output Current Arms 1.9 3.5 5.4 8.4 11.9 16.5 20.8 25.4 28.1 37.2 Max. Output Current Arms 5.5 8.5 14 20 28 42 55 65 70 85 Applicable Servomotor Max. Capacity Three-phase 380 to 480 VAC+10% to -15% 50/60 Hz Main Circuit 24 VDC ±15% Control Circuit 10000 10000 1000 1000 1000 100 10 SGMJV 100 10 SGMAV-02, 04, 06, 08， SGMPS 10 SGMAV-A5, 01, C2 1 100 200 300 350 Torque reference(percent of rated torque) (%) 1 100 200 300 Torque reference(percent of rated torque) (%) Detecting time (s) 10000 Detecting time (s) Detecting time (s) 1SERVOPACK Overload Characteristics SGMGV-03A, -05A, -09A, -13A，-20A, -30A, -1AA, -1EA SGMGV-□□D SGMSV-□□□ 100 10 SGMGV-44A, -55A, -75A 1 Rated Approx. torque Rated torque + Max. torque 2 370D MECHATROLINK-II Type SERVOPACKs SERVOPACK Model SGDV-¡¡¡¡ Max. torque Note: Overload characteristics shown above do not guarantee continuous duty of 100% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics. 232 Specifications Items Specifications 100 V Main Circuit Input Power Supply Control Circuit Single-phase 100 to 115 VAC + 10% to - 15% 50/60 Hz 200 V Three-phase 200 to 230 VAC + 10% to - 15% 50/60 Hz 400 V Three-phase 380 to 480 VAC + 10% to - 15% 50/60 Hz 100 V Single-phase 100 to 115 VAC + 10% to - 15% 50/60 Hz 200 V Single-phase 200 to 230 VAC + 10% to - 15% 50/60 Hz 400 V 24 VDC ± 15% For 100 V, for 200 V, for 400 V, single-phase or three-phase full-wave rectification IGBT PWM control, sine-wave driven Control Method Serial encoder: 13-bit (incremental encoder) Feedback Rotary Servomotors : 20-bit (incremental/absolute encoder) Linear Servomotors Operating Conditions Serial converter or serial data Surrounding/Storage Temperature Surrounding temperature: 0 to + 55˚C, storage temperature: - 20 to + 85˚C Ambient/Storage Humidity 90%RH or less (no condensation) Vibration/Shock Resistance Vibration resistance: 4.9 m/s2, Shock resistance: 19.8 m/s2 Protection class/Pollution degree Protection class: IP 1X, pollution degree: 2 Do not use SERVOPACKs in the following locations: ∙Locations subject to corrosive or flammable gases ∙Locations subject to exposure to water, oil, or chemicals ∙Locations subject to dust, including iron dust, and salts Others Do not use SERVOPACKs in the following locations: ∙Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity Elevation 1000 m or less Compliant Standards UL 508C EN50178, EN55011 class A group 1, EN61800-3, EN61800-5-1 Configuration Base-mounted (Rack-mounting available as an option for some models. 6 kW or more models are duct-ventilated.) Speed Control Range Performance I/O Signals Speed Regulation* 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.) ± 0.01% max. (at rated speed) ± 10% : 0% (at rated speed) Load Regulation 0% to 100% load: Voltage Regulation Rated voltage : Temperature Regulation 25 ± 25˚C : ± 0.1% max. (at rated speed) Torque Control Tolerance (Repeatability) ± 1% Soft Start Time Setting 0 to 10 s (can be set individually for acceleration and deceleration.) Encoder Output Pulses Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. Interface RS-422A Communications Communications USB Communications Display Digital operator, RS-422A port of personal computers etc. 1:N communications RS-422A port: N= 15 max. available Axis address setting Set by parameters Function Status display, parameter settings, adjustment functions, utility functions Interface Personal computers (application: engineering tool SigmaWin+ ) 1:N communications Compliant with USB1.1 standard Function Status display, parameter settings, adjustment functions, utility functions Power Charge CHARGE for main circuit power supply input confirmation One LED (orange) Analog Monitor Analog monitor connector built in for monitoring speed, torque and other reference signals. Number of points: 2 Protective Functions Overcurrent, Overvoltage, low voltage, overload, regeneration error Utility Functions Alarm history, JOG operation, origin search, etc. Regenerative Processing 100 VAC model: External regenerative resistor (optional) 200 VAC SGDV-R70A, -R90A, -1R6A, -2R8A: External regenerative resistor (optional) 200 VAC SGDV-470A, -550A, -590A, -780A: External regenerative resistor unit (optional) 200 VAC models other than shown above: Built-in regenerative resistor 400 VAC SGDV-210D, -260D, -280D, -370D: External regenerative resistor unit (optional) 400 VAC models other than shown above: Built-in regenerative resistor Input Safety Functions Option Card Function 233 : 17-bit (incremental/absolute encoder) /HWBB1, /HWBB2: Hard wire base block signal Output EDM1: Status monitor (fixed output) of built-in safety circuit Compliant Standards EN954 category 3 Stop category 0, IEC61508 SIL 2 Feedback Serial encoder communications input for fully-closed loop control *: Speed regulation is defined as follows: No-load motor speed - Total load motor speed Speed regulation = × 100% Rated motor speed The motor speed may change due to voltage variations or temperature variation. The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature variations. MECHATROLINK-II Type SERVOPACKs SGDV-¡¡¡¡11/15 Specifications 1Rotary Servomotors Items Specifications Encoder Output Pulses Number of Channels 7 channels Signal allocations and positive/negative logics can be modified. Sequence Input Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. Function Homing deceleration switch signal (/DEC), external latch signal (/EXT1 to 3), forward run prohibited (P-OT), reverse run prohibited (N-OT), forward current limit (/P-CL), reverse current limit (/N-CL) I/O Signal Fixed Output Servo alarm (ALM) Number of Channels Sequence Output 3 channels Signal allocations and positive/negative logics can be modified. Output Signals which can be allocated Positioning completion (/COIN), speed coincidence detection Function (/V-CMP), servomotor rotation detection (/TGON), servo ready (/S-RDY), torque limit detection (/CLT), speed limit detection (/VLT), brake interlock (/BK), warning (/WARN), NEAR (/NEAR) Panel Operator MECHATROLINK Communications Command Method Display 7-segment 1-digit LED (red) Switch Rotary switch: 16 positions, DIP switch: 4 poles Communications Protocol MECHATROLINK-II Transmission Speed 10 Mbps 4 Mbps Transmission Cycle 250 μ s, 0.5 to 4.0 ms (multiple of 0.5 ms) 2 ms Number of Words for Link Transmission Can be switched between Station Address 41H to 5FH (max. number of slaves: 30) Performance Position control, speed control, and torque control through MECHATROLINK communications Command Input MECHATROLINK-I 17-bytes /station 17-bytes /station and 32-bytes / station. MECHATROLINK commands (for sequence, motion, data setting/reference, monitor, adjustment, and other commands.) 1Linear Servomotors Items Specifications Encoder Output Pulses Number of Channels Function Fixed Output Homing deceleration switch signal (/DEC), external latch signal (/EXT1 to 3), forward run prohibited (P-OT), reverse run prohibited (N-OT), forward current limit (/P-CL), reverse current limit (/N-CL) Servo alarm (ALM) Number of Channels Sequence Output Panel Operator MECHATROLINK Communications Output Signals which can be allocated Display 3 channels Signal allocations and positive/negative logics can be modified. Positioning completion (/COIN), speed coincidence detection (/V-CMP), servomotor movement detection (/TGON), Function servo ready (/S-RDY), force limit detection (/CLT), speed limit detection (/VLT), brake interlock (/BK), warning (/WARN), NEAR (/NEAR) 7-segment 1-digit LED (red) Switch Rotary switch: 16 positions, piano switch: 4 poles Communications Protocol MECHATROLINK-II MECHATROLINK-I Transmission Speed 10 Mbps 4 Mbps Transmission Cycle 250 μ s, 0.5 to 4.0 ms (multiple of 0.5 ms) 2 ms Number of Words for Link Transmission Can be switched between Station Address 41H to 5FH (max. number of slaves: 30) Performance Command Method Command Input 17-bytes /station and 32-bytes / station. 17-bytes /station MECHATROLINK-II Type SERVOPACKs I/O Signal 7 channels Signal allocations and positive/negative logics can be modified. Sequence Input Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. Position control, speed control, and force control through MECHATROLINK-II communications MECHATROLINK commands and MECHATROLINK-II commands (for sequence, motion, data setting/reference, monitor, adjustment, and other commands.) 234 Power Supply Capacities and Power Losses The following table shows SERVOPACK's power supply capacities and power losses at the rated output. Main Circuit Power Supply Applicable Servomotor Max. Capacity Regenerative SERVOPACK Model SGDV- kW Power Supply Capacity Output Current Main Circuit Power Loss kVA A W Resistor Power Loss Control Circuit Power Loss Total Power Loss W W W 0.05 R70F 0.2 0.66 5.4 Signal-phase 0.1 R90F 0.3 0.91 7.8 22.4 100 V 0.2 2R1F 0.7 2.1 14.4 0.4 2R8F 1.4 2.8 25.6 42.6 0.05 R70A 0.2 0.66 5.2 22.2 — 0.1 R90A 0.3 0.91 7.4 Single-phase 0.2 1R6A 0.7 1.6 13.7 200 V 0.4 2R8A 1.2 2.8 24.9 0.75 5R5A 1.9 5.5 52.7 8 1.5 120A 4 11.6 68.2 10 0.05 R70A 0.2 0.66 5.1 0.1 R90A 0.3 0.91 7.3 0.2 1R6A 0.6 1.6 13.5 0.4 2R8A 1 2.8 24.0 0.5 3R8A 1.4 3.8 20.1 0.75 5R5A 1.6 5.5 43.8 1.0 7R6A 2.3 7.6 53.6 1.5 120A 3.2 11.6 65.8 2.0 180A 4 18.5 111.9 3.0 200A 5.9 19.6 113.8 5.0 330A 7.5 32.9 263.7 36 6.0 470A 10.7 46.9 279.4 (180)*1 7.5 550A 14.6 54.7 357.8 Three-phase 200 V 11 590A 21.7 58.6 431.7 15 780A 29.6 78 599.0 0.5 1R9D 1.1 1.9 24.6 1.0 3R5D 2.3 3.5 46.1 1.5 5R4D 3.5 5.4 71.3 2.0 8R4D 4.5 8.4 77.9 Three-phase 3.0 120D 7.1 11.9 108.7 400 V 5.0 170D 11.7 16.5 161.1 6.0 210D 12.4 20.8 172.7 7.5 260D 14.4 25.7 218.6 11 280D 21.9 28.1 294.6 15 370D 30.6 37.2 403.8 — 24.8 31.4 24.4 17 30.7 41.9 77.7 22 100.2 22.1 24.3 — 30.5 17 41.0 45.1 8 68.8 78.6 10 16 (350)*2 97.8 22 149.9 161.4 27 33 48 326.7 312.4 390.8 479.7 647.0 59.6 14 21 81.1 106.3 28 25 36 24 (180)*3 27 (350)*4 30 *1: For the optional JUSP-RA04-E regenerative resistor unit. *2: For the optional JUSP-RA05-E regenerative resistor unit. *3: For the optional JUSP-RA18-E regenerative resistor unit. *4: For the optional JUSP-RA19-E regenerative resistor unit. Notes: 1 SGDV-R70F, -R90F, -2R1F, -2R8F, -R70A, -R90A, -1R6A, and -2R8A SERVOPACKs do not have built-in regenerative resistors. If the regenerative energy exceeds the specified value, connect an external regenerative resistor (optional). 2 SGDV-470A, -550A, -590A, -780A, -210D, -260D, -280D, -370D SERVOPACKs do not have built-in regenerative resistors. Be sure to connect a regenerative resistor unit (optional) or an external regenerative resistor (optional). 3 Regenerative resistor power losses are allowable losses. Take the following action if this value is exceeded. ∙ Remove the lead or short bar that is short-circuiting the SERVOPACK main circuit terminal B2 and B3. (SGDV-3R8A, -5R5A, -7R6A, -120A, -180A, -200A, -330A, or 400-V class SERVOPACKs.) ∙ Install an external regenerative resistor (optional). 235 17 130.9 161.7 221.1 199.7 245.6 324.6 433.8 MECHATROLINK-II Type SERVOPACKs SGDV-¡¡¡¡11/15 External Dimensions Units: mm 1Base-mounted SERVOPACKs (1) Single-phase 100 VAC, Model: SGDV-R70F1¡A, -R90F1¡A, and -2R1F1¡A （7） 2-M4 Screw Holes （ 12 0˚） CN3 Nameplate CN1 Two Terminals CN8 CN2 160 160 CN7 Ground Terminal 2-M4 Screws SERVOPACK Rear View 30±0.5 5 （4） 23 （75） 40 180±0.5（Mounting Pitch） 5 （15） Air Flow Input Voltage Model CN6 170 40 Air Flow （Mounting Pitch） Mountiong Hole Diagram Approx. Mass: 1.0 kg 㧔15㧕 (2) Single-phase 100 VAC, Model: SGDV-2R8F1¡A Air Flow Cooling Fan 㧔4㧕 3-M4 Screw Holes 5 Input Voltage Model CN6 㧔7㧕 㧔 12 CN3 Two Terminals 160 160 CN7 CN1 Air Flow CN8 CN2 Ground Terminal 2-M4 Screws 6 23 70 SERVOPACK Rear View 180 㧔75㧕 58±0.5 㧔Mounting Pitch㧕 70 Air Flow Mounting Hole Diagram Approx. Mass: 1.5 kg (3) Three-phase 200 VAC, Model: SGDV-R70A1¡B, -R90A1¡B, and -1R6A1¡B Nameplate 5 2-M4 Screw Holes (12 0˚) CN3 160 CN7 Two Terminals 160 CN1 CN8 CN2 Ground Terminal 2-M4 Screws (25) 23 40 (75) (4) 140 150±0.5(Mounting Pitch) CN6 (7) (15) Input Voltage Model SERVOPACK Rear View 35 40 MECHATROLINK-II Type SERVOPACKs Nameplate 150±0.5 㧔Mounting Pitch㧕 0˚㧕 Mounting Hole Diagram Approx. Mass: 0.9 kg 236 External Dimensions Units: mm (4) Three-phase 200 VAC, Model: SGDV-2R8A1¡B 5 2-M4 Screw Holes (12 0˚) CN3 CN7 Two Terminals 160 160 CN1 CN8 CN2 Ground Terminal 2-M4 Screws (25) SERVOPACK Rear View 5 (4) 23 (75) 40 150±0.5(Mounting Pitch) Nameplate (7) (15) Input Voltage Model CN6 170 40 30±0.5 (Mounting Pitch) Mounting Hole Diagram Approx. Mass: 1.0 kg (5) Three-phase 200 VAC, Model: SGDV-3R8A1¡A, -5R5A1¡A, and -7R6A1¡A (7) (4) 3-M4 Screw Holes 5 Cooling Fan (1 2 0˚ ) 160 Two Terminals 160 CN3 CN7 CN1 Air Flow Nameplate CN8 CN2 Ground Terminal 2-M4 Screws 150±0.5(Mounting Pitch) Input Voltage Model CN6 (15) Air Flow Air Flow (25) 23 (75) 70 SERVOPACK Rear View 6 180 58±0.5 (Mounting Pitch) 70 Mounting Hole Diagram Approx. Mass: 1.5 kg (6) Three-phase 200 VAC, Model: SGDV-120A1¡A (7) Model (12 CN3 160 CN7 160 CN1 Two Terminals CN8 CN2 150±0.5㧔Mounting Pitch㧕 0˚) CN6 Nameplate 4-M4 Screw Holes 5 Input Voltage (15) Air Flow SERVOPACK Rear View 5 Ground Terminal 2-M4 Screws (25) 90 (75) Air Flow 23 (4) 180 80±0.5 㧔Mounting Pitch㧕 90 Mounting Hole Diagram Approx. Mass: 2.4 kg 237 MECHATROLINK-II Type SERVOPACKs SGDV-¡¡¡¡11/15 External Dimensions Units: mm (7) Single-phase 200 VAC, Model: SGDV-120A1¡A008000 (1.5 kW, single-phase input type) Three-phase 200 VAC, Model: SGDV-180A1¡A and -200A1¡A Input Voltage 5 ˚) 20 (1 CN6 CN3 Nameplate 4-M4 Screw Holes CN7 180 180 CN1 CN8 CN2 Ground Terminal 2-M4 Screws 22 100 SERVOPACK Rear View 170±0.5(Mounting Pitch) Model (7) (15) Air Flow (4) 90±0.5 5 㧔Mounting Pitch㧕 100 180 (75) Air Flow Mounting Hole Diagram Approx. Mass: 2.8 kg (8) Three-phase 200 VAC, Model: SGDV-330A1¡A CN6 (7) (1 20 CN3 CN7 Nameplate 4-M4 Screw Holes 6 Model ˚) CN1 250 CN8 250 CN2 238±0.5(Mounting Pitch) Input Voltage (15) Air Flow SERVOPACK Rear View Air Flow 22 110 㧔75㧕 Cooling Fan 210 (5) 5 100±0.5 (Mounting Pitch) 110 Mounting Hole Diagram Approx. Mass: 4.6 kg MECHATROLINK-II Type SERVOPACKs Ground Terminal 2-M4 Screws 238 External Dimensions Units: mm (9) Three-phase 200 VAC, Model: SGDV-470A1¡A and -550A1¡A (7) 7 .5 ˚) 350 (15) Input Voltage Model CN6 CN3 CN7 CN1 CN8 CN2 20 (1 Terminal 5-M6 Screws Terminal 6-M6 Screws Ground Terminal 2-M6 Screws 22 (75) 170 4-M6 Screw Holes 335±0.5 (Mounting Pitch) 350 Air Flow SERVOPACK Rear View 25 120±0.5 (Mounting Pitch) 170 210 Air Flow Mounting Hole Diagram Approx. Mass:10.2 kg 7.5 Model (7) CN6 CN3 CN7 CN1 CN8 450 CN2 450 Terminal 5-M6 Screws Terminal 6-M6 Screws Ground Terminal 2-M6 Screws 22 (75) 260 30 275 4-M6 Screw Holes 435±0.5(Mounting Pitch) Input Voltage (15) (1 2 Air Flow 0˚ ) (10) Three-phase 200 VAC, Model: SGDV-590A1¡A and -780A1¡A SERVOPACK Rear View 200±0.5 (Mounting Pitch) 260 Air Flow Mounting Hole Diagram Approx. Mass: 21.0 kg 239 MECHATROLINK-II Type SERVOPACKs SGDV-¡¡¡¡11/15 External Dimensions Units: mm (11) Three-phase 400 VAC, Model: SGDV-1R9D1¡A, -3R5D1¡A, and -5R4D1¡A Model CN6 0˚ ) 160 CN1 (1 2 CN8 CN2 Ground Terminal 2-M4 Screws (25) 23 Air Flow 5 ( 4) (75) 110 SERVOPACK Rear View 149.5±0.5 (Mounting Pitch) Two Terminals CN3 CN7 4-M4 Screw Holes 5.5 Input Voltage 160 Nameplate (7) (15) Air Flow 180 100±0.5 (Mounting Pitch) 110 Mounting Hole Diagram Approx. Mass: 2.7 kg (12) Three-phase 400 VAC, Model: SGDV-8R4D1¡A, and -120D1¡A Nameplate 4-M5 Screw Holes 6 Model CN6 CN3 CN7 (7) CN1 Ground Terminal 2-M4 Screws 250 250 CN8 CN2 Air Flow SERVOPACK Rear View 5 (4) 22 (75) 110 238.5±0.5(Mounting Pitch) Input Voltage (15) (120 ˚) Air Flow 180 100±0.5 (Mounting Pitch) 110 Mounting Hole Diagram 6 SERVOPACK Rear View 250 22 135 (75) 230 238.5±0.5 (Mounting Pitch) (15) 4-M5 Screw Holes (7) 250 Air Flow Input Voltage Model CN6 CN3 CN7 CN1 CN8 CN2 ) (120˚ Air Flow 5 125±0.5 (Mounting Pitch) MECHATROLINK-II Type SERVOPACKs Approx. Mass: 3.7 kg (13) Three-phase 400 VAC, Model: SGDV-170D1¡A 135 Mounting Hole Diagram Approx. Mass: 5.6 kg 240 External Dimensions Units: mm (7) Terminal 4-M6 Screws Terminal 6-M6 Screws Terminal 2-M4 Screws Ground Terminal 2-M6 Screws 230 4-M6 Screw Holes 7 .5 ) 0˚ ( 12 350 Input Voltage Model CN6 CN3 CN7 CN1 CN8 CN2 335±0.5(Mounting Pitch) 350 Air Flow (15) (14) Three-phase 400 VAC, Model: SGDV-210D1¡A and -260D1¡A SERVOPACK Rear View 180±0.5 (Mounting Pitch) 230 25 13 (75) 210 Air Flow Mounting Hole Diagram Approx. Mass: 11.3 kg 7.5 ) 0˚ ( 12 (7) Terminal 4-M6 Screws Terminal 6-M6 Screws Terminal 2-M4 Screws 230 Ground Terminal 2-M6 Screws 13 25 (75) 250 Air Flow 4-M6 Screw Holes 385±0.5(Mounting Pitch) Input Voltage Model CN6 CN3 CN7 CN1 CN8 CN2 400 400 Air Flow (15) (15) Three-phase 400 VAC, Model: SGDV-280D1¡A and -370D1¡A SERVOPACK Rear View 180±0.5 (Mounting Pitch) 230 Mounting Hole Diagram Approx. Mass: 16.2 kg Connectors for Base-mounted SERVOPACKs Port Model Pin 26 Manufacturer CN1 10226-52A2PL CN2 53984-0671 CN3 HDR-EC14LFDTN-SLE-PLUS CN6 1903815-1 8 Tyco Electronics AMP K.K. CN7 MNC23-5K5H00 5 ADVANCED-CONNECTEK INC. CN8 1981080-1 8 Tyco Electronics AMP K.K. 6 14 Sumitomo 3M Ltd. Molex Japan Co., Ltd. Honda Tsushin Kogyo Co., Ltd. Note: The connectors above or their equivalents are used for SERVOPACKs. 241 MECHATROLINK-II Type SERVOPACKs SGDV-¡¡¡¡11/15 External Dimensions Units: mm 1Rack-mounted SERVOPACKs (6 kW or more models: duct-ventilated) 7.5 7 (1 2 0˚ ) CN3 195 195 160 CN7 CN1 Two Terminals CN8 CN2 Ground Terminal 2-M4 Screws (2) 24.5 22 SERVOPACK Rear View 20 170 (75) 40 2-M4 Screw Holes 166 Min. Input Voltage Model CN6 (7) 180±0.5 (Mounting Pitch) Air Flow 36 2 (15) 17.5 (1) Single-phase 100 VAC, Model: SGDV-R70F1¡A001, -R90F1¡A001, and -2R1F1¡A001 40 Air Flow Mountiong Hole Diagram Approx. Mass: 1.1 kg Cooling Fan （ 12 0˚ ） Two Terminals 195 195 160 CN3 CN7 CN1Air Flow CN8 CN2 Ground Terminal 2-M4 Screws 23 （75） 70 2-M4 Screw Holes 7 （7） 166 Min. Input Voltage Model CN6 7.5 Air Flow 36 180±0.5（Mounting Pitch） 18.5 （15） 17.5 (2) Single-phase 100 VAC, Model: SGDV-2R8F1¡A001 SERVOPACK Rear View （2） 24.5 36.5 70 180 Air Flow Mountiong Hole Diagram 0˚ ) 195 160 CN3 CN7 CN1 CN8 Two Terminals CN2 Ground Terminal 2-M4 Screws Air Flow 40 (25) 23 24.5 (75) (2) 7 (1 2 166 Min. Nameplate Cooling Fan 7 .5 Input Voltage Model CN6 (7) 180±0.5(Mounting Pitch) Air Flow 36 195 2 (15) 17.5 (3) Three-phase 200 VAC, Model: SGDV-R70A1¡A001, -R90A1¡A001, and -1R6A1¡A001 2-M4 Screw Holes SERVOPACK Rear View 20 140 40 MECHATROLINK-II Type SERVOPACKs Approx. Mass: 1.5 kg Mounting Hole Diagram Approx. Mass: 0.9 kg 242 External Dimensions Units: mm Cooling Fan (1 2 0˚ ) CN3 CN7 195 195 160 CN1 Two Terminals CN8 CN2 Ground Terminal 2-M4 Screws 2-M4 Screw Holes 7 Nameplate (7) 7.5 Input Voltage Model CN6 166 Min. Air Flow 36 180±0.5(Mounting Pitch) 2 (15) 17.5 (4) Three-phase 200 VAC, Model: SGDV-2R8A1¡A001 (2 ) Air Flow (25) 23 24.5 (75) 40 SERVOPACK Rear View 20 170 40 Mounting Hole Diagram Approx. Mass: 1.0 kg (5) Three-phase 200 VAC, model: SGDV-3R8A1¡A001, -5R5A1¡A001, and -7R6A1¡A001 (1 2 0˚ ) CN3 195 195 160 CN7 CN1 Air Flow Two Terminals CN8 CN2 Ground Terminal 2-M4 Screws Air Flow (25) 23 24.5 (75) 70 2-M4 Screw Holes 7 7.5 Cooling Fan SERVOPACK Rear View 166 Min. Nameplate (7) 180±0.5(Mounting Pitch) Input Voltage Model CN6 (15) 17.5 Air Flow 18.5 36 (2) 36.5 180 70 Mounting Hole Diagram Approx. Mass: 1.5 kg Name Plate （ 12 0˚） 4-M4 Screw Holes CN3 195 160 CN7 CN1 Two Terminals CN8 CN2 （2） Ground Terminal 2-M4 Screws 20 （25） 23 24.5 90 Air Flow （75） SERVOPACK Rear View 166 Min. Model 7 （7） Input Voltage CN6 7.5 Air Flow 70 195 180±0.5(Mounting Pitch) 10 （15） 17.5 (6) Three-phase 200 VAC, Model: SGDV-120A1¡A001 50±0.5 （Mounting Pitch） 180 90 Mounting Hole Diagram Approx. Mass: 2.5 kg 243 MECHATROLINK-II Type SERVOPACKs SGDV-¡¡¡¡11/15 External Dimensions Units: mm Input Voltage （1 CN6 20 ˚） CN3 CN7 Name Plate 180 215 CN1 Ground Terminal 2-M4 Screws (2.2) 4-M4 Screw Holes 7 .5 7 Model (7) 215 200±0.5(Mounting Pitch) 186 Min. Air Flow (15) 17.5 (7) Single-phase 200 VAC, Model: SGDV-120A1¡A008000 (1.5 kW, single-phase input type) Three-phase 200 VAC, Model: SGDV-180A1¡A001 and -200A1¡A001 CN8 CN2 SERVOPACK Rear View (2) 22 100 (75) 102.2 50±0.5 27.2 24.5 180 (5 ) 102.2 Air Flow （Mounting Pitch） Mounting Hole Diagram Approx. Mass: 3.1 kg Model CN6 CN3 CN7 （ 7 .5 7 4-M5 Screw Holes 12 0˚） CN1 285 CN8 CN2 250 285 Name Plate （7） SERVOPACK Rear View 256 Min. Input Voltage 270±0.5(Mounting Pitch) Air Flow （15） 17.5 (8) Three-phase 200 VAC, Model: SGDV-330A1¡A001 Air Flow （2） Cooling Fan 111 116 （2.5） 22 （75） 50±0.5 30.5 24.5 210 （6） （Mounting Pitch） 116 Mounting Hole Diagram Approx. Mass: 5.0 kg MECHATROLINK-II Type SERVOPACKs Ground Terminal 2-M4 Screws （2.5） 244 External Dimensions Units: mm (7) (8) Terminal 5-M6 Screws Terminal 6-M6 Screws Ground Terminal 2-M6 Screws 22 4-M6 Screw Holes SERVOPACK Rear View Punched Hole 145±0.5 (Mounting Pitch) 5 160 Min (77) 133 (75) 170 7. 5 8.5 ˚) 350 335±0.5 (Mounting Pitch) 316 Min 20 (1 20 Input Voltage Model CN6 CN3 CN7 CN1 CN8 CN2 310 350 Air Flow (15) (9) Three-phase 200 VAC, Model: SGDV-470A1¡A001 and -550A1¡A001 (Duct-ventilated type) 7.5 210 170 Air Flow Mounting Hole Diagram Approx. Mass: 8.5 kg Terminal 6-M6 Screws Ground Terminal 2-M6 Screws 22 260 Air Flow (75) (107) 160 267 9 7.5 Terminal 5-M6 Screws 450 450 CN2 4-M6 Screw Holes 415 Min 435±0.5 (Mounting Pitch) (10) 25 (7) 400 Input Voltage Model CN6 CN3 CN7 CN1 CN8 (15) (1 2 Air Flow 0˚ ) (10) Three-phase 200 VAC, Model: SGDV-580A1¡A001 and -780A1¡A001 (Duct-ventilated type) SERVOPACK Rear View Punched Hole 4.5 8 235±0.5 (Mounting Pitch) 244 Min 260 Mounting Hole Diagram Approx. Mass: 16.0 kg 245 MECHATROLINK-II Type SERVOPACKs SGDV-¡¡¡¡11/15 External Dimensions Units: mm (11) Three-phase 400 VAC, Model: SGDV-1R9D1¡A001, -3R5D1¡A001, and -5R4D1¡A001 Model CN6 Nameplate 7.5 (1 2 0˚ ) 195 160 Two Terminals 195 CN3 CN7 CN1 CN8 CN2 4-M4 Screw Holes 7 (7) SERVOPACK Rear View 166 Min. Input Voltage 180±0.5(Mounting Pitch) Air Flow 72 (15) 17.5 37 (2) Ground Terminal 2-M4 Screws 48 (25) 23 24.5 Air Flow (75) 110 180 50±0.5 (Mounting Pitch) 110 Mounting Hole Diagram Approx. Mass: 2.7 kg Model CN6 CN3 CN7 Nameplate Ground Terminal 2-M4 Screws 7.5 285 CN8 CN2 250 285 CN1 6 4-M5 Screw Holes (7 ) SERVOPACK Rear View 258 Min. Input Voltage 270±0.5(Mounting Pitch) Air Flow 80 15 (15) (12 0˚) 17.5 (12) Three-phase 400 VAC, Model: SGDV-8R4D1¡A001 and -120D1¡A001 ( 2) Air Flow 22 (75) 110 50±0.5 (Mounting Pitch) 30 24.5 110 180 Mounting Hole Diagram SERVOPACK Rear View 285 270±0.5(Mounting Pitch) 258 Min. 285 250 22 (2) 35 24.5 135 4-M5 Screw Holes ) 0˚ Air Flow (7) ( 12 Input Voltage Model CN6 CN3 CN7 CN1 CN8 CN2 7.5 6 Air Flow 80 (15) 17.5 20 (75) 230 135 MECHATROLINK-II Type SERVOPACKs Approx. Mass: 3.8 kg (13) Three-phase 400 VAC, Model: SGDV-170D1¡A001 50±0.5 (Mounting Pitch) Mounting Hole Diagram Approx. Mass: 5.7 kg 246 External Dimensions Units: mm 7 .5 7.5 300 Min. Terminal 4-M6 Screws 350 (8) 335±0.5(Mounting Pitch) (7 ) 21 Input Voltage Model CN6 CN3 CN7 CN1 CN8 CN2 ) 0˚ ( 12 294 350 Air Flow (15) (14) Three-phase 400 VAC, Model: SGDV-210D1¡A001 and -260D1¡A001 (Duct-ventilated type) Terminal 6-M6 Screws Terminal 2-M4 Screws 13 (75) Ground Terminal 2-M6 Screws 230 210 SERVOPACK Reae View Punched Hole 7.5 (77) 133 4-M6 Screw Holes 190 Min. 205±0.5 (Mounting Pitch) 230 12.5 Air Flow Mounting Hole Diagram Approx. Mass: 8.1 kg 7.5 ( 7) 230 Ground Terminal 2-M6 Screws 13 4-M6 Screw Holes (75) 364 SERVOPACK Rear View 12 (108.6) 141 385±0.5(Mounting Pitch) 325 Terminal 4-M6 Screws Terminal 6-M6 Screws Terminal 2-M4 Screws 8.5 ) 0˚ ( 12 43 Input Voltage Model CN6 CN3 CN7 CN1 CN8 CN2 400 400 Air Flow (15) (15) Three-phase 400 VAC, Model: SGDV-280D1¡A001 and -370D1¡A001 (Duct-ventilated type) 249.6 7 Punched Hole 205±0.5 (Mounting Pitch) 216 Air Flow 230 Mounting Hole Diagram Approx. Mass: 13.6 kg Connectors for Rack-mounted SERVOPACKs Port Model Pin 26 Manufacturer CN1 10226-52A2PL CN2 53984-0671 CN3 HDR-EC14LFDTN-SLE-PLUS CN6 1903815-1 8 Tyco Electronics AMP K.K. CN7 MNC23-5K5H00 5 ADVANCED-CONNECTEK INC. CN8 1981080-1 8 Tyco Electronics AMP K.K. 6 14 Sumitomo 3M Ltd. Molex Japan Co., Ltd. Honda Tsushin Kogyo Co., Ltd. Note: The connectors above or their equivalents are used for SERVOPACKs. 247 MECHATROLINK-II Type SERVOPACKs SGDV-¡¡¡¡11/15 Selecting Cables 1Cables for CN1 CN3 CN5 CN5 CN6 CN7 Cable for Analog Monitor MECHATROLINK-2 Communication Cable CN6 Connect to the MECHATROLINK-2 Digital Operator Converter Cable CN3 CN7 Digital Operator Connection Cable for Personal Computer Cable for I/O Signals CN1 CN8 LED Indicator for External Device Safety Cable Name Length Connector Kit CN1 Cables for I/O Signals CN8 (MECHATROLINK-II Communications Reference Type SERVOPACKs) Connector Terminal Converter Unit Cable with Loose wire at One End Order No. JZSP-CSI9-2-E 0.5 m SBK-U-VBA-A5 1m SBK-U-VBA-01 3m SBK-U-VBA-03 1m JZSP-CSI02-1-E 2m JZSP-CSI02-2-E 3m JZSP-CSI02-3-E Specifications Details Soldered (1) Terminal Block and 0.5 m Connection Cable (2) (3) With Connection Cable (1 m) ＳＶＯＮ Digital Operator JUSP-OP05A-1-E ＣＯＩＮ ＶＣＭＰ ＴＧＯＮ REF ＣＨＡＲＧＥ (4) YASKAWA ALARM ＲＥＳＥＴ ＳＣＲＯＬＬ ＪＯＧ SVON READ ＭＯＤＥ／ＳＥＴ ＤＡＴＡ WRITE SERVO SERVO DIGITAL OPERATOR ＪＵＳＰ−ＯＰ０５Ａ−１−Ｅ CN3 CN6A CN6B MECHATROLINK-II Communication Cable Cables with Connectors at Both Ends 2.5 m JZSP-CVS06-02-E Cables with Connector*2 Connector kit*3 JZSP-CVS05-A3-E Cable with Connectors at Both Ends (5) (9) JZSP-CVS06-02-E 0.5 m 1m - Terminator CN5 Cables for Analog Monitor CN8 Cables for Safety Functions JZSP-CVS05-A3-E JEPMC-W6002-A5-E JEPMC-W6002-01-E (7) JEPMC-W6002-¡¡-E JEPMC-W6022-E 1m JZSP-CA01-E 3m JZSP-CVH03-03-E (8) SERVOPACK End Contact Tyco Electronics AMP K.K. Product name : Industrial Mini I/O D-shape Type1 Plug Connector Kit Model : 2013595-1 (6) (10) MECHATROLINK-II Type SERVOPACKs CN7 Connection Cables for Personal Computer Cable with Connectors at Both Ends 0.3 m 3Ｍ 10314 Digital Operator Converter Cable*1 *1 : A converter cable is required to use series digital operators (model: JUSP-OP05A) for series SERVOPACKs. *2 : When using the safety function, connect this cable to the safety devices. Even when not using the safety function, use SERVOPACKs with the Safe Jumper Connector (model: JZSP-CVH05-E) connected. *3 : Use the connector kit when you make cables yourself. 248 Selecting Cables Units: mm (1) Connector Kit for CN1 Use the following connector and cable to assemble the cable. The CN1 connector kit includes one case and one connector. Case ∙ Dimensional Drawings of Case 12.0 Connector Model Model Qty Model Qty JZSP-CSI9-2-E 10326-52A0-008* 1 set 10126-3000PE* (Soldered) 1 14.0 25.8 39.0 23.8 31.3 * : Manufactured by Sumitomo 3M Ltd. （5.2） ∙ Cable Size Item 10.0 Connector Kit Specifications Cable Use twisted-pair or twisted-pair shielded wire. Applicable Wires AWG24, 26, 28, 30 Cable Finished Diameter 16 dia. max. 12.7 37.2 ∙ Dimensional Drawings of Connector 21.5 15 ˚ 7.5 9.1 1.27 15.24 21.9 6.8 19.5 12.7 25.8 (2) Connector Terminal Converter Unit for CN1 (SBK-U-VBA-xx) SBK-U-VBA-xx Function Chart for SGDV Servo Amplifier Pin No. 1 2 3 4 5 6 7 8 Signal /BK+ (/SO1+) /BK- (/SO1-) ALM+ ALM+24VIN P-OT (/SI1) N-OT (/SI2) 9 /DEC (/SI3) 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 /EXT1 (/SI4) /EXT2 (/SI5) /EXT3 (/SI6) /SI0 BAT (+) BAT (-) SG PAO /PAO PBO /PBO PCO /PCO /SO2+ /SO2/SO3+ /SO3- SGDV Mechatrolink-II type / SGDV Option type Function Brake interlock output (+) (General purpose output 1 (+)) Brake interlock output (-) (General purpose output 1 (-)) Servo alarm output (+) Servo alarm output (-) Control power supply for sequence signal input Forward run prohibited input (General purpose input 1) Reverse run prohibited input (General purpose input 2) Zero-point return deceleration switch input (General purpose input 3) External latch signal 1 input (General purpose input 4) External latch signal 2 input (General purpose input 5) External latch signal 3 input (General purpose input 6) General purpose input 0 Battery (+) input Battery (-) input Signal ground Phase-A pulse output (+) Phase-A pulse output (-) Phase-B pulse output (+) Phase-B pulse output (-) Phase-C pulse output (+) Phase-C pulse output (-) General purpose output 2 (+) General purpose output 2 (-) General purpose output 3 (+) General purpose output 3 (-) Note: General purpose input and output signals are shown with their default signals assigned - signal assignment may have been changed by parameter 249 MECHATROLINK-II Type SERVOPACKs SGDV-¡¡¡¡11/15 Selecting Cables Units: mm (3) C able with Loose Wires at One End for CN1 Dimensional Drawings of Cable Cable with Loose Wires at One End for CN1 1 Connection Diagram of JZSP-CSI02-¡-E Cable SERVOPACK End Connector 10126-6000EL (by Sumitomo 3M Ltd.) 10326-52A0-008 Shell Cable (Ivory) SSRFPVV-SB AWG#28 × 13P UL20276 VW-1SC 14 L (6.3 Dia.) 37.2 3 Dia. Wire Markers 100 +-10 0 SERVOPACK End Host Controller End Lead Marker Pin No. Signal Wire Color 1 /BK+ Blue Marking Color Dots 1 Red Blue Black 1 2 /BK− ALM+ Pink Red 1 4 ALM− Pink Black 1 5 – Green Red 1 6 +24VIN Green Black 1 7 P-OT Orange Red 1 8 N-OT Orange Black 1 3 9 /DEC Gray Red 1 10 /EXT1 Gray Black 1 11 /EXT2 Blue Red 2 12 /EXT3 Blue Black 2 Red 2 Red 2 Black 2 Black 2 13 14 15 16 Pink /SI0 BAT㧔+㧕 Green BAT㧔−㧕 Green SG Pink Model Cable Length 17 Red 2 1m PAO Orange JZSP-CSI02-1-E 18 /PAO Orange Black 2 JZSP-CSI02-2-E 2m 19 PBO Gray Red 2 JZSP-CSI02-3-E 3m 20 /PBO Gray Black 2 21 PCO Blue Red 3 22 /PCO Blue Black 3 Pink Red 3 Pink Black 3 Green Red 3 Green Black 3 23 24 25 26 /SO2+ /SO2− /SO3+ /SO3− 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 㧦 Represents twisted-pair wires. (4) Digital Operator (Model: JUSP-OP05A-1-E) 2-M3 Screws, Depth 5 (For mounting digital operator) 70 ＴＧＯＮ ∙ Dimensional Drawings ＣＨＡＲＧＥ REF (29.5) ＤＡＴＡ WRITE SERVO (12.7) 3Ｍ 10314 READ ＭＯＤＥ／ＳＥＴ (35) 300 +−030 (4.3 Dia) ＳＣＲＯＬＬ ＪＯＧ SVON Nameplate 111 ALARM ＲＥＳＥＴ 120 (39) YASKAWA (8) JZSP-CVS05-A3-E SERVO DIGITAL OPERATOR ＪＵＳＰ−ＯＰ０５Ａ−１−Ｅ 17.8 57 1000 +030 Connector: HDR-E14MAG1+(Honda Tsushin Kogyo Co., Ltd.) Case: HDR-E14LPA5(Honda Tsushin Kogyo Co., Ltd.) Connector (14-pole)： 10214-6202PL (Sumitomo 3M Ltd.) Cover： FA458036 (Yasco Components Co., Ltd.) Connector (14-pole)： HDR-E14MAG1+ (Honda Tsushin Kogyo Co., Ltd.) Cover： HDR-E14LPA5 (Honda Tsushin Kogyo Co., Ltd.) MECHATROLINK-II Type SERVOPACKs ＣＯＩＮ ＶＣＭＰ (21) ＳＶＯＮ (5) Digital Operator Converter Cable for CN3 (Model: JZSP-CVS05-A3-E) A converter cable is required to use series digital operators (model: JUSP-OP05A) for series SERVOPACKs. 250 Selecting Cables Units: mm (6) Cable for Analog Monitor for CN5 (Model: JZSP-CA01-E) ∙ Dimensional Drawings Socket ：DF11-4DS-2C* Contact ：DF11-2428SCF* 1000 Black Black 3 1 +20 -0 4 2 White Red * : Manufactured by Hirose Electric Corporation. View from Cable End ∙ Specifications Pin No. Cable Color Signal 1 Red Analog Monitor 2 Motor speed : 1V/1000 min-1 Standard Settings 2 White Analog Monitor 1 Torque reference : 1V/100% rated torque 3, 4 Black (2 cables) GND(0V) − Note : The specifications above are factory settings. Monitor specifications can be changed by changing parameters Pn006 and Pn007. (7) MECHATROLINK-II Communications Cable for CN6 (Model: JEPMC-W6002-¡¡-E) ∙ Dimensional Drawings Cable with Connectors at Both Ends Cable with Ferrite Core L L Model Cable Length(L) Model Cable Length (L) JEPMC-W6002-A5-E 0.5 m JEPMC-W6003-A5-E 0.5 m JEPMC-W6002-01-E 1.0 m JEPMC-W6003-01-E 1.0 m JEPMC-W6002-03-E 3.0 m JEPMC-W6003-03-E 3.0 m JEPMC-W6002-05-E 5.0 m JEPMC-W6003-05-E 5.0 m JEPMC-W6002-10-E 10.0 m JEPMC-W6003-10-E 10.0 m JEPMC-W6002-20-E 20.0 m JEPMC-W6003-20-E 20.0 m JEPMC-W6002-30-E 30.0 m JEPMC-W6003-30-E 30.0 m JEPMC-W6002-40-E 40.0 m JEPMC-W6003-40-E 40.0 m JEPMC-W6002-50-E 50.0 m JEPMC-W6003-50-E 50.0 m se a MECHATROLINK-II communications cable specified by Yaskawa. When using other cables, noise resistance IMPORTANT U may be reduced, and operation cannot be guaranteed. (8) MECHATROLINK-II Terminator for CN6 (Model : JEPMC-W6022-E) ∙ Dimensional Drawings 21 (8) 46 251 MECHATROLINK-II Type SERVOPACKs SGDV-¡¡¡¡11/15 Selecting Cables Units: mm (9) Connection Cable for Personal Computer for CN7 (Model: JZSP-CVS06-02-E) ∙ Dimensional Drawings 2,500 +−100 0 10 to 20 JZSP-CVS06-02-E (100) (55) se a cable specified by Yaskawa. IMPORTANT U When using other cables, operation cannot be guaranteed. (10) Cable with Connector for CN8 (Model: JZSP-CVH03-03-E) ∙ Specifications 3000 +150 (33) (20) (8) (11) Connector Kit：2013595-1 (Tyco Electronics AMP K.K.) Pin No. Signal Lead Color 1 Not used − Marking Color − 2 Not used − − 3 /HWBB1− White Black 4 /HWBB1+ White Red 5 /HWBB2− Gray Black 6 /HWBB2+ Gray Red 7 EDM1− Orange Black 8 EDM1+ Orange Red MECHATROLINK-II Type SERVOPACKs ∙ Dimensional Drawings 252 MECHATROLINK-III Communications Reference Type SERVOPACKs SGDV-¡¡¡¡21 (For Rotary Servomotors) SGDV-¡¡¡¡25 (For Linear Servomotors) Model Designations SGDV - R70 A 01 B 002000 Options Code v Series SGDV SERVOPACK Specifications 002000 Base-mounted, varbish(standard) 008000 Single-phase, 200VAC Input (model: SGDV-120A01A008000) Cooling Method Code Fan-Cooling B Fanless Cooling Voltage Interface Code Specifications F 100 VAC A 200 VAC D 400 VAC Current Code 253 100 V (Single Phase) Applicable Servomotor Max. Capacity kW Code Specifications A 200 V (Three Phase) Applicable Servomotor Max. Capacity kW Code Specifications 21 MECHATROLINK-III communications Reference Type (for rotary servomotors) 25 MECHATROLINK-III communications Reference Type (for linear servomotors) Code 400 V (Three Phase) Applicable Servomotor Max. Capacity kW R70 0.05 R70* 0.05 1R9 0.5 R90 0.1 R90* 0.1 3R5 1.0 2R1 0.2 1R6* 0.2 5R4 1.5 2R8 0.4 2R8* 0.4 8R4 2.0 3R8 0.5 120 3.0 5R5* 0.75 170 5.0 7R6 1.0 210 6.0 120** 1.5 260 7.5 180 2.0 280 11 200 3.0 370 15 330 5.0 NOTE: Shaded items are non-stock. 470 6.0 550 7.5 590 11 780 15 * These amplifiers can be powered with single or three-phase. ** SGDV-120A¡1A008000, a special version of the 1.5kW amplifier can be used for single-phase operation. Features 1Real-time communications MECHATROLINK-III communications enable high-speed control for 62 stations at a transmission speed of 100 Mbps in a transmission cycle from 125 μ s to 4 ms (user setting). Such a high transmission speed allows real-time transmission of various data required for control. 1Cost savings The 62 stations can be connected to a single MECHATROLINK-III transmission line, so wiring costs and time are greatly reduced. Also, only one signal connector is required on the host controller. And, the all-digital network eliminates the need for conversion from digital to analog for speed/torque references and for a pulse generator to generate position references. 1High-precision motion control The SGDV SERVOPACK when connected to the host controller in the MECHATROLINK-III network provides not only torque, position, and speed control but also synchronized phase control that requires advanced control technology. The control mode can be changed online so that the machine can move smoothly in complex motions with great efficiency. Ratings Single-phase 100 V SERVOPACK Model: SGDV-¡¡¡¡ R70F R90F 2R1F 2R8F kW 0.05 0.1 0.2 0.4 Continuous Output Current Arms 0.66 0.91 2.1 2.8 Max. Output Current Arms 2.1 2.9 6.5 9.3 Applicable Servomotor Max. Capacity Main Circuit Single-phase 100 to 115 VAC+10% to -15% 50/60 Hz Control Circuit Single-phase 100 to 115 VAC+10% to -15% 50/60 Hz Three-phase 200 V SERVOPACK Model: SGDV-¡¡¡¡ 120A 180A 200A 330A 470A 550A 590A kW R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5 2.0 3.0 5.0 6 7.5 11 15 Continuous Output Current Arms 0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6 32.9 46.9 54.7 58.6 78 Max. Output Current Arms 2.1 2.9 5.8 9.3 11 16.9 17 28 42 56 84 110 130 140 170 Applicable Servomotor Max. Capacity Main Circuit Three-phase 200 to 230 VAC+10% to -15% 50/60 Hz Control Circuit Single-phase 200 to 230 VAC+10% to -15% 50/60 Hz 780A Three-phase 400 V 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D kW 0.5 1.0 1.5 2.0 3.0 5.0 6 7.5 11 15 Continuous Output Current Arms 1.9 3.5 5.4 8.4 11.9 16.5 20.8 25.4 28.1 37.2 Max. Output Current Arms 5.5 8.5 14 20 28 42 55 65 70 85 Applicable Servomotor Max. Capacity Three-phase 380 to 480 VAC+10% to -15% 50/60 Hz Main Circuit 24 VDC ±15% Control Circuit 10000 10000 1000 1000 1000 100 10 SGMJV 100 10 SGMAV-02, 04, 06, 08， SGMPS 10 SGMAV-A5, 01, C2 1 100 200 300 350 Torque reference(percent of rated torque) (%) 1 100 200 300 Torque reference(percent of rated torque) (%) Detecting time (s) 10000 Detecting time (s) Detecting time (s) 1SERVOPACK Overload Characteristics SGMGV-03A, -05A, -09A, -13A，-20A, -30A, -1AA, -1EA SGMGV-□□D SGMSV-□□□ 100 10 SGMGV-44A, -55A, -75A 1 Rated Approx. torque Rated torque + Max. torque 2 370D MECHATROLINK-III Type SERVOPACKs SERVOPACK Model: SGDV-¡¡¡¡ Max. torque Note: Overload characteristics shown above do not guarantee continuous duty of 100% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics. 254 Specifications Items Specifications Control Method IGBT PWM control, sine-wave driven Serial encoder: 13-bit (incremental encoder) Feedback Rotary Servomotors : 17-bit (incremental/absolute encoder) : 20-bit (incremental/absolute encoder) With Linear Servomotors Operating Conditions Surrounding Air/Storage Temperature Surrounding air temperature: 0 to + 55˚C, Storage temperature: - 20 to + 85˚C Ambient/Storage Humidity 90%RH or less (no condensation) Vibration/Shock Resistance Vibration resistance: 4.9 m/s2, Shock resistance: 19.6 m/s2 Protection Class/Pollution Degree Protection class: IP10, pollution degree: 2 Do not use SERVOPACKs in the following locations: • Locations subject to corrosive or flammable gasses • Locations subject to exposure to water, oil, or chemicals • Locations subject to dust, including iron dust, and salts Others Do not use SERVOPACKs in the following locations: • Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity Altitude 1000 m or less Applicable Standards (Pending) UL508C EN50178, EN55011/A2 group1 classA, EN61000-6-2, EN61800-3, EN61800-51, EN954-1, IEC61508-1 to 4 Configuration Standard: Base-mounted Optional: Rack-mounted, Duct-ventilated 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.) Speed Control Range Performance Communications Speed Regulation*1 ± 0.01% max. (at rated speed) ± 10% : 0% (at rated speed) Load Fluctuation 0% to 100% load: Voltage Fluctuation Rated voltage : Temperature Fluctuation 25 ± 25˚C : ± 0.1% max. (at rated speed) Torque Control Tolerance (Repeatability) ± 1% Soft Start Time Setting 0 to 10 s (can be set individually for acceleration and deceleration.) RS-422A Communications USB Communications Interface Digital operator (JUSP-OP05A-1-E), personal computer (can be connected with SigmaWin+) 1:N communications RS-422A port: N= 15 max. available Axis address setting Set by parameters Interface Personal computer (can be connected with SigmaWin+.) Communications Standard Compliant with USB1.1 standard (12 Mbps) Display CHARGE indicator Number of points: 2 Output voltage: ± 10 VDC (linearity effective range Resolution: 16 bit Accuracy: ± 20 mV (Typ) Max. output current: ± 10 mA Settling time ( ± 1%): 1.2 ms (Typ) Analog Monitor ± 8 V) Dynamic Brake (DB) Activated when a servo alarm or overtravelling (OT) occurs, or when the power supply for the main circuit or servomotor is OFF. Protective Functions Overcurrent, Overvoltage, low voltage, overload, regeneration error, etc. Utility Functions Gain adjustment, alarm history, JOG operation, origin search, etc. Regenerative Processing 100 VAC model: External regenerative resistor (optional) 200 VAC SGDV-R70A, -R90A, -1R6A, -2R8A: External regenerative resistor (optional) 200 VAC SGDV-470A, -550A, -590A, -780A: External regenerative resistor unit (optional) 200 VAC models other than shown above: Built-in regenerative resistor 400 VAC SGDV-210D, -260D, -280D, -370D: External regenerative resistor unit (optional) 400 VAC models other than shown above: Built-in regenerative resistor Overtravelling (OT) Prevention Dynamic brake stop at P-OT or N-OT, deceleration to a stop, or free run to a stop Input Safety Functions Option Module 255 Serial converter unit or linear scale /HWBB1, /HWBB2: Baseblock signal for power module Output EDM1: Status monitor (fixed output) of built-in safety circuit Applicable Standards (Pending)*2 EN954 category 3, IEC61508 SIL2 Fully-closed option module *1: Speed regulation is defined as follows: No-load motor speed - Total load motor speed Speed regulation = × 100% Rated motor speed The motor speed may change due to voltage fluctuation or temperature fluctuation. The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature fluctuations. *2: Perform risk assessment for the system and confirm that the safety requirements for the standards are fulfilled before using the HWBB function. MECHATROLINK-III Type SERVOPACKs SGDV-¡¡¡¡21/25 Specifications 1Rotary Servomotors Items Specifications Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. Encoder Output Pulses Fixed Input Sequence Input SEN signal Number of Channels 7 channels Function Signal allocations and positive/negative logics can be modified. Homing deceleration switch signal (/DEC), external latch signal (/EXT1 to 3), forward run prohibited (P-OT), reverse run prohibited (N-OT), forward current limit (/P-CL), reverse current limit (/N-CL) Input Signals which can be allocated I/O Signal Fixed Output Sequence Output Panel Operator MECHATROLINK Communications Servo alarm (ALM) Number of Channels 3 channels can be allocated Function Signal allocations and positive/negative logics can be modified. Positioning completion (/COIN), speed coincidence detection (/V-CMP), servomotor rotation detection (/TGON), servo ready (/S-RDY), torque limit detection (/CLT), speed limit detection (/VLT), brake (/BK), warning (/WARN), NEAR (/NEAR) Display 7-segment 1-digit LED (red), LED for MECHATROLINK Communications (green)×3 Output Signals which Switch Rotary switch: 16 positions×2, DIP switch: 4 poles Communications Protocol MECHATROLINK-III Transmission Speed 100 Mbps Transmission Cycle 125 μ s, 250 μ s, 500 μ s,750 μ s, 1 ms to 4 ms (increments of 0.5 ms) Number of Words for Link Transmission Can be switched between 16-bytes/station, 32-bytes/station and 48-bytes/station. Station Address 03H to EFH (max. number of slaves: 62) Performance Command Method Command Input Position control, speed control, and torque control through MECHATROLINK communications MECHATROLINK commands (for sequence, motion, data setting/reference, monitor, adjustment, and other commands.) 1Linear Servomotors Items Specifications Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. Fixed Input Sequence Input Fixed Output Sequence Output Panel Operator MECHATROLINK Communications 7 channels Function Signal allocations and positive/negative logics can be modified. Homing deceleration switch signal (/DEC), external latch signal (/EXT1 to 3), forward run prohibited (P-OT), reverse run prohibited (N-OT), forward current limit (/P-CL), reverse current limit (/N-CL) Input Signals which can be allocated I/O Signal SEN signal Number of Channels Servo alarm (ALM) Number of Channels 3 channels can be allocated Function Signal allocations and positive/negative logics can be modified. Positioning completion (/COIN), speed coincidence detection (/V-CMP), servomotor movement detection (/TGON), servo ready (/S-RDY), force limit detection (/CLT), speed limit detection (/VLT), brake (/BK), warning (/WARN), NEAR (/NEAR) Display 7-segment 1-digit LED (red), LED for MECHATROLINK Communications (green)×3 Output Signals which Switch Rotary switch: 16 positions×2, DIP switch: 4 poles Communications Protocol MECHATROLINK-III Transmission Speed 100 Mbps Transmission Cycle 125 μ s, 250 μ s, 500 μ s,750 μ s, 1 ms to 4 ms (increments of 0.5 ms) Number of Words for Link Transmission Can be switched between 16-bytes/station, 32-bytes/station and 48-bytes/station. Station Address 03H to EFH (max. number of slaves: 62) Performance Command Method Command Input MECHATROLINK-III Type SERVOPACKs Encoder Output Pulses Position control, speed control, and force control through MECHATROLINK communications MECHATROLINK commands (for sequence, motion, data setting/reference, monitor, adjustment, and other commands.) 256 Power Supply Capacities and Power Losses The following table shows SERVOPACK's power supply capacities and power losses at the rated output. Main Circuit Power Supply Applicable Servomotor Max. Capacity Regenerative SERVOPACK Model SGDV- kW Power Supply Capacity Output Current Main Circuit Power Loss kVA Arms W Resistor Power Loss Control Circuit Power Loss Total Power Loss W W W 0.05 R70F 0.2 0.66 5.4 Signal-phase 0.1 R90F 0.3 0.91 7.8 22.4 100 V 0.2 2R1F 0.7 2.1 14.4 0.4 2R8F 1.4 2.8 25.6 42.6 0.05 R70A 0.2 0.66 5.2 22.2 — 0.1 R90A 0.3 0.91 7.4 Single-phase 0.2 1R6A 0.7 1.6 13.7 200 V 0.4 2R8A 1.2 2.8 24.9 0.75 5R5A 1.9 52.7 8 1.5 120A 4 5.5 ) 11.6 68.2 10 0.05 R70A 0.2 0.66 5.1 0.1 R90A 0.3 0.91 7.3 0.2 1R6A 0.6 1.6 13.5 0.4 2R8A 1 2.8 24.0 0.5 3R8A 1.4 3.8 20.1 0.75 5R5A 1.6 5.5 43.8 1.0 7R6A 2.3 7.6 53.6 1.5 120A 3.2 11.6 65.8 2.0 180A 4 18.5 111.9 3.0 200A 5.9 19.6 113.8 5.0 330A 7.5 32.9 263.7 36 6.0 470A 10.7 46.9 279.4 (180)*1 7.5 550A 14.6 54.7 357.8 Three-phase 200 V 11 590A 21.7 58.6 431.7 15 780A 29.6 78 599.0 0.5 1R9D 1.1 1.9 24.6 1.0 3R5D 2.3 3.5 46.1 1.5 5R4D 3.5 5.4 71.3 2.0 8R4D 4.5 8.4 77.9 Three-phase 3.0 120D 7.1 11.9 108.7 400 V 5.0 170D 11.7 16.5 161.1 6.0 210D 12.4 20.8 172.7 7.5 260D 14.4 25.7 218.6 11 280D 21.9 28.1 294.6 15 370D 30.6 37.2 403.8 — 24.8 31.4 24.4 17 30.7 41.9 77.7 22 100.2 22.1 24.3 — 30.5 17 41.0 45.1 8 68.8 78.6 10 16 (350)*2 97.8 22 149.9 161.4 27 33 48 326.7 312.4 390.8 479.7 647.0 59.6 14 21 81.1 106.3 28 25 36 24 (180)*3 27 (350)*4 30 *1: For the optional JUSP-RA04-E regenerative resistor unit. *2: For the optional JUSP-RA05-E regenerative resistor unit. *3: For the optional JUSP-RA18-E regenerative resistor unit *4: For the optional JUSP-RA19-E regenerative resistor unit. Notes: 1 S GDV-R70F, -R90F, -2R1F, -2R8F, -R70A, -R90A, -1R6A, and -2R8A SERVOPACKs do not have built-in regenerative resistors. If the regenerative energy exceeds the specified value, connect an external regenerative resistor (optional). 2 SGDV-470A, -550A, -590A, -780A, -210D, -260D, -280D, -370D SERVOPACKs do not have built-in regenerative resistors. Be sure to connect a regenerative resistor unit (optional) or an external regenerative resistor (optional). . 3R egenerative resistor power losses are allowable losses. Take the following action if this value is exceeded. • Remove the lead or short bar that is short-circuiting the SERVOPACK main circuit terminal B2 and B3. (SGDV-3R8A, -5R5A, -7R6A, -120A, -180A, -200A, -330A, or 400-V class SERVOPACKs.) • Install an external regenerative resistor (optional). 257 17 130.9 161.7 221.1 199.7 245.6 324.6 433.8 MECHATROLINK-III Type SERVOPACKs SGDV-¡¡¡¡21/25 External Dimensions Units: mm 1Base-mounted SERVOPACKs (1) Single-phase 100 VAC, Model: SGDV-R70F2¡A, -R90F2¡A, and -2R1F2¡A （7） （15） 5 2-M4 Screw Holes （ 12 0˚） 160 160 CN7 CN1 Two Terminals CN8 CN2 Ground Terminal 2-M4 Screws SERVOPACK Rear View （4） 23 （75） 40 150±0.5 (Mounting Pitch) Air Flow Input Voltage Model CN6A CN6B CN3 5 40 170 Air Flow 30±0.5 (Mounting Pitch) Mounting Hole Diagram Approx. Mass: 1.0 kg （7） （4） Cooling Fan Model CN6A CN6B （ 3-M4 Screw Holes 5 Input Voltage 12 0˚） Two Terminals 160 160 CN3 CN7 CN1 Air Flow CN8 CN2 Ground Terminal 2-M4 Screws 150±0.5 (Mounting Pitch) Air Flow （15） (2) Single-phase 100 VAC, Model: SGDV-2R8F2¡A 6 23 （75） 70 SERVOPACK Rear View 180 58±0.5 (Mounting Pitch) 70 Air Flow Mounting Hole Diagram (3) Three-phase 200 VAC, Model: SGDV-R70A2¡B, -R90A2¡B, and -1R6A2¡B 5 2-M4 Screw Holes （ 12 0˚） CN3 Two Terminals CN1 160 160 CN7 CN8 CN2 Ground Terminal 2-M4 Screws （25） 23 40 （75） （4） 140 150±0.5 (Mounting Pitch) CN6A CN6B （7） （15） Input Voltage Model SERVOPACK Rear View MECHATROLINK-III Type SERVOPACKs Approx. Mass: 1.5 kg 35 40 Mounting Hole Diagram Approx. Mass: 0.9 kg 258 External Dimensions Units: mm (4) Three-phase 200 VAC, Model: SGDV-2R8A2¡B 2-M4 Screw Holes 5 （15） （ 12 0˚） CN1 Two Terminals 160 160 CN7 CN8 CN2 Ground Terminal 2-M4 Screws （25） 23 SERVOPACK Rear View （4） （75） 40 150±0.5 (Mounting Pitch) Input Voltage Model CN6A CN6B CN3 （7） 5 170 40 30±0.5 (Mounting Pitch) Mounting Hole Diagram Approx. Mass: 1.0 kg Cooling Fan （4） （ 12 0˚） CN7 CN1 Air Flow Two Terminals 3-M4 Screw Holes 5 （7） 160 160 Input Voltage Model CN6A CN6B CN3 CN8 CN2 Ground Terminal 2-M4 Screws 150±0.5 (Mounting Pitch) Air Flow （15） (5) Three-phase 200 VAC, Model: SGDV-3R8A2¡A, -5R5A2¡A, and -7R6A2¡A SERVOPACK Rear View （25）23 70 6 （75） 180 58±0.5 (Mounting Pitch) 70 Air Flow Mounting Hole Diagram Approx. Mass: 1.5 kg （7） 4-M4 Screw Holes 5 （ 12 0˚） 160 150±0.5 (Mounting Pitch) Air Flow Input Voltage Model CN6A CN6B CN3 （15） (6) Three-phase 200 VAC, Model: SGDV-120A2¡A 160 CN7 CN1 Two Terminals CN8 CN2 Ground Terminal 2-M4 Screws （25）23 90 Air Flow （75） （4） 180 SERVOPACK Rear View 5 80±0.5 (Mounting Pitch) 90 Mounting Hole Diagram Approx. Mass: 2.4 kg 259 MECHATROLINK-III Type SERVOPACKs SGDV-¡¡¡¡21/25 External Dimensions Units: mm 5 4-M4 Screw Holes 12 180 ） 0˚ 180 （7） （ Model CN6A CN6B CN3 CN7 CN1 CN8 CN2 Ground Terminal 2-M4 Screws （4） 13 （75） 100 SERVOPACK Rear View 170±0.5 (Mounting Pitch) Input Voltage Air Flow （15） (7) Three-phase 200 VAC, Model: SGDV-180A2¡A and -200A2¡A 5 180 Air Flow 90±0.5 (Mounting Pitch) 100 Mounting Hole Diagram Approx. Mass: 2.8 kg Model CN6A CN6B CN3 CN7 （7） 4-M5 Screw Holes 6 Input Voltage （ 12 0˚ ） CN1 250 250 CN8 CN2 238.5±0.5 (Mounting Pitch) Air Flow （15） (8) Three-phase 200 VAC, Model: SGDV-330A2¡A SERVOPACK Rear View Air Flow Ground Terminal 2-M4 Screws 13 Cooling Fan （75） 110 （5） 5 210 100±0.5 (Mounting Pitch) 110 Mounting Hole Diagram （7） 12 0˚） CN1 CN8 CN2 Ground Terminal 2-M4 Screws （25）23 110 Air Flow 4-M4 Screw Holes 5.5 （ （75） （4） 180 149.5±0.5 (Mounting Pitch) Two Terminals Input Voltage Model CN6A CN6B CN3 CN7 160 160 Air Flow （15） (9) Three-phase 400 VAC, Model: SGDV-1R9D2¡A, -3R5D2¡A, and -5R4D2¡A SERVOPACK Rear View 5 100±0.5 (Mounting Pitch) 110 MECHATROLINK-III Type SERVOPACKs Approx. Mass: 4.6 kg Mounting Hole Diagram Approx. Mass: 2.7 kg 260 External Dimensions Units: mm Model CN6A CN6B CN3 CN7 CN1 4-M5 Screw Holes （7） 6 Input Voltage （ 12 0˚） 250 250 CN8 CN2 Ground Terminal 2-M4 Screws SERVOPACK Rear View （ 4） 13 110 238.5±0.5 (Mounting Pitch) Air Flow （15） (10) Three-phase 400 VAC, Model: SGDV-8R4D2¡A and -120D2¡A （75） 5 100±0.5 (Mounting Pitch) 110 180 Air Flow Mounting Hole Diagram Approx. Mass: 3.7 kg 6 250 250 0˚） 13 135 4-M5 Screw Holes SERVOPACK Rear View （7） （12 Air Flow Input Voltage Model CN6A CN6B CN3 CN7 CN1 CN8 CN2 238.5±0.5 (Mounting Pitch) Air Flow （15） (11) Three-phase 400 VAC, Model: SGDV-170D2¡A 5 （75） 125±0.5 (Mounting Pitch) 135 230 Mounting Hole Diagram Approx. Mass: 5.6 kg Connectors for Base-mounted SERVOPACKs Port Model Pin CN1 10226-52A2PL 26 CN2 53984-0671 CN3 HDR-EC14LFDTN-SLE-PLUS 6 14 Manufacturer Sumitomo 3M Ltd. Molex Japan Co., Ltd. Honda Tsushin Kogyo Co., Ltd. CN6A 1981386-1 8 Tyco Electronics AMP K.K. CN6B 1981386-1 8 Tyco Electronics AMP K.K. CN7 MNC23-5K5H00 5 ADVANCED-CONNECTEK INC. CN8 1981080-1 8 Tyco Electronics AMP K.K. Note: The connectors above or their equivalents are used for SERVOPACKs. 261 MECHATROLINK-III Type SERVOPACKs SGDV-¡¡¡¡21/25 Selecting Cables 1 Cables for CN1 SERVOPACKs) CN3 CN5 CN6 CN7 CN8 (MECHATROLINK-III Communications Reference Type Cable for Analog Monitor CN5 MECHATROLINK-3 Communication Cable CN6 Connect to the MECHATROLINK-3 Digital Operator Digital Operator Converter Cable CN3 ＳＶＯＮ ＣＯＩＮ ＶＣＭＰ ＴＧＯＮ REF ＣＨＡＲＧＥ YASKAWA CN7 Connection Cable for Personal Computer ALARM ＲＥＳＥＴ Cable for I/O Signals CN1 CN8 READ ＭＯＤＥ／ＳＥＴ ＤＡＴＡ WRITE SERVO SERVO DIGITAL OPERATOR ＪＵＳＰ−ＯＰ０５Ａ−１−Ｅ LED Indicator for External Device Safety Cable Name Length Connector Kit CN1 Cables for I/O Signals ＳＣＲＯＬＬ ＪＯＧ SVON Connector Terminal Converter Unit Cable with Loose wire at One End Order No. JZSP-CSI9-2-E 0.5 m SBK-U-VBA-A5 1m SBK-U-VBA-01 3m SBK-U-VBA-03 1m JZSP-CSI02-1-E 2m JZSP-CSI02-2-E 3m JZSP-CSI02-3-E Specifications Details Soldered (1) Terminal Block and 0.5 m Connection Cable (2) (3) With Connection Cable (1 m) ＳＶＯＮ Digital Operator JUSP-OP05A-1-E ＣＯＩＮ ＶＣＭＰ ＴＧＯＮ REF ＣＨＡＲＧＥ (4) YASKAWA ALARM ＲＥＳＥＴ ＳＣＲＯＬＬ ＪＯＧ SVON READ ＭＯＤＥ／ＳＥＴ ＤＡＴＡ WRITE SERVO SERVO DIGITAL OPERATOR ＪＵＳＰ−ＯＰ０５Ａ−１−Ｅ CN3 CN6A Connection Cables for Personal Computer CN6B MECHATROLINK-III Communication Cable JZSP-CVS05-A3-E (5) Cable with Connectors at Both Ends 2.5 m JZSP-CVS06-02-E Cables with Connectors at Both Ends (Without Ferrite Core) 0.2 to 50 m JEPMC-W6012-¡¡-E (7) Cables with Connectors at Both Ends (With Ferrite Core)*2 10 to 75 m JEPMC-W6013-¡¡-E (8) Cable with Loose Wire at One End 0.5 to 50 m JEPMC-W6014-¡¡-E (9) CN5 Cables for Analog Monitor CN8 Cables for Safety Functions JZSP-CVS05-A3-E Cables with Connector*3 Connector kit*4 1m JZSP-CA01-E 3m JZSP-CVH03-03-E JZSP-CVS06-02-E SERVOPACK End Contact Tyco Electronics AMP K.K. Product name : Industrial Mini I/O D-shape Type1 Plug Connector Kit Model : 2013595-1 *1 : A converter cable is required to use series digital operators (model: JUSP-OP05A) for series SERVOPACKs. *2 : Currently in pre-release. Will be available soon. *3 : When using the safety function, connect this cable to the safety devices. Even when not using the safety function, use SERVOPACKs with the Safe Jumper Connector (model: JZSP-CVH05-E) connected. *4 : Use the connector kit when you make cables yourself. (6) (10) (11) MECHATROLINK-III Type SERVOPACKs CN7 Cable with Connectors at Both Ends 0.3 m 3Ｍ 10314 Digital Operator Converter Cable*1 262 Selecting Cables Units: mm (1) Connector Kit for CN1 Use the following connector and cable to assemble the cable. The CN1 connector kit includes one case and one connector. Case Dimensional Drawings of Case 12.0 Connector Model Model Qty Model Qty JZSP-CSI9-2-E 10326-52A0-008* 1 set 10126-3000PE* (Soldered) 1 39.0 23.8 31.3 （5.2） Cable Size Specifications Use twisted-pair or twisted-pair shielded wire. AWG24，26，28，30 Cable Finished Diameter 16 dia. max. Dimensional Drawings of Connector Pin No.25 Pin No.14 Pin No.26 Pin No.15 2.54 1.27 5.1 Applicable Wires 12.7 37.2 2.3 Cable 14.0 25.8 * : Manufactured by Sumitomo 3M Ltd. Item 10.0 Connector Kit 19.5 （6.8） （2.9） Pin No.13 12.7 ３Ｍ Pin No.1 Pin No.2 Pin No.12 25.8 9.1 7.5 Pin No.1 Pin No.14 15° 1.27 15.24 21.5 (2) Connector Terminal Converter Unit for CN1 (SBK-U-VBA-xx) SBK-U-VBA-xx Function Chart for SGDV Servo Amplifier Pin No. 1 2 3 4 5 6 7 8 Signal /BK+ (/SO1+) /BK- (/SO1-) ALM+ ALM+24VIN P-OT (/SI1) N-OT (/SI2) 9 /DEC (/SI3) 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 /EXT1 (/SI4) /EXT2 (/SI5) /EXT3 (/SI6) /SI0 BAT (+) BAT (-) SG PAO /PAO PBO /PBO PCO /PCO /SO2+ /SO2/SO3+ /SO3- SGDV Mechatrolink-II type / SGDV Option type Function Brake interlock output (+) (General purpose output 1 (+)) Brake interlock output (-) (General purpose output 1 (-)) Servo alarm output (+) Servo alarm output (-) Control power supply for sequence signal input Forward run prohibited input (General purpose input 1) Reverse run prohibited input (General purpose input 2) Zero-point return deceleration switch input (General purpose input 3) External latch signal 1 input (General purpose input 4) External latch signal 2 input (General purpose input 5) External latch signal 3 input (General purpose input 6) General purpose input 0 Battery (+) input Battery (-) input Signal ground Phase-A pulse output (+) Phase-A pulse output (-) Phase-B pulse output (+) Phase-B pulse output (-) Phase-C pulse output (+) Phase-C pulse output (-) General purpose output 2 (+) General purpose output 2 (-) General purpose output 3 (+) General purpose output 3 (-) Note: General purpose input and output signals are shown with their default signals assigned - signal assignment may have been changed by parameter 263 MECHATROLINK-III Type SERVOPACKs SGDV-¡¡¡¡21/25 Units: mm (3) C able with Loose Wires at One End for CN1 Dimensional Drawings of Cable Cable with Loose Wires at One End for CN1 1 Connection Diagram of JZSP-CSI02-¡-E Cable Host Controller End SERVOPACK End SERVOPACK End Connector 10126-6000EL (by Sumitomo 3M Ltd.) 10326-52A0-008 Shell Cable (Ivory) SSRFPVV-SB AWG#28 × 13P UL20276 VW-1SC 14 L (6.3 Dia.) 37.2 3 Dia. Wire Markers 100 +-10 0 Model Cable Length JZSP-CSI02-1-E 1m JZSP-CSI02-2-E 2m JZSP-CSI02-3-E 3m (4) Digital Operator (Model: JUSP-OP05A-1-E) 2-M3 Screws, Depth 5 (For mounting digital operator) 70 ＣＯＩＮ ＶＣＭＰ ＴＧＯＮ Wire Color /SO1+ Blue /SO1− Blue ALM+ Pink ALM− Pink 5 Green +24VIN Green P-OT Orange N-OT Orange /DEC Gray /EXT1 Gray /EXT2 Blue /EXT3 Blue /S10 Pink BAT（+） Green BAT（−） Green SG Pink PAO Orange /PAO Orange PBO Gray /PBO Gray PCO Blue /PCO Blue /SO2+ Pink /SO2− Pink /SO3+ Green /SO3− Green Marking Dots Color Red 1 Black 1 Red 1 Black 1 Red 1 Black 1 Red 1 Black 1 Red 1 Black 1 Red 2 Black 2 Red 2 Red 2 Black 2 Black 2 Red 2 Black 2 Red 2 Black 2 Red 3 Black 3 Red 3 Black 3 Red 3 Black 3 WRITE SERVO (4.3 Dia) (12.7) (29.5) ＤＡＴＡ (35) 300 +−030 3Ｍ 10314 READ ＭＯＤＥ／ＳＥＴ Nameplate 111 ＳＣＲＯＬＬ ＪＯＧ SVON 120 ALARM ＲＥＳＥＴ 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 ：Represents twisted-pair wires. (5) Digital Operator Converter Cable for CN3 (Model: JZSP-CVS05-A3-E) A converter cable is required to use series digital operators (model: JUSP-OP05A) for series SERVOPACKs. (39) YASKAWA Lead Marker ∙ Dimensional Drawings ＣＨＡＲＧＥ REF 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 Signal (8) JZSP-CVS05-A3-E SERVO DIGITAL OPERATOR ＪＵＳＰ−ＯＰ０５Ａ−１−Ｅ 17.8 57 1000 +030 Connector: HDR-E14MAG1+(Honda Tsushin Kogyo Co., Ltd.) Case: HDR-E14LPA5(Honda Tsushin Kogyo Co., Ltd.) Connector (14-pole)： 10214-6202PL (Sumitomo 3M Ltd.) Cover： FA458036 (Yasco Components Co., Ltd.) Connector (14-pole)： HDR-E14MAG1+ (Honda Tsushin Kogyo Co., Ltd.) Cover： HDR-E14LPA5 (Honda Tsushin Kogyo Co., Ltd.) MECHATROLINK-III Type SERVOPACKs ＳＶＯＮ Pin No. (21) Selecting Cables 264 Selecting Cables Units: mm (6) Connection Cable for Personal Computer for CN7 (Model: JZSP-CVS06-02-E) ∙ Dimensional Drawings 2,500 +−100 0 10 to 20 JZSP-CVS06-02-E (100) (55) se a cable specified by Yaskawa. IMPORTANT U When using other cables, operation cannot be guaranteed. (7) MECHATROLINK-III Communications Cable for CN6 (Model: JEPMC-W6012-¡¡-E) (8) MECHATROLINK-III Communications Cable for CN6 (Model: JEPMC-W6013-¡¡-E) ∙ Dimensional Drawings ∙ Dimensional Drawings Cables with Connectors at Both Ends (Without Ferrite Core) Cables with Connectors at Both Ends (With Ferrite Core) L L Model Cable Length (L) Model Cable Length (L) JEPMC-W6012-A2-E 0.2 m JEPMC-W6013-10-E 10 m JEPMC-W6012-A5-E 0.5 m JEPMC-W6013-20-E 20 m JEPMC-W6012-01-E 1m JEPMC-W6013-30-E 30 m JEPMC-W6012-02-E 2m JEPMC-W6013-50-E 50 m JEPMC-W6012-03-E 3m JEPMC-W6013-75-E 75 m JEPMC-W6012-04-E 4m JEPMC-W6012-05-E 5m JEPMC-W6012-10-E 10 m JEPMC-W6012-20-E 20 m JEPMC-W6012-30-E 30 m JEPMC-W6012-50-E 50 m (9) MECHATROLINK-III Communications Cable for CN6 (Model: JEPMC-W6014-¡¡-E) ∙ Dimensional Drawings Cable with Loose Wire at One End L Model Cable Length (L) JEPMC-W6014-A5-E 0.5 m JEPMC-W6014-01-E 1m JEPMC-W6014-03-E 3m JEPMC-W6014-05-E 5m JEPMC-W6014-10-E 10 m JEPMC-W6014-30-E 30 m JEPMC-W6014-50-E 50 m se a MECHATROLINK-III communications cable specified by Yaskawa. When using other cables, noise resistance IMPORTANT U may be reduced, and operation cannot be guaranteed. 265 Selecting Cables Units: mm (10) Cable for Analog Monitor for CN5 (Model: JZSP-CA01-E) ∙ Dimensional Drawings Socket ：DF11-4DS-2C* Contact ：DF11-2428SCF* 1000 Black Black 3 1 +20 -0 4 2 White Red * : Manufactured by Hirose Electric Corporation. View from Cable End ∙ Specifications Pin No. Cable Color Signal 1 Red Analog Monitor 2 Motor speed : 1V/1000 min-1 Standard Settings 2 White Analog Monitor 1 Torque reference : 1V/100％ rated torque 3, 4 Black (2 cables) GND(0V) − Note : The specifications above are factory settings. Monitor specifications can be changed by changing parameters Pn006 and Pn007. (11) Cable with Connector for CN8 (Model: JZSP-CVH03-03-E) ∙ Specifications 3000 +150 (33) (20) (8) (11) Connector Kit：2013595-1 (Tyco Electronics AMP K.K.) Pin No. Signal Lead Color 1 Not used − Marking Color − 2 Not used − − 3 /HWBB1− White Black 4 /HWBB1+ White Red 5 /HWBB2− Gray Black 6 /HWBB2+ Gray Red 7 EDM1− Orange Black 8 EDM1+ Orange Red MECHATROLINK-III Type SERVOPACKs ∙ Dimensional Drawings 266 SERVOPACK with Additional Options Limited Stock Items Model Designations SGDV R70 A 0 1 B 002 00 0 Series SGDV SERVOPACK Option Function Current Voltage 100 V 200 V 400V Code Specifications Fully-closed loop Functional Safety Indexer Indexer and Fully-closed loop R70 0.05 R90 0.1 001 *1 010 *1 100 *2 101 *2 2R1 0.2 2R8 0.4 200 *2 EtherCAT (CoE) communications reference 201 *2 EtherCAT (CoE) communications reference and Fully-closed loop control 210 *2 EtherCAT (CoE) communications reference and Functional Safety 300 *2 MP2600iec Single Axis Controller Code Applicable Servomotor Max. Capacity kW R70*3 0.05 R90*3 0.1 1R6*3 0.2 2R8 0.4 *3 3R8 0.5 5R5*3 0.75 7R6 1.0 120*4 1.5 180 2.0 200 3.0 330 5.0 470 6.0 550 7.5 *1 *2 This option only available with interface types 0 and 1. This option only available with interface type E Options Code Cooling Method Code Specifications A Fan-Cooling B Fanless Cooling Specifications 002000 Base-mounted, varnish(standard) 008000 Single-phase, 200VAC Input (model: SGDV-120A01A008000) 590 11 780 15 1R9 0.5 3R5 1.0 Code 5R4 1.5 1 Rotary Servomotors 8R4 2.0 5*5 Linear Servomotors 120 3.0 170 5.0 210 6.0 260 7.5 Motor Type Specifications *5 Fully Closed Loop option not available with linear style amps. Interface Options 280 11 Voltage 370 15 Code *3: These amplifiers can be powered with single or three-phase. *4 SGDV-120A¡1A008000, a special version of the 1.5kW amplifier can be used for single-phase operation. 267 001 Code Specifications F 100 VAC A 200 VAC D 400 VAC Specifications 0 Analog voltage/pulse train reference type 1 MECHATROLINK-II communication reference type E Other control architecture type (i.e. MP2600iec) SERVOPACKs SERVOPACK with Additional Options Additional Options MP2600iec Single Axis Controller Option IEC61131-3 standardized programming for the Sigma-5 servo • system Scaleable with the MP2000iec multi-axis controller platform via • the common programming environment, MotionWorks IEC Built in Ethernet/IP and Modbus TCP/IP (master and slave) • allow for connection to most PLC’s and expansion I/O PLCopen function blocks with MotionWorks IEC simplify • programming, while a diagnostic web server reduces field maintenance time Optional OPC server allows for data exchange with Windows • based HMI and SCADA systems Full Closed Loop Option Allows the user to close the position loop around a secondary • feedback device placed near the load Helps to eliminate the effects of mechanical compliance and • thermal variances of mechanical components allowing for more precise control and improved machine performance EtherCAT (CoE) Option Implements the EtherCAT open EtherNet based real-time • communication protocol Compatibility with any EtherCAT master that adheres to the • CAN over EtherCAT (CoE) device profile specification (CiA402) Variety of different system architectures: • cascade, line star, ring Seven different control modes available • Indexer Option • Provides point-to-point positioning without complex programming • Up to 256 programmable positioning points • Simple wizard-based setup with SigmaWin+ software Functional Safety Option • TUV Sud certified compliance with the latest standards • Safety standards: Safe Torque Off (STO), Safe Stop 1 (SS1), Safe Stop 2 (SS2), Safely Limited Stop (SLS) Product Labeling The three digit option function code allows for expandability of the servo amplifier's functionality. Each digit of the code defines a different type of option 1 First Digit (Control Architecture): c ompatible with various communication interfaces or single-axis control architectures. 1 Second Digit (Safety): compatible with EN60204-1 stop category 1 and 2 (stop category 0 is standard) 1 Third Digit (Feedback): compatible with fully-closed loop control NOTE: Amplifiers with Interface Options 0 and 1 can accommodate option modules that utilize the 2nd and 3rd digits of the Option Module Code (the first digit will always be 0 for these amplifiers). Amplifiers with Interface Option E can accommodate option modules that utilize all 3 digits of the Option Module Code. Combination Example: Model (20 digits) : SGDV¡¡¡¡E¡A000000201 (CoE) Model : SGDV- OCA01A Nameplate for SERVOPACK Model : SGDV- ¡¡¡¡E¡A Nameplate for Option Module for Fully - closed Loop Control (Refer to Model Designations provided in the SERVOPACK pages for details. ) Model : SGDV- OFA01A (This model number is shown on the nameplate for option module for fully - closed loop control ) SERVOPACKs with Additional Options Nameplate for SERVOPACK with Option Module 268 Ratings Single-phase 100 V Single-phase 200 V SERVOPACK Model SGDV¡¡¡¡ R70F R90F 2R1F 2R8F SERVOPACK Model SGDV¡¡¡¡ R70A R90A 1R6A 2R8A 5R5A Applicable Servomotor Max. Capacity kW 0.05 0.1 0.2 0.4 Applicable Servomotor Max. Capacity kW 0.05 0.1 0.2 0.4 0.75 120 1.5 Continuous Output Current Arms 0.66 0.91 2.1 2.8 Continuous Output Current Arms 0.66 0.91 1.6 2.8 5.5 11.6 Max. Output Current Arms 2.1 2.9 6.5 9.3 Max. Output Current Arms 2.1 2.9 6.5 9.3 16.9 28 Main Circuit (Single Phase) 100 to 115 VAC +10% to -15% 50/60 Hz Main Circuit (Single Phase) 220 to 230 VAC +10% to -15% 50/60 Hz Control Circuit (Single Phase) 100 to 115 VAC +10% to -15% 50/60 Hz Control Circuit (Single Phase) 220 to 230 VAC +10% to -15% 50/60 Hz Three-phase 200 V SERVOPACK Model SGDV¡¡¡¡ 120A 180A 200A 330A 470A 550A 590A 780A kW 0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5 2.0 3.0 5.0 6 7.5 11 15 Continuous Output Current Arms 0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6 32.9 46.9 54.7 58.6 78 Max. Output Current Arms 2.1 2.9 6.5 9.3 11 16.9 17 28 42 56 84 110 130 140 170 Applicable Servomotor Max. Capacity R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A Main Circuit Three-phase 200 to 230 VAC +10% to -15% 50/60 Hz Control Circuit Single-phase 200 to 230 VAC +10% to -15% 50/60 Hz Three-phase 400 V SERVOPACK Model SGDV¡¡¡¡ 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D kW 0.5 1.0 1.5 2.0 3.0 5.0 6 7.5 11 15 Continuous Output Current Arms 1.9 3.5 5.4 8.4 11.9 16.5 20.8 25.4 28.1 37.2 Max. Output Current Arms 5.5 8.5 14 20 28 42 55 65 70 85 Applicable Servomotor Max. Capacity 370D Three-phase 380 to 480 VAC +10% to -15% 50/60 Hz Main Circuit 24 VDC ±15% Control Circuit 1SERVOPACK Overload Characteristics 1000 1000 1000 100 SGMJV 10 100 Detecting time (s) 10000 Detecting time (s) 10000 Detecting time (s) 10000 SGMAV-02, 04, 06, 08㧘 10 SGMPS 10 100 10 SGMAV- A5, 01, C2 1 100 200 300 350 Torque reference (percent of rated torque ) 1 100 200 300 Torque reference (percent of rated torque ) SGMGV-03A, -05A, -09A, -13A㧘-20A, -30A, -1AA, -1EA SGMGV- ¡¡D SGMSV- ¡¡¡ SGMGV-44A, -55A, ޓޓޓޓ-75A 1 Rated torque Approx. Rated torque + Max. torque 2 Max. torque Note : Overload c harac t erist ic s show n ab ove d o not guarant ee c ont inuous d ut y of 100% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque- Motor Speed Characteristics. Specifications Items Specifications Control Method IGBT PWM control, sine-wave driven Serial encoder: 13-bit (incremental encoder) Feedback Operating Conditions 269 Rotary Servomotors : 17-bit (incremental/absolute encoder) : 20-bit (incremental/absolute encoder) Linear Servomotors *1 Serial converter or serial data Surrounding/Storage Temperature Surrounding temperature: 0 to +55˚C, storage temperature: - 20 to +85˚C Ambient/Storage Humidity 90%RH or less (no condensation) Vibration/Shock Resistance Vibration resistance: 4.9 m/s2, Shock resistance: 19.8 m/s2 Protection class/Pollution degree Protection class: IP 1X, pollution degree: 2 Do not use SERVOPACKs in the following locations: ∙Locations subject to corrosive or flammable gases ∙Locations subject to exposure to water, oil, or chemicals ∙Locations subject to dust, including iron dust, and salts Others Do not use SERVOPACKs in the following locations: ∙Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity Elevation 1000 m or less SERVOPACKs SERVOPACK with Additional Options Specifications Items Specifications Compliant Standards UL508C EN50178, EN55011/A2 group1 classA, EN61000-6-2, EN61800-3, EN61800-5-1, EN954-1, IEC61508-1 to 4 Standard: Base-mounted; Optional: Rack-mounted, Duct-ventilated Speed Control Range Performance Speed Regulation*2 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.) ± 0.01% max. (at rated speed) ± 10% : 0% (at rated speed) Load Regulation 0% to 100% load: Voltage Regulation Rated voltage : Temperature Regulation 25 ± 25˚C : ± 0.1% max. (at rated speed) Torque Control Tolerance (Repeatability) ± 1% Encoder Output Pulses Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. Sequence Input I/O Signals Sequence Output RS-422A Communications Communications USB Communications No. of Channels 7 channels Input Signals which can be allocated Functions The signal allocation and positive/negative logic can be modified. Forward run prohibited (P-OT), reverse run prohibited (N-OT), forward torque limit (/P-CL), reverse torque limit (/N-CL), general-purpose input signal (/SI0 to /SI6)*3 Fixed Output Servo alarm (ALM) No. of Channels 3 channels Output Signals which can be allocated Functions The signal allocation and positive/negative logic can be modified. Positioning completion (/COIN), speed coincidence detection(/V-CMP), servomotor rotation detection (/TGON), servo ready(/S-RDY), torque limit detection (/CLT), speed limit detection(/VLT), brake (/BK), warning (/WARN), near (/NEAR) Interface Digital operator, RS-422A port of personal computers etc. 1:N communications RS-422A port: N= 15 max. available Axis address setting Set by parameters Interface Personal computers (application: engineering tool SigmaWin+ ) Communications Standard Compliant with USB 1.1 standard (12 Mbps) Display CHARGE and POWER (seven-segment display) Analog Monitor Number of points: 2 Output voltage: ±10 VDC (linearity effective range ±8 V) Resolution: 16 bit Accuracy: ±20 mV (Typ) Max. output current: ±10 mA Settling time (±1%): 1.2 ms (Typ) Dynamic Brake (DB) Activated when the power supply for the main circuit or the SERVOPACK is OFF, when overtravel (OT) or a servo alarm occurs, or during a hardwired base block. Regenerative Processing 100 VAC model: External regenerative resistor (optional) 200 VAC SGDV-R70A, -R90A, -1R6A, -2R8A: External regenerative resistor (optional) 200 VAC SGDV-470A, -550A, -590A, -780A: External regenerative resistor unit (optional) 200 VAC models other than shown above: Built-in regenerative resistor 400 VAC SGDV-210D, -260D, -280D, -370D: External regenerative resistor unit (optional) 400 VAC models other than shown above: Built-in regenerative resistor Overtravell (OT) Prevention Dynamic brake stop at P-OT or N-OT, deceleration to a stop, or free run to a stop Protective Functions Overcurrent, Overvoltage, low voltage, overload, regeneration error Utility Functions Safety Functions Option Modules Gain adjustment, alarm history, JOG operation, origin search, etc. Input /HWBB1, /HWBB2: Baseblock signal for power module Output EDM1: Status monitor (fixed output) of built-in safety circuit Fully-closed option module, EtherCAT (CoE) *1: Under development *2: Speed regulation is defined as follows: No-load motor speed - Total load motor speed × 100% Speed regulation = Rated motor speed The motor speed may change due to voltage variations or temperature variation. The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature variations. *3: For details on the functions of the general-purpose input signals /SI0 to /SI6, refer to the manual of the command (option) module being used. SERVOPACKs with Additional Options Configuration 270 Power Supply Capacities and Power Losses The following table shows SERVOPACK's power supply capacities and power losses at the rated output. Main Circuit Power Supply Applicable Servomotor Max. Capacity Regenerative SERVOPACK Model SGDV kW Power Supply Capacity Output Current Main Circuit Power Loss kVA A W Resistor Power Loss Control Circuit Power Loss Total Power Loss W W W 0.05 R70F 0.2 0.66 5.4 Signal-phase 0.1 R90F 0.3 0.91 7.8 100 V 0.2 2R1F 0.7 2.1 14.4 0.4 2R8F 1.4 2.8 25.6 42.6 0.05 R70A 0.2 0.66 5.2 22.2 — 0.1 R90A 0.3 0.91 7.4 Single-phase 0.2 1R6A 0.7 1.6 13.7 200 V 0.4 2R8A 1.2 2.8 24.9 0.75 5R5A 1.9 5.5 52.7 8 1.5 120A 4 11.6 68.2 10 0.05 R70A 0.2 0.66 5.1 0.1 R90A 0.3 0.91 7.3 0.2 1R6A 0.6 1.6 13.5 0.4 2R8A 1 2.8 24.0 0.5 3R8A 1.4 3.8 20.1 0.75 5R5A 1.6 5.5 43.8 1.0 7R6A 2.3 7.6 53.6 1.5 120A 3.2 11.6 65.8 2.0 180A 4 18.5 111.9 3.0 200A 5.9 19.6 113.8 5.0 330A 7.5 32.9 263.7 36 6.0 470A 10.7 46.9 279.4 (180)*1 7.5 550A 14.6 54.7 357.8 Three-phase 200 V 11 590A 21.7 58.6 431.7 15 780A 29.6 78 599.0 0.5 1R9D 1.1 1.9 24.6 1.0 3R5D 2.3 3.5 46.1 1.5 5R4D 3.5 5.4 71.3 2.0 8R4D 4.5 8.4 77.9 Three-phase 3.0 120D 7.1 11.9 108.7 400 V 5.0 170D 11.7 16.5 161.1 6.0 210D 12.4 20.8 172.7 7.5 260D 14.4 25.7 218.6 11 280D 21.9 28.1 294.6 15 370D 30.6 37.2 403.8 *1: For the optional JUSP-RA04-E regenerative resistor unit. *2: For the optional JUSP-RA05-E regenerative resistor unit. *3: For the optional JUSP-RA18-E regenerative resistor unit. *4: For the optional JUSP-RA19-E regenerative resistor unit. Notes: 1 SGDVR70F, R90F, 2R1F, 2R8F, R70A, R90A, 1R6A, and 2R8A SERVOPACKs do not have built-in regenerative resistors. If the regenerative energy exceeds the specified value, connect an external regenerative resistor (optional). 2 SGDV470A, 550A, 590A, 780A, 210D, 260D, 280D, 370D SERVOPACKs do not have built-in regenerative resistors. Be sure to connect a regenerative resistor unit (optional) or an external regenerative resistor (optional). 3 Regenerative resistor power losses are allowable losses. Take the following action if this value is exceeded. ∙ Remove the lead or short bar that is short-circuiting the SERVOPACK main circuit terminal B2 and B3. (SGDV3R8A, 5R5A, 7R6A, 120A, 180A, 200A, 330A, or 400 V class SERVOPACKs.) ∙ Install an external regenerative resistor (optional). 271 22.4 — 17 24.8 31.4 24.4 17 30.7 41.9 77.7 22 100.2 22.1 24.3 — 30.5 17 41.0 45.1 8 68.8 78.6 10 16 (350)*2 97.8 22 149.9 161.4 27 33 48 326.7 312.4 390.8 479.7 647.0 59.6 14 21 81.1 106.3 28 25 36 24 (180)*3 27 (350)*4 30 130.9 161.7 221.1 199.7 245.6 324.6 433.8 SERVOPACKs SERVOPACK with Additional Options External Dimensions Units: mm (for Analog Voltage/Pulse Train Reference Type SERVOPACKs) The following drawings illustrate the external dimensions of SERVOPACKs with Interface Options 0 and 1 with option modules. 1Base-mounted SERVOPACKs (1) Single-phase 100 VAC, Model:SGDVR70F0¡A002000¡¡¡, SGDVR90F0¡A002000¡¡¡, and SGDV2R1F0¡A002000¡¡¡ Air Flow (17) 5 (1 2 0˚ ) CN3 160 CN7 160 CN1 Two Terminals CN8 CN2 Ground Terminal 2-M4 Screws SERVOPACK Rear View 5 ( 4) 23 (75) 60 150±0.5 (Mounting Pitch) Model 2-M4 Screw Holes (20) Input Voltage 60 Air Flow 170 2 30±0.5 (Mounting Pitch) Mounting Hole Diagram 97 Approx. Mass: 1.1 kg (2) Single-phase 100 VAC, Model: SGDV2R8F0¡A002000¡¡¡ Cooling Fan 3-M4 Screw Holes ( 4) (1 2 CN1 Two Terminals Air Flow 160 160 CN7 CN8 CN2 Ground Terminal 2-M4 Screws 6 23 (75) 90 Air Flow 180 2 SERVOPACK Rear View 90 58±0.5 (Mounting Pitch) 97 Mounting Hole Diagram Approx. Mass: 1.6 kg SERVOPACKs with Additional Options 0˚ ) CN3 150±0.5 (Mounting Pitch) Model (20) (17) Input Voltage 5 Air Flow 272 External Dimensions Units: mm (for Analog Voltage/Pulse Train Reference Type SERVOPACKs) (3) Three-phase 200 VAC, Model: SGDVR70A0¡B002000¡¡¡, SGDVR90A0¡B002000¡¡¡, and SGDV1R6A0¡B002000¡¡¡ (17) CN3 5 (1 2 0˚ ) CN7 160 160 CN1 Two Terminals CN8 CN2 Ground Terminal 2-M4 Screws (25) 23 60 150±0.5 (Mounting Pitch) Model 2-M4 Screw Holes (20) Input Voltage SERVOPACK Rear View (4) 35 140 (75) 2 60 97 Mounting Hole Diagram Approx. Mass: 1.0 kg (4) Three-phase 200 VAC, Model: SGDV2R8A0¡B002000¡¡¡ (17) CN3 5 (1 2 0˚ ) CN1 Two Terminals 160 160 CN7 CN8 CN2 Ground Terminal 2-M4 Screws 60 (4) (25) 23 (75) 2 170 97 150±0.5 (Mounting Pitch) Model 2-M4 Screw Holes (20) Input Voltage SERVOPACK Rear View 5 60 30±0.5 (Mounting Pitch) Mounting Hole Diagram Approx. Mass: 1.1 kg 273 SERVOPACKs SERVOPACK with Additional Options External Dimensions Units: mm (for Analog Voltage/Pulse Train Reference Type SERVOPACKs) (5) Three-phase 200 VAC, Model: SGDV3R8A0¡A002000¡¡¡, SGDV5R5A0¡A000000¡¡¡, and SGDV7R6A0¡A002000¡¡¡ Air Flow (17) Cooling Fan 3-M4 Screw Holes （4） 5 (20) Input Voltage 0˚ ) CN7 Two Terminals Air Flow CN8 CN2 Ground Terminal 2-M4 Screws 160 160 CN1 SERVOPACK Rear View (25) 23 6 (75) 90 150±0.5 (Mounting Pitch) (1 2 Model CN3 180 2 Air Flow 97 58±0.5 (Mounting Pitch) 90 Mounting Hole Diagram Approx. Mass: 1.6 kg (6) Three-phase 200 VAC, Model: SGDV120A0¡A002000¡¡¡ (17) CN3 5 (1 2 0˚ ) CN7 160 160 CN1 Two Terminals CN8 CN2 Ground Terminal 2-M4 Screws (25) 23 110 Air Flow 4-M4 Screw Holes (4) (75) 180 2 SERVOPACK Rear View 5 80±0.5 (Mounting Pitch) 110 97 Mounting Hole Diagram Approx. Mass: 2.5 kg SERVOPACKs with Additional Options Model 150±0.5 (Mounting Pitch) Input Voltage (20) Air Flow 274 External Dimensions Units: mm (for Analog Voltage/Pulse Train Reference Type SERVOPACKs) (7) Single-phase 200 VAC, Model: SGDV120A0¡A008000¡¡¡ (1.5 kW, single-phase input type) Three-phase 200 VAC, Model: SGDV180A0¡A002000¡¡¡, and SGDV200A0¡A002000¡¡¡ Terminal Details 5 (4) 22 100 (75) 120 SERVOPACK Rear View 180 170±0.5(Mounting Pitch) 160 180 Terminal 13-M4 Screws CN8 CN2 0˚) CN1 4-M4 Screw Holes ( 12 CN3 CN7 Ground Terminal 2-M4 Screws (17) Input Voltage Model (20) Air Flow Air Flow 90±0.5 (Mounting Pitch) 120 5 180 2 97 Mounting Hole Diagram ( 90 ˚) Cooling Fan Approx. Mass: 2.9 kg (30) (17) (1 2 CN3 CN7 Terminal 13-M4 Screws Terminal Details Ground Terminal 2-M4 Screws 250 250 CN8 CN2 0˚ ) 160 CN1 4-M5 Screw Holes 6 Input Voltage Model 238±0.5 (Mounting Pitch) Air Flow (20) (8) Three-phase 200 VAC, Model: SGDV330A0¡A002000¡¡¡ SERVOPACK Rear View Air Flow 22 110 130 Cooling Fan (75) 210 2 97 (5) 5 100±0.5 (Mounting Pitch) 130 Mounting Hole Diagram ) 0˚ ( 10 (33) 275 Approx. Mass: 4.7 kg SERVOPACKs SERVOPACK with Additional Options External Dimensions Units: mm (for Analog Voltage/Pulse Train Reference Type SERVOPACKs) Input Voltage ˚) 20 (1 (17) 4-M6 Screw Holes 7.5 Air Flow (20) (9) Three-phase 200 VAC, Model: SGDV470A0¡A002000¡¡¡, SGDV550A0¡A000000¡¡¡ Model 350 350 CN8 CN2 Terminal 5-M6 Screws 335±0.5(Mounting Pitch) CN7 CN1 160 CN3 Terminal 6-M6 Screws Ground Terminal 2-M6 Screws 22 170 190 25 120±0.5 (Mounting Pitch) 170 210 (75) Air Flow Mounting Hole Diagram Approx. Mass: 1.6 kg Input Voltage ˚) 20 (1 (17) 7.5 Air Flow (20) (10) Three-phase 200 VAC, Model: SGDV590A0¡A002000¡¡¡, SGDV780A0¡A002000¡¡¡ 4-M6 Screw Holes Model Terminal 5-M6 Screws Terminal 6-M6 Screws Ground Terminal 2-M6 Screws 22 170 190 (75) Air Flow 25 210 120±0.5 (Mounting Pitch) 170 Mounting Hole Mass: Diagram Approx. 2.5 kg SERVOPACKs with Additional Options 350 350 CN8 CN2 335±0.5(Mounting Pitch) CN7 CN1 160 CN3 276 External Dimensions Units: mm (for Analog Voltage/Pulse Train Reference Type SERVOPACKs) (11) Three-phase 400 VAC, Model: SGDV1R9D0¡A002000¡¡¡, 3R5D0¡A002000¡¡¡, and 5R4D0¡A002000¡¡¡ (17) (20) Model 160 CN1 0˚) CN8 CN2 Ground Terminal 2-M4 Screws (25) 23 110 5 (4) (75) 130 149.5±0.5 (Mounting Pitch) Two Terminals (12 160 CN3 CN7 160 Nameplate 4-M4 Screw Holes 5.5 Input Voltage Air Flow 110 180 Approx.Hole Mass: 2.7 kg Mounting Diagram Air Flow (12) Three-phase 400 VAC, Model: SGDV8R4D0¡A002000¡¡¡ and 120D0¡A002000¡¡¡, (17) 6 4-M5 Screw Holes 250 CN8 CN2 Ground Terminal 2-M4 Screws 250 CN1 160 CN3 CN7 Nameplate Air Flow 180 (75) 130 100±0.5 (Mounting Pitch) 5 (4) 22 110 238.5±0.5(Mounting Pitch) Model (20) (120 ˚) Input Voltage Air Flow 100±0.5 (Mounting Pitch) 110 Approx. Mass: 3.7 kg Mounting Hole Diagram CN1 Air Flow 250 CN8 CN2 135 155 277 6 160 CN7 5 22 (75) 238.5±0.5(Mounting Pitch) ˚) 20 (1 CN3 4-M5 Screw Holes (17) 250 Air Flow Input Voltage Model (20) (13) Three-phase 400 VAC, Model: SGDV170D0¡A002000¡¡¡ 230 125±0.5 (Mounting Pitch) 135 Approx.Hole Mass: 5.6 kg Mounting Diagram SERVOPACKs SERVOPACK with Additional Options External Dimensions Units: mm (for Analog Voltage/Pulse Train Reference Type SERVOPACKs) 20 (1 ˚) (17) Model 4-M6 Screw Holes 7.5 Input Voltage Air Flow (20) (14) Three-phase 400 VAC, Model: SGDV210D0¡A002000¡¡¡ and 260D0¡A002000¡¡¡ CN3 160 CN1 CN8 350 350 CN2 Terminal 4-M6 Screws Terminal 6-M6 Screws Terminal 2-M4 Screws 25 13 Ground Terminal 2-M6 Screws 230 335±0.5(Mounting Pitch) CN7 (75) 210 180±0.5 (Mounting Pitch) 230 250 Mounting Hole Mass: Diagram Approx. 11.3 kg Air Flow (15) Three-phase 400 VAC, Model: SGDV280D0¡A002000¡¡¡ and 370D0¡A002000¡¡¡ Model 20 (1 ˚) 7.5 Input Voltage (20) Air Flow (17) 4-M6 Screw Holes CN3 CN7 Terminal 6-M6 Screws 230 Terminal 2-M4 Screws Ground Terminal 2-M6 Screws 250 13 (75) 25 250 Air Flow 180±0.5 (Mounting Pitch) 230 Approx. Mass: 16.2 kg Mounting Hole Diagram Connectors for Base-mounted SERVOPACKs Port Model Pin 50 Manufacturer CN1 10250-52A2PL CN2 53984-0671 CN3 HDR-EC14LFDTN-SLE-PLUS CN7 MNC23-5K5H00 5 ADVANCED-CONNECTEK INC. CN8 1981080-1 8 Tyco Electronics AMP K.K. 6 14 Sumitomo 3M Ltd. Molex Japan Co., Ltd. Honda Tsushin Kogyo Co., Ltd. SERVOPACKs with Additional Options Terminal 4-M6 Screws 385±0.5(Mounting Pitch) 400 CN2 400 CN8 160 CN1 Note: The connectors above or their equivalents are used for SERVOPACKs. 278 External Dimensions Units: mm (for MECHATROLINK-II Communications Reference Type SERVOPACKs) 1Base-mounted SERVOPACKs (1) Single-phase 100 VAC, Model: S GDVR70F1¡A000000¡¡¡, SGDVR90F1¡A002000¡¡¡, and SGDV2R1F1¡A002000¡¡¡ 5 2-M4 Screw Holes 0˚) 160 160 CN3 CN7 CN1 Two Terminals CN8 CN2 Ground Terminal 2-M4 Screws (4) 23 (75) 60 150±0.5 (Mounting Pitch) ( 12 Model CN6 (7) (15) Air Flow Input Voltage SERVOPACK Rear View 30±0.5 (Mounting Pitch) 5 60 170 Air Flow 2 Mounting Hole Diagram 97 Approx. Mass: 1.1 kg Cooling Fan 3-M4 Screw Holes (4) 5 (7) 0˚) ( 12 Input Voltage Model CN6 CN1 Two Terminals 160 160 CN3 CN7 Air Flow CN8 CN2 Ground Terminal 2-M4 Screws 23 90 150±0.5 (Mounting Pitch) Air Flow (15) (2) Single-phase 100 VAC, Model: SGDV2R8F1¡A002000¡¡¡ SERVOPACK Rear View 6 (75) 180 90 58±0.5 (Mounting Pitch) Air Flow 2 97 Mounting Hole Diagram Approx. Mass: 1.6 kg 279 SERVOPACKs SERVOPACK with Additional Options External Dimensions Units: mm (for MECHATROLINK-II Communications Reference Type SERVOPACKs) (3) Three-phase 200 VAC, Model: SGDV-R70A1¡B002000¡¡¡, SGDVR90A1¡B002000¡¡¡, and SGDV1R6A1¡B002000¡¡¡ 2-M4 Screw Holes 5 (15) (7) Input Voltage 0˚ ) CN3 160 CN7 160 CN1 Two Terminals CN8 CN2 Ground Terminal 2-M4 Screws SERVOPACK Rear View 35 ( 4) (25) 23 (75) 60 150±0.5 (Mounting Pitch) (1 2 Model CN6 60 140 Mounting Hole Diagram 97 2 Approx. Mass: 1.0 kg 2-M4 Screw Holes (1 2 0˚ ) CN3 160 160 CN7 CN1 Two Terminals CN8 CN2 Ground Terminal 2-M4 Screws (4) (25) 23 60 170 (75) 2 97 SERVOPACK Rear View 5 60 30±0.5 (Mounting Pitch) Mounting Hole Diagram Approx. Mass: 1.1 kg SERVOPACKs with Additional Options CN6 (7) 5 Model 150±0.5 (Mounting Pitch) Input Voltage (15) (4) Three-phase 200 VAC, Model: SGDV2R8A1¡B002000¡¡¡ 280 External Dimensions Units: mm (for MECHATROLINK-II Communications Reference Type SERVOPACKs) (5) Three-phase 200 VAC, Model: SGDV3R8A1¡A002000¡¡¡, SGDV5R5A1¡A002000¡¡¡, and SGDV7R6A1¡A002000¡¡¡ Cooling Fan 3-M4 Screw Holes (4) 5 (7) 0˚) CN1 Two Terminals Ground Terminal 2-M4 Screws Air Flow 160 160 CN3 CN7 CN8 150±0.5 (Mounting Pitch) ( 12 Input Voltage Model CN6 (15) Air Flow SERVOPACK Rear View CN2 (25) 23 (75) 90 6 2 Air Flow 90 180 97 58±0.5 (Mounting Pitch) Mounting Hole Diagram Approx. Mass: 1.6 kg (6) Three-phase 200 VAC, Model: SGDV120A1¡A002000¡¡¡ CN6 (7) 4-M4 Screw Holes 5 (12 0˚) CN3 CN7 Two Terminals 160 160 CN1 CN8 CN2 Ground Terminal 2-M4 Screws (25) 23 110 Air Flow (4) (75) 180 2 97 SERVOPACK Rear View 150±0.5 (Mounting Pitch) Input Voltage Model (15) Air Flow 5 80±0.5 (Mounting Pitch) 110 Mounting Hole Diagram Approx. Mass: 2.5 kg 281 SERVOPACKs SERVOPACK with Additional Options External Dimensions Units: mm (for MECHATROLINK-II Communications Reference Type SERVOPACKs) (7) Single-phase 200 VAC, Model: SGDV120A1¡A008000¡¡¡ (1.5 kW, single-phase input type) Three-phase 200 VAC, Model: SGDV180A1¡A002000¡¡¡, and SGDV200A1¡A002000¡¡¡ 5 22 110 Ground Terminal 2-M4 Screws (4) (75) 120 SERVOPACK Rear View 180 170±0.5 (Mounting Pitch) 160 250 ） Terminal Details CN8 CN2 20 ˚ CN6 CN3 CN7 CN1 4-M4 Screw Holes (15) Model （1 Terminal 13-M4 Screws (7) Input Voltage Air Flow 5 180 Air Flow 97 (30) Cooling Fan Mounting Hole Diagram ( 90 2 90±0.5 (Mounting Pitch) 120 ˚) Approx. Mass: 2.9 kg (8) Three-phase 200 VAC, Model: SGDV330A1¡A002000¡¡¡ Input Voltage (7) 4-M5 Screw Holes 6 Model (15) Air Flow (1 2 CN6 CN3 CN7 250 250 CN8 CN2 Terminal 13-M4 Screws SERVOPACK Rear View Air Flow 110 130 22 Cooling Fan (75) 210 2 (5) 5 100±0.5 (Mounting Pitch) 130 97 Mounting Hole Diagram ) 0˚ ( 10 (33) Approx. Mass: 4.7 kg SERVOPACKs with Additional Options Terminal Details Ground Terminal 2-M4 Screws 238.5±0.5 (Mounting Pitch) 160 CN1 0˚ ) 282 External Dimensions Units: mm (for MECHATROLINK-II Communications Reference Type SERVOPACKs) (9) Three-phase 200 VAC, Model: SGDV470A1¡A002000¡¡¡, SGDV550A1¡A002000¡¡¡ Ground Terminal 2-M6 Screws (7) 160 Terminal 5-M6 Screws Terminal 6-M6 Screws 170 22 190 4-M6 Screw Holes 7.5 ˚) 20 (1 350 350 CN6 CN3 CN7 CN1 CN8 CN2 (15) Input Voltage Model 335±0.5 (Mounting Pitch) Air Flow 25 210 (75) 120±0.5 (Mounting Pitch) 170 Mounting Diagram Approx.Hole Mass: 2.9 kg Air Flow Model CN2 450 450 Terminal 5-M6 Screws Terminal 6-M6 Screws Ground Terminal 2-M6 Screws 22 260 280 4-M6 Screw Holes (75) 435±0.5(Mounting Pitch) CN7 CN1 CN8 (7) 160 CN6 CN3 7.5 0˚ Input Voltage (15) (1 2 Air Flow ) (10) Three-phase 200 VAC, Model: SGDV590A1¡A002000¡¡¡, SGDV780A1¡A002000¡¡¡ 30 275 200±0.5 (Mounting Pitch) 260 Air Flow Mounting Hole Diagram Approx. Mass: 4.7 kg 283 SERVOPACKs SERVOPACK with Additional Options External Dimensions Units: mm (for MECHATROLINK-II Communications Reference Type SERVOPACKs) (11) Three-phase 400 VAC, Model: SGDV1R9D1¡A002000¡¡¡, 3R5D1¡A000000¡¡¡, and 5R4D1¡A000000¡¡¡ Input Voltage (7) Model (12 CN6 CN7 160 CN1 160 Two Terminals 0˚) CN8 CN2 Ground Terminal 2-M4 Screws Air Flow (25) 23 110 5 (4) (75) 130 149.5±0.5 (Mounting Pitch) CN3 160 Nameplate 4-M4 Screw Holes 5.5 (15) Air Flow 100±0.5 (Mounting Pitch) 110 180 Mounting Hole Diagram Approx. Mass: 2.7 kg ˚) 4-M5 Screw Holes CN1 Ground Terminal 2-M4 Screws Air Flow 110 130 6 250 250 CN8 CN2 (4) 22 (75) 180 5 100±0.5 (Mounting Pitch) 110 Mounting Hole Diagram Approx. Mass: 3.7 kg SERVOPACKs with Additional Options Nameplate 160 CN6 CN3 CN7 238.5±0.5(Mounting Pitch) Model (7) (120 Input Voltage Air Flow (15) (12) Three-phase 400 VAC, Model: SGDV8R4D1¡A002000¡¡¡ and 120D1¡A000000¡¡¡, 284 External Dimensions Units: mm (for MECHATROLINK-II Communications Reference Type SERVOPACKs) (15) (13) Three-phase 400 VAC, Model: SGDV170D1¡A002000¡¡¡ 6 250 135 22 155 (75) 238.5±0.5 (Mounting Pitch) 250 Air Flow ˚) CN6 CN3 CN7 CN1 CN8 CN2 160 Air Flow 4-M5 Screw Holes (7) (120 Input Voltage Model 5 230 125±0.5 (Mounting Pitch) 135 Approx. Mass: 5.6 kg Mounting Hole Diagram 350 CN6 CN3 CN7 CN1 CN8 CN2 7.5 ˚) (7) 160 Model 20 (1 Terminal 4-M6 Screws Terminal 6-M6 Screws Terminal 2-M4 Screws 230 Ground Terminal 2-M6 Screws 25 13 (75) 210 4-M6 Screw Holes 335±0.5(Mounting Pitch) Input Voltage 350 Air Flow (15) (14) Three-phase 400 VAC, Model: SGDV210D1¡A002000¡¡¡ and 260D1¡A002000¡¡¡ 180±0.5 (Mounting Pitch) 230 250 Air Flow 285 Approx. Mass: 11.3 kg Mounting Hole Diagram SERVOPACKs SERVOPACK with Additional Options External Dimensions Units: mm (for MECHATROLINK-II Communications Reference Type SERVOPACKs) (15) Three-phase 400 VAC, Model: SGDV280D1¡A002000¡¡¡ and 370D1¡A000000¡¡¡ ˚) 7.5 20 (7) 160 (1 400 400 CN3 CN7 CN1 CN8 CN2 (15) Input Voltage Model CN6 Terminal 4-M6 Screws Terminal 6-M6 Screws 230 Terminal 2-M4 Screws Ground Terminal 2-M6 Screws 250 13 25 (75) 250 4-M6 Screw Holes 385±0.5(Mounting Pitch) Air Flow 180±0.5 (Mounting Pitch) 230 Air Flow Mounting Hole Diagram Approx. Mass: 16.2 kg Connectors for Base-mounted SERVOPACKs Model Pin 26 Manufacturer 10226-52A2PL CN2 53984-0671 CN3 HDR-EC14LFDTN-SLE-PLUS CN6 1903815-1 8 Tyco Electronics AMP K.K. CN7 MNC23-5K5H00 5 ADVANCED-CONNECTEK INC. CN8 1981080-1 8 Tyco Electronics AMP K.K. 6 14 Sumitomo 3M Ltd. Molex Japan Co., Ltd. Honda Tsushin Kogyo Co., Ltd. Note: The connectors above or their equivalents are used for SERVOPACKs. SERVOPACKs with Additional Options Port CN1 286 External Dimensions Units: mm (for Other Control Architecture Type SERVOPACKs) The following drawings illustrate the external dimensions of SERVOPACKs with Interface Option E with option modules. 1Base-mounted SERVOPACKs (1) Single-phase 100 VAC, Model: S GDVR70FE¡A002000¡¡¡, SGDVR90FE¡A002000¡¡¡, and SGDV2R1FE¡A002000¡¡¡ (7) 160 160 CN3 CN7 CN1 Two Terminals CN8 CN2 Ground Terminal 2-M4 Screws 23 60 150±0.5 (Mounting Pitch) 0˚) (12 Model Screw Holes 5 2-M4 (15) Air Flow Input Voltage (4) (75) SERVOPACK Rear View 30±0.5 (Mounting Pitch) 5 60 170 Air Flow 2 Mounting Hole Diagram 97 Approx. Mass: 1.1 kg Input Voltage Cooling Fan 3-M4 Screw Holes (4) CN1 Two Terminals Air Flow 160 160 CN3 CN7 CN8 CN2 Ground Terminal 2-M4 Screws 23 90 150±0.5 (Mounting Pitch) 0˚) (12 Model (7) 5 Air Flow (15) (2) Single-phase 100 VAC, Model: SGDV2R8FE¡A000200¡¡¡ SERVOPACK Rear View 58±0.5 6 (75) 180 90 (Mounting Pitch) Air Flow 2 97 Mounting Hole Diagram Approx. Mass: 1.6 kg 287 SERVOPACKs SERVOPACK with Additional Options External Dimensions Units: mm (for Other Control Architecture Type SERVOPACKs) (3) Three-phase 200 VAC, Model: SGDV-R70AE¡A002000¡¡¡, SGDVR90AE¡A002000¡¡¡, and SGDV1R6AE¡A002000¡¡¡ (7) (15) 2-M4 Screw Holes 5 Input Voltage Model (1 20 ˚) CN3 CN7 Two Terminals 160 160 CN1 CN8 CN2 Ground Terminal 2-M4 Screws SERVOPACK Rear View 35 (4) 23 (25) (75) 60 150±0.5 (Mounting Pitch) Air Flow 60 140 Air Flow Mounting Hole Diagram 97 2 Approx. Mass: 1.0 kg (4) Three-phase 200 VAC, Model: SGDV2R8AE¡A002000¡¡¡ (7) 2-M4 Screw Holes 5 Input Voltage (15) Air Flow Model (1 CN1 Two Terminals 160 160 CN7 CN8 CN2 Ground Terminal 2-M4 Screws (25) 60 Air Flow (4) 23 170 (75) 2 97 SERVOPACK Rear View 5 60 30±0.5 (Mounting Pitch) Mounting Hole Diagram Approx. Mass: 1.1 kg SERVOPACKs with Additional Options ˚) 150±0.5 (Mounting Pitch) 20 CN3 288 External Dimensions Units: mm (for Other Control Architecture Type SERVOPACKs) (5) Three-phase 200 VAC, Model: SGDV3R8AE¡A002000¡¡¡, SGDV5R5AE¡A002000¡¡¡, and SGDV7R6AE¡A002000¡¡¡ Input Voltage Model Cooling Fan 3-M4 Screw Holes (4) 5 (7) (15) Air Flow Ground Terminal 2-M4 Screws Air Flow 160 160 CN1 Two Terminals CN8 150±0.5 (Mounting Pitch) 0˚) (12 CN3 CN7 SERVOPACK Rear View CN2 (75) 90 180 2 Air Flow 58±0.5 6 (25) 23 90 97 (Mounting Pitch) Mounting Hole Diagram Approx. Mass: 1.6 kg (6) Three-phase 200 VAC, Model: SGDV120AE¡A002000¡¡¡ (7) 4-M4 Screw Holes 5 Input Voltage Model (15) Air Flow (12 0˚) CN7 Two Terminals 160 160 CN1 CN8 CN2 Ground Terminal 2-M4 Screws (25) 23 110 Air Flow (4) 180 (75) 2 97 SERVOPACK Rear View 150±0.5 (Mounting Pitch) CN3 5 80±0.5 (Mounting Pitch) 110 Mounting Hole Diagram Approx. Mass: 2.5 kg 289 SERVOPACKs SERVOPACK with Additional Options External Dimensions Units: mm (for Other Control Architecture Type SERVOPACKs) (7) Single-phase 200 VAC, Model: SGDV120AE¡A008000¡¡¡ (1.5 kW, single-phase input type) Three-phase 200 VAC, Model: SGDV180AE¡A002000¡¡¡, and SGDV200AE¡A002000¡¡¡ Input Voltage (7) 180 170±0.5 (Mounting Pitch) 160 250 Terminal Details 22 110 Ground Terminal 2-M4 Screws SERVOPACK Rear View 㧕 Terminal 13-M4 Screws CN8 CN2 (15) 20˚ CN3 CN7 CN1 4-M4 Screw Holes 5 Model 㧔1 Air Flow 120 90±0.5 5 (4) (Mounting Pitch) 180 (75) 120 Air Flow 97 2 Mounting Hole Diagram ˚) (90 Cooling Fan (30) Approx. Mass: 2.9 kg (8) Three-phase 200 VAC, Model: SGDV330AE¡A000000¡¡¡ Input Voltage (7) 4-M5 Screw Holes 6 Model (15) Air Flow (12 0˚) 250 250 CN8 CN2 Terminal 13-M4 Screws Air Flow 110 130 22 Cooling Fan (75) 210 2 (5) 5 100±0.5 (Mounting Pitch) 130 97 Mounting Hole Diagram 0˚) (10 (33) Approx. Mass: 4.7 kg SERVOPACKs with Additional Options Terminal Details Ground Terminal 2-M4 Screws SERVOPACK Rear View 238.5±0.5 (Mounting Pitch) CN1 160 CN3 CN7 290 External Dimensions Units: mm (for Other Control Architecture Type SERVOPACKs) (9) Three-phase 200 VAC, Model: SGDV470AE¡A002000¡¡¡, SGDV550AE¡A002000¡¡¡ Ground Terminal 2-M6 Screws 350 Terminal 5-M6 Screws Terminal 6-M6 Screws 170 22 190 4-M6 Screw Holes 7.5 (7) 335±0.5 (Mounting Pitch) 350 CN3 CN7 CN1 CN8 CN2 (15) Input Voltage Model ˚) 20 (1 160 Air Flow 25 210 (75) 120±0.5 (Mounting Pitch) 170 Mounting HoleMass: Diagram Approx. 1.6 kg Air Flow Model 7.5 0˚ Input Voltage (15) (1 2 Air Flow ) (10) Three-phase 200 VAC, Model: SGDV590AE¡A002000¡¡¡, SGDV780AE¡A002000¡¡¡ (7) 4-M6 Screw Holes CN2 450 450 Terminal 5-M6 Screws Terminal 6-M6 Screws Ground Terminal 2-M6 Screws 22 260 280 (75) 435±0.5(Mounting Pitch) CN7 CN1 CN8 160 CN3 30 275 200±0.5 (Mounting Pitch) 260 Air Flow Mass: 2.5 kg Mounting Approx. Hole Diagram 291 SERVOPACKs SERVOPACK with Additional Options External Dimensions Units: mm (for Other Control Architecture Type SERVOPACKs) (11) Three-phase 400 VAC, Model: SGDV1R9DE¡A002000¡¡¡, 3R5DE¡A002000¡¡¡, and 5R4DE¡A002000¡¡¡ Input Voltage (7) Model 4-M4 Screw Holes 5.5 (15) Air Flow (12 CN7 160 CN1 160 Two Terminals CN8 CN2 Ground Terminal 2-M4 Screws Air Flow (25) 23 110 5 (4) (75) 130 149.5±0.5 (Mounting Pitch) CN3 160 0˚) Nameplate 180 100±0.5 (Mounting Pitch) 110 Mounting Hole Diagram Approx. Mass: 2.9 kg ˚) 4-M5 Screw Holes Ground Terminal 2-M4 Screws Air Flow 110 130 6 250 250 CN8 CN2 (4) 22 (75) 180 5 100±0.5 (Mounting Pitch) 110 Approx. Mass: kg Mounting Hole 4.7 Diagram SERVOPACKs with Additional Options CN1 160 CN3 CN7 Nameplate 238.5±0.5(Mounting Pitch) Model (7) (120 Input Voltage Air Flow (15) (12) Three-phase 400 VAC, Model: SGDV8R4DE¡A002000¡¡¡ and 120DE¡A002000¡¡¡, 292 External Dimensions Units: mm (for Other Control Architecture Type SERVOPACKs) (15) (13) Three-phase 400 VAC, Model: SGDV170DE¡A002000¡¡¡ 6 250 250 135 22 155 (75) 238.5±0.5 (Mounting Pitch) CN3 CN7 CN1 CN8 CN2 Air Flow 160 Air Flow 4-M5 Screw Holes (7) ˚) (120 Input Voltage Model 5 230 125±0.5 (Mounting Pitch) 135 Approx. Mass: 1.6 kg Mounting Hole Diagram 350 CN3 CN7 CN1 CN8 CN2 7.5 ˚) (7) 160 Model 20 (1 Terminal 4-M6 Screws Terminal 6-M6 Screws Terminal 2-M4 Screws 230 Ground Terminal 2-M6 Screws 25 13 (75) 210 4-M6 Screw Holes 335±0.5(Mounting Pitch) Input Voltage 350 Air Flow (15) (14) Three-phase 400 VAC, Model: SGDV210DE¡A002000¡¡¡ and 260DE¡A002000¡¡¡ 180±0.5 (Mounting Pitch) 230 250 Air Flow 293 Mounting Hole Diagram Approx. Mass: 2.5 kg SERVOPACKs SERVOPACK with Additional Options External Dimensions Units: mm (for Other Control Architecture Type SERVOPACKs) 7.5 ˚) (7) 400 400 CN3 CN7 CN1 CN8 CN2 20 (1 Terminal 4-M6 Screws Terminal 6-M6 Screws 230 Terminal 2-M4 Screws Ground Terminal 2-M6 Screws 250 13 25 250 (75) Air Flow 4-M6 Screw Holes 385±0.5(Mounting Pitch) Input Voltage Model 160 Air Flow (15) (15) Three-phase 400 VAC, Model: SGDV280DE¡A002000¡¡¡ and 370DE¡A002000¡¡¡ 180±0.5 (Mounting Pitch) 230 Approx. Mass: 2.9 kg Mounting Hole Diagram Connectors for Base-mounted SERVOPACKs Model Pin 26 Manufacturer 10226-52A2PL CN2 53984-0671 CN3 HDR-EC14LFDTN-SLE-PLUS CN7 MNC23-5K5H00 5 ADVANCED-CONNECTEK INC. CN8 1981080-1 8 Tyco Electronics AMP K.K. 6 14 Sumitomo 3M Ltd. Molex Japan Co., Ltd. Honda Tsushin Kogyo Co., Ltd. Note: The connectors above or their equivalents are used for SERVOPACKs. SERVOPACKs with Additional Options Port CN1 294 Selecting Cables 1Cables for CN1 CN3 CN5 CN7 CN8 CN11 for SERVOPACKs with additional options Cable for Analog Monitor CN5 Digital Operator Digital Operator Converter Cable CN3 㧿㨂㧻㧺 㧯㧻㧵㧺 㨂㧯㧹㧼 㨀㧳㧻㧺 REF 㧯㧴㧭㧾㧳㧱 YASKAWA CN7 Connection Cable for Personal Computer CN1 ALARM 㧿㧯㧾㧻㧸㧸 㧹㧻㧰㧱㧛㧿㧱㨀 㧾㧱㧿㧱㨀 㧶㧻㧳 SVON Cable for I/O Signals READ 㧰㧭㨀㧭 WRITE SERVO SERVO DIGITAL OPERATOR㧶㨁㧿㧼㧙㧻㧼㧜㧡㧭㧙㧝㧙㧱 LED Indicator for External Device CN8 Safety Cable NOTE: For information about option module cables, refer to the particular option module section of this catalog. Name Length Connector Kit CN1 Cables for I/O Signals Connector Terminal Converter Unit Cable with Loose wire at One End Order No. JZSP-CSI9-2-E 0.5 m SBK-U-VBA-A5 1m SBK-U-VBA-01 3m SBK-U-VBA-03 1m JZSP-CSI02-1-E 2m JZSP-CSI02-2-E 3m JZSP-CSI02-3-E Specifications Details Soldered (1) Terminal Block and 0.5 m Connection Cable (2) (3) With Connection Cable (1 m) ＳＶＯＮ Digital Operator JUSP-OP05A-1-E ＣＯＩＮ ＶＣＭＰ ＴＧＯＮ REF ＣＨＡＲＧＥ (4) YASKAWA ALARM ＲＥＳＥＴ ＳＣＲＯＬＬ ＪＯＧ SVON READ ＭＯＤＥ／ＳＥＴ ＤＡＴＡ WRITE SERVO SERVO DIGITAL OPERATOR ＪＵＳＰ−ＯＰ０５Ａ−１−Ｅ CN3 CN7 Connection Cables for Personal Computer CN5 Cables for Analog Monitor CN8 Cables for Safety Functions Cables with Connector*2 Connector kit*3 Cable with Connectors at Both Ends 0.3 m JZSP-CVS05-A3-E 2.5 m JZSP-CVS06-02-E 3Ｍ 10314 Digital Operator Converter Cable*1 Cable with Connectors at Both Ends (5) (6) JZSP-CVS06-02-E 1m JZSP-CA01-E 3m JZSP-CVH03-03-E SERVOPACK End Contact Tyco Electronics AMP K.K. Product name : Industrial Mini I/O D-shape Type1 Plug Connector Kit Model : 2013595-1 *1 : A converter cable is required to use series digital operators (model: JUSP-OP05A) for series SERVOPACKs. *2 : When using the safety function, connect this cable to the safety devices. Even when not using the safety function, use SERVOPACKs with the Safe Jumper Connector (model: JZSP-CVH05-E) connected. *3 : Use the connector kit when you make cables yourself. 295 JZSP-CVS05-A3-E (7) (8) SERVOPACKs SERVOPACK with Additional Options Selecting Cables (1) Connector Kit for CN1 Use the following connector and cable to assemble the cable. The CN1 connector kit includes one case and one connector. Case ∙ Dimensional Drawings of Case 12.0 Connector Model Model Qty Model Qty JZSP-CSI9-2-E 10326-52A0-008* 1 set 10126-3000PE* (Soldered) 1 14.0 25.8 39.0 23.8 31.3 * : Manufactured by Sumitomo 3M Ltd. （5.2） ∙ Cable Size Specifications Use twisted-pair or twisted-pair shielded wire. Applicable Wires AWG24, 26, 28, 30 Cable Finished Diameter 16 dia. max. ∙ Dimensional Drawings of Connector Pin No.25 Pin No.14 Pin No.26 Pin No.15 2.54 1.27 5.1 Cable 12.7 37.2 2.3 Item 10.0 Connector Kit 19.5 㧔2.9㧕 㧔6.8㧕 12.7 㧟㧹 Pin No.1 Pin No.2 Pin No.12 Pin No.13 25.8 9.1 7.5 Pin No.1 Pin No.14 1.27 15° 15.24 21.5 (2) Connector Terminal Converter Unit for CN1 (SBK-U-VBA-xx) SBK-U-VBA-xx Function Chart for SGDV Servo Amplifier 1 2 3 4 5 6 7 8 Signal /BK+ (/SO1+) /BK- (/SO1-) ALM+ ALM+24VIN P-OT (/SI1) N-OT (/SI2) 9 /DEC (/SI3) 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 /EXT1 (/SI4) /EXT2 (/SI5) /EXT3 (/SI6) /SI0 BAT (+) BAT (-) SG PAO /PAO PBO /PBO PCO /PCO /SO2+ /SO2/SO3+ /SO3- SGDV Mechatrolink-II type / SGDV Option type Function Brake interlock output (+) (General purpose output 1 (+)) Brake interlock output (-) (General purpose output 1 (-)) Servo alarm output (+) Servo alarm output (-) Control power supply for sequence signal input Forward run prohibited input (General purpose input 1) Reverse run prohibited input (General purpose input 2) Zero-point return deceleration switch input (General purpose input 3) External latch signal 1 input (General purpose input 4) External latch signal 2 input (General purpose input 5) External latch signal 3 input (General purpose input 6) General purpose input 0 Battery (+) input Battery (-) input Signal ground Phase-A pulse output (+) Phase-A pulse output (-) Phase-B pulse output (+) Phase-B pulse output (-) Phase-C pulse output (+) Phase-C pulse output (-) General purpose output 2 (+) General purpose output 2 (-) General purpose output 3 (+) General purpose output 3 (-) Note: General purpose input and output signals are shown with their default signals assigned - signal assignment may have been changed by parameter SERVOPACKs with Additional Options Pin No. 296 Selecting Cables Selecting Cables Units: mm (3) C able with Loose Wires at One End for CN1 Dimensional Drawings of Cable Cable with Loose Wires at One End for CN1 1 Connection Diagram of JZSP-CSI02-¡-E Cable SERVOPACK End Connector 10126-6000EL (by Sumitomo 3M Ltd.) 10326-52A0-008 Shell Cable (Ivory) SSRFPVV-SB AWG#28 × 13P UL20276 VW-1SC 14 L (6.3 Dia.) 37.2 3 Dia. Wire Markers 100 -+10 0 Model Cable Length 1m JZSP-CSI02-2-E 2m JZSP-CSI02-3-E 3m Host Controller End Lead Marker Pin No. Signal Wire Color 1 /BK+ Blue Marking Color Dots 1 Red Blue Black 1 2 /BK− ALM+ Pink Red 1 4 ALM− Pink Black 1 5 – Green Red 1 6 +24VIN Green Black 1 7 P-OT Orange Red 1 8 N-OT Orange Black 1 3 9 /DEC Gray Red 1 10 /EXT1 Gray Black 1 11 /EXT2 Blue Red 2 12 /EXT3 Blue Black 2 Red 2 Red 2 Black 2 Black 2 13 14 15 JZSP-CSI02-1-E SERVOPACK End Pink /SI0 BAT㧔+㧕 Green BAT㧔−㧕 Green SG Pink 17 PAO Orange Red 2 18 /PAO Orange Black 2 19 PBO Gray Red 2 20 /PBO Gray Black 2 21 PCO Blue Red 3 22 /PCO Blue Black 3 Pink Red 3 Pink Black 3 Green Red 3 Green Black 3 16 23 24 25 26 /SO2+ /SO2− /SO3+ /SO3− 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 㧦 Represents twisted-pair wires. (4) Digital Operator (Model: JUSP-OP05A-1-E) 2-M3 Screws, Depth 5 (For mounting digital operator) 70 ＣＯＩＮ ＶＣＭＰ ＴＧＯＮ ∙ Dimensional Drawings ＣＨＡＲＧＥ REF WRITE SERVO (12.7) (29.5) ＤＡＴＡ 3Ｍ 10314 READ ＭＯＤＥ／ＳＥＴ (35) 300 +−30 0 (4.3 Dia) ＳＣＲＯＬＬ ＪＯＧ SVON Nameplate 111 ALARM ＲＥＳＥＴ 120 (39) YASKAWA (8) JZSP-CVS05-A3-E (21) ＳＶＯＮ (5) Digital Operator Converter Cable for CN3 (Model: JZSP-CVS05-A3-E) A converter cable is required to use series digital operators (model: JUSP-OP05A) for series SERVOPACKs. SERVO DIGITAL OPERATOR ＪＵＳＰ−ＯＰ０５Ａ−１−Ｅ 17.8 1000 57 +30 0 Connector: HDR-E14MAG1+(Honda Tsushin Kogyo Co., Ltd.) Case: HDR-E14LPA5(Honda Tsushin Kogyo Co., Ltd.) 297 Connector (14-pole)： 10214-6202PL (Sumitomo 3M Ltd.) Cover： FA458036 (Yasco Components Co., Ltd.) Connector (14-pole)： HDR-E14MAG1+ (Honda Tsushin Kogyo Co., Ltd.) Cover： HDR-E14LPA5 (Honda Tsushin Kogyo Co., Ltd.) SERVOPACKs SERVOPACK with Additional Options Selecting Cables (6) Connection Cable for Personal Computer for CN7 (Model: JZSP-CVS06-02-E) ∙ Dimensional Drawings 2,500 +−100 0 10 to 20 JZSP-CVS06-02-E (100) (55) se a cable specified by Yaskawa. IMPORTANT U When using other cables, operation cannot be guaranteed. (7) Cable for Analog Monitor for CN5 (Model: JZSP-CA01-E) ∙ Dimensional Drawings Socket ：DF11-4DS-2C* Contact ：DF11-2428SCF* 1000 Black Black 3 1 +20 -0 4 2 White Red * : Manufactured by Hirose Electric Corporation. View from Cable End ∙ Specifications Pin No. Cable Color Signal 1 Red Analog Monitor 2 Motor speed : 1V/1000 min-1 Standard Settings 2 White Analog Monitor 1 Torque reference : 1V/100% rated torque 3, 4 Black (2 cables) GND(0V) − (8) Cable with Connector for CN8 (Model: JZSP-CVH03-03-E) ∙ Specifications ∙ Dimensional Drawings Pin No. 3000 +150 (33) (20) (8) (11) Connector Kit：2013595-1 (Tyco Electronics AMP K.K.) Signal Lead Color Marking Color 1 Not used − − 2 Not used − − 3 /HWBB1− White Black 4 /HWBB1+ White Red 5 /HWBB2− Gray Black 6 /HWBB2+ Gray Red 7 EDM1− Orange Black 8 EDM1+ Orange Red SERVOPACKs with Additional Options Note : The specifications above are factory settings. Monitor specifications can be changed by changing parameters Pn006 and Pn007. 298 Fully-Closed Loop Control Option 1System Configuration for Fully-Closed Loop Control When using rotary servomotors with Fully-Closed loop control, use SERVOPACKs with option module for Fully-Closed loop control. SERVOPACK with Fully-Closed Loop Control Option Servomotor Main Circuit Cable Cable with Connectors at Both Ends Serial Converter Unit Model: JZDP-D00 -000-E Encoder Cable External Encoder (Provided by users.) 1Model Designations JZDP -ޓD00 - 000 - E Serial Converter Unit Model Applicable External Encoder Hall Sensor D003 Manufactured by HEIDENHAIN Corporation None D005 Manufactured by Renishaw plc. None Code Appearance Heidenhain serial converters are non-stock. Note: Using the serial converter unit JZDP-A¡¡¡ with SGDV SERVOPACK will void our guarantee. 299 SERVOPACK with Additional Options Fully-Closed Loop Control Option Option Module for Fully-Closed Loop Control 1External Dimensions Units: mm Nameplate for Fully-Closed Loop Control Option 㧔23㧕 160 Nameplate for SERVOPACK with Options 㧔98㧕 CN31 20 㧔75㧕 97 Approx. Mass: 0.1 kg Port Model Pin Manufacturer CN31 53984-0671 6 Molex Japan Co., Ltd. Note: The connectors above or their equivalents are used for SERVOPACKs. Connection Cable Between Fully Closed Loop Connector and Serial Converter Unit (see page 314). Front View (mounted on analog and pulse train type SERVOPACK) SERVOPACKs with Fully-Closed Loop Option Connector 300 Serial Converter Units 1Characteristics and Specifications Items Specifications Electrical Characteristics Power Supply Voltage +5.0 V ±5%, ripple content 5% max. Current Consumption*1 120 mA typ. 350 mA max. Signal Resolution Input two-phase sine wave: 1/256 pitch Max. Response Frequency 250 kHz Analog lnput Signals*2 (cos, sin, Ref) Differential input amplitude: 0.4 to 1.2 V Input signal level: 1.5 to 3.5 V Output Signal*3 Position data, alarms Output Method Serial data communications [HDLC (High-level Data Link Control) protocol format with Manchester codes] Balanced type transceiver (SN75LBC176 or the equivalent), Output Circuit Mechanical Characteristics Environmental Conditions internal terminating resistor: 120 Ω Approx. Mass 150 g Vibration Resistance 98 m/s2 max. (10 to 2500 Hz) in three directions Impact Resistance 980 m/s2, (11 ms) two times in three directions Surrounding Air Temperature 0 to 55˚C Storage Temperature −20 to 80˚C Humidity 20% to 90%RH (no condensation) *1: The current consumption of the external encoder is not included in this value. The current consumption of the external encoder must be taken into consideration for the current capacity of host controller that supplies the power. *2: Input a value within the specified range. Otherwise, incorrect position information is output, and the device may be damaged. *3: The transmission is enabled 100 to 300 ms after the power turns on. 1Analog Signal Input Timing The following figure shows the input timing of the analog signals. When the cos and sin signals are shifted 180 degrees, the differential signals are the /cos and /sin signals. The specifications of the cos, /cos, sin, and /sin signals are identical except for the phase. Input the signals Ref and /Ref so that they shall cross each other as shown in the figure because they are input into the converter. When they are crossed, the output data will be counted up. 0.2 to 0.6 V 100% cos (A+) 45˚ cos, /cos, sin, /sin Input Voltage Range: 1.5 to 3.5 V /cos (A−) /Ref Ref, /Ref (R−) Input Voltage Range: Ref 1.5 to 3.5 V (R+) 0.2 V Min. /sin (B−) 0.2 V Min. sin (B+) 5% to 75% 5% to 75% Zero Point Count up Direction IMPORTANT ■Precautions 1 Never perform insulation resistance and withstand voltage tests. 2 When analog signals are input to the serial converter unit, noise influence on the analog signals affects the unit’s ability to output correct position information. The analog cable must be as short as possible and shielded. 3 Do not connect or disconnect the unit while power is being supplied, or the unit may be damaged. 4 When using multiple axes, use a shield cable for each axis. Do not use a shield cable for multiple axes. 301 SERVOPACK with Additional Options Fully-Closed Loop Control Option Serial Converter Units Units: mm 1External Dimensions (1) Model: JZDP-D003-¡¡¡-E 33.32±0.4 Nameplate 10 24.99±0.3 SERVOPACK End Serial Data Output Connector (CN1) External Encoder End Analog Signal Input Connector (CN2) 4-4.2 Dia. Holes 2-4.2 Dia. Holes 52±0.3 60 2-#4-40 UNC Tapped Holes 65±0.3 72 82±0.3 90 2-#4-40 UNC Tapped Holes 22.5 1.5 3 14.35±0.3 4-M5 Tapped Holes, Depth10 (2) Model: JZDP-D005-¡¡¡-E 2-#4-40 UNC Tapped Holes 2-4.2 Dia. Holes External Encoder End Analog Signal Input Connector (CN2) 4-4.2 Dia. Holes Nameplate 10 60 52±0.3 24.99±0.4 SERVOPACK End Serial Data Output Connector (CN1) 65±0.3 72 82±0.3 90 300±30 22.5 1.5 3 14.35±0.4 4-M5 Tapped Holes, Depth 10 1Connection Cables 1 Recommended Cables Application Model Length JZSP-CLP70-03-E Cables with Connectors at Both Ends Connection between SERVOPACK (Option module for Fully-Closed loop control ) connector CN31 and serial converter unit 3m JZSP-CLP70-05-E 5m JZSP-CLP70-10-E 10 m JZSP-CLP70-15-E 15 m JZSP-CLP70-20-E 20 m 1 Dimensional Drawing Serial Converter Unit End L 6.8 SERVOPACK End (Option Module for Fully-closed Loop Control End) Plug Connector: 55100-0670 by Molex Japan Co., Ltd. 17-series Connector: Connector: 17JE-23090-02 (D8C)-CG by DDK Ltd. SERVOPACKs with Fully-Closed Loop Option Name 302 Serial Converter Units 1Connection Examples (1) Connection Example with External Encoder by HEIDENHAIN Corporation Model: JZDP-D003-¡¡¡-E SERVOPACK with Option Module for Fully-closed Loop Control Serial Converter Unit JZDP-D003-□□□-E SGDV□□□□□□□□□□□□□001 CN31 CN1 CN2 JZSP-CLP70-□□-E Pin No. 1 2 3 4 5 6 7 8 9 Case Signal +5V Phase S output Not used Not used 0V Phase /S output Not used Not used Not used Shield CN1 SERVOPACK End Serial Data Output 9 5 6 1 17-series Connector: 17LE-13090-27-FA (Socket) by DDK Ltd. External Encoder by HEIDENHAIN Corporation Connection Cable by HEIDENHAIN Corporation Pin No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Case Signal cos input (A+) 0V sin input (B+) +5V CN2 External Encoder End Analog Signal Input Not used Not used /Ref input (R−) Not used /cos input (A−) 1 9 8 15 17-series Connector: 17LE-13150-27-FA (Socket) by DDK Ltd. 0V sensor /sin input (B−) 5V sensor Not used Ref input (R+) Not used Shield Notes: 1 Do not use the unused pins. 2 The external encoder (analog 1 Vp-p output, D-sub 15-pin) by HEIDENHAIN Corporation can be directly connected. (2) Connection Example with External Encoder by Renishaw plc. Model : JZDP-D005-¡¡¡-E SERVOPACK with Option Module for Fully-closed Loop Control Serial Converter Unit JZDP-D005-□□□-E SGDV□□□□□□□□□□□□□001 CN31 CN1 External Encoder by Renishaw plc. CN2 JZSP-CLP70-□□-E Pin No. 1 2 3 4 5 6 7 8 9 Case Signal +5V Phase S output Not used Not used 0V Phase /S output Not used Not used Not used Shield SERVOPACK does not have the function to process Vq signals. 303 CN1 SERVOPACK End Serial Data Output 9 5 6 1 17-series Connector: 17LE-13090-27-FA (Socket) by DDK Ltd. 15-pin Connector Pin No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Case Signal /cos input (V1−) /sin input (V2−) Ref input (V0+) +5V 5Vs Not used Not used Not used cos input (V1+) sin input (V2+) /Ref input (V0−) CN2 External Encoder End Analog Signal Input 1 9 8 15 17-series Connector: 17JE-13150-02 (D8C) A-CG (Socket) by DDK Ltd. 0V 0Vs Not used Inner (0V) Shield Notes: 1 Do not use the unused pins. 2 The external encoder (analog 1 Vp-p output, D-sub 15-pin) by Renishaw plc. can be directly connected. However, the BID and DIR signals are not connected. 3 Use the external encoder-end connector to change the home position specifications of the external encoder. SERVOPACK with Additional Options Fully-Closed Loop Control Option Serial Converter Units (3) Connection Example with External Encoder by Mitutoyo Corporation (Model: ABS ST78¡A) When using these external encoders, serial converter units are not required. SERVOPACK with Option Module for Fully-closed Loop Control External Encoder by Mitutoyo Corporation (ABS ST78□A) SGDV□□□□□□□□□□□□□001 CN31 Connection Cable by Mitutoyo Corporation SERVOPACKs with Fully-Closed Loop Option JZSP-CLP70-□□-E 304 EtherCAT(CoE) Communication Reference Option 1System Configuration for EtherCAT (CoE) Communication Reference RDY RUN RUN ERR ALM TX ERR BAT STRX COL TX RX M-I /II EtherCAT controller CPU I/O DC24V 10Base-T DC 0V L1 L2 EtherCAT Connector (RJ45) Connector Description CN11A EtherCAT signal input CN11B EtherCAT signal output • Connector Pin Arrangement Pin No. ∗ 305 Signal Name Remarks 1 TD+ 2 TD- 3 RD+ Receive data 4 – N.C.* 5 – N.C.* 6 RD- Receive data 7 – N.C.* 8 – N.C.* Send data Pins denoted as N.C. do not connect to any signal. Ln SERVOPACKs with Additional Options EtherCAT (CoE) Option EtherCAT (CoE) Communication Reference Option 1External Dimensions Units: mm Nameplate for SERVOPACK with Options 160 Nameplate for CAN over EtherCat option 20 97 Approx. Mass: 0.1 kg Reserved (Do not use.) Reserved (Do not use.) EtherCAT secondary address LED Indicators EtherCAT communication port (Input, CN11A) Reserved (CN12. Do not use.) Name CN11A CN11B Ethernet/EtherCAT Cables for Industrial Use Front View: With front cover open Specifications Category: CAT5e Shield specifications: S/UTP or S/STP Cable length: 50 m maximum SERVOPACK with EtherCAT (CoE) Option EtherCAT communication port (Output, CN11B) 306 Specifications of the EtherCAT(CoE) Communication Reference Option 1 Specifications Items Power Specification Operating Conditions 307 Specifications Power Supply Method Supplied from the control power supply of the servo amplifier Surrounding Air/Storage Temperature Surrounding air temperature: 0 to 55°C, Storage temperature: –20 to 85°C Ambient/Storage Humidity 90% RH or less (with no condensation) Vibration/Shock Resistance Vibration resistance: 4.9 m/s2, Shock resistance: 19.6 m/s2 Protection Class/ Pollution Degree Protection class: IP10, pollution degree: 2 Do not use SERVOPACKs in the following locations: • Locations subject to corrosive or flammable gases • Locations subject to exposure to water, oil, or chemicals • Locations subject to dust, including iron dust, and salts Altitude 1000 m or less Others Do not use SERVOPACKs in the following locations: •Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity Conformance Standards UL508C EN50178, EN55011/A2 Group1 Class A, EN61000-6-2 EN61800-3, EN61800-5-1, EN954-1, IEC61508-1 ~ 4 RoHS Directive Compliant Baud Rate 100Mbps Max. No. of Stations 65536 stations Transmission Cycle 125 μs or more Cable Length between Nodes 50 m max Topology Cascade, star, ring, line Connector RJ-45 Profile CANopen(CoE) IEC61800-7 CiA402 Drive Profile Control Mode • Homing mode • Profile position mode • Interpolated position mode • Profile velocity mode • Profile Torque mode • Cyclic sync position mode • Cyclic sync velocity mode • Cyclic sync torque mode SERVOPACK Performance and Functions Response frequency: 1.6 kHz Various adjustment functions are available. Display EtherCAT RUN indicator (RUN) × 1 EtherCAT ERR indicator (ERR) × 1 EtherCAT Link/Activity indicator × 2 Rotary Switch Secondary Address : × 2 SERVOPACKs with Additional Options SERVOPACK with EtherCAT (CoE) Option EtherCAT (CoE) Option 308 MP2600iec Single-Axis Motion Controller Option The MP2600iec Single Axis Motion Controller Option for the Sigma-5 amplifier provides a compact, all-in-one, servo/controller package with the following features: • IEC61131-3 standardized programming environment with PLCopen function blocks for motion control. • Self-tuning, anti-vibration, and other high performance, easy-to-implement servo control features • Ethernet/IP, Modbus TCP/IP, and OPC Server, which provide connectivity to PLCs, HMIs, SCADA, MES, and ERP LED (10 points) Ethernet/IP or Modbus TCP/IP Communication Port A (CN11A) Ethernet/IP or Modbus TCP/IP Communication Port B (CN11B) • Scaleability with the multi-axis MP2000iec controller platform via the common programming environment, MotionWorks IEC Configuration DIP Switches (6 points) • Web server that allows for maintenance diagnostics and troubleshooting CN13 Port Analog I/O, Digital I/O External Encoder (incremental) • I/O features: • 15 digital inputs • 11 digital outputs • 1 analog input • 1 analog outpu • 1 external encoder input • 1 external encoder latch Battery Port (CN14) 3.6V Lithium Battery (preserves retained variables, absolute encoder offset, and real-time clock data) 1External Dimensions Units: mm Nameplate for SERVOPACK with Options ( 22 ) 160 Nameplate for MP2600iec option 20 (20) Dimensions in mm. 309 97 SERVOPACK with Additional Options MP2600iec Option Specifications of the MP2600iec Single Axis Machine Controller Option 1 General Specifications Items Specifications Ambient Operating Temperature Ambient Storage Temperature Ambient Operating Humidity Ambient Storage Humidity 0 to 55°C -20°C to +85°C 90% RH or less (with no condensation) 90% RH or less (with no condensation) Protection Class/Pollution Degree Protection class: IP10, Pollution degree: 2 An environment that satisfies the following conditions. • Free of corrosive or explosive gases • Free of exposure to water, oil or chemicals • Free of dust, salts or iron dust Operating Altitude Vibration Resistance Shock Resistance 1,000 m above sea level or lower 4.9 m/s2 19.6 m/s2 Others Free of static electricity, strong electromagnetic fields, magnetic fields or exposure to radioactivity Environmental Conditions Mechanical Operating Conditions 1 Hardware Specifications Items Specifications CPU 200 MHz, 32 bit, ARM 9 32 MB 512 kB with battery backup 4 MB flash. Code and parameter storage 10 LEDs (red and green - operating mode, communication and error status 6x DIP switch (operating mode and communication configuration 2x 100baseTX Ethernet 8 programmable inputs 8 programmable outputs 1 ch., +/- 10V, 16 bit 1 ch., +/- 10V, 16 bit Memory Operator interface Controller Side (CN13) SDRAM SRAM Flash LED User Configuration Network Digital input Digital output Analog input Analog output Pulse Counter RS-422-compatible pulse counter input (quadrature, pulse and direction, and up/ down counter modes) with 5, 12, and 24V position latch inputs Number of Inputs: 7 Servo Side (CN1) Fixed Sequence Input Network capability Programming standards Diagnostic and configuration interface Motion control performance Servo-Side Safety Functions Allocated Input Output Allocated Servo Alarm (ALM) Number of Outputs: 3 Functions: The signal allocation and positive/negative logic can be modified. Positioning completion (/COIN), speed coincidence detection(/V-CMP), servomotor rotation detection (/TGON), servo ready (/S-RDY), torque limit detection (/CLT), speed limit detection (VLT), brake (/BK), warning (/WARN), near (/NEAR) OPC (Client and Server required) Ethernet/IP Modbus/TCP IEC61131/PLCopen Web interface 1 controlled axis and one external position input at a trajectory update rate of 1 kHz /HWBB1, /HWBB2: Baseblock signal for power module EDM1: Status monitor (fixed output) of built-in safety circuit SERVOPACK with MP2600iec Option Sequence Input User I/O Functions: The signal allocation and positive/negative logic can be modified. Forward run prohibited (P-OT), reverse run prohibited (N-OT), forward torque limit (/P-CL), reverse torque limit (/N-CL), general-purpose input signal (/SI0 to / SI6) * Allocated I/O can also be used as programmable I/O. 310 Selecting Cables 1Cable Selection Name Order No. Length Connector Kit CN13 Cables for I/O Signals JZSP-CSI9-1-E Connector Terminal Converter Unit Flying Lead Cable 0.5 m CBK-U-MP2B-A5 1m CBK-U-MP2B-01 3m CBK-U-MP2B-03 0.5 m CFC-U-MP2B-A5 1m CFC-U-MP2B-01 3m CFC-U-MP2B-03 Specifications Details Soldered (1) Terminal Block and 0.5 m Connection Cable (2) (3) 3.6V Lithium Battery, cable with connector, and mounting bracket for MP2600* CN14 Battery Kit SGDV-OZC02A CN11A CN11B Ethernet/EtherCAT Cables for Industrial Use Category: CAT5e Shield specifications: S/UTP or S/STP Cable length: 50 m maximum * : This battery kit ships with the Sigma-5 amplifier when ordered with the MP2600 option. (1) Connector Kit for CN13 Use the following connector and cable to assemble the cable. The CN13 connector kit includes one case and one connector. (Soldered) （5.2） * : Manufactured by Sumitomo 3M Ltd. 1 ∙ Cable Size Item Specifications Applicable Wires AWG 24, 26, 28, 30 Cable Finished Diameter 16 dia. max. ∙ Dimensional Drawings of Connector 2.54 1.27 12.7 41.1 9.1 7.5 Pin No.1 Pin No.26 311 8.5 12.7 ３Ｍ Cable Use twisted-pair or twisted-pair shielded wire. 52.4 15° 1.27 30.48 36.7 19.3 1 set 46.5 （6.6） 52Z0-008* 10150-3000PE* Qty （2.9） 10350- Model 14.0 41.1 Connector Qty 2.3 JZSP-CSI9-1-E Case Model 5.1 Model 17.0 39.0 23.8 Connector Kit ∙ Dimensional Drawings of Case SERVOPACK with Additional Options MP2600iec Option Selecting Cables (2) Connector Terminal Converter Unit for CN13 CBK-U-MP2B-XX Function Chart for MP2600iec Pin 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 Signal Name AO AI PA+ PAGND BAT+ PILC5V PILC24V DO_00DO_02DICOM DI_00 DI_02 DI_04 DI_06 DO_04DO_06DO_00+ DO_02+ DO_04+ DO_06+ AO_GND AI_GND PB+ PBGND BATPILC12V PIL DO_01DO_03DICOM DI_01 DI_03 DI_05 DI_07 DO_05DO_07DO_01+ DO_03+ DO_05+ DO_07+ - I/O O I I I P P I I O O I I I I I O O O O O O O I I I P P I I O O I I I I I O O O O O O - Function Analog output Analog input Phase A pulse (+) Phase A pulse (-) Encoder input ground Controller SRAM Battery (+) Phase-C latch pulse (-) for 5VDC input Phase-C latch pulse (-) for 24VDC input Digital output 0 (-) Digital output 2 (-) Digital input common Digital input 0 Digital input 2 Digital input 4 Digital input 6 Digital output 4 (-) Digital output 6 (-) Digital output 0 (+) Digital output 2 (+) Digital output 4 (+) Digital output 6 (+) Analog output ground Analog input ground Phase B pulse (+) Phase B pulse (-) Encoder input ground Controller SRAM Battery (-) Phase-C latch pulse (-) for 12VDC input Phase-C latch pulse (+) Digital output 1 (-) Digital output 3 (-) Digital input common Digital input 1 - shared with pulse latch input Digital input 3 Digital input 5 Digital input 7 Digital output 5 (-) Digital output 7 (-) Digital output 1 (+) Digital output 3 (+) Digital output 5 (+) Digital output 7 (+) - shared w/ position agreement COIN signal - I = Input, O = Output, P = Power (3) Flying Lead Cable for CN13 CFC-U-MP2B-XX Function Chart for MP2600iec Color (Solid/Band) Signal Name AO BLK/WHT AI RED/GRN BLK/BLU PA+ BLU/BLK PARED/BLU GND RED/WHT BAT+ BLK/GRN BLK/YEL PILC5V BLK/ORG PILC24V RED/YEL DO_00RED/BRN DO_02RED/ORG DICOM GRN/WHT DI_00 GRN/BLU DI_02 GRN/YEL DI_04 GRN/BRN DI_06 GRN/ORG DO_04WHT/BLU DO_06WHT/YEL YEL/RED DO_00+ BRN/RED DO_02+ ORG/GRN DO_04+ BLU/WHT DO_06+ WHT/BRN RED/BLK AO_GND WHT/BLK AI_GND GRN/RED BLK/BRN PB+ BRN/BLK PBBLU/RED GND WHT/RED BATGRN/BLK ORG/BLK PILC12V YEL/BLK PIL WHT/ORG DO_01BLU/YEL DO_03ORG/RED DICOM WHT/GRN DI_01 BLU/GRN DI_03 YEL/GRN DI_05 BRN/GRN DI_07 BLU/BRN DO_05BLU/ORG DO_07YEL/WHT ORG/WHT DO_01+ YEL/BLU DO_03+ BRN/BLU DO_05+ ORG/BLU DO_07+ BRN/WHT - BLK/RED Function O I I I P P I I O O I I I I I O O O O O O O I I I P P I I O O I I I I I O O O O O O - Analog output Analog input Phase A pulse (+) Phase A pulse (-) Encoder input ground Controller SRAM Battery (+) Phase-C latch pulse (-) for 5VDC input Phase-C latch pulse (-) for 24VDC input Digital output 0 (-) Digital output 2 (-) Digital input common Digital input 0 Digital input 2 Digital input 4 Digital input 6 Digital output 4 (-) Digital output 6 (-) Digital output 0 (+) Digital output 2 (+) Digital output 4 (+) Digital output 6 (+) Analog output ground Analog input ground Phase B pulse (+) Phase B pulse (-) Encoder input ground Controller SRAM Battery (-) Phase-C latch pulse (-) for 12VDC input Phase-C latch pulse (+) Digital output 1 (-) Digital output 3 (-) Digital input common Digital input 1 - shared with pulse latch input Digital input 3 Digital input 5 Digital input 7 Digital output 5 (-) Digital output 7 (-) Digital output 1 (+) Digital output 3 (+) Digital output 5 (+) Digital output 7 (+) - shared w/ position agreement COIN signal - SERVOPACK with MP2600iec Option Pin 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 I = Input, O = Output, P = Power 312 Sigma-5 Indexer Option The Sigma-5 SERVOPACK with indexer option provides point to point positioning capability without complex programming. With this plug-and-play system, even the automation novice will be able to develop a high performance application solution with minimal effort.. • The configuration tool SigmaWin+ provides a wizard that will interact with you in a dialog format to help you setup and change the settings for your application. • Up to 256 positioning points can be programmed in an easy to edit program table. • A wide range of functions such as positioning, jogging, homing, registration, backlash compensation, and programmable signal outputs are available. • The amplifier package comes with 19 digital inputs and 16 digital outputs. • Interface with host controller or PLC via discrete I/O or ASCII serial commands (RS-422 or RS-485). With front cover open Reserved (Do not use.) Reserved (Do not use.) LED (red) LED (green) I/O signal connector (CN11) for sequence I/O signals Serial command communications connector (CN12) 1External Dimensions Units: mm (24) CN11 (60) (100) 160 CN12 (10) (75) 20 Dimensions in mm. 313 97 SERVOPACK with Additional Options Indexer Option Specifications of the Indexer Module 1INDEXER Module Specifications Items Program table positioning in which steps are executed sequentially by commands given through contact input or serial communications Positioning in which station numbers are specified by commands given through contact input or serial communications Program Table Method Control Method Max. Number of Steps 256 Max. Number of Tables 256 Max. Number of Stations 256 Serial Communications Method Other Functions Display Serial command by 1-channel ASCII code Communications specifications: RS-422/485 (50 m max.) Connection topology: Multi-drop connection (16 axes max.) Baud rate: 9600, 19200, 38400 bps Registration (positioning by external signal), homing LED Lit during parameter setting, monitoring, executing utility functions, etc. • Servo ON (/S-ON) • Forward run prohibited (P-OT), reverse run prohibited (N-OT) • Homing deceleration limit switch (/DEC) • Alarm reset (/ALM-RST) • Registration latch (/RGRT) SERVOPACK End Mode selection (/MODE0/1) Mode 0 Input • Starts or interrupts program table operation (/START-STOP) • Resets program table operation (/PGMRES) • Program table selection 0 (/SEL0) Module End I/O Signal Mode 1 to • Program table selection 7 (/SEL7) • Starts homing (/HOME) • Starts forward JOG operation (/JOGP) • Starts reverse JOG operation (/JOGN) • JOG speed table selection 0 (/JOG0) to • JOG speed table selection 3 (/JOG3) SERVOPACK End • Servo alarm (ALM) • Error/warning (/WARN) • Braking (/BK) Module End • Positioning completed (/INPOSITION) • Programmable output 0 to 7 (/POUT0 to /POUT7) Output • Servo ready (/S-RDY) • Alarm code output 0 to 2 (ALO0 to ALO2) Program Table Functions Setting Range Setting Unit PGMSTEP Function Program step − − POS Target position –99,999,999 to +99,999,99 Reference unit SPD Positioning speed 1 to 99,999,999 ×1000 reference units/min 0 to 99,999,999 Reference unit ×1000 reference units/min Description Program step number (0 to 255) Specifies the target position. (STOP), no motion command (–) RDST External positioning distance RSPD External positioning speed 1 to 99,999,999 ACC Acceleration 1 to 99,999,999 DEC POUT Deceleration Programmable output signals EVENT Pass condition LOOP Number of executions NEXT Program step to be executed next 1 to 99,999,999 − 0 to 99,999 (Waiting time settings) 1 to 99,999 0 to 255 ×1000 reference units/ min/ms ×1000 reference units/ min/ms − Specifies the positioning speed. Specifies registration distance. For no registration, set “–”. Specifies registration speed. Specifies acceleration for positioning or registration. To continue with the acceleration specified in the previously executed program step, set “:”. Specifies deceleration for positioning or registration. To continue with the deceleration specified in the previously executed program step, set “:”. Specifies the operation of programmable output signals /POUT0 to /POUT7. Active (A), inactive (N), ZONE signal (Z), maintain previous condition ( : ) Sets waiting time (Tn) and any one of the following in tandem: Positioning ms SERVOPACK with Indexer Option Absolute position (A), relative distance (I), infinite length (INFINITE), Stop completion signal (I), position reference distribution completed signal (D), positioning near signal (N), or selection signal (SELn) − − Specifies the number of executions from positioning start to pass condition (EVENT). Specifies the program step (PGMSTEP) to be executed next. To end program table operation, set “END”. 314 Selecting Cables 1Cables for CN11 CN12 (INDEXER Module) &1 &1 Name &DEOHIRU,26LJQDOV &DEOHIRU6HULDO&RPPDQG&RPPXQLFDWLRQV Length Connector Kit CN11 Cable for I/O Signals Cable with Loose wire at One End Cable with Terminal Block at One End CN12 Cable for Serial Command Communications Connector kit*1 *1 Use the connector kit when you make cables yourself. 315 Order No. DP9420007-E 1m JZSP-CVI01-1-E 2m JZSP-CVI01-2-E 3m JZSP-CVI01-3-E 0.5 m Specifications Details (1) (2) JUSP-TA36V-E 1m JUSP-TA36V-1-E 2m JUSP-TA36V-2-E JZSP-CHI9-1 (3) (4) SERVOPACK with Additional Options Indexer Option Selecting Cables (1) Connector Kit for CN11 (2) Cable with Loose Wires at One End for CN11 External Dimensions of Cable (Units: mm) Use the following connector and cable to assemble the cable. The CN11 connector kit includes one case and one connector. Case Model Model DP9420007-E 10336-52A0008* SERVOPACK End Connector (36P) 10136-6000EL (Sumitomo 3M Ltd.) Shell 10336-52A0-008 Cable FA375440 AWG28×25P (Taiyo Cabletec Corporation) Connector Qty Model Qty 1 set 10136-3000PE* (Soldered) 1 * : Manufactured by Sumitomo 3M Ltd. 3 Dia. Wire Markers Specifications Item Cable Use twisted-pair or twisted-pair shielded wire. Applicable Wires AWG24, 26, 28, 30 Cable Finished Diameter 16 dia. max. 12.0 25.8 14 Ｌ 100+-10 0 Model Cable Length JZSP-CVI01-1-E 1m JZSP-CVI01-2-E 2m JZSP-CVI01-3-E 3m 10.0 • External Dimensions of Case (Units: mm) Cable with Loose Wires at One End for CN11 1 Connection Diagram of JZSP-CVI01-¡-E Cable 14.0 39.0 23.8 31.3 （5.2） SERVOPACK End 37.2 12.7 • External Dimensions of Connector (Units: mm) 2.54 1.27 5.1 2.3 Pin No.35 Pin No.19 Pin No.36 Pin No.20 32.2 9.1 7.5 Pin No.1 15° 1.27 21.59 27.8 19.5 （6.8） （2.9） 12.7 ３Ｍ Pin No.1 Pin No.2 Pin No.17 Pin No.18 Pin No.19 (8.1 Dia.) 43.5 • Cable Size Signal Pin No. MODE0 MODE1 COM+ 1 – 2 /MODE0/1 3 – 4 STR-STP /HOME 5 – 6 PGMRES /JOGP 7 – 8 SEL0 /JOGN 9 – 10 SEL1 /JOG0 11 – 12 SEL2 /JOG1 13 SEL5 14 SEL3 /JOG2 15 SEL6 16 SEL4 /JOG4 17 SEL7 18 INPOS+ 19 INPOS– 20 POUT0+ 21 POUT0– 22 POUT1+ 23 POUT1– 24 POUT2+ 25 POUT2– 26 POUT3+ 27 POUT3– 28 POUT4+ 29 POUT4– 30 POUT5+ 31 POUT5– 32 POUT6+ 33 POUT6– 34 POUT7+ 35 POUT7– 36 Shield Case Wire Color Orange Gray White Yellow Pink Orange Gray White Yellow Pink Orange Gray White White Yellow Yellow Pink Pink Orange Orange Gray Gray White White Yellow Yellow Pink Pink Orange Orange - Marking Color Dots Red 1 1 Red 1 Red 1 Red 1 Red 2 Red 2 Red 2 Red 2 Red 2 Red 3 Red 3 Red 3 Red 3 Black 3 Red 3 Black 3 Red 3 Black 4 Red 4 Black 4 Red 4 Black 4 Red Black 4 Red 4 Black 4 Red 4 Black 4 Red 5 or more Black 5 or more - Host Controller End Lead Marker 1 3 5 7 9 11 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 SERVOPACK with Indexer Option Connector Kit ：Represents twisted-pair wires. 316 Selecting Cables (3) Cable with Terminal Block at One End (for CN11) • Configurations SERVOPACK CN11 Model：JUSP- TA36 V B20 A20 B1 A1 1 39 2 40 Terminal block converter unit 7 B20 A20 B1 A1 1 39 2 40 45 29.5 7 Nameplate 15.5 • External Dimensions of Terminal Block (Units: mm) 2-3.5 Dia. 202.5 3.5 Can be fixed on DIN rail 20.5 2 43 3.5 • External Dimensions of Cable (Units: mm) Cover：10136-6000EL(Sumitomo 3M Ltd.) Shell ：10336-52A0-008(Sumitomo 3M Ltd.) ：FCN-361J040-AU(Fujitsu Ltd.) Cover Connector：FCN-360C040-B(Fujitsu Ltd.) (39) Heat-shrinkable tube (black) (20) (10) L (72.72) (43.5) Cable (Black) AWG28×18P Model Cable Length (L) Approx. Mass 0.5 m 100 g JUSP-TA36V-1-E 1m 200 g JUSP-TA36V-2-E 2m 400 g JUSP-TA36V-E (47) Note: The pin number in the SERVOPACK connector and the pin number in the terminal block are the same. Pin numbers 1 to 36 are used in the terminal block. Do not use a pin number of 37 or higher. If assembling cables, refer to the ● Cable with Loose Wires at One End for CN11 Connection Diagram of JZSP-CVI01-□ -E Cable on the previous page. 317 SERVOPACK with Additional Options Indexer Option Selecting Cables (4) Connector Kit for CN12 Use the following connector and cable to assemble the cable. The CN12 connector kit includes one case and one connector. Case Connector Kit Connector Model Model Qty Model Qty JZSP-CHI9-1 10314-52A0-008* 1 set 10114-3000PE* (Soldered) 1 * : Manufactured by Sumitomo 3M Ltd. • Cable Size Specifications Item Use twisted-pair or twisted-pair shielded wire. Applicable Wires AWG24, 26, 28, 30 Cable Finished Diameter 16 dia. max. • External Dimensions of Connector (Units: mm) • External Dimensions of Case (Units: mm) 8.5 2.54 1.27 2.3 Pin No.13 Pin No.8 Pin No.14 Pin No.9 7.0 Cable 5.1 23.6 18.2 19.5 （6.8） 39.0 23.8 （5.2） 18.2 （2.9） 12.7 ３Ｍ Pin No.1 Pin No.2 Pin No.6 Pin No.7 29.5 12.7 9.1 7.5 Pin No.1 15° 1.27 7.62 13.6 SERVOPACK with Indexer Option Pin No.8 318 Sigma-5 Functional Safety Option The functional safety option for the Sigma-5 SERVOPACK provides the functionality necessary to handle the different safe machine states required in your application • The STO (Safe Torque Off) function is integrated into the standard SERVOPACK. • Additional functions SS1 (Safe Stop 1), SS2 (Safe Stop 2), and SLS (Safe Limited Speed) can be accessed by choosing the advanced safety option Safe Torque Off (STO) Safe Stop 1 (SS1) n n Safe Stop 2 (SS2) n Speed monitoring Safely Limited Speed (SLS) n Speed monitoring Speed monitoring Position monitoring 0 t 0 t 0 t 0 The Sigma-5 SERVOPACKs are certified by TUV SUD and comply with the following safety standards: Description Standard Performance IEC 61508 SIL 2 IEC 62061 SILCL2 Performance Level EN ISO 13849-1 Pl-d Stop functions IEC 60204-1 Stop category 0/1/2 Functional Safety IEC 61800-5-2 STO/SS1/SS2/SLS Safety Integrity Level 1External Dimensions Units: mm （） &1 &1 （） （） $SSUR[0DVV NJ 319 t SERVOPACK with Additional Options Functional Safety Option Specifications of the Functional Safety Option Items Ambient Temperature Operating Specifications 0 to +55˚C Storage Temperature −20 to +85˚C Ambient Humidity 90% RH or less Storage Humidity 90% RH or less Vibration Resistance 4.9 m/s2 Shock Resistance 19.6 m/s2 Protection Class IP10 Pollution Degree 2 Altitude 1000 m or less Conditions With no freezing or condensation An environment that satisfies the following conditions. • Free of corrosive or flammable gases • Free of exposure to water, oil, or chemicals • Free of dust, salts, or iron dust Do not use SERVOPACKs in the following locations: Others •Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity Compliance with North American Safety Standards, European Directives, and Safety Standards (SERVOPACK + Safety Module) North American Safety Standards EN ISO 13849-1: 2008 (2006/42/EC) EN 954-1 European EMC Directive Directives (2004/108/EC) Safety Standards UL508C (E147823) Machinery Directive EN 55011/A2 group 1, class A EN 61000-6-2 EN 61800-3 Low Voltage Directive EN 50178 (2006/95/EC) EN 61800-5-1 Safety of Machinery EN ISO 13849-1, EN 954-1, IEC 60204-1 Functional Safety IEC 61508-1 to -7, IEC 62061, IEC 61800-5-2 EMC Directive IEC 61326-3-1 Safety Function IEC 61800-5-2 IEC 60204-1 Safe Torque Off (STO) Stop Category 0 Safe Stop 1 (SS1) Stop Category 1 Safe Stop 2 (SS2) Stop Category 2 Safely Limited Speed (SLS) Number of Function 2 Safety Function A Input signal: Two channels (redundant signals), output signal: one channel Safety Function B Input signal: Two channels (redundant signals), output signal: one channel Safety Integrity Level SIL2, SILCL2 Safe Performance Failure per Hour PFH < 3.3 [1/h] Category Cat3 Performance Level PLd (Category 2) Mean Time to Dangerous Failure of Each Channel MTTFd: High Average Diagnostic Coverage DCave: Medium Proof Test Interval 10 years SERVOPACK with Functional Safety Option Probability of Dangerous 320 Selecting Cables 1 CN21 CN22 Cable for Functional Safety Option ,2FRQQHFWRUIRUWKH6DIHW\)XQFWLRQ$ &1 ,2FRQQHFWRUIRUWKH6DIHW\)XQFWLRQ% &1 Name Length Cable with Connector*1 CN21 CN22 Cable for Functional Safety Option Connector Kit 3m Order No. Specifications Details JZSP-CVH03-03-E (1) Contact Tyco Electronics AMP K.K. Product name: Industrial Mini I/O D-shape Type1 Plug Connector Kit Model: 2013595-1 *2 *1: When using the safety function, connect this cable to the safety devices. *2: Use the connector kit when you make cables yourself. (1) Cable with Connector for CN21 and CN22 (Model: JZSP-CVH03-03-E) • External Dimensions (Units: mm) （33） • Specifications 3000 +150 （20） （8） （11） Connector Kit: 2013595-1 (Tyco Electronics AMP K.K.) Pin No. Signal Lead Color 1 Not used – Marking Color – 2 Not used – – 3 /SRI-¡1− White Black 4 /SRI-¡1+ White Red 5 /SRI-¡2− Gray Black 6 /SRI-¡2+ Gray Red 7 EDM-¡− Orange Black 8 EDM-¡+ Orange Red Note: The signal name varies in accordance with the connector used. Connector CN21: □=A Connector CN22: □=B 321 SERVOPACK with Additional Options SERVOPACK with Functional Safety Option Functional Safety Option 322 Wiring Main Circuit and Peripheral Devices Wiring Main Circuit 1Typical Main Circuit Wiring Examples This section describes the typical main circuit wiring examples. WARNING After turning OFF the power, do not touch the power terminals while charge indicator is still ON. High residual voltage may still remain in the SERVOPACK. When the voltage is discharged, the charge indicator will turn OFF. Make sure the charge indicator is OFF before starting wiring or inspection. 2Single-phase 100 V R T SERVOPACK SGDV-¡¡¡F 1QF 3SA U V W FIL 2KM L1 L2 M 1KM ENC L1C L2C 1Ry (For servo alarm display) B1/ +24V ALM+ CN1 31 1Ry ALM− 32 1D B2 Servo power supply ON Servo power supply OFF 1KM 1KM 1PL 0V 1KM 1SA 2KM 1Ry 1QF : Molded-case circuit breaker FIL : Noise filter 1KM : Magnetic contactor (for control power supply) 2KM : Magnetic contactor (for main circuit power supply) 1Ry : Relay 1PL : Indicator lamp 1SA : Surge absorber 2SA : Surge absorber 3SA : Surge absorber 1D : Flywheel diode 2SA 2Three-phase 200 V R S T 1QF SERVOPACK SGDV-¡¡¡A 3SA FIL 2KM L1 L2 L3 U V W M ENC 1KM L1C L2C 1Ry Servo power supply ON Main power supply OFF 1KM 1KM (For servo alarm display) 1Ry 1PL 1KM 1SA 2KM 2SA 323 B1/ B2 ALM+ CN1 31 B3 −1 −2 ALM− 32 +24 V 1Ry 1D 0V 1QF : Molded-case circuit breaker FIL : Noise filter 1KM : Magnetic contactor (for control power supply) 2KM : Magnetic contactor (for main circuit power supply) 1Ry : Relay 1PL : Indicator lamp 1SA : Surge absorber 2SA : Surge absorber 3SA : Surge absorber 1D : Flywheel diode Note: Every SERVOPACK of SGDV-470A, -550A，-590A，and -780A requires a specified external regenerative unit. SERVOPACKs Wiring Main Circuit and Peripheral Devices Wiring Main Circuit 2Three-phase 400 V R S T 1QF SERVOPACK SGDV-¡¡¡D 3SA FIL 2KM L1 L2 L3 Servo power supply ON 1KM 1KM 1Ry ENC 24 V 0V (For servo alarm display) Servo power supply OFF M 1KM DC power supply + (24 VDC) − 1Ry U V W 1PL B1/ B2 B3 −1 −2 ALM+ CN1 31 ALM− 32 +24V 1Ry 1D 0V 1KM 1SA 2KM 1QF : Molded-case circuit breaker FIL : Noise filter 1KM : Magnetic contactor (for control power supply) 2KM : Magnetic contactor (for main circuit power supply) 1Ry : Relay 1PL : Indicator lamp 1SA : Surge absorber 2SA : Surge absorber 3SA : Surge absorber 1D : Flywheel diode Note: E very SERVOPACK of SGDV-210D, -260D，-280D，and -370D requires a specified external regenerative unit. 2SA 1General Precautions for Wiring 3Use a molded-case circuit breaker (QF) or fuse to protect the Main Circuit. IMPORTANT The SERVOPACK connects directly to a commercial power supply; it is not isolated by a transformer or other device. Always use a molded-case circuit breaker (QF) or fuse to protect the servo system from accidents involving different power system voltages or other accidents. 3Install a ground fault detector. The SERVOPACK does not have a built-in protective circuit for grounding. To configure a safer system, install a ground fault detector against overloads and short-circuiting, or install a ground fault detector combined with a molded-case circuit breaker. 3 Do not turn power ON and OFF frequently. The power supply in the SERVOPACK contains a capacitor, which causes a high charging current to flow when power is turned ON. Frequently turning power ON and OFF will causes the main circuit elements in the SERVOPACK to deteriorate. To ensure safe, stable application of the servo system, observe the following precautions when wiring. Observe the following precautions when wiring the ground. 3 Use a cable as thick as possible (at least 2.0 mm2) 3 Ground the 100-V and the 200-V SERVOPACK to a resistance of 100 W or less. Ground the 400-V SERVOPACK to a resistance of 10 W or less. 3 Be sure to ground at only one point. 3 Ground the servomotor directly if the servomotor is insulated from the machine. The signal cable conductors are as thin as 0.2 mm or 0.3 mm. Do not impose excessive bending force or tension. 1Precautions When Using the SERVOPACK with a DC Power Input When using the SERVOPACK with a DC power input, refer to 3.1.5 Precautions When using the SERVOPACK with a DC power input on “AC Servodrive Series USER’S MANUAL Design and Maintenance.” (manual no. Wiring Main Circuit and Peripheral Devices Observe the following precautions when wiring the main circuit. 3 Use shielded twisted-pair wires or shielded multi-core twisted-pair wires for signal lines and encoder lines. 3 The maximum wiring length is 3 m for signal lines and 50 m for encoder lines. SIEP S800000 45) 324 Wiring Main Circuit 1Precautions When Using More Than One SERVOPACK This section shows an example of the wiring when more than one SERVOPACK is used and the precautions. 2Wiring Example Connect the alarm output (ALM) terminals for the three SERVOPACKs in series to enable alarm detection relay 1RY to operate. When a SERVOPACK alarm is activated, the ALM output signal transistor is turned OFF. Power supply R S T 1QF 3SA FIL 1KM 2KM L1 L2 SERVOPACK L3 Relay terminal Relay terminal Servomotor M L1C L2C ALM+ 1Ry (For servo alarm display) ALM- 1KM 32 +24 V 1D L1 L2 SERVOPACK L3 1PL Servo power Servo power supply OFF supply ON CN1 1RY 31 Relay terminal Relay terminal Servomotor M L1C L2C 1KM 1KM 1Ry 1SA 2KM ALM+ CN1 31 ALM- 32 2SA 1QF : Molded-case circuit breaker FIL : Noise filter 1KM : Magnetic contactor (for control power supply) 2KM : Magnetic contactor (for main circuit power supply) 1Ry : Relay 1PL : Indicator lamp 1SA : Surge absorber 2SA : Surge absorber 3SA : Surge absorber 1D : Flywheel diode L1 L2 SERVOPACK L3 Servomotor M L1C L2C ALM+ CN1 31 ALM- 32 2Precautions 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. 325 0V SERVOPACKs Wiring Main Circuit and Peripheral Devices SERVOPACK Main Circuit Wire 1Single-phase, 100 V Terminal Cables SERVOPACK Model SGDV- Main Circuit Power Cable R90F R70F Symbol L1, L2 2R1F 2R8F HIV1.25 HIV2.0 Servomotor Main Circuit Cable U, V, W HIV1.25 Control Power Cable L1C, L2C HIV1.25 External Regenerative Resistor Cable B1/ , B2 HIV1.25 HIV2.0 min. Ground Cable 1Three-phase, 200 V Cables Terminal SERVOPACK Model SGDV- Symbol R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A 470A 550A 590A 780A Main Circuit Power Cable L1, L2, L3 Servomotor Main Circuit Cable U, V, W HIV1.25 HIV2.0 HIV1.25 Control Power Cable L1C, L2C External Regenerative Resistor Cable B1/ , B2 HIV3.5 HIV2.0 HIV5.5 HIV8 HIV14 HIV22 HIV3.5 HIV5.5 HIV8.0 HIV14 HIV22 HIV2.0 HIV3.5 HIV5.5 HIV8 HIV22 HIV1.25 HIV1.25 Ground Cable HIV2.0 min. 1Three-phase, 400 V Terminal Cables Symbol SERVOPACK Model SGDV1R9D 3R5D 5R4D 8R4D 120D Main Circuit Power Cable L1, L2, L3 HIV1.25 HIV2.0 Servomotor Main Circuit Cable U, V, W HIV1.25 HIV2.0 Control Power Cable 24V, 0V External Regenerative Resistor Cable B1/ , B2 170D 210D HIV3.5 HIV3.5 260D 280D 370D HIV5.5 HIV8 HIV14 HIV5.5 HIV8 HIV14 HIV3.5 HIV5.5 HIV8 HIV1.25 HIV1.25 Ground Cable HIV2.0 HIV2.0 min. 1Wire Type Wire Type Allowable Conductor Temperature ˚C Code Name PVC Polyvinyl chloride insulated wire - IV 600 V polyvinyl chloride insulated wire 60 HIV 600 V grade heat-resistant polyvinyl chloride insulated wire 75 HIV Cross-Sectional Area (mm2) *1 AWG HIV 1.25 1.25 16 HIV 2.0 2.0 14 HIV 3.5 3.5 12 HIV 5.5 5.5 10 HIV 8.0 8.0 8 HIV 14 14 6 HIV 22 22 4 *1 Cross-sectional area applies to solid wires Wiring Main Circuit and Peripheral Devices 1HIV Conversion Chart 326 SERVOPACK Main Circuit Wire The following table shows the size and allowable currents for the wires. Use a wire whose specifications meet or are less than the values in the table. 3600 V grade heat-resistant polyvinyl chloride insulated wires Nominal Cross Section Diameter Allowable Current at Ambient Temperatures A AWG size mm2 30°C 40°C 50°C 0.5 20 6.6 5.6 4.5 0.75 - 8.8 7.0 5.5 0.9 18 9.0 7.7 6.0 1.25 17 to 16 12.0 11.0 8.5 2.0 14 23 20 16 3.5 12 to 11 33 29 24 5.5 10 to 9 43 38 31 8.0 8 55 49 40 14.0 6 to 5 79 70 57 22.0 4 to 3 91 81 66 Note: The values in the table are only for reference. IMPORTANT 327 1 2 3 4 Wire sizes are selected for three cables per bundle at 40˚C ambient temperature with the rated current. se a wire with a minimum withstand voltage of 600 V for the main circuit. U If wires are bundled in PVC or metal ducts, take into account the reduction of the allowable current. Use a heat-resistant wire under high ambient or panel temperatures, where polyvinyl chloride insulated wires will rapidly deteriorate. SERVOPACKs Wiring Main Circuit and Peripheral Devices Molded-case Circuit Breaker and Fuse Capacity Main Circuit Power Supply Applicable Servomotor Max. Capacity kW Single-phase 100 V Three-phase 200 V Three-phase 400 V SERVOPACK Model SGDV- Power Supply Capacity per SERVOPACK kVA Current Capacity Main Circuit Arms 0.05 R70F 0.2 1.5 0.1 R90F 0.3 2.5 0.2 2R1F 0.7 5 0.4 2R8F 1.4 10 0.05 R70A 0.2 1.0 0.1 R90A 0.3 1.0 0.2 1R6A 0.6 2.0 0.4 2R8A 1 3.0 0.5 3R8A 1.4 3.0 0.75 5R5A 1.6 6.0 1.0 7R6A 2.3 6.0 1.5 120A 3.2 7.3 2.0 180A 4 9.7 3.0 200A 5.9 15 5.0 330A 7.5 25 6.0 470A 10.7 29 7.5 550A 14.6 37 11 590A 21.7 54 15 780A 29.6 73 0.5 1R9D 1.1 1.4 1.0 3R5D 2.3 2.9 1.5 5R4D 3.5 4.3 2.0 8R4D 4.5 5.8 3.0 120D 7.1 8.6 5.0 170D 11.7 14.5 6.0 210D 12.4 17.4 7.5 260D 14.4 21.7 11 280D 21.9 31.8 15 370D 30.6 43.4 Inrush Current Control Circuit Arms Main Circuit A0-p Control Circuit A0-p 0.38 16.5 35 70 0.2 33 0.25 33 0.3 65.5 0.45 109 1.2 17 1.4 48 34 57 1.5 34 1.7 68 – Notes: 1 To comply with the low voltage directive, connect a fuse to the input side. Select the fuse or molded-case circuit breaker for the input side from among models that are compliant with UL standards. The table above also provides the net values of current capacity and inrush current. Select a fuse and a molded-case circuit breaker which meet the breaking characteristics shown below. ∙ Main circuit, control circuit: No breaking at three-times the current values of the table for 5 s. ∙ Inrush current: No breaking at the same current values of the table for 20 ms. 2 In accordance with UL standards, the following restrictions apply. Install fuses or circuit breakers listed in accordance with the guidelines of NEC. SERVOPACK Restrictions SGDV180A,200A Available rated current for molded-case circuit breaker: 40 A or less 330A ∙ Available rated current for time delay fuse: 40 A or less ∙ Do not use single wires. 470A, 550A ∙ Available rated current for molded-case circuit breaker: 60A or less ∙ Available rated current for non-time delay fuse: 60 A or less ∙ Available rated current for molded-case circuit breaker: 100 A or less 590A, 780A ∙ Available rated current for non-time delay fuse or time delay fuse: 100 A or less (Available rated current for class J non-time delay or faster fuse: 125 A or less) ∙ Available rated current for molded-case circuit breaker: 60 A or less 210D, 260D ∙ Available rated current for non-time delay fuse: 60 A or less ∙ Available rated current for time delay fuse: 35 A or less ∙ Available rated current for molded-case circuit breaker: 80 A or less 280D, 370D ∙ Available rated current for non-time delay fuse: 125 A or less ∙ Available rated current for time delay fuse: 75 A or less Wiring Main Circuit and Peripheral Devices ∙ Available rated current for non-time delay fuse: 70 A or less 328 Noise Filters 1Noise Filter Selection Main Circuit Power Supply Single-phase 100 V Single-phase 200 V SGDV- Three- phase 400 V Specifications R70F,R90F FN2070-6/07 Single-phase 250V 6A FN2070-10/07 Single-phase 250V 10A 2R8F FN2070-16/07 Single-phase 250V 16A R70A, R90A, 1R6A FN2070-6/07 Single-phase 250V 6A 2R8A FN2070-10/07 Single-phase 250V 10A 5R5A FN2070-16/07 Single-phase 250V 16A 120A FN350-30/33 Single-phase 250V 30A 2R8A,3R8A 200 V Model 2R1F R70A,R90A,1R6A Three-phase Recommended Noise Filter SERVOPACK Model FN258L-7/07 Three-phase 480V 7A 5R5A,7R6A FN258L-16/07 Three-phase 480V 16A 120A,180A HF3020C-UQC Three-phase 480V 20A 200A HF3030C-UQC Three-phase 480V 30A 330A, 470A HF3050C-UQC Three-phase 480V 50A 550A HF3060C-UQC Three-phase 480V 60A Leakage Current Details 0.734 mA 230VAC/50Hz 0.734 mA (1) 230VAC/50Hz 5.4 mA 230VAC/50Hz 0.5 mA 440VAC/50Hz 0.8 mA 440VAC/50Hz (2) 10 mA 440VAC/50Hz 590A, 780A HF3100C-UQB Three-phase 480V 100A 1R9D,3R5D,5R4D FN258L-7/07 Three-phase 480V 7A 0.8 mA (3) 8R4D,120D FN258L-16/07 Three-phase 480V 16A 170D FMAC-0934-5010 Three-phase 480V 35A 440VAC/50Hz 160 mA 210D, 260D HF3050C-UQC Three-phase 480V 50A 440VAC/50Hz 10 mA 280D, 370D HF3080C-UQB Three-phase 480V 80A 440VAC/50Hz (2) (3) (2) (3) Note: RoHS-compliant models are not available. Contact the manufactures when in need of an RoHS-compliant model. IMPORTANT 329 Some noise filters have large leakage currents. The grounding measures taken also affect the extent of the leakage current. If necessary, select an appropriate leakage current detector or leakage current breaker taking into account the grounding measures that are used and leakage current from the noise filter. Contact the manufacturer of the noise filter for details SERVOPACKs Wiring Main Circuit and Peripheral Devices Noise Filters 1External Dimensions (Units: mm) (1) FN Type (by Schaffner EMC, Inc.) FN2070-6/07 Top View Model FN2070-10/07 Side View L A F D FN2070-16/07 Top View Side View A F D K M B Q R B J J S P K N C P N Dimensional M Drawings P/N/E + 140 −05 Connection Lead C Dimensions Code External Dimensions 156 ± 1 113.5 ± 1 A B 57.5 ± 1 C 45.4 ± 1.2 119 ± 0.5 85.5 ± 1 57.6 ± 1 D 94 ± 1 130.5 ± 1 98.5 ± 1 F 103 ± 0.3 143 ± 0.3 109 ± 0.3 J 25 ± 0.2 40 ± 0.2 K 8.4 ± 0.5 8.6 ± 0.5 L − 32.4 ± 0.5 4.4 ± 0.1 M 5.3 ± 0.1 4.4 ± 0.1 N 6 ± 0.1 7.4 ± 0.1 P 0.9 ± 0.1 1.2 ± 0.1 Q − 66 ± 0.3 R − 51 ± 0.2 S 38 ± 0.5 − FN350-30/33 Model Top View 6±0.1 4.4±0.1 84.5±1 95±0.2 105±0.5 79±0.5 51±0.1 Drawings 99.5±0.5 Dimensional Wiring Main Circuit and Peripheral Devices 19±0.5 57±1 Side View 330 Noise Filters (2) FN Type and HF Type FN Type [by Schaffner EMC, Inc.] Model FN258L-7/07 HF Type [by SOSHIN ELECTRIC CO., LTD.] HF3020C-UQC HF3050C-UQC HF3030C-UQC HF3060C-UQC FN258L-16/07 （N） 4-J G F （M） （ M） （O） G±1 F±1 E±5 P E A Dimensional D Drawings Ground Marker K H D±2 C±1 B±1 A±5 C H±5 B L （P）33.6 L （Q） J O External Dimensions mm Code A B C D E F G H J K L M N O P Q Dimensions 225 ± 1 126 ± 0.8 50 ± 0.6 225 ± 0.8 240 ± 0.5 25 ± 0.3 Dimensions 236 221 206 184 105 90 76 122 5.5×7 Dia. M5 M5 16 13 51.4 13 61.1 305 ± 1 142 ± 0.8 55 ± 0.6 275 ± 0.8 290 ± 0.5 30 ± 0.3 6.5 ± 0.2 300 ± 10 1 ± 0.1 − 9±1 − − M5 AWG16 AWG14 − 256 241 226 204 115 100 86 127 5.5×7 Dia. M5 M5 16 13 51.4 13 61.1 (3) HF Type and FS Type HF Type [by SOSHIN ELECTRIC CO., LTD.] FMAC Type [by Schurter, Inc.] HF3080C-UQB HF3100C-UQB FMAC-0934-5010 251 201 331 66 6.5±0.3 115±0.3 M6 121 (41) 135 +−01 (10) LOAD 151 310 330 140 External Dimensions mm LINE 130 145 Model (17) SERVOPACKs Wiring Main Circuit and Peripheral Devices Surge Absorber 1Surge Absorber Selection The surge absorber (for lightning surge) absorbs lightning surge and prevents faulty operation in or damage to electronic circuits. SERVOPACK Model Recommended SGDV- Surge Absorber Single-phase 100 V ¡¡¡F LT-C12G801WS Three-phase 200 V ¡¡¡A LT-C32G801WS Three-phase 400 V ¡¡¡D LT-C35G102WS Main Circuit Power Supply 1External Dimensions (Units: mm) Model: LT-C32G801WS, LT-C35G102WS, LT-C12G801WS [by SOSHIN ELECTRIC CO., LTD.] 38±1.0 38±1.0 L2* L2* L3 L3 +25 + ±1±.10.0 250 2828 −0−25 250 0 L1 L1 19±1.0 19±1.0 Lead Line(L3) Lead Line(L3) Lead Line(L2)* Lead Line(L2)* Lead Line(L1) Lead Line(L1) Ground Wire(E) Ground Wire(E) Case Case 4±40±.05.5 4. 4 3 .3+ −0 0−.3+0 . .10D .1 3D ia ia Separator Separator Operation Operation Indicator Indicator Internal Connection Diagram ±1±.10.0 4 42525 3333 .5.±51±.10.0 External Dimensions 22.5±1.0 22.5±1.0 Wiring Main Circuit and Peripheral Devices *: No L2 is on the LT-C12G801WS surge absorber. 332 Magnetic Contactors 1Magnetic Contactor Selection A magnetic contactor is required to make the AC power to SERVOPACK ON/OFF sequence externally. Be sure to attach a surge absorber (for switching surge) (surge absorber unit etc.) to the excitation coil of the magnetic contactor. Magnetic Contactor SERVOPACK Model Main Circuit Power Supply Model SGDVR70F,R90F,2R1F Single-phase 100 V Three-phase 200 V Three-phase 400 V Specifications (RoHS) SC-03 2R8F SC-4-1 (RoHS) R70A,R90A,1R6A,2R8A,3R8A SC-03 (RoHS) 5R5A,7R6A,120A SC-4-1 (RoHS) 180A,200A SC-5-1 (RoHS) 330A, 470A SC-N1 (RoHS) 550A SC-N2 (RoHS) 590A SC-N2S (RoHS) 780A SC-N3 (RoHS) 1R9D,3R5D,5R4D SC-4-1/G Coil 24 VDC (RoHS) 8R4D,120D SC-5-1/G Coil 24 VDC (RoHS) 170D, 260D SC-N1/G Coil 24 VDC (RoHS) 280D, 370D SC-N2S/G Coil 24 VDC (RoHS) Note: Contact Fuji Electric FA Components & Systems Co., Ltd. 1External Dimensions (Units: mm) ∙ SC-03 Mounting Hole Dimensions 43 34 30 Coil Terminal Aux. Terminal M3.5 M3.5 Aux. Contact Structure 1/L1 3/L2 5/L3 13 1a A1 ① ② 60 52 81 43 14.5 18.5 (20.5) Main Terminal M3.5 (48 Mounting is available.) (28) 23 90 (Mounting Rail Height: 15) 80 61 8.5 ③ A2 2/T1 4/T2 6/T3 14 1/L1 3/L2 5/L3 21 1b A1 A2 2/T1 4/T2 6/T3 22 For front mounting, aux. contact blocks are attached. 35 7.7 10 3 Mounting methods : The following methods ,, are available. …34 × (48 to) 52 …30 × 48 …35 × 60 3Mounting screw : 2-M4 Use the two mounting holes on the diagonal line to mount a contactor. Approx. Mass : 0.32 kg ∙ SC-4-1 Mounting Hole Dimensions 53 Coil Terminal M3.5 14.5 34 Aux. Contact Structure 1/L1 3/L2 5/L3 13 1a A1 ① 60 43 49 81 23 Aux. Terminal M3.5 18.5 48 Mounting Hole Dimensions (20.5) Main Terminal M4 52 (28) 20 91 (Mounting Rail Height : 15) 81 61 8.5 ② 1b A2 2/T1 4/T2 6/T3 14 1/L1 3/L2 5/L3 21 A1 A2 2/T1 4/T2 6/T3 22 For front mounting, aux. contact blocks are attached. 9.7 8 13 13 7.7 35 3 Mounting methods : The following methods ,w are available. …34 × (48 to) 52 w…35 × 60 3Mounting screw : 2-M4 Use the two mounting holes on the diagonal line to mount a contactor. Approx. Mass : 0.36 kg 333 SERVOPACKs Wiring Main Circuit and Peripheral Devices Magnetic Contactor ∙ SC-5-1 Mounting Hole Dimensions Main Terminal M4 64 43 81 23 20 49 9.7 For front mounting, aux. contact blocks are attached. Aux. Contact Structure Aux. Terminal M3.5 Aux. Terminal M3.5 56 Maunting is available. 91 (Mounting Rail Height : 15) (28) 81 61 8.5 Coil Terminal M3.5 7.7 13 13 3Mounting methods : The following methods , are available. …54 × (56 to) 60 …50 × 60 3Mounting screw : 2-M4 Use the two mounting holes on the diagonal line to mount a contactor. Approx. Mass: 0.38 kg ∙ SC-4-1/G Mounting Hole Dimensions 34 23 43 81 49 For front mounting, aux. contact blocks are attached. Aux. Terminal M3.5 9.7 Aux. Contact Structure 1/L1 3/L2 5/L3 13 1a 14.5 53 Coil Terminal M3.5 ② 2/T1 4/T2 6/T3 14 1/L1 3/L2 5/L3 21 1b A1 A2 2/T1 4/T2 6/T3 22 35 8 13 13 A1 A2 ① 60 Main Terminal M4 18.5 52 48 Maunting is available. (20.5) (28) 20 118 (Mounting Rail Height : 15) 108 88 8.5 7. 7 3Mounting methods : The following methods , are available. …34 × (48 to) 52 …35 × 60 3Mounting screw : 2-M4 Use the two mounting holes on the diagonal line to mount a contactor. Approx. Mass : 0.6 kg ∙ SC-5-1/G Mounting Hole Dimensions 14.5 54 ① ② Aux. Contact Structure 2a 9.7 13 13 7.7 A1 A2 14 2/T1 4/T2 6/T3 24 1a1b 13 1/L1 3/L2 5/L3 21 A1 A2 14 2/T1 4/T2 6/T3 22 2b For front mounting, aux. contact blocks are attached. 13 1/L1 3/L2 5/L3 23 (35) 50 11 1/L1 3/L2 5/L3 21 A1 A2 12 2/T1 4/T2 6/T3 22 3Mounting methods : The following methods , are available. …54 × (56 to) 60 …50 × 60 3Mounting screw : 2-M4 Use the two mounting holes on the diagonal line to mount a contactor. Approx. Mass : 0.62 kg Wiring Main Circuit and Peripheral Devices 43 81 49 23 Aux. Terminal M3.5 60 (28) 64 Main Coil Terminal Terminal M4 M3.5 14.5 60 (56 Mounting is available.) (16.5) Aux. Terminal M3.5 20 118 (Mounting Rail Height : 15) 108 88 8.5 334 Magnetic Contactor ∙ SC-N2S/G Main Terminal M6 Aux. Terminal M3.5 Mounting Hole Dimensions * 70 Coil Terminal M3.5 Structure (23)(41) (31) 53 61 13 21 1/L1 3/L2 5/L3 43 31 83 71 75 90 78 110 18 16.5 (112) 88 10.5 140 (Mounting Rail Height : 15) (28) 130 91.5 10.5 * A1 A2 54 62 14 22 2/T1 4/T2 6/T3 44 32 84 72 (24)(42) (32) For front mounting, aux. contact blocks are attached. 20.5 16.8 (55 to) 60 Approx. Mass: 1.4 kg * : For two side mounting, 3Mounting methods : The following methods ,w are available. aux. contact blocks are attached. …70 × 75 w…(55 to) 65 × 90 3Mounting screw : 2-M4 Use the two mounting holes on the diagonal line to mount a contactor. ∙ SC-N1, SC-N2 Mounting Hole Dimensions 74 * Coil Terminal M3.5 45 (to 50) 60 (to 65) 16.5 12.4 3Mounting methods : The following methods , are available. *: For two side mounting, aux. contact blocks attached. …70 × 75 …(55 to) 65 × 90 3Mounting screw : 2-M4 Use the two mounting holes on the diagonal line to mount a contactor. ∙ SC-N2S, SC-N3 (112) 88 Mounting Hole Dimensions * Coil Terminal M3.5 * A1 A2 *: These contacts are used if the auxiliary contacts consist of four normally open (NO) and four normally close (NC) contacts. Note: T he terminals of the auxiliary contacts are numbered differently than conventional terminals. The numbers in parentheses use the conventional method. Approx. Mass: 0.59 kg Structure * 70 * (23)(41) (31) 53 61 13 21 1/L1 3/L2 5/L3 43 31 83 71 A1 A2 18 10.5 Main Terminal M6 Aux. Terminal M3.5 16.5 121 (Mounting Rail Height : 15) (28) 111 72.5 10.5 * 54 62 14 22 2/T1 4/T2 6/T3 44 32 84 72 (24)(42) (32) * For front mounting, aux. contact blocks are attached. Structure (23)(41) (31) 53 61 13 21 1/L1 3/L2 5/L3 43 31 83 71 87 (99) 59.5 Main Terminal M5 Aux. Terminal M3.5 14.3 106 (Mounting Rail Height : 15) (28) 96 65.5 10.5 75 90 78 110 54 62 14 22 2/T1 4/T2 6/T3 44 32 84 72 (24)(42) (32) ① * For front mounting, aux. contact blocks are attached. 20.5 (55 to )60 16.8 For two side mounting, *: aux. contact blocks attached. 3Mounting methods : The following methods , are available. Mounting Hole Dimensions 131(Mounting Rail Height : 15) （99） 74 * Coil Terminal M3.5 59.5 Aux. Terminal M3.5 * For front mounting, aux. contact blocks are attached. 16.5 12.4 For two side mounting, *: aux. contact blocks attached. 335 to Approx. Mass: 1.1 kg Structure * * (23)(41) (31) 53 61 13 21 1/L1 3/L2 5/L3 43 31 83 71 A1 A2 54 62 14 22 2/T1 4/T2 6/T3 44 32 84 72 (24)(42) (32) 87 Main Terminal M5 14.3 91 10.5 （28） *: These contacts are used if the auxiliary contacts consist of four normally open (NO) and four normally close (NC) contacts. Note: T he terminals of the auxiliary contacts are numbered differently than conventional terminals. The numbers in parentheses use the conventional method. …70 × 75 …(55 to) 60 × 90 3Mounting screw : 2-M4 Use the two mounting holes on the diagonal line to mount a contactor. ∙ SC-N1/G 122 ② to 3Mounting methods : The following methods , are available …(60 to)65 × 70 …45(to 50) × 70 3Mounting screw : 2-M4 Use the two mounting holes on the diagonal line to mount a contactor. *: These contacts are used if the auxiliary contacts consist of four normally open (NO) and four normally close (NC) contacts. Note: T he terminals of the auxiliary contacts are numbered differently than conventional terminals. The numbers in parentheses use the conventional method. Approx. Mass: 0.82 kg SERVOPACKs Wiring Main Circuit and Peripheral Devices AC/DC Reactors 1Selection If power supply harmonic suppression is needed, connect a DC reactor between the three-phase 200 V or three-phase 400 V SERVOPACK main circuit terminals 1 and 2. Also, connect an AC reactor to single-phase 100 V SERVOPACK main circuit terminal L1 in series. Select AD/DC reactors according to the SERVOPACK ratings. Main Circuit Power Supply SERVOPACK SGDV- AC/DC Reactor Model R70F Single100 V Rated Current mH A 20.0 2.0 X5053 R90F phase Inductance 2R1F X5054 5.0 3.0 2R8F X5056 2.0 5.0 X5061 2.0 4.8 X5060 1.5 8.8 R70A R90A 1R6A 2R8A 3R8A 5R5A Three- 7R6A phase 120A 200 V 180A 200A X5059 1.0 14.0 330A X5068 0.47 26.8 – – – X5074 4.7 1.5 X5075 3.3 4.5 X5076 2.2 8.6 X5077 1.5 14.1 − − − 470A 550A 590A 780A 1R9D 3R5D 5R4D 8R4D Three- 120D phase 170D 400 V 210D 260D 280D 370D Note: RoHS-compliant models are not available. The last digit of an RoHS-compliant model number is R. Contact the manufacturers when selecting an RoHS- compliant model. B I Dia. G C D 1 2 4-H Dia. Notch A Nameplate E F AC/DC Reactor Model External Dimensions A B C D E F G H Dia. I Dia. Approx. Mass kg X5053 35 52 90 105 35 45 50 4 4.3 0.6 X5054 35 52 80 95 30 40 45 4 4.5 0.4 X5056 35 52 80 95 30 40 45 4 4.3 0.4 X5059 50 74 125 140 35 45 60 5 5.3 1.1 X5060 40 59 105 140 35 45 60 5 5.3 1.1 X5061 35 52 80 95 35 45 50 4 4.3 0.5 X5068 50 74 125 155 53 66 75 5 6.4 1.9 X5074 30 47 70 85 28 38 45 4 4.3 0.3 X5075 40 59 100 120 40 50 55 4 4.3 0.9 X5076 50 74 125 140 35 45 60 5 4.3 1.1 X5077 50 74 125 155 53 66 75 5 5.3 1.9 Wiring Main Circuit and Peripheral Devices 1External Dimensions (Units: mm) 336 Holding Brake Power Supply Unit 1Holding Brake Power Supply Unit 3We recommend opening or closing the circuit for the holding brake’s power supply so that switching will occur on the AC side of the holding brake power supply unit. This will reduce brake operation time compared to switching on the DC side. 3When switching on the DC side, install an extra surge absorber (for lightning surge) apart from the surge absorber (for lightning surge) built in the brake circuit near the brake coil, in order to prevent damage to the brake coil from surge voltage. 3Holding brake power supply units for 24 VDC are not provided by Yaskawa. Please obtain these from other manufacturers. Do not connect holding brake power supply units for different output voltages to SERVOPACKs. Overcurrent may result in burning. IMPORTANT 3Model 200 V input: LPSE-2H01-E 100 V input: LPDE-1H01-E 3External Dimensions (Units: mm) 3Specifications Rated output voltage: 90 VDC Maximum output current: DC 1.0 A Lead wire length: 500 mm each Maximum ambient temperature: 60˚C Lead wires: Color coded (refer to the table below) 50 30 25 Brake end 100 V 200 V Blue/white Yellow/white Mounting Holes 2-3 Dia. (5.5 Counter Boring, Depth 4) Red/black 20 AC input Nameplate Lead wire 11 3Internal Circuits We recommend opening or closing the circuit for the holding brake’s power supply so that switching will occur on the AC side of the holding brake power supply unit. This will reduce brake operation time compared to switching on the DC side. When switching on the DC side, install an extra surge absorber apart from the surge absorber built in the brake circuit near the brake coil, in order to prevent damage to the brake coil from surge voltage. Brake Power Supply for 200 VAC Internal Circuit for Model: LPSE-2H01-E Yellow AC side 180 to 230 V Red Diode Surge Absorber White DC (Brake) side No polarity Black Brake Power Supply for 100 VAC Internal Circuit for Model: LPDE-1H01-E Blue AC side Surge 90 to 120 V Absorber White 337 Diode Bridge Red Surge Absorber DC (Brake) side No polarity Black SERVOPACKs Wiring Main Circuit and Peripheral Devices Regenerative Resistors 1Regenerative Power and Regenerative Resistance The rotational energy of driven machine such as servomotor is returned to the SERVOPACK. This is called regenerative power. The regenerative power is absorbed by charging the smoothing capacitor, but when the chargeable energy is exceeded, the regenerative power is further consumed by the regenerative resistor. The servomotor is driven in regeneration state in the following circumstances: ∙ While decelerating to a stop during acceleration and deceleration operation. ∙ Continuous operation on the vertical axis. ∙ During continuous operation with the servomotor rotated from the load side (negative load). A servomotor may not be operated with an overhanging load, which tends to continuously rotate the motor. following figures show a typical example of such a load. 3 DO NOT use the servomotor with the Vertical Axis Motor Drive without Counterweight 3 DO NOT use the servomotor with the Feeding Motor Drive Servomotor Tension Servomotor Servomotor rotated repeatedly at a constant speed to maintain the tension. IMPORTANT Servomotor 3 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. 3 The regenerative brake capacity of the SGDV SERVOPACKs is rated for short-term operation approximately equivalent to the time it takes to decelerate to a stop. External regenerative resistors are sometimes required by the AC servo drive capacity selection program SigmaJunmaSize+. When using an external regenerative resistor, parameter Pn600 must be set. Series User’s Manual Design and Maintenance.” For details, refer to 3.6.2 Setting Regenerative Resistor Capacity on “ (manual no. SIEP S800000 45) 1Regenerative Resistor Selection Select regenerative resistors in the following manner. External resistors are to be provided by users. Singlephase 100 V Threephase 200 V SERVOPACK Model SGDV- Necessity of External Regenerative Resistors Necessity of External Regenerative Resistors No built-in regenerative resistor is provided, however, normally an external ¡¡¡F None R70A, R90A, 1R6A, 2R8A 3R8A, 5R5A, 7R6A 120A, 180A, 200A, 330A 470A, 550A 590A, 780A 1R9D, 3R5D, 5R4D Threephase 400 V Built-in Regenerative Resistor 8R4D, 120D, 170D 210D, 260D, 280D, 370D Basically Not Required regenerative resistor is not required. Install external regenerative resistors when the smoothing capacitor in SERVOPACK cannot process all the regenerative power. Standard Equipment*1 Basically Not Required None Required*2 Standard Equipment*1 Basically Not Required None Required*2 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 resistor is not connected with the SERVOPACK, the alarm 300 is detected as a regeneration error alarm. 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 resistor is not connected with the SERVOPACK, the alarm 300 is detected as a regeneration error alarm. Wiring Main Circuit and Peripheral Devices Voltage *1: For specifications of built-in regenerative resistors, refer to the next page. *2: Regenerative resistor units are available. 338 Regenerative Resistors 1Specifications of Built-in Regenerative Resistor The following table shows the specifications of the SERVOPACK’s built-in resistor and the amount of regenerative power (average values) that it can process. Regenerative Power Processed by Minimum Allowable Resistance Capacity Built-in Resistor*1 Resistance Ω W W Ω − − − 40 − − − 40 3R8A, 5R5A, 7R6A 50 40 8 40 120A 20 50 10 20 12 Specifications of Built-in Resistor Applicable SERVOPACK SGDVSingle-phase 100 V ¡¡¡F R70A,R90A, 1R6A,2R8A Three-phase 200 V Three-phase 400 V 180A, 200A 12 80 16 330A 8 180 36 8 470A (6.25)*2 (880)*2 (180)*2 5.8 550A, 590A, 780A (3.13)*3 (1760)*3 (350)*3 2.9 1R9D, 3R5D, 5R4D 108 70 14 73 8R4D, 120D 45 140 28 44 170D 32 180 36 28 210D,260D (18)*4 (880)*4 (180)*4 18 280D,370D (14.25)*5 (1760)*5 (350)*5 14.25 *1: The average regenerative power that can be handled is 20% of the rated capacity of the regenerative resistor built into the SERVOPACK. *2: For the optional JUSP-RA04-E regenerative resistor unit. *3: For the optional JUSP-RA05-E regenerative resistor unit. *4: For the optional JUSP-RA18-E regenerative resistor unit. *5: For the optional JUSP-RA19-E regenerative resistor unit. 1 References for External Resistor (by Iwaki Musen Kenkyusho Co., Ltd.) 3Specifications ± 10% ± 5% H : ± 3% Resistance Tolerance K: ± 400PPM / ˚C (20 Ω max.), ± 260PPM / ˚C (20 Ω min.) J: RH120 70 W,1 to 100 Ω Temperature Resistance Characteristics RH150 90 W,1 to 100 Ω Withstand Voltage 2000 VAC / min. ΔR: RH220¡ 120 W,1 to 100 Ω Insulation Resistance 500 VDC,20 MΩ min. RH300C 200 W,1 to 10 kΩ RH500 300 W,1 to 30 Ω Model Specifications 10Ω Model N：Noniductive Winding seconds, ΔR: ± (2%+ 0.05 Ω) 1000 hours of repeating the operation ON for 90 Life K Code K Resistance J H When 10 times of rated power is applied for five Short-time Overload Notes: 1 Contact the manufacturers when in need of an RoHS-compliant model. 2W hen using an external regenerative resistor, parameter Pn600 must be set. For details, refer to 3.6.2 Setting Regenerative Resistor Capacity on “ Series User’s Manual Design and Maintenance.” (manual no. SIEP S800000 45) RH120(N) ± (0.1%+ 0.05 Ω) Tolerance Tolerance ±10% ±5% ±3% minutes and OFF for 30 minutes, ΔR: Ω) ± (5%+ 0.05 Heat Resistance Not ignite after having applied 10 times of rated power for one minute Operating temperature - 25˚C to + 150˚C 3External Dimensions (Units: mm) 4.5 F E C 4.5 Dia. Dimensions RH120 RH150 RH220 138 1Ω to 100Ω 1Ω to 100Ω 1Ω to 100Ω A B C D 182 150 172 16 212 180 202 16 230 200 220 15 E 42 44 60 F 22 24 24 Lead wire length：L = 500 Rated power：120 W Resistance：1 Ω to 100 Ω 30 Rated Power 70 W 90 W 120 W 3.0 Model RH120 RH150 RH220 D B A RH220B Resistance G 20 30 20 170 154 60 54 40 3.5 D G RH120, 150, 220 4-4.5 Dia. Lead wire length L = 300 Lead wire length：L = 300 Rated power：200 W Resistance：1 Ω to 10 kΩ 339 3 40 300 60 80 2-M3 218 4.7 Lead wire length：L =450 Rated power：300 W Resistance：1 Ω to 30 Ω 250 234 62 47 33 5 .3 312 270 RH500 4.5 37 32 RH300C 2-4.5 Dia. SERVOPACKs Wiring Main Circuit and Peripheral Devices External Regenerative Resistor 1Regenerative Resistor Unit Regenerative Resistor Unit Model Specifications Allowable Power Loss 470A JUSP-RA04-E 6.25 Ω,880 W 180 W 550A, 590A, 780A JUSP-RA05-E 3.13 Ω,1760 W 350 W 210D, 260D JUSP-RA18-E 18 Ω,880 W 180 W 280D, 370D JUSP-RA19-E 14.25 Ω,1760 W 350 W SERVOPACK Model SGDV- Note: Only when using the regenerative resistors above, parameter Pn600 does not need to be set. 3External Dimensions (1) JUSP-RA04-E, -RA05-E 4-6 Dia. Mounting Holes H M2 Protective Cover M1 D W Ground Terminal (M4 Screws) External Terminals (M5 Screws) Units: mm Model W H D M1 M2 JUSP-RA04-E 220 350 92 180 335 4 kg JUSP-RA05-E 300 350 95 250 335 7 kg Approx. Mass 30 Cement Resistor (2) JUSP-RA18-E (3) JUSP-RA19-E 4-M5 Screw Holes 4-M5 Screw Holes Protective Cover Ground Terminal (M4 Screws) Cement Resistor 92 External Terminal 2×2-M5 Screws 250 300 95 Ground Terminal (M4 Screws) Cement Resistor 30 180 220 30 External Terminal 4-M5 Screws Wiring Main Circuit and Peripheral Devices 335 350 335 350 Protective Cover 340 Analog Voltage Reference SERVOPACKs Pulse Train Reference SERVOPACKs SGDV-¡¡¡ES1 (Analog Voltage Reference) SGDV-¡¡¡EP1 (Pulse Train Reference) Model Designations S G D V- 2R9 v Series 1st+2nd+ 3rd digits SGDV SERVOPACKs with DC Power Input 1st+2nd+3rd digits E S1 A 002 4th digit 5th+6th digits 7th digit 8th+9th+ 10th digits 00 0 11th+12th digits 7th digit Design Revision Order Current Voltage Code Applicable Servomotor Max. Capacity kW 24 VDC/ 48 VDC 1R7 0.011 2R9 0.030 11th+12th digits A, B… E 00 8th+9th+10th digits Code Specifications 002 Base-mounted, varbish(standard) 13th digit Options (parameter) Specifications 48 VDC* Specifications S1 Analog Voltage Reference (For Rotary Servomotors) P1 Pulse Train Reference (For Rotary Servomotors) *: Either a 24-VDC or a 48-VDC power supply can be used for the main circuit. The control power supply must be 24 VDC. Note: If the option codes digits 8 to 13 are all zeros, they are omitted. 341 Specifications Standard Options (hardware) 5th+6th digits Interface Code Options (software) Code 4th digit Power Supply Voltage Code 13th digit Code 0 Specifications Standard リニアサーボモータ SGLGW（コアレス形） リニア Features 1Compact design With compact SERVOPACKs using less space, you can make effective use of limited space and make controller panels and systems smaller. 1Applications with DC power These compact, high-performance SERVOPACKs can be powered by batteries so they can improve the performance of battery-operated equipment for handling & transfer systems, such as robots used in clean rooms and automated guided vehicles (AGVs). Two different power supplies provide power for the control circuit and for the main circuit. Troubleshooting can be performed by shutting off the power to the main circuit if any alarm occurs. Either a 24-VDC or 48-VDC power supply can be used for the main circuit. Use of a 48-VDC power supply can improve the torque-motor speed characteristics (For the control circuit, only a 24-VDC power supply can be used). Degree to which the characteristics can be improved depends on which motor is used. 1Improved usability with state-of-the-art technology New advanced autotuning lets you adjust your system quickly for best performance. A wide variety of functions are provided: the model follow-up control function that reduces positioning time, the vibration suppression function that suppresses vibration of machines, friction compensation function that can exert its ability in applications with load fluctuations, and the new tuning-less function most suitable for systems that require a long startup time or that involve a large load fluctuation. Ratings SERVOPACK Model SGDV-¡¡¡¡ 1R7E 2R9E Applicable Servomotor Max. CapacitykW 0.011 0.030 Continuous Output Current Arms 1.7 2.9 Max. Output Current Arms 4.1 8.6 Regenerative Resistors None 24 VDC±15％ Main Circuit* 48 VDC±15％ 24 VDC±15％ 48 VDC±15％ 24 VDC±15％ Control Circuit *: Either a 24-VDC or a 48-VDC power supply can be used for the main circuit. When a 24-VDC power supply is used, the torque-motor speed characteristics for a 48 VDC cannot be achieved. DC 1000 100 SGMMV-B9E 10 1 Detecting time (s) Detecting time (s) 1000 100 SGMMV-A1E,-A2E, -A3E 10 SGMMV-B3E, -B5E 0.1 100 150 200 250 Torque reference (percent of rated torque) (%) 1 100 200 300 Torque reference (percent of rated torque) (%) Analog/Pulse Type SERVOPACKs 1SERVOPACK Overload Characteristics Note: Overload characteristics shown above do not guarantee continuous duty of 100% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics. 342 Specifications Items Specifications Control Method PWM control, sine-wave driven Feedback Operating Conditions Serial encoder: 17-bit (incremental/absolute) Ambient Temperature 0 to +55˚C Storage Temperature − 20 to +85˚C Ambient Humidity 90%RH or less Storage Humidity 90%RH or less Vibration Resistance 4.9 m/s2 Shock Resistance 19.6 m/s2 Protection Class IP10 Pollution Degree 2 Altitude 1000 m or less Others Do not use SERVOPACKs in the following locations: Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity With no freezing or condensation An environment that satisfies the following conditions. • Free of corrosive or flammable gases • Free of exposure to water, oil, or chemicals • Free of dust, salts, or iron dust Applicable Standards UL508C EN55011/A1, EN61000-6-2, EN61800-3, EN61800-5-1 Mounting Base-mounted 1:5000 (The lower limit of the speed control range must be lower than the point at which the rated torque does not cause the servomotor to stop.) Speed Control Range Performance Speed Regulation*1 Load Fluctuation 0% to 100% load: ±0.01% max. (at rated speed) Voltage Fluctuation Rated voltage: ±10% : 0% (at rated speed) Temperature Fluctuation 25±25˚C : ±0.1% max. (at rated speed) Torque Control Tolerance (Repeatability) ± 1% Soft Start Time Setting 0 to 10 s (can be set individually for acceleration and deceleration.) Phase A, phase B, phase C: line driver output Encoder Output Pulses The number of dividing pulse: Any setting ratio is available.*2 Number of Channels Input Signals Sequence Input which can be allocated Functions I/O Signal Fixed Output Channels Output Signals which can be allocated • Servo ON (/S-ON) • Control selection(/C-SEL) • Proportional control (/P-CON) • SEN signal (/SEN) •F orward run prohibited (P-OT), reverse run prohibited (N-OT) • Zero clamping (/ZCLAMP) • Reference pulse inhibit (/INHIBIT) • Alarm reset (/ALM-RST) • Gain selection (/G-SEL) • F orward external torque limit (/P-CL), reverse external torque limit (/N-CL) • Reference pulse input multiplication switching (/PSEL) • Internal set speed selection (/SPD-D, /SPD-A, /SPD-B) • Positive and negative logic can be changed. Servo alarm (ALM) Number of Sequence Output 7 channels Functions 3 channels • Positioning completion (/COIN) • Brake (/BK) • Speed coincidence detection (/V-CMP) • Warning (/WARN) • Rotation detection (/TGON) • Near (/NEAR) • Servo ready (/S-RDY) •R eference pulse input multiplication switching output (/PSELA) • Torque limit detection (/CLT) • Speed limit detection (/VLT) • Positive and negative logic can be changed. *1: Speed regulation is defined as follows: No-load motor speed−Total load motor speed Speed regulation = × 100% Rated motor speed The motor speed may change due to voltage fluctuation or temperature fluctuation. The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature fluctuations. *2: For details, refer to 5.3.7 Setting Encoder Output Pulse in the AC Servo Drives DC Power Input Series USER’S MANUAL Design and Maintenance 343 (Cont’d) SERVOPACKs with DC Power Input SGDV-¡¡¡ES1/EP1 Specifications Items Specifications Digital Operator SERVOPACKs (Model: JUSP-OP05ACompatible with the digital operator for 1-E). The digital operator must be connected with the SERVOPACK via the analog monitor unit (Model: JUSP-PC001-E) or the digital operator’s relay cable (Model: JZSP-CF1S00-A3-E). Computer (USB) Compatible with SigmaWin+. Compliant with the USB1.1 standard (12 Mbps) Communications Display Servo alarm (ALM): red; servo ready (RDY): green Analog Monitor Number of points: 2 Output voltage: ±10 VDC (linearity effective range: ±8 V) Output through the analog monitor unit (model: JUSP-PC001-E) Dynamic Brake (DB) Not available Regenerative Processing Not available Overtravelling (OT) Prevention Decelerate to a stop or coast to a stop when overtraveling is detected and an overtravel signal (P-OT or N-OT) is input. Protective Functions Overcurrent, Overvoltage, low voltage, overload, etc. Utility Functions Gain adjustment, alarm history, JOG operation, origin search, etc. 0 to 10 s (can be set individually for acceleration and deceleration.) Analog Voltage Reference Reference Voltage Input Signals Speed Control Internal Set Speed Torque Control About 14 kΩ Circuit Time Constant 30 μ s Rotation Direction Selection With P control signal Reference Voltage Input Signals With forward/reverse external torque limit signal (speed 1 to 3 selection). Servomotor stops or another control method is used when both are OFF. Max. input voltage: ±12 V (forward torque reference with positive reference) Factory setting: 3 VDC at rated torque (Input gain setting can be changed.) Input Impedance About 14 kΩ Circuit Time Constant 16 μ s Feedforward Compensation 0 to 100% Positioning Completed Width Setting 0 to 1073741824 reference units Type Pulse Train Reference Factory setting: 6 VDC at rated speed (Input gain setting can be changed.) Input Impedance Speed Selection Control Max. input voltage: ±12 V (forward speed reference with positive reference) Form Sign + pulse train, CW + CCW pulse train, or two-phase pulse train with 90°phase differential For line driver, open collector Line driver Position Control Reference Input Pulse Sign + pulse train, CW + CCW pulse train: 4 Mpps Max. Input Pulse Frequency* Signals Two-phase pulse train with 90°phase differential:1 Mpps Open Collector Sign + pulse train, CW + CCW pulse train: 200 kpps Two-phase pulse train with 90°phase differential: 200 kpps Reference pulse input multiplication switching Clear Signal DC Select one of them: 1 to 100 times Position error clear For line driver, open collector *: If the maximum reference frequency exceeds 1 Mpps, use a shielded cable for I/O signals and ground both ends of the shield. Connect the shield at the SERVOPACK to the connector shell. Analog/Pulse Type SERVOPACKs Soft Start Time Setting 344 Power Supply Capacities and Power Losses The following table shows SERVOPACK’s power supply capacities and power losses at the rated output. Main Circuit Power Supply Applicable Servomotor Max. Capacity SERVOPACK Model SGDV- W 11 1R7E Main Circuit Power Supply Capacity per SERVOPACK Output Current Main Circuit Power Loss W Arms W 108 1.7 3.4 24 VDC 30 2R9E 165 2.9 6.9 11 1R7E 169 1.7 3.4 48 VDC Control Circuit Power Loss Total Power Loss W W W – 7.2 Resistor Power Loss 10.6 14.1 10.6 – 30 2R9E 411 Note: These power supply capacities are net values at instantaneous maximum loads. 345 Regenerative 2.9 6.9 7.2 14.1 SERVOPACKs with DC Power Input SGDV-¡¡¡ES1/EP1 Selecting Cables 1Cables for CN1 CN3 CN5 CN7 (Analog Voltage Reference/Pulse Train Reference SERVOPACKs) Cable for I/O Signals Host Controller CN1 Digital Operator ＳＶＯＮ ＣＯＩＮ ＶＣＭＰ ＴＧＯＮ ＣＨＡＲＧＥ REF YASKAWA Digital Operator Relay Cable ALARM ＲＥＳＥＴ ＳＣＲＯＬＬ ＪＯＧ SVON READ Digital Operator ＭＯＤＥ／ＳＥＴ ＤＡＴＡ ＳＶＯＮ ＣＯＩＮ ＶＣＭＰ ＴＧＯＮ REF ＣＨＡＲＧＥ WRITE SERVO SERVO DIGITAL OPERATOR ＪＵＳＰ−ＯＰ０５Ａ−１−Ｅ CN5 YASKAWA Analog Monitor Unit Connection Cable Analog Monitor Unit ALARM ＲＥＳＥＴ ＳＣＲＯＬＬ ＪＯＧ SVON READ ＭＯＤＥ／ＳＥＴ ＤＡＴＡ WRITE SERVO SERVO DIGITAL OPERATOR ＪＵＳＰ−ＯＰ０５Ａ−１−Ｅ CN7 Connection Cable for Personal Computer CN3 Cable for Analog Monitor Insulated AC/DC Converter for Control Circuit Power Supply Power Supply Cable ＦＧ Ｌ２ Ｃ２ ＦＧ Insulated AC/DC Converter for Main Circuit Power Supply Ｌ１ Ｃ１ Name Length Order No. Specifications Details Soldered CN1 Cables for I/O Signals Connector Terminal Converter Unit Cable with Loose wire at One End CN3 Power Supply Cables Cable with Loose wire at One End JZSP-CSI9-2-E 0.5 m 1m 3m 1m 2m 3m 1m 2m 3m 4m 5m 6m 7m 8m 9m 10 m Digital Operator SBK-U-VBA-A5 SBK-U-VBA-01 SBK-U-VBA-03 JZSP-CSI02-1-E JZSP-CSI02-2-E JZSP-CSI02-3-E JZSP-CF1G00-01-E JZSP-CF1G00-02-E JZSP-CF1G00-03-E JZSP-CF1G00-04-E JZSP-CF1G00-05-E JZSP-CF1G00-06-E JZSP-CF1G00-07-E JZSP-CF1G00-08-E JZSP-CF1G00-09-E JZSP-CF1G00-10-E JUSP-OP05A-1-E (1) Terminal Block and Connection Cable (2) DC (3) Power Supply End SERVOPACK End ＦＧ Ｌ２ Ｃ２ (4) ＦＧ Ｌ１ Ｃ１ With Connection Cable (1 m) ＳＶＯＮ ＣＯＩＮ ＶＣＭＰ ＴＧＯＮ REF ＣＨＡＲＧＥ YASKAWA ALARM ＲＥＳＥＴ ＳＣＲＯＬＬ ＪＯＧ SVON READ (5) ＭＯＤＥ／ＳＥＴ ＤＡＴＡ WRITE SERVO SERVO DIGITAL OPERATOR ＪＵＳＰ−ＯＰ０５Ａ−１−Ｅ Digital Operator Relay Cable CN5 Cables for Digital Operator/Analog Monitor Unit SERVOPACK End 0.3 m Analog Monitor Unit Analog Monitor Unit Connection Cable Cables for Analog Monitor CN7 Connection Cables for Personal Computer 0.3 m Digital Operator End JZSP-CF1S00-A3-E (6) JUSP-PC001-E (7) JZSP-CF1S05-A3-E SERVOPACK End Analog Monitor Unit End Analog/Pulse Type SERVOPACKs Connector Kit (8) Analog Monitor Unit End 1m JZSP-CA01-E (9) Cable with Connectors at Both Ends 2.5 m JZSP-CVS06-02-E (10) 346 Selecting Cables (1) Connector Kit for CN1 Use the following connector and cable to assemble the cable. The CN1 connector kit includes one case and one connector. Model JZSP-CSI9-2-E 10326-52A0-008* Connector Qty Model Qty 1 set 10126-3000PE* (Soldered) 1 31.3 （5.2） • Cable Size Specifications 16 dia. max. 2.3 AWG24,26,28,30 Cable Finished Diameter Pin No.25 Pin No.14 Pin No.26 Pin No.15 2.54 1.27 5.1 Applicable Wires 12.7 37.2 External Dimensions of Connector (Units: mm) Use twisted-pair or twisted-pair shielded wire. Cable 14.0 25.8 * : Manufactured by Sumitomo 3M Ltd. Item 10.0 Case Model 12.0 39.0 23.8 Connector Kit External Dimensions of Case (Units: mm) 19.5 （6.8） （2.9） 12.7 ３Ｍ Pin No.1 Pin No.2 Pin No.12 Pin No.13 25.8 9.1 7.5 Pin No.1 Pin No.14 15° 1.27 15.24 21.5 (2) Connector Terminal Converter Unit for CN1 • Configurations • External Dimensions of Terminal Block (Units: mm) Connector Plug (40P) FCN-364P040-AU SERVOPACK 7 7 29.5 Model：JUSP- TA26 P B20 A20 B1 A1 1 39 2 40 2-3.5 Dia. 3.5 45 Cable Length：500 +-50 0 mm 3.5 202.5 40 2 39 2 43 B20 A20 B1 A1 1 Can be fixed on DIN rail 20.5 CN1 15.5 Terminal Block (40P) M3.5 Screw • External Dimensions of Cable (Units: mm) Terminal Converter Unit-end Connector (40P) FCN-361J040-AU (by Fujitsu Ltd.) Cover FCN-360C040-B (by Fujitsu Ltd.) Model Cable Length (L) Approx. Mass 0.5 m 100 g JUSP-TA26P-1-E 1m 200 g JUSP-TA26P-2-E 2m 400 g JUSP-TA26P-E 73 37.2 SERVOPACK End Connector (26P) 10126-6000EL (by Sumitomo 3M Ltd.) Shell 10326-52A0-008 (by Sumitomo 3M Ltd.) Cable (Black) AWG#28, 18P SSRFPVV-SB 39 L 47 Note: The pin number in the SERVOPACK connector and the pin number in the terminal block are the same. Pin numbers 1 to 26 are used in the terminal block. Do not use a pin number of 27 or higher. If assembling cables, refer to 1 Cable with Loose Wires at One End for CN1 Connection Diagram of JZSP-CSI02-¡ -E Cable on the next page. 347 SERVOPACKs with DC Power Input SGDV-¡¡¡ES1/EP1 Selecting Cables (3) Cable with Loose Wires at One End for CN1 • External Dimensions (Units: mm) Cable with Loose Wires at One End for CN1 1 Connection Diagram of JZSP-CSI02-¡-E Cable SERVOPACK End Connector 10126-6000EL (by Sumitomo 3M Ltd.) 10326-52A0-008 Shell Cable (Ivory) SSRFPVV-SB AWG#28 × 13P UL20276 VW-1SC L 100 +-10 0 Model Cable Length JZSP-CSI02-1-E 1m JZSP-CSI02-2-E 2m JZSP-CSI02-3-E 3m Signal Pin No. Analog Voltage Pulse Train Reference Reference PULS V-REF 1 /PULS SG 2 SIGN T-REF 3 /SIGN SG 4 CLR − 5 /CLR − 6 /COIN /V-CMP 7 ALM 8 /TGON 9 /S-RDY 10 COM_SG 11 /N-CL 12 SG 13 ＋24VIN 14 /S-ON 15 /P-CON 16 P-OT 17 N-OT 18 PAO 19 /PAO 20 PBO 21 /PBO 22 PCO 23 /PCO 24 /ALM-RST 25 /P-CL 26 Marking Wire Color Color Dots Blue Blue Pink Pink Green Green Orange Orange Gray Gray Blue Blue Pink Green Green Pink Orange Orange Gray Gray Blue Blue Pink Pink Green Green 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 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 (4) Cable with Loose Wires at One End for CN3 (Model: JZSP-CF1G00-¡¡-E) 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 ：Represents twisted-pair wires. DC • External Dimensions (Units: mm) SERVOPACK End Connector (6 poles): 43025-0600 (by Molex Japan Co., Ltd.) Contact: 43030-0001 (Chained) Lead Marker 50 L 45 3C × AWG20 (BRG/Y) (by Hitachi Cable Ltd.) Cable: CL2-UL2464-AWM ＦＧ 9.85 Ｌ２ Ｌ1 Heat-shrinkable Tube (Black) ４ ５ ６ １ ２ ３ (8.28) ＦＧ 5.1 Dia. Ｃ2 Ｃ１ 35 Cable: CL2-UL2464-AWM 3C × AWG20 (WYG/Y) (by Hitachi Cable Ltd.) • Specifications Model Cable Length Pin No. Cable Color Signal JZSP-CF1G00-01-E 1m 1 Green/yellow FG JZSP-CF1G00-02-E 2m 2 Green/yellow FG JZSP-CF1G00-03-E 3m 3 Blue L2 JZSP-CF1G00-04-E 4m 4 White C2 JZSP-CF1G00-05-E 5m 5 Yellow C1 JZSP-CF1G00-06-E 6m 6 Red L1 JZSP-CF1G00-07-E 7m JZSP-CF1G00-08-E 8m JZSP-CF1G00-09-E 9m JZSP-CF1G00-10-E 10 m Analog/Pulse Type SERVOPACKs 14 (6.3 Dia.) 37.2 3 Dia. Wire Markers Host Controller End SERVOPACK End 348 Selecting Cables (5) Digital Operator (Model: JUSP-OP05A-1-E) (6) Digital Operator Relay Cable for CN5 (Model: JZSP-CF1S00-A3-E) • External Dimensions (Units: mm) (Units: mm) 2-M3 Screws, Depth 5 70 ＳＶＯＮ ＣＯＩＮ ＶＣＭＰ ＴＧＯＮ Connector: DA3P018MB2 (by Japan Aviation Electronics Industry Ltd.) ＣＨＡＲＧＥ REF SVON READ ＭＯＤＥ／ＳＥＴ Nameplate 111 ＳＣＲＯＬＬ ＪＯＧ 120 YASKAWA ALARM ＲＥＳＥＴ （4.9 Dia.） 300 +-030 ＤＡＴＡ WRITE SERVO SERVO Cable: CL2-UL20276-SB 7P × AWG30 Connector: HDR-E14FAG1+ (by Hitachi Cable Ltd.) (by Honda Tsushin Kogyo Co., Ltd.) Cover: HDR-E14LPHD+ (by Honda Tsushin Kogyo Co., Ltd.) DIGITAL OPERATOR ＪＵＳＰ−ＯＰ０５Ａ−１−Ｅ 17.8 57 1000 +030 Connector: HDR-E14MAG1+(by Honda Tsushin Kogyo Co., Ltd.) Case: HDR-E14LPA5 (by Honda Tsushin Kogyo Co., Ltd.) (7) Analog Monitor Unit (Model: JUSP-PC001-E) • External Dimensions (Units: mm) (8) Analog Monitor Unit Connection Cable for CN5 (Model: JZSP-CF1S05-A3-E) • External Dimensions (Units: mm) Connector: DA3P018MB2 (by Japan Aviation Electronics Industry Ltd.) Connector: 10120-6000EL (by Sumitomo 3M Ltd.) Shell: 10320-52AO-008 CN3: Connector for Digital Operator 28 66.5 66.5 Nameplate CN1: Connector for SERVOPACK Note: The cable (JZSP-CF1S05-A3-E) to connect the SERVOPACK is not included. 349 Cable: HP-SB/20276SR AWG28 × 10P (by Taiyo Cabletec Corp.) 33.3 CN4: Connector for Analog Monitor （5.8 Dia.） +30 300 -0 14 SERVOPACKs with DC Power Input SGDV-¡¡¡ES1/EP1 Selecting Cables (9) Analog Monitor Unit Cable for CN4 (Model: JZSP-CA01-E) • External Dimensions (Units: mm) Socket ： DF11-4DS-2C* Contact： DF11-2428SCF* Black Black 3 1 +20 1000 -0 4 2 White Red * : Manufactured by Hirose Electric Corporation. View from Cable End Specifications Pin No. Cable Color Signal 1 Red Analog Monitor 2 Motor speed : 1V/1000 min-1 2 White Analog Monitor 1 Torque reference : 1V/100％ rated torque 3, 4 Black (2 cables) GND(0V) Standard Settings − Note : The specifications above are factory settings. Monitor specifications can be changed by changing parameters Pn006 and Pn007. (10) Connection Cable for Personal Computer for CN7 (Model: JZSP-CVS06-02-E) • External Dimensions (Units: mm) 2,500 +−100 0 10 to 20 （100） se a cable specified by Yaskawa. IMPORTANT U When using other cables, operation cannot be guaranteed. （55） Analog/Pulse Type SERVOPACKs DC JZSP-CVS06-02-E 350 MECHATROLINK-II Communications Reference SERVOPACKs SGDV-¡¡¡E11 (For Rotary Servomotors) Model Designations S G D V- 2R9 v Series 1st+2nd+ 3rd digits SGDV SERVOPACKs with DC Power Input 1st+2nd+3rd digits E 11 A 002 4th digit 5th+6th digits 7th digit 8th+9th+ 10th digits 7th digit Current Voltage Code Applicable Servomotor Max. Capacity kW 24 VDC/ 48 VDC 1R7 0.011 2R9 0.030 4th digit Power Supply Voltage Code E 00 0 11th+12th digits Design Revision Order 11th+12th digits A, B… 11 00 8th+9th+10th digits Specifications Standard Options (hardware) Code Specifications 002 Base-mounted, varbish(standard) 13th digit Options (parameter) Specifications 48 VDC* Specifications MECHATROLINK-II communications Reference (for rotary servomotors) *: Either a 24-VDC or a 48-VDC power supply can be used for the main circuit. The control power supply must be 24 VDC. Note: If the option codes digits 8 to 13 are all zeros, they are omitted. 351 Options (software) Code 5th+6th digits Interface Code 13th digit Code 0 Specifications Standard SERVOPACKs with DC Power Input SGDV-¡¡¡E11 Features 1Real-time communications MECHATROLINK-II communications enable high-speed control for 30 stations at a maximum transmission speed of 10 Mbps in a transmission cycle from 250 μ s to 4 ms (set by the host controller). Such a high transmission speed allows real-time transmission of various data required for control. 1Cost savings Thirty stations can be connected to a single MECHATROLINK-II transmission line, so wiring costs and time are greatly reduced. Also, only one signal connector is required on the host controller. And, the all-digital network eliminates the need for conversion from digital to analog for speed/torque references and for a pulse generator to generate position references. 1High-precision motion control The SGDV SERVOPACK when connected to the host controller in the MECHATROLINK-II network provides not only torque, position, and speed control but also synchronized phase control that requires advanced control technology. The control mode can be changed online so that the machine can move smoothly in complex motions with great efficiency. Ratings SERVOPACK Model SGDV-¡¡¡¡ Applicable Servomotor Max. Capacity kW 1R7E 2R9E 0.011 0.030 Continuous Output Current Arms 1.7 2.9 Max. Output Current Arms 4.1 8.6 Regenerative Resistors None Main Circuit* 24 VDC±15% 48 VDC±15% 24 VDC±15% 24 VDC±15% Control Circuit 48 VDC±15% *: Either a 24-VDC or a 48-VDC power supply can be used for the main circuit. When a 24-VDC power supply is used, the torque-motor speed characteristics for a 48 VDC cannot be achieved. For details, refer to Torque-Motor Speed Characteristics on page 6. 1SERVOPACK Overload Characteristics 1000 SGMMV-B9E 10 1 100 SGMMV-A1E,-A2E, -A 3 E 10 SGMMV-B3E, -B5E 0.1 100 150 200 250 Torque reference (percent of rated torque) (%) 1 100 200 300 Torque reference (percent of rated torque) (%) Note: Overload characteristics shown above do not guarantee continuous duty of 100% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics. DC MECHATROLINK-II Type SERVOPACKs 100 Detecting time (s) Detecting time (s) 1000 352 Specifications Items Specifications Control Method PWM control, sine-wave driven Feedback Serial encoder: 17-bit (incremental/absolute) 0 to +55˚C Ambient Temperature Operating Conditions Storage Temperature − 20 to +85˚C Ambient Humidity 90%RH or less Storage Humidity 90%RH or less Vibration Resistance 4.9 m/s2 Shock Resistance 19.6 m/s2 Protection Class IP10 Pollution Degree 2 Altitude 1000 m or less Others Do not use SERVOPACKs in the following locations: • Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity With no freezing or condensation An environment that satisfies the following conditions. • Free of corrosive or flammable gases • Free of exposure to water, oil, or chemicals • Free of dust, salts, or iron dust Applicable Standards UL508C EN55011/A1, EN61000-6-2,EN61800-3, EN61800-5-1 Mounting Base-mounted 1 : 5000 (The lower limit of the speed control range must be lower than the point at which the rated torque does not cause the servomotor to stop.) Speed Control Range Performance Speed Regulation*1 Load Fluctuation 0% to 100% load: ±0.01% max. (at rated speed) Voltage Fluctuation Rated voltage: ±10% : 0% (at rated speed) Temperature Fluctuation 25±25˚C : ±0.1% max. (at rated speed) Torque Control Tolerance (Repeatability) ± 1% Soft Start Time Setting*2 0 to 10 s (can be set individually for acceleration and deceleration.) Number of Channels Input Signals Sequence Input which can be allocated Fixed Output Functions Channels Sequence Output Output Signals which can be allocated Communications Computer (USB) • Homing deceleration switch signal (/DEC) • External latch signals (/EXT 1) • Forward run prohibited (P-OT), reverse run prohibited (N-OT) • Forward external torque limit (/P-CL), reverse external torque limit (/N-CL) Positive and negative logic can be changed. Servo alarm (ALM) Number of I/O Signal 3 channels Functions 3 channels • Positioning completion (/COIN) • Speed limit detection (/VLT) • Speed coincidence detection (/V-CMP) • Brake (/BK) • Rotation detection (/TGON) • Warning (/WARN) • Servo ready (/S-RDY) • Near (/NEAR) • Torque limit detection (/CLT) Positive and negative logic can be changed. Compatible with SigmaWin+. Compliant with the USB1.1 standard (12 Mbps) Display Servo alarm (ALM): red; servo ready (RDY): green; communications(COM): green DIP Switches for MECHATROLINK-II Communication Settings DIP switches: SW1 and SW2 Analog Monitor Number of points: 2 Output voltage: ±10 VDC (linearity effective range: ±8 V) Output through the analog monitor unit (model: JUSP-PC001-E) Number of poles: 4/DIP switch (two DIP switches)*3 *1: Speed regulation is defined as follows: No-load motor speed−Total load motor speed Speed regulation = × 100% Rated motor speed (Cont’d) The motor speed may change due to voltage fluctuation or temperature fluctuation. The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature fluctuations. *2 : For information on soft start, refer to 4.2.10 Velocity Control (VELCTRL: 3CH) in the AC Servo Drives Series USER’S MANUAL MECHATROLINK-II Commands *3 : For details, refer to 4.1.1 Setting Switches SW1 and SW2 in the AC Servo Drives DC Power Input Series USER’S MANUAL Design and Maintenance v 353 v SERVOPACKs with DC Power Input SGDV-¡¡¡E11 Specifications Items Specifications Dynamic Brake (DB) Not available Regenerative Processing Not available Overtravelling (OT) Prevention Decelerate to a stop or coast to a stop when overtraveling is detected and an overtravel signal (P-OT or N-OT) is input. Protective Functions Overcurrent, Overvoltage, low voltage, overload, etc. Gain adjustment, alarm history, JOG operation, origin search, etc. Communications Protocol Station Address MECHATROLINK-II Communications Transmission Speed Transmission Cycle Number of Transmission Bytes Performance Command Method Command Input MECHATROLINK-II 41H to 5FH (max. number of slaves: 30) Set station addresses with combinations of SW1 and SW2 settings. 10 Mbps, 4 Mbps Set by using the SW2 DIP switch. 250 μ s or 0.5 ms to 4.0 ms (increments of 0.5 ms) Can be switched between 17 bytes /station and 32 bytes / station. Set by using the SW2 DIP switch. Position control, speed control, and torque control through MECHATROLINK-II communications MECHATROLINK-II commands (for sequence, motion, data setting/reference, monitoring, adjustment, and other commands.) DC MECHATROLINK-II Type SERVOPACKs Utility Functions 354 Power Supply Capacities and Power Losses The following table shows SERVOPACK’s power supply capacities and power losses at the rated output. Main Circuit Power Supply Applicable Servomotor Max. Capacity SERVOPACK Model SGDV- W 11 1R7E Main Circuit Power Supply Capacity per SERVOPACK Output Current Main Circuit Power Loss W Arms W 108 1.7 3.4 24 VDC 30 2R9E 165 2.9 6.9 11 1R7E 169 1.7 3.4 48 VDC Control Circuit Power Loss Total Power Loss W W W – 7.2 Resistor Power Loss 10.6 14.1 10.6 – 30 2R9E 411 Note: These power supply capacities are net values at instantaneous maximum loads. 355 Regenerative 2.9 6.9 7.2 14.1 SERVOPACKs with DC Power Input SGDV-¡¡¡E11 Selecting Cables 1Cables for CN1 CN3 CN5 CN6 CN7 (MECHATROLINK-II Communications Reference SERVOPACKs) MECHATROLINK-2 Communication Cable CN6 Connect to the MECHATROLINK-2 Cable for I/O Signals ２ ３ ４ CN1 ５ ６ ７ ８ Connection Cable for Personal Computer LED Indicator for External Device ９ １０ １１ Analog Monitor Unit Analog Monitor Unit Connection Cable Cable for Analog Monitor CN7 CN5 Power Supply Cable Insulated AC/DC Converter for Control Circuit Power Supply ＦＧ CN3 Ｌ２ Ｃ２ ＦＧ Ｌ１ Ｃ１ Insulated AC/DC Converter for Main Circuit Power Supply Name CN1 Cables for I/O Signals Cable with Loose wire at One End Length Order No. 1m JZSP-CF1I02-1-E 2m JZSP-CF1I02-2-E Specifications Details ２ ３ ４ ５ ６ ７ (1) ８ ９ 3m JZSP-CF1I02-3-E 1m JZSP-CF1G00-01-E 2m JZSP-CF1G00-02-E 3m JZSP-CF1G00-03-E 4m JZSP-CF1G00-04-E 5m JZSP-CF1G00-05-E 6m JZSP-CF1G00-06-E １０ １１ SERVOPACK End Power Supply End ＦＧ CN3 Power Supply Cables Cable with Loose wire at One End Ｌ２ Ｃ２ (2) ＦＧ Ｌ１ Ｃ１ JZSP-CF1G00-07-E 8m JZSP-CF1G00-08-E 9m JZSP-CF1G00-09-E 10 m JZSP-CF1G00-10-E Analog Monitor Unit CN5 Analog Monitor Unit Cable CN6A CN6B MECHATROLINK-II Communication Cable Analog Monitor Unit Connection Cable DC JUSP-PC001-E (3) SERVOPACK End 0.3 m Analog Monitor Unit End JZSP-CF1S06-A3-E (4) Cables for Analog Monitor 1m JZSP-CA01-E Cables with Connectors at Both Ends 0.5 to 50 m JEPMC-W6002-¡¡-E (6) Cables with Connectors at Both Ends (with Ferrite Core) 0.5 to 50 m JEPMC-W6003-¡¡-E (7) JEPMC-W6022-E (8) Terminator CN7 Connection Cables for Personal Computer Analog Monitor Unit End (5) MECHATROLINK-II Type SERVOPACKs 7m Cable with Connectors at Both Ends 2.5 m JZSP-CVS06-02-E (9) 356 Selecting Cables 1 Cable with Loose Wires at One End for CN1 Connection Diagram of JZSP-CF1I02-¡-E Cable (1) Cable with Loose Wires at One End for CN1 (Model: JZSP-CF1I02-¡-E) • External Dimensions (Units: mm) SERVOPACK End Connector (12 poles): 43025-1200 (by Molex Japan Co., Ltd.) Contact: 43030-0005 (Chained) 43030-0011 (Loose wires) Ｌ 30 5 Pin No. 100 Shield 65 7.4 Dia. (18.85) 15 ２ 15 5 ３ ４ ５ ７ ８ ９ １０ １１ １２ １ ２ ３ ４ ５ ６ ６ (8.28) ７ ８ ９ １０ Cable: CMX/2464-1061/2A-SR LF AWG24 × 5P (by Taiyo Cabletec Corp.) Model Cable Length JZSP-CF1I02-1-E 1m JZSP-CF1I02-2-E 2m JZSP-CF1I02-3-E 3m Host Controller End SERVOPACK End １１ Marking sticker Wire Color Signal FG 1 2 3 4 5 6 7 8 9 10 11 12 +24VIN P-OT ALM COM_SG − Shield Orange Orange Gray Gray − /DEC N-OT SO3 SO2 /BK Marking Color Dots − Black Red Black Red − White Black White Red Yellow Black Yellow Red Pink Black − − − − 1 1 1 1 − 1 1 1 1 1 − − 2 3 4 5 − 7 8 9 10 11 − ：Represents twisted-pair wires. (2) Cable with Loose Wires at One End for CN3 (Model: JZSP-CF1G00-¡¡-E) • External Dimensions (Units: mm) SERVOPACK End Connector (6 poles): 43025-0600 (by Molex Japan Co., Ltd.) Contact: 43030-0001 (Chained) 50 L 3C × AWG20 (BRG/Y) (by Hitachi Cable Ltd.) Cable: CL2-UL2464-AWM 9.85 Heat-shrinkable Tube (Black) ４ ５ ６ １ ２ ３ 45 ＦＧ Ｌ２ Ｌ1 (8.28) ＦＧ 5.1 Dia. Ｃ2 Ｃ１ 35 Cable: CL2-UL2464-AWM 3C × AWG20 (WYG/Y) (by Hitachi Cable Ltd.) • Specifications 357 Model Cable Length Pin No. Cable Color Signal JZSP-CF1G00-01-E 1m 1 Green/yellow FG JZSP-CF1G00-02-E 2m 2 Green/yellow FG JZSP-CF1G00-03-E 3m 3 Blue L2 JZSP-CF1G00-04-E 4m 4 White C2 JZSP-CF1G00-05-E 5m 5 Yellow C1 JZSP-CF1G00-06-E 6m 6 Red L1 JZSP-CF1G00-07-E 7m JZSP-CF1G00-08-E 8m JZSP-CF1G00-09-E 9m JZSP-CF1G00-10-E 10 m Lead Marker SERVOPACKs with DC Power Input SGDV-¡¡¡E11 Selecting Cables (3) Analog Monitor Unit (Model: JUSP-PC001-E) • External Dimensions (Units: mm) CN4: Connector for Analog Monitor CN3: Connector for Digital Operator 28 66.5 66.5 Nameplate CN1: Connector for SERVOPACK Note: The cable (JZSP-CF1S06-A3-E) to connect the SERVOPACK is not included. (4) Analog Monitor Unit Connection Cable for CN5 (Model: JZSP-CF1S06-A3-E) • External Dimensions (Units: mm) Connector: 10120-6000EL (by Sumitomo 3M Ltd.) Shell: 10320-52AO-008 ６ ５ Socket: DF11-6DS-2C (by Hirose Electric Corporation.) Contact: DF11-2428SCF (by Hirose Electric Corporation.) DC 14 Cable: CMX 2464-1061/2A-SB AWG24 × 4P (by Taiyo Cabletec Corp.) MECHATROLINK-II Type SERVOPACKs ２ １ 33.3 6.9 Dia. 300 +30 -0 358 Selecting Cables (5) Analog Monitor Unit Cable for CN4 (Model: JZSP-CA01-E) • External Dimensions (Units: mm) Socket ：DF11-4DS-2C* Contact ：DF11-2428SCF* 1000 Black Black 3 1 +20 -0 4 2 White Red * : Manufactured by Hirose Electric Corporation. View from Cable End • Specifications Pin No. Cable Color Signal 1 Red Analog Monitor 2 Motor speed : 1V/1000 min-1 Standard Settings 2 White Analog Monitor 1 Torque reference : 1V/100% rated torque 3, 4 Black (2 cables) GND (0V) − Note : The specifications above are factory settings. Monitor specifications can be changed by changing parameters Pn006 and Pn007. (6) Cable with Connectors at Both Ends for CN6 (Model: JEPMC-W6002-¡¡-E) • External Dimensions (Units: mm) (7) Cable with Connectors at Both Ends (with Ferrite Core) for CN6 (Model: JEPMC-W6003-□□-E) • External Dimensions (Units: mm) L L Model Cable Length (L) Model Cable Length (L) JEPMC-W6002-A5-E 0.5 m JEPMC-W6003-A5-E 0.5 m JEPMC-W6002-01-E 1.0 m JEPMC-W6003-01-E 1.0 m JEPMC-W6002-03-E 3.0 m JEPMC-W6003-03-E 3.0 m JEPMC-W6002-05-E 5.0 m JEPMC-W6003-05-E 5.0 m JEPMC-W6002-10-E 10.0 m JEPMC-W6003-10-E 10.0 m JEPMC-W6002-20-E 20.0 m JEPMC-W6003-20-E 20.0 m JEPMC-W6002-30-E 30.0 m JEPMC-W6003-30-E 30.0 m JEPMC-W6002-40-E 40.0 m JEPMC-W6003-40-E 40.0 m JEPMC-W6002-50-E 50.0 m JEPMC-W6003-50-E 50.0 m se a MECHATROLINK-II communications cable specified by Yaskawa. When using other cables, noise resistance IMPORTANT U may be reduced, and operation cannot be guaranteed. (8) MECHATROLINK-II Terminator for CN6 (Model : JEPMC-W6022-E) • External Dimensions (Units: mm) 21 (8) 46 359 SERVOPACKs with DC Power Input SGDV-¡¡¡E11 Selecting Cables (9) Connection Cable for Personal Computer for CN7 (Model: JZSP-CVS06-02-E) • External Dimensions (Units: mm) 2,500 −+100 0 10 to 20 JZSP-CVS06-02-E (100) (55) se a cable specified by Yaskawa. IMPORTANT U When using other cables, operation cannot be guaranteed. MECHATROLINK-II Type SERVOPACKs DC 360 MECHATROLINK-III Communications Reference SERVOPACKs SGDV-¡¡¡E21 (For Rotary Servomotors) Model Designations S G D V- 2R9 v Series 1st+2nd+ 3rd digits SGDV SERVOPACKs with DC Power Input 1st+2nd+3rd digits E 21 A 002 4th digit 5th+6th digits 7th digit 8th+9th+ 10th digits 7th digit Current Voltage Code Applicable Servomotor Max. Capacity kW 24 VDC/ 48 VDC 1R7 0.011 2R9 0.030 4th digit Power Supply Voltage Code E 00 0 11th+12th digits Design Revision Order 11th+12th digits A, B… 21 00 8th+9th+10th digits Specifications Standard Options (hardware) Code Specifications 002 Base-mounted, varbish(standard) 13th digit Options (parameter) Specifications 48 VDC* Specifications MECHATROLINK-III communications Reference (for rotary servomotors) *: Either a 24-VDC or a 48-VDC power supply can be used for the main circuit. The control power supply must be 24 VDC. Note: If the option codes digits 8 to 13 are all zeros, they are omitted. 361 Options (software) Code 5th+6th digits Interface Code 13th digit Code 0 Specifications Standard SERVOPACKs with DC Power Input SGDV-¡¡¡E21 Features 1Real-time communications MECHATROLINK-III communications enable high-speed control for 62 stations at a transmission speed of 100 Mbps in a transmission cycle from 125 μ s to 4 ms (set by the host controller). Such a high transmission speed allows real-time transmission of various data required for control. 1Cost savings The 62 stations can be connected to a single MECHATROLINK-III transmission line, so wiring costs and time are greatly reduced. Also, only one signal connector is required on the host controller. And, the all-digital network eliminates the need for conversion from digital to analog for speed/torque references and for a pulse generator to generate position references. 1High-precision motion control The SGDV SERVOPACK when connected to the host controller in the MECHATROLINK-III network provides not only torque, position, and speed control but also synchronized phase control that requires advanced control technology. The control mode can be changed online so that the machine can move smoothly in complex motions with great efficiency. Ratings SERVOPACK Model SGDV-¡¡¡¡ 1R7E 2R9E Applicable Servomotor Max. Capacity 0.011 0.030 kW Continuous Output Current Arms 1.7 2.9 Max. Output Current Arms 4.1 8.6 Regenerative Resistors None 24 VDC±15％ Main Circuit* 48 VDC±15％ 24 VDC±15％ 48 VDC±15％ 24 VDC±15％ Control Circuit *: Either a 24-VDC or a 48-VDC power supply can be used for the main circuit. When a 24-VDC power supply is used, the torque-motor speed characteristics for a 48 VDC cannot be achieved. 1SERVOPACK Overload Characteristics 1000 SGMMV-B9E 10 1 100 SGMMV-A1E,-A2E, -A3E 10 SGMMV-B3E, -B5E 0.1 100 150 200 250 Torque reference (percent of rated torque) (%) 1 100 200 300 Torque reference (percent of rated torque) (%) Note: Overload characteristics shown above do not guarantee continuous duty of 100% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics. DC MECHATROLINK-III Type SERVOPACKs 100 Detecting time (s) Detecting time (s) 1000 362 Specifications Items Specifications Control Method PWM control, sine-wave driven Feedback Operating Conditions Serial encoder: 17-bit (incremental/absolute) Ambient Temperature 0 to +55˚C Storage Temperature − 20 to +85˚C Ambient Humidity 90%RH or less Storage Humidity 90%RH or less Vibration Resistance 4.9 m/s2 Shock Resistance 19.6 m/s2 Protection Class IP10 Pollution Degree 2 Altitude 1000 m or less Others Do not use SERVOPACKs in the following locations: • Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity Mounting Base-mounted 1 : 5000 (The lower limit of the speed control range must be lower than the point at which the rated torque does not cause the servomotor to stop.) Speed Control Range Speed Regulation*1 Load Fluctuation 0% to 100% load: ±0.01% max. (at rated speed) Voltage Fluctuation Rated voltage: ±10% : 0% (at rated speed) Temperature Fluctuation 25±25˚C : ±0.1% max. (at rated speed) Torque Control Tolerance (Repeatability) ± 1% Soft Start Time Setting 0 to 10 s (can be set individually for acceleration and deceleration.) Sequence Input Number of Channels 3 channels Input Signals which can be allocated Functions • Homing deceleration switch signal (/DEC) • External latch signals (/EXT 1) • Forward run prohibited (P-OT), reverse run prohibited (N-OT) • Forward external torque limit (/P-CL), reverse external torque limit (/N-CL) Positive and negative logic can be changed. Fixed Output Servo alarm (ALM) I/O Signal Sequence Output Communications Output Signals which can be allocated Computer (USB) Display DIP Switches for MECHATROLINK-III Communication Settings Analog Monitor An environment that satisfies the following conditions. • Free of corrosive or flammable gases • Free of exposure to water, oil, or chemicals • Free of dust, salts, or iron dust UL508C EN55011/A1， EN61000-6-2，EN61800-3， EN61800-5-1 Applicable Standards Performance With no freezing or condensation Number of Channels 3 channels Functions • Positioning completion (/COIN) • Speed limit detection (/VLT) • Speed coincidence detection (/V-CMP) • Brake (/BK) • Rotation detection (/TGON) • Warning (/WARN) • Servo ready (/S-RDY) • Near (/NEAR) • Torque limit detection (/CLT) Positive and negative logic can be changed. Compatible with SigmaWin+. Compliant with the USB1.1 standard (12 Mbps) Servo alarm (ALM): red, servo ready (RDY): green, link 1 (LK1): green, link 2 (LK2): green, communications (COM): green S1 DIP switch Number of poles: 8*2 S2 DIP switch Number of poles: 4*2 Number of points: 2 Output voltage: ±10 VDC (linearity effective range: ±8 V) Output through the analog monitor unit (model: JUSP-PC001-E) *1: Speed regulation is defined as follows: No-load motor speed−Total load motor speed Speed regulation = × 100% Rated motor speed The motor speed may change due to voltage fluctuation or temperature fluctuation. The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature fluctuations. *2: For details, refer to 4.1.1 Setting Switches S1 and S2 in the AC Servo Drives DC Power Input Series USER’S MANUAL Design and Maintenance v 363 (Cont’d) SERVOPACKs with DC Power Input SGDV-¡¡¡E21 Specifications Items Specifications Dynamic Brake (DB) Not available Regenerative Processing Not available Overtravelling (OT) Prevention Decelerate to a stop or coast to a stop when overtraveling is detected and an overtravel signal (P-OT or N-OT) is input. Protective Functions Overcurrent, Overvoltage, low voltage, overload, etc. Gain adjustment, alarm history, JOG operation, origin search, etc. Communications Protocol Station Address MECHATROLINK-III Communications 03H to EFH (max. number of slaves: 62) Set by using the S1 DIP switch. Transmission Speed 100 Mbps Transmission Cycle 125μ s, 250μ s, 500μ s, 750μ s, 1 ms to 4 ms (increments of 0.5 ms) Number of Transmission Bytes Performance Command Method MECHATROLINK-III Command Input Profile Can be switched between 16 bytes/station, 32 bytes/station, or 48 bytes/station Set by using the S2 DIP switch. Position control, speed control, and torque control through MECHATROLINK-III communications MECHATROLINK commands (for sequence, motion, data setting/reference, monitoring, adjustment, and other commands.) MECHATROLINK-II compatible profile MECHATROLINK-III standard servo profile DC MECHATROLINK-III Type SERVOPACKs Utility Functions 364 Power Supply Capacities and Power Losses The following table shows SERVOPACK’s power supply capacities and power losses at the rated output. Main Circuit Power Supply Applicable Servomotor Max. Capacity SERVOPACK Model SGDV- W 11 1R7E Main Circuit Power Supply Capacity per SERVOPACK Output Current Main Circuit Power Loss W Arms W 108 1.7 3.4 24 VDC 30 2R9E 165 2.9 6.9 11 1R7E 169 1.7 3.4 48 VDC Control Circuit Power Loss Total Power Loss W W W – 7.2 Resistor Power Loss 10.6 14.1 10.6 – 30 2R9E 411 Note: These power supply capacities are net values at instantaneous maximum loads. 365 Regenerative 2.9 6.9 7.2 14.1 SERVOPACKs with DC Power Input SGDV-¡¡¡E21 Selecting Cables 1Cables for CN1 CN3 CN5 CN6 CN7 (MECHATROLINK-III Communications Reference SERVOPACKs) CN6 MECHATROLINK-3 Communication Cable Connect to the MECHATROLINK-3 CN1 Cable for I/O Signals ２ ３ LED Indicator for External Device ４ ５ ６ ７ ８ ９ １０ CN7 １１ Connection Cable for Personal Computer Analog Monitor Unit Analog Monitor Unit Connection Cable Cable for Analog Monitor CN5 Insulated AC/DC Converter for Control Circuit Power Supply Power Supply Cable CN3 ＦＧ Ｌ２ Ｃ２ ＦＧ Insulated AC/DC Converter for Main Circuit Power Supply Ｌ１ Ｃ１ Name CN3 Power Supply Cables Cable with Loose wire at One End Cable with Loose wire at One End JZSP-CF1I02-1-E 2m JZSP-CF1I02-2-E CN6B MECHATROLINK-III Communication Cable Details ２ ３ ５ ６ ７ (1) ８ ９ 3m JZSP-CF1I02-3-E 1m JZSP-CF1G00-01-E 2m JZSP-CF1G00-02-E 3m JZSP-CF1G00-03-E 4m JZSP-CF1G00-04-E 5m JZSP-CF1G00-05-E 6m JZSP-CF1G00-06-E １０ １１ SERVOPACK End Power Supply End ＦＧ Ｌ２ Ｃ２ (2) ＦＧ Ｌ１ Analog Monitor Unit Connection Cable Cables for Analog Monitor CN6A Specifications ４ 7m JZSP-CF1G00-07-E 8m JZSP-CF1G00-08-E 9m JZSP-CF1G00-09-E 10 m JZSP-CF1G00-10-E Analog Monitor Unit CN5 Analog Monitor Unit Cable Order No. 1m Ｃ１ DC JUSP-PC001-E (3) SERVOPACK End 0.3 m 1m Analog Monitor Unit End JZSP-CF1S06-A3-E JZSP-CA01-E (4) Analog Monitor Unit End (5) Cables with Connectors at Both Ends 0.2 to 50 m JEPMC-W6012-□□-E (6) Cables with Connectors at Both Ends (with Ferrite Core) 10 to 50 m JEPMC-W6013-□□-E (7) Cable with Loose wire at One End 0.5 to 50 m JEPMC-W6014-□□E (8) 2.5 m JZSP-CVS06-02-E CN7 Connection Cables for Personal Computer MECHATROLINK-III Type SERVOPACKs CN1 Cables for I/O Signals Length Cable with Connectors at Both Ends (9) 366 Selecting Cables 1 Cable with Loose Wires at One End for CN1 Connection Diagram of JZSP-CF1I02-¡-E Cable (1) Cable with Loose Wires at One End for CN1 (Model: JZSP-CF1I02-¡-E) • External Dimensions (Units: mm) (18.85) 5 15 7.4 Dia. SERVOPACK End Connector (12 poles): 43025-1200 (by Molex Japan Co., Ltd.) Contact: 43030-0005 (Chained) 43030-0011 (Loose wires) Ｌ 30 Pin No. 100 Shield 65 ２ 15 5 ３ ４ ５ ７ ８ ９ １０ １１ １２ １ ２ ３ ４ ５ ６ ６ ７ (8.28) Host Controller End SERVOPACK End ８ ９ １０ Cable: CMX/2464-1061/2A-SR LF AWG24 × 5P Marking sticker (by Taiyo Cabletec Corp.) １１ Wire Color Signal FG 1 2 3 4 5 6 7 8 9 10 11 12 +24VIN P-OT ALM COM_SG − Shield Orange Orange Gray Gray − /DEC N-OT SO3 SO2 /BK Marking Color Dots − Black Red Black Red − White Black White Red Yellow Black Yellow Red Pink Black − − − − 1 1 1 1 − 1 1 1 1 1 − − 2 3 4 5 − 7 8 9 10 11 − Model Cable Length JZSP-CF1I02-1-E 1m ：Represents JZSP-CF1I02-2-E 2m twisted-pair wires. JZSP-CF1I02-3-E 3m (2) Cable with Loose Wires at One End for CN3 (Model: JZSP-CF1G00-¡¡-E) • External Dimensions (Units: mm) SERVOPACK End Connector (6 poles): 43025-0600 (by Molex Japan Co., Ltd.) Contact: 43030-0001 (Chained) 50 L 3C × AWG20 (BRG/Y) (by Hitachi Cable Ltd.) Cable: CL2-UL2464-AWM 9.85 Heat-shrinkable Tube (Black) ４ ５ ６ １ ２ ３ 45 ＦＧ Ｌ２ Ｌ1 (8.28) ＦＧ 5.1 Dia. Ｃ2 Ｃ１ 35 Cable: CL2-UL2464-AWM 3C × AWG20 (WYG/Y) (by Hitachi Cable Ltd.) • Specifications 367 Lead Marker Model Cable Length Pin No. Cable Color Signal JZSP-CF1G00-01-E 1m 1 Green/yellow FG JZSP-CF1G00-02-E 2m 2 Green/yellow FG JZSP-CF1G00-03-E 3m 3 Blue L2 JZSP-CF1G00-04-E 4m 4 White C2 JZSP-CF1G00-05-E 5m 5 Yellow C1 JZSP-CF1G00-06-E 6m 6 Red L1 JZSP-CF1G00-07-E 7m JZSP-CF1G00-08-E 8m JZSP-CF1G00-09-E 9m JZSP-CF1G00-10-E 10 m SERVOPACKs with DC Power Input SGDV-¡¡¡E21 Selecting Cables (3) Analog Monitor Unit (Model: JUSP-PC001-E) • External Dimensions (Units: mm) CN4: Connector for Analog Monitor CN3: Connector for Digital Operator 28 66.5 66.5 Nameplate CN1: Connector for SERVOPACK Note: The cable (JZSP-CF1S06-A3-E) to connect the SERVOPACK is not included. (4) Analog Monitor Unit Connection Cable for CN5 (Model: JZSP-CF1S06-A3-E) • External Dimensions (Units: mm) Connector: 10120-6000EL (by Sumitomo 3M Ltd.) Shell: 10320-52AO-008 ６ ５ Socket: DF11-6DS-2C (by Hirose Electric Corporation.) Contact: DF11-2428SCF (by Hirose Electric Corporation.) 14 DC Cable: CMX 2464-1061/2A-SB AWG24 × 4P (by Taiyo Cabletec Corp.) MECHATROLINK-III Type SERVOPACKs ２ １ 33.3 6.9 Dia. 300+- 30 0 368 Selecting Cables (5) Analog Monitor Unit Cable for CN4 (Model: JZSP-CA01-E) • External Dimensions (Units: mm) Socket ：DF11-4DS-2C* Contact ：DF11-2428SCF* 1000 Black Black 3 1 +20 -0 4 2 White Red * : Manufactured by Hirose Electric Corporation. View from Cable End • Specifications Pin No. Cable Color Signal 1 Red Analog Monitor 2 Motor speed : 1V/1000 min-1 Standard Settings 2 White Analog Monitor 1 Torque reference : 1V/100％ rated torque 3, 4 Black (2 cables) GND (0V) − Note : The specifications above are factory settings. Monitor specifications can be changed by changing parameters Pn006 and Pn007. (6) Cables with Connectors at Both Ends for CN6 (Model: JEPMC-W6012-¡¡-E) • External Dimensions (Units: mm) (7) Cables with Connectors at Both Ends (With Ferrite Core) for CN6 (Model: JEPMC-W6013-¡¡-E) • External Dimensions (Units: mm) L L Model Cable Length (L) Model Cable Length (L) JEPMC-W6012-A2-E 0.2 m JEPMC-W6013-10-E 10 m JEPMC-W6012-A5-E 0.5 m JEPMC-W6013-20-E 20 m JEPMC-W6012-01-E 1m JEPMC-W6013-30-E 30 m JEPMC-W6012-02-E 2m JEPMC-W6013-50-E 50 m JEPMC-W6012-03-E 3m JEPMC-W6012-04-E 4m JEPMC-W6012-05-E 5m JEPMC-W6012-10-E 10 m JEPMC-W6012-20-E 20 m JEPMC-W6012-30-E 30 m JEPMC-W6012-50-E 50 m (8) Cable with Loose Wire at One End for CN6 (Model: JEPMC-W6014-¡¡-E) • External Dimensions (Units: mm) L Model Cable Length (L) JEPMC-W6014-A5-E 0.5 m JEPMC-W6014-01-E 1m JEPMC-W6014-03-E 3m JEPMC-W6014-05-E 5m JEPMC-W6014-10-E 10 m JEPMC-W6014-30-E 30 m JEPMC-W6014-50-E 50 m se a MECHATROLINK-III communications cable specified by Yaskawa. When using other cables, noise resistance IMPORTANT U may be reduced, and operation cannot be guaranteed. 369 SERVOPACKs with DC Power Input SGDV-¡¡¡E21 Selecting Cables (9) Connection Cable for Personal Computer for CN7 (Model: JZSP-CVS06-02-E) • External Dimensions (Units: mm) 2,500 −+100 0 10 to 20 JZSP-CVS06-02-E (100) (55) se a cable specified by Yaskawa. IMPORTANT U When using other cables, operation cannot be guaranteed. MECHATROLINK-III Type SERVOPACKs DC 370 DC SERVOPACK External Dimensions External Dimensions Units: mm 1Base-Mounted SERVOPACKs 116 108±0.5 (Mounting Pitch) (75) 80 4 100 116 (1) Analog Voltage Reference, Model: SGDV-1R7ES1A, -2R9ES1A Pulse Train Reference, Model: SGDV-1R7EP1A, -2R9EP1A SERVOPACK Rear View 30 14 30 2-M4 Screw Holes 7 Mounting Hole Diagram Approx. Mass: 0.3 kg 116 108±0.5 (Mounting Pitch) 14 (75) 80 4 100 116 (2) MECHATROLINK-II Communications Reference, Model: SGDV-1R7E11A, -2R9E11A SERVOPACK Rear View 2-M4 Screw Holes 7 30 30 Mounting Hole Diagram Approx. Mass: 0.3 kg 116 108±0.5 (Mounting Pitch) 14 (75) 30 371 80 4 100 116 (3) MECHATROLINK-III Communications Reference, Model: SGDV-1R7E21A, -2R9E21A SERVOPACK Rear View 2-M4 Screw Holes 7 30 Mounting Hole Diagram Approx. Mass: 0.3 kg SERVOPACKs with DC Power Input External Dimensions Cover Dimensions and Connectors (1) Analog Voltage Reference /Pulse Train Reference Port CN1 CN2 CN5 CN4 CN3 Pin Manufacturer CN1 10226-52A2PL 26 Sumitomo 3M Ltd. CN2 3E106-0220KV 6 Sumitomo 3M Ltd. CN3 43045-0600 6 Molex Japan Co., Ltd. CN4 43045-0400 4 Molex Japan Co., Ltd. CN5 DA3R018HB1 CN7 UX60SC-MB-5S8（80） 18 Japan Aviation Electronics Industry, Ltd. 5 Hirose Electric Corporation. (22 0° ) Note: The connectors above or their equivalents are used for SERVOPACKs. CN7 (38) (4) Model (36) (3) 80 (2) MECHATROLINK-II Communications Reference CN6A/CN6B CN1 CN2 CN4 CN3 CN7 CN5 Port ° ) Pin CN2 3E106-0220KV 6 Sumitomo 3M Ltd. CN3 43045-0600 6 Molex Japan Co., Ltd. CN4 43045-0400 4 Molex Japan Co., Ltd. CN5 DF11-6DP-2DS（52） 6 Hirose Electric Corporation. 1903815-1 8 Tyco Electronics Japan G.K. UX60SC-MB-5S8（80） 5 Hirose Electric Corporation. CN6A/ CN6B 12 Manufacturer 43045-1201 CN7 (22 0 Model CN1 Molex Japan Co., Ltd. Note: The connectors above or their equivalents are used for SERVOPACKs. (38) (4) (36) ( 3) 80 DC CN6A CN6B CN1 CN2 (22 0 ° ) CN4 (38) (4) CN3 CN7 CN5 Port Model Pin CN1 43045-1201 CN2 3E106-0220KV 6 Sumitomo 3M Ltd. CN3 43045-0600 6 Molex Japan Co., Ltd. CN4 43045-0400 4 Molex Japan Co., Ltd. CN5 DF11-6DP-2DS（52） 6 Hirose Electric Corporation. 1981386-1 8 Tyco Electronics Japan G.K. UX60SC-MB-5S8（80） 5 Hirose Electric Corporation. CN6A/ CN6B CN7 12 Manufacturer Molex Japan Co., Ltd. Note: The connectors above or their equivalents are used for SERVOPACKs. SERVOPACK External Dimensions (3) MECHATROLINK-III Communications Reference (36) 80 (3) 372 Wiring Main Circuit and Peripheral Devices Wiring Main Circuit 1Typical Main Circuit Wiring Examples This section shows an example of the typical wiring for the main circuit. WARNING High voltage may still remain in the SERVOPACK after the power has been turned OFF. To avoid electric shocks, do not touch the power supply terminals. Be sure that the remaining voltage has been discharged before wiring and inspecting. 3 Turn ON the power supplies for the control and for the main circuit at the same time, or first turn ON the control IMPORTANT power and then the power for the main circuit power. When turning OFF the power, first turn OFF the power for the main circuit and then control power. 3 Use separate power supplies for the main circuit AC/DC power supply and control AC/DC power supply. Use power supplies with double or reinforced insulation and that have also been certified for safety standards. 3 Do not connect the following devices to the control power line: motors, solenoids, or other devices with large load fluctuations, and contactors or other devices that generate surge voltage. If connected, internal elements may deteriorate or a fuse may melt. 2SERVOPACKs with Analog Voltage Reference/Pulse Train Reference R SERVOPACK SGDV-¡¡¡ES1 SGDV-¡¡¡EP1 T 1QF 1FLT 1KM Insulated AC/DC converter for main circuit power supply CN3 L1 CN4 U V W M L2 ENC C1 C2 Insulated AC/DC converter for control power supply 1Ry (For servo alarm display) Main circuit Main circuit power supply power supply Off On 1Ry 1KM 373 1PL 1KM 1SA CN1 8 11 +24 V ALM COM_SG 1Ry 1D 0V 1QF : Molded-case circuit breaker 1FLT : Noise filter 1KM : Magnetic contactor (for main circuit power supply) 1Ry : Relay 1PL : Indicator lamp 1SA : Surge absorber 1D : Flywheel diode SERVOPACKs with DC Power Input Wiring Main Circuit and Peripheral Devices Wiring Main Circuit 2SERVOPACKs with MECHATROLINK-2 or -3 Communications Reference R SERVOPACK SGDV-¡¡¡E11 SGDV-¡¡¡E21 T 1QF 1FLT 1KM Insulated AC/DC converter for main circuit power supply CN3 L1 CN4 U V W M L2 ENC C1 C2 Insulated AC/DC converter for control power supply 1Ry (For servo alarm display) Main circuit Main circuit power supply power supply On Off 1Ry 1KM CN1 4 5 +24 V ALM COM_SG 1PL 1Ry 1D 0V 1QF : Molded-case circuit breaker 1FLT : Noise filter 1KM : Magnetic contactor (for main circuit power supply) 1Ry : Relay 1PL : Indicator lamp 1SA : Surge absorber 1D : Flywheel diode 1KM 1SA 1General Precautions for Wiring 3Use a molded-case circuit breaker (1QF) or a fuse to protect the servo system. IMPORTANT Always use a molded-case circuit breaker or a fuse to protect the servo system from accidents involving different power voltages or other accidents. 3Install a ground fault detector. The SERVOPACK does not have a built-in protective circuit for grounding. For a safer system, install a ground fault detector to protect against overloads and short circuits, or install a ground fault detector that is combined with a molded-case circuit breaker. 3 Do not turn the power OFF and ON more than necessary. • Do not use the SERVOPACK for applications that require the power to be frequently turned OFF and ON. Such applications will cause elements in the SERVOPACK to deteriorate. • As a guideline, wait at least one hour before restarting the power after turning OFF the power during operation. DC Observe the following precautions when wiring the main circuit. • Use shielded twisted-pair wires or shielded, multi-core, twisted-pair wires for I/O signal cables and the encoder cables. • The maximum wiring length is 3 m for I/O signal cables, 50 m for encoder cables or servomotor main circuit cables, and 10 m for control power and main circuit power cables. Observe the following precautions when grounding. • Use a cable that is as thick as possible. • Ground the SERVOPACK to a resistance of 100 Ω or less. • Be sure to ground at only one point. • Ground the servomotor directly if the servomotor is insulated from the machine. The signal cable conductors are as thin as 0.2 mm2 or 0.3 mm2. Do not impose excessive bending force or tension. Wiring Main Circuit \ Peripheral Devices To ensure safe, stable application of the servo system, observe the following precautions when wiring. 374 Wiring Main Circuit 1Precautions When Using More Than One SERVOPACK This section shows an example of wiring and precautions when more than one SERVOPACK is used. 2Wiring Example Wire the circuit so that each alarm detection relay (1 Ry, 2 Ry, 3 Ry) can be separately activated to issue an alarm. After a SERVOPACK alarm is activated, the ALM output signal transistor is turned OFF. R T 1QF 1FLT 1KM Insulated AC/DC converter for main circuit power supply Relay terminal Relay terminal Insulated AC/DC converter for control power supply SERVOPACK M C1 C2 CN1 8 11 Relay terminal 1PL 2Ry CN3 3Ry Relay terminal 1Ry 2Ry 3Ry 1KM 1Ry ALM COM_SG 1D Servomotor L1 L2 M C1 C2 CN1 8 11 CN3 2Ry ALM COM_SG 1PL 1SA 1D 2D 3D : : : : : Indicator lamp Surge absorber Flywheel diode Flywheel diode Flywheel diode 0V SERVOPACK C1 C2 Servomotor M CN1 8 11 3Ry ALM COM_SG 0V 2Precautions 1. Multiple SERVOPACKs can share a single molded-case circuit breaker (1QF) and a single noise filter. Always select a molded-case circuit breaker and a noise filter that have a large enough capacity to handle all SERVOPACKs used. When selecting a breaker and a filter, also consider load conditions. 2. When using SERVOPACKs with DC power, four signals for the sequencing of one SERVOPACK are connected at only one location (COM_SG) for common signal grounding. If alarm signals for multiple SERVOPACKs are connected in series, an alarm signal may not be received correctly when an alarm is issued. 375 +24 V 2D L1 L2 1QF : Molded-case circuit breaker 1FLT : Noise filter 1KM : Magnetic contactor (for main circuit power supply) 1Ry : Relay 2Ry : Relay 3Ry : Relay +24 V 0V SERVOPACK 1SA 1KM Servomotor L1 L2 (For servo alarm display) 1Ry Main circuit Main circuit power supply power supply On Off CN3 3D +24 V SERVOPACKs with DC Power Input Wiring Main Circuit and Peripheral Devices SERVOPACK Main Circuit Wire 1For 48 VDC and 24 VDC Cables SERVOPACK Model SGDV- Terminal Symbol L1, L2, C1, C2, Power Supply Cable Remarks 2R9E 1R7E For details, refer to Selecting Cables for JZSP-CF1G00-¡¡-E SERVOPACKs with DC Power Input on page13. JZSP-CF1M00-¡¡-E (For motors without brakes) JZSP-CF1M10-¡¡-E (For motors with brakes) Servomotor Main Circuit Cable U, V, W, JZSP-CF1M20-¡¡-E (Flexible type cable for motors For details, refer to Selecting Cables on page without brakes) 415, page 425, and page 435. JZSP-CF1M30-¡¡-E (Flexible type cable for motors with brakes) If assembling a main circuit cable for the SERVOPACK, observe the following conditions. 3 The specified wire sizes are for use when the three lead cables are bundled and when the rated electric current is IMPORTANT applied with a surrounding air temperature of 40˚C 3Use a wire with a minimum withstand voltage of 100 V. 3 Use insulated wire with an outer diameter of 1.85 mm or smaller. The wire size is restricted due to the specifications of the contact used. 3 If cables are bundled in PVC pipes or metal ducts, remember to consider resulting reduction of the allowable current. 3 Use heat-resistant wire for high surrounding air or panel temperatures. 3 Use a cable with a maximum length of 10 m for the main circuit’s power and one with a maximum length of 50 m for the motor’s main circuit. SERVOPACK Model SGDV- Cables CN3 For Main Circuit Power Remarks Connector 43025-0600 (by Molex Japan Co., Ltd.) Contact 43030-0001 (by Molex Japan Co., Ltd.) - UL1007, AWG20 Rated voltage: 300 V; rated temperature: 80˚C UL1007, AWG20-24 Rated voltage: 300 V; rated temperature: 80˚C Connector (SERVOPACK End) 43025-0400 (by Molex Japan Co., Ltd.) 4 poles Contact (SERVOPACK End) 43030-0001 (by Molex Japan Co., Ltd.) - Connector (for a servomotor without brake) 43020-0401 (by Molex Japan Co., Ltd.) 4 poles Connector (for a servomotor with brake) 43020-0601 (by Molex Japan Co., Ltd.) 6 poles Contact (Servomotor End) 43031-0001 (by Molex Japan Co., Ltd.) - UL1007, AWG20 Rated voltage: 300 V; rated temperature: 80˚C Wire for Main Circuit Power (L1, L2, ) Wire for Control Power (C1, C2, CN4 2R9E 1R7E ) 6 poles DC Circuit Wire for Servomotor Main Circuit (U, V, W, brake power, ) Wiring Main Circuit \ Peripheral Devices For Motor Main 376 Molded-case Circuit Breaker and Fuse Capacity 1Input Power Capacity Applicable Main Circuit Servomotor Max. Power Supply Capacity W 11 24 VDC 48 VDC Input Current Capacity Main Circuit SERVOPACK Power Supply Main Circuit Main Circuit Model Capacity per Continuous Instantaneous SGDV- SERVOPACK Rated Current Maximum Current W A A 1R7E 108 2.0 5.5 Control Circuit A 30 2R9E 165 3.5 8.5 11 1R7E 169 1.0 4.5 30 2R9E 411 2.0 10.5 0.3 Note: The power supply capacities indicated in the table are values at an instantaneous maximum load. The main circuit’s power supply capacity and the input current capacity are indicated in net values. 1Molded-case Circuit Breaker and Fuse Capacity Current Capacity of MCCB or Fuse SERVOPACK Power Supply Output Voltage Model SGDV- Main Circuit 24 VDC Power Supply 48 VDC Control Circuit Power Supply 24 VDC 1R7E 2R9E (Main + Control Circuit) Power Supply Power Supply Voltage Voltage at 100 VAC at 200 VAC Arms Arms 5.5 2.9 9.0 4.8 – – Note: Select an MCCB or a fuse that satisfies the following braking characteristics. •No braking at the inrush current value of the used power supply for 20 ms. 1 AC/DC Power Supply Use an AC/DC power supply that is appropriate for the voltage of the main circuit and the model of the SERVOPACK and servomotor. The recommended AC/DC power supplies are shown in the following table. Main Circuit Power Supply SERVOPACK Model Servomotor Model Recommended AC/DC Power Supply* Model Manufacturer SGMMV-B3E2A¡¡ SGDV-1R7E¡1A SGMMV-B5E2A¡¡ HWS150-24 SGMMV-B9E2A¡¡ 24 VDC SGMMV-A1E2A¡¡ SGDV-2R9E¡1A SGMMV-A2E2A¡¡ HWS300-24 SGMMV-A3E2A¡¡ TDK-Lambda Corp. SGMMV-B3E2A¡¡ SGDV-1R7E¡1A SGMMV-B5E2A¡¡ SGMMV-B9E2A¡¡ 48 VDC HWS300-48 SGMMV-A1E2A¡¡ SGDV-2R9E¡1A SGMMV-A2E2A¡¡ SGMMV-A3E2A¡¡ HWS300P-48 *: Use double-insulated power supplies certified for the following international safety standards: UL60950 or EN60950. 377 SERVOPACKs with DC Power Input Wiring Main Circuit and Peripheral Devices Noise Filters 1Noise Filter Selection Use of the following noise filter is recommended for the AC side. Power Supply AC SERVOPACK Model Side Voltage SGDV- 100 VAC/ 200 VAC Recommended Noise Filter Model 1R7E, 2R9E Specifications Single-phase 250V 6A FN2070-6/07 Leakage Current 0.734 mA 230 VAC/50 Hz Note: RoHS-compliant models are not available. Contact the manufactures when in need of an RoHS-compliant model. Some noise filters have large amounts of leakage current. The grounding measures taken also affect the extent of IMPORTANT the leakage current. If necessary, select an appropriate leakage current detector or leakage current breaker taking into account the grounding measures that are used and leakage current from the noise filter. Contact the manufacturer of the noise filter for details. 1External Dimensions (Units: mm) FN Type (by Schaffner EMC, Inc.) FN2070-6/07 Model Top View Side View 8.4±0.5 P/N/E DC Wiring Main Circuit \ Peripheral Devices Connection Lead 25±0.2 38±0.5 45.4±1.2 + 6±0.1 Drawings 0.9±0.1 140 −05 Dimensional 32.4±0.5 4.4±0.1 57.5±1 113.5±1 103±0.3 94±1 378 Magnetic Contactors 1Magnetic Contactor Selection A magnetic contactor is required when external sequence circuit is used to turn the power of a SERVOPACK OFF and ON. The magnetic contactor shown in the following table is recommended on the AC side of the main circuit’s power supply. Be sure to attach a surge absorber (surge absorber unit etc.) to the excitation coil of the magnetic contactor. Power Supply AC SERVOPACK Model Side Voltage SGDV- 100 VAC/ 200 VAC Magnetic Contactor Model 1R7E, 2R9E Specifications SC-03 (RoHS) Note: Contact Fuji Electric FA Components & Systems Co., Ltd. 3External Dimensions (Units: mm) • SC-03 Mounting Hole Dimensions 43 14.5 ① Aux. Contact Structure 1/L1 3/L2 5/L3 13 1a A1 ② ③ 60 81 43 For front mounting, aux. contact blocks are attached. 34 30 Aux. Terminal M3.5 18.5 Coil Terminal M3.5 (20.5) Main Terminal M3.5 52 (48 Mounting is available.) (28) 23 90 (Mounting Rail Height: 15) 80 61 8.5 1b A2 2/T1 4/T2 6/T3 14 1/L1 3/L2 5/L3 21 A1 A2 2/T1 4/T2 6/T3 22 7.7 10 35 3Mounting methods: The following methods 1, 2, 3 are available. 1…34 × 48 to 52 2…30 × 48 3…35 × 60 3Mounting screw: 2-M4 Use the two mounting holes on the diagonal line to mount a contactor. Approx. Mass : 0.32 kg 379 CONTENTS AC Servo Drives Others Selecting Servomotor Capacity and Regenerative Capacity 450 Servomotor Capacity Selection Examples Selecting Regenerative Resistors &RQQHFWLRQWR+RVW&RQWUROOHU 466 Example of Connection to Machine Controller MP2□□□ Example of Connection to SVA-01 Motion Module for MP2200/MP2300 Example of Connection to OMRON’ s Motion Control Unit s Position Control Unit Example of Connection to OMRON’ Example of Connection to Mitsubishi’ s QD75D□ Positioning Unit (SERVOPACK in Position Control) 471 Warranty 472 DC Wiring Main Circuit \ Peripheral Devices International Standards 380 Selecting Servomotor Capacity and Regenerative Capacity Servomotor Capacity Selection Examples Use the AC servo drive capacity selection program SigmaJunmaSize+ to select servomotor capacity. The program can be downloaded for free from our web site (http://www.e-mechatronics.com/). 1Selection Example for Speed Control Mechanical Specifications Servomotor Linear motion υL Coupling Gear Ball screw ∙ Load speed: υ L = 15 m/min ∙ Linear motion section mass: m = 250 kg ∙ Ball screw length: B = 1.0 m ∙ Ball screw diameter: dB = 0.02 m ∙ Ball screw lead: PB = 0.01 m ∙ Ball screw material density: =7.87×103 kg/m3 ∙ Gear ratio: 1/2 (R = 2) (1) Speed Diagram 60 = 60 = 1.5 (s) n 40 where ta = td Speed (m/min) ta : JG = 0.40×10-4 kg ∙ m2 ∙ Feeding times: n = 40 times/min ∙ Feeding distance: = 0.275 m ∙ Feeding time: tm = 1.2 s max. ∙ Friction coefficient: μ = 0.2 ∙ Mechanical efficiency: η = 0.9 (90%) t= υL 15 ∙ Gear + coupling moment of inertia tc td ta = tm − υ Time (s) tm L = 1.2 − 60 × 0.275 = 1.2 − 1.1 = 0.1 (s) 15 tc = 1.2 − 0.1 × 2 = 1.0 (s) t (2) Rotation Speed υL = 15 = 1500 (min-1) 0.01 ∙Load axis rotation speed nL = ∙Motor shaft rotation speed Gear ratio 1/R = 1/2 (R=2) Therefore, nM = nL∙R = 1500 × 2 = 3000 (min-1) PB (3) Load torque TL = 9.8 µ・m・PB 9.8 × 0.2 × 250 × 0.01 = = 0.43 (N･m) 2πR・η 2π × 2 × 0 . 9 (4) Load Moment of Inertia 2 ∙Linear motion section JL1 = m ∙Ball screw JB = ∙Coupling ∙Load moment of inertia at motor shaft 1 π ρ π × 1 ・ B・dB4・ 2 = 7.87 × 103 × 1.0 × (0.02)4・ 2 = 0.31 × 10-4 (kg･m2) 2 R 32 32 JG = 0.40 × 10-4 (kg∙m2) JL = JL1 + JB + JG = (1.58 + 0.31 + 0.40) × 10-4 = 2.29 × 10-4 (kg∙m2) (5) Load Moving Power PO = 381 2 PB 0.01 = 250 × = 1.58 × 10-4 (kg･m2) 2πR 2π × 2 2πnM・TL 2π × 3000 × 0.43 = = 135(W) 60 60 Others Selecting Servomotor Capacity and Regenerative Capacity Servomotor Capacity Selection Examples (6) Load Acceleration Power Pa = 2π nM 60 2 JL = ta 2π × 3000 60 2 × 2.29 × 10-4 = 226 (W) 0.1 (7) Servomotor Provisional Selection ∙TL ≦ Motor rated torque (a) Selecting Conditions (Po + Pa) Provisionally selected < < (Po + Pa) ∙ servomotor rated output 2 ∙ ∙nM ≦ Motor rated speed ∙JL ≦ Allowable load moment of inertia The followings satisfy the conditions. ∙Servomotor SGMJV-02A (b) Specifications of the Provisionally Selected Servomotor ∙Rated output ∙Rated motor speed ∙Rated torque ∙Instantaneous peak torque : 200 (W) : 3000 (min-1) : 0.637 (N ∙ m) : 2.23 (N ∙ m) ∙Servomotor moment of inertia ∙Allowable load moment of inertia : 0.259 × 10-4 (kg ∙ m2) : 0.259 × 10-4 × 15 = 3.885 × 10-4 (kg ∙ m2) (8) Verification on the Provisionally Selected Servomotor ∙Required acceleration torque: TP = π × 3000 × (0.259 + 2.29) × 10-4 2πnM(JM + JL) + TL = 2 + 0.43 60ta 60 × 0.1 ≒ 1.23 (N ∙ m) < Instantaneous peak torque ∙ ∙ ∙ Satisfactory ∙Required deceleration torque: TS = π × 3000 × (0.259 + 2.29) × 10-4 2πnM(JM + JL) − TL = 2 − 0.43 60td 60 × 0.1 ≒ 0.37 (N ∙ m) < Instantaneous peak torque ∙ ∙ ∙ Satisfactory ∙Torque effective value: Trms = TP2・ta + TL2・tc + Ts2・td = t (1.23)2 × 0.1 + (0.43)2 × 1.0 + (0.37)2 × 0.1 1.5 ≒ 0.483 (N ∙ m) < Rated torque ∙ ∙ ∙ Satisfactory (9) Result The provisionally selected servomotor is confirmed to be applicable. The torque diagram is shown below. （N･m） Torque 0.43 0 -0.37 0.1 0.1 1.0 1.5 Selecting Servomotor Capacity and Regenerative Capacity Speed 1.23 382 Servomotor Capacity Selection Examples Use the AC servo drive capacity selection program SigmaJunmaSize+ to select servomotor capacity. The program can be downloaded for free from our web site (http://www.e-mechatronics.com/). 1Selection Example for Position Control Mechanical Specifications Servomotor Linear motion υL Coupling Ball screw ∙ Load speed: υ L = 15 m/min ∙ Linear motion section mass: m = 80 kg ∙ Ball screw length: B = 0.8 m ∙ Ball screw diameter: dB = 0.016 m ∙ Ball screw lead: PB = 0.005 m ∙ Ball screw material density: =7.87×103 kg/m3 ∙ Coupling mass: mc = 0.3 kg ∙ Coupling outer diameter: dc = 0.03 m ∙ Positioning times: n = 40 times/min ∙ Positioning distance: = 0.25 m ∙ Positioning time: tm = 1.2 s max. ∙ Electrical stop accuracy: δ = ± 0.01 mm ∙ Friction coefficient: μ = 0.2 ∙ Mechanical efficiency: η = 0.9 (90%) (1) Speed Diagram υL 15 60 = 60 = 1.5(s) n 40 Where ta = td, ts = 0.1(s) t= Reference pulse Load speed Speed (m/min) ta tc tm td ts 60 × 0.25 = ta = tm − ts − υ = 1.2 − 0.1 − 0.1(s) 15 L tc = 1.2 − 0.1 × 2 = 1.0(s) Time(s) t (2) Rotation Speed ∙Load axis rotation speed nL = υL PB = 15 = 3000(min-1) 0.005 ∙Motor shaft rotation speed with direct coupling: Gear ratio 1/R = 1/1 Therefore, nM = nL∙R = 3000 × 1 = 3000 (min-1) (3) Load Torque TL = 9.8 µ・m・PB 9.8 × 0.2 × 80 × 0.005 = = 0.139(N･m) 2πR・η 2π × 1 × 0.9 (4) Load Moment of Inertia 2 ∙Liner motion section ∙Ball screw ∙Coupling 2 PB 0.005 = 80 × = 0.507 × 10-4(kg･m2) 2πR 2π × 1 π ρ π × ・ℓB・dB4 = JB = 7.87 × 103 × 0.8 × (0.0016)4 = 0.405 × 10-4(kg･m2) 32 32 1 1 Jc = mc・dc4 = × 0.3 × (0.03)2 = 0.338 × 10-4(kg･m2) 8 8 JL1 = m ∙Load moment of inertia at the motor shaft JL = JL1 + JB + Jc = 1.25 × 10-4 (kg ∙ m2) 383 Others Selecting Servomotor Capacity and Regenerative Capacity Servomotor Capacity Selection Examples (5) Load Moving Power PO = 2πnM・TL 2π × 3000 × 0.139 = = 43.7(W) 60 60 (6) Load Acceleration Power Pa = 2π nM 60 2 JL = ta 2π 1.25 × 10-4 × 3000 × = 123.4(W) 60 0.1 2 (7) Provisionally Servomotor Selection (a) Selecting Conditions ∙TL ≦ Motor rated torque (Po + Pa) Provisionally selected < < (Po + Pa) ∙ servomotor rated output 2 ∙ ∙nM ≦ Motor rated speed ∙JL ≦ Allowable load moment of inertia The followings satisfy the conditions. ∙Servomotor SGMJV-01A (b) Specifications of Servomotor ∙Rated output : 100 (W) ∙Rated motor speed : 3000 (min-1) ∙Rated torque : 0.318 (N ∙ m) ∙Instantaneous peak torque : 1.11 (N ∙ m) ∙Servomotor rotor moment of inertia : 0.0665 × 10-4 (kg ∙ m2) : 0.0665 × 10-4 × 20 = 1.33 × 10-4 (kg ∙ m2) ∙Allowable load moment of inertia : 20 bit (1048576P/rev) ∙Encoder resolution (8) Verification on Provisionally Selected Servomotor ∙Required acceleration torque: TP = 2π × 3000 × (0.0665 + 1.25) × 10-4 2πnM(JM + JL) + TL = + 0.139 60ta 60 × 0.1 ≒ 0.552 (N ∙ m) < Instantaneous peak torque ∙ ∙ ∙ Satisfactory ∙Required deceleration torque: TS = π × 3000 × (0.0665 + 1.25) × 10-4 2πnM(JM + JL) − TL = 2 − 0.139 60td 60 × 0.1 ≒ 0.275 (N ∙ m) < Instantaneous peak torque ∙ ∙ ∙ Satisfactory 2 2 2 ∙Torque effective value: Trms = TP ・ta + TL ・tc + Ts ・td = t (0.552)2 × 0.1 + (0.139)2 × 0.9 + (0.275)2 × 0.1 1.5 The above confirms that the provisionally selected servomotor is sufficient. In the next step, their performance in position control are checked. Selecting Servomotor Capacity and Regenerative Capacity ≒ 0.192 (N ∙ m) < Rated torque ∙ ∙ ∙ Satisfactory 384 Servomotor Capacity Selection Examples (9) PG Feedback Pulse Dividing Ratio: Setting of Electronic Gear Ratio B A As the electrical stop accuracy δ = ±0.01mm, take the position detection unit ∆ = 0.01mm/pulse. PB k= × B A B A = = 5 × 0.01 B A = 1048576 1048576 500 (10) Reference Pulse Frequency vs = 1000υ L × = 1000 15 = 25,000(pps) 60 × 0.01 (11) Error Counter Pulses Position loop gain KP = 40 (1/s) ε= vs = 25,000 KP 40 = 625(pulse) (12) Electrical Stop Accuracy ± ∆ε = ± ε (SERVOPACK control range) × nM nR =± 625 ± 0.125 < ±1(pulse) = ± 0.01(mm) 3000 5000 × 3000 The above results confirm that the selected servomotor is applicable for the position control. 385 Others Selecting Servomotor Capacity and Regenerative Capacity Selecting Regenerative Resistors (1) Simple Calculation When driving a servomotor with the horizontal axis, check the external regenerative resistor requirements using the calculation method shown below. (a) SGDV-¡¡¡F, -R70A, -R90A, -1R6A, and -2R8A SERVOPACKs These SERVOPACKs do not have built-in regenerative resistors. The energy that can be charged with capacitors is shown in the following table. If the rotational energy in the servomotor exceeds these values, then connect an external regenerative resistor. Voltage Single-phase 100 V Three-phase 200V Regenerative Energy that Can Applicable SERVOPACK Remarks be Processed (joules) SGDV-R70F, R90F, 2R1F 26.4 SGDV-2R8F 44.1 SGDV-R70A, -R90A, -1R6A 24.2 SGDV-2R8A 31.7 Value when main circuit input voltage is 100 VAC Value when main circuit input voltage is 200 VAC Calculate the rotational energy (Es) in the servomotor from the following equation: Es = J × (nM )2/182 (joules) ∙ J = JM + JL ∙ JM : Servomotor rotor moment of inertia (kg∙m2) ∙ JL : Load converted to shaft moment of inertia (kg∙m2) ∙ nM : Rotation speed used by servomotor (min-1) (b) SERVOPACKs other than (a) SERVOPACKs other than SGDV-¡¡¡F, -R70A, -R90A, -1R6A, and -2R8A have built-in regenerative resistors. The allowable frequencies for just the servomotor in acceleration and deceleration operation, during the rotation speed cycle from 0 (min-1) to the maximum rotation speed to 0, are summarized in the following table. Convert the data into the values obtained with actual rotation speed and load moment of inertia to determine whether an external regenerative resistor is needed. Voltage Three-phase 200 V Servomotor Model Allowable Frequencies in Regenerative Mode (time/min) 03 05 06 08 09 10 13 15 20 25 30 40 44 SGMJV-¡¡ – – – 15 – – – – – – – – – 50 – SGMAV-¡¡ – – 74 31 – 20 – – – – – – – – SGMPS-¡¡ – – – 11 – – – 7 – – – – – – SGMGV-¡¡A 39 29 – – 6 – 6 – 7 – 9* – 6 – 12 SGMSV-¡¡A – – – – – 13 – 21 28 21 10 16 – Three-phase SGMGV-¡¡D 68 51 – – 10 – 8 – 13 – 7 – 6 – 400V SGMSV-¡¡D – – – – – 24 – 30 49 38 17 16 – 12 Selecting Servomotor Capacity and Regenerative Capacity *: This value is "4," when used in combination with SGDV-200A SERVOPACK. 386 Selecting Regenerative Resistors Operating Conditions for Allowable Regenerative Frequency Calculation Load moment of inertia = 0 (servomotor only) Speed reference 0 t Maximum rotation speed Servomotor rotation speed 0 Regeneration mode Maximum torque Servomotor-generated torque 0 t Maximum torque T (Operation cycle) Allowable frequency = 1/T (times/min) Use the following equation to calculate the allowable frequency for regeneration mode operation Allowable frequency for Seromotor only Max. rotation speed 2 Allowable frequency = —————————————————————— × ——————————— (time/min) (1+n) Rotation speed ∙ n = JL / JM ∙ JM : Servomotor rotor moment of inertia (kg∙m2) ∙ JL : Load converted to shaft moment of inertia (kg∙m2) (c) SGDV-470A, -550A, -590A, -780A SERVOPACKs These SERVOPACKs do not have built-in regenerative resistors. The following table shows the allowable regenerative frequencies when the JUSP-RA04-E or JUSP-RA05-E regenerative resistor is used together with an applicable SERVOPACK. The servomotor driving conditions and the conversion equation for the allowable regenerative frequencies to the rotation speed and load moment of inertia are the same as that shown in (b) on the previous page. Voltage Three-phase 200 V 387 Servomotor Model Allowable Frequencies in Regenerative Mode (time/min) 55 70 75 1A 1E SGMGV-¡¡A 24 – 34 39 31 SGMSV-¡¡A – 124 – – – Others Selecting Servomotor Capacity and Regenerative Capacity Selecting Regenerative Resistors (2) Calculating the Regenerative Energy This section shows the procedure for calculating the regenerative resistor capacity when acceleration and deceleration operation is as shown in the following diagram nM: Motor rotation speed Rotation speed 0 tD TL: Load torque Motor torque 0 T Regenerative torque Calculation Procedure 3 The procedure for calculating the regenerative capacity is as follows: Step 1 2 3 Item Calculate the rotational energy of the servomotor. Calculate the energy consumed by load loss during the deceleration period Calculate the energy lost from servomotor winding resistance. Symbol Equation ES ES = JnM 2 / 182 EL EL = (π / 60)nMTLt D EM (Value calculated from (4) Servomotor Winding Resistance Loss diagrams) × t D Calculate from (3) SERVOPACK’s Absorbable Energy 4 Calculate the SERVOPACK energy that can be absorbed. EC 5 Calculate the energy consumed by the regenerative resistor. EK EK = ES - (EL + EM + EC) 6 Calculate the required regenerative resistor capacity (W). WK WK = EK / (0.2 × T) diagrams. Note: 1 The “0.2” in the equation for calculating Wk is the value for when the regenerative resistor’s utilized load ratio is 20%. 2 The units for the various symbols are as follows: ES to EK: Energy joules (J) TL: Load torque (N∙m) WK : Regenerative resistor required capacity (W) t D: Deceleration stopping time (s) 2 J : (= JM + JL)(kg∙m ) T: Servomotor repeat operation period (s) -1 nM : Servomotor rotation speed (min ) When the operation period in regeneration mode is continuous, add the following items to the above calculation procedure in order to find the required capacity (W) for the regenerative resistor. ∙ Energy for continuous regeneration mode operation period: EG (joules) ∙ Energy consumed by regenerative resistor: EK = ES - (EL + EM + EC) + EG ∙ Required capacity of regenerative resistor: WK = EK /(0.2 × T) Here, EG = (2π/ 60) nMGTG t G ∙ TG : Servomotor’s generated torque in continuous regeneration mode operation period (N∙m) ∙ nMG : Servomotor rotation speed for same operation period as above (min-1) ∙ t G : Same operation period as above(s) Selecting Servomotor Capacity and Regenerative Capacity If the above calculation determines that the amount of regenerative power (Wk) processed by the built-in resistor is not exceeded, then an external regenerative resistor is not required. Refer to Specifications of Built-in Regenerative Resistor for regenerative resistors built into SERVOPACKs. If the amount of regenerative power that can be processed by the built-in resistor is exceeded, then install an external regenerative resistor for the capacity obtained from the above calculation. If the energy consumed by load loss (in step 2 above) is unknown, then perform the calculation using El = 0. 388 Selecting Regenerative Resistors (3) SERVOPACK’s Absorbable Energy The following diagrams show the relationship between the SERVOPACK’s input power supply voltage and its absorbable energy. SERVOPACK for 100 V SERVOPACK for 200 V Model: SGDV- 60 R70F, R90F, 2R1F 2R8F Model: SGDVR70A, R90A, 1R6A 2R8A 70 3R8A 50 5R5A, 7R6A Absorbable Energy (J) Absorbable Energy (J) 60 40 30 20 50 40 30 20 10 10 0 0 85 90 95 100 105 110 115 120 170 180 190 200 Input Voltage (Vrms) SERVOPACK for 200 V 210 220 230 Model: SGDV- SERVOPACK for 200 V 600 160 260 470A 550A 330A 590A 500 780A Absorbable Energy (J) 120 Absorbable Energy (J) 250 Model: SGDV- 120A 180A, 200A 140 240 Input Voltage (Vrms) 100 80 60 400 300 200 40 100 20 0 0 170 180 190 200 210 220 230 240 250 260 170 Input Voltage (Vrms) SERVOPACK for 400 V 160 Model: SGDV1R9D 3R5D, 5R4D 700 8R4D, 120D 170D 600 200 210 220 230 SERVOPACK for 400 V 240 250 260 120 100 80 60 Model: SGDV- 210D 260D 280D 370D 500 40 400 300 200 100 20 0 320 340 360 380 400 420 440 460 480 500 520 540 Input Voltage (Vrms) 389 190 Input Voltage (Vrms) Absorbable Energy (J) Absorbable Energy (J) 140 180 0 320 340 360 380 400 420 440 460 480 500 520 540 Input Voltage (Vrms) Others Selecting Servomotor Capacity and Regenerative Capacity Selecting Regenerative Resistors (4) Servomotor Winding Resistance Loss The following diagrams show the relationship, for each servomotor, between the servomotor’s generated torque and the winding resistance loss. (a) SGMJV Rotary Servomotors Model: SGMJV500 Model: SGMAV- 450 08A Winding Resistance Loss ( W ) Winding Resistance Loss ( W ) 350 C2A 400 350 04A 300 01A 02A 250 200 A5A 150 100 50 01A 300 02A 250 A5A 200 150 100 50 0 0 100 200 300 350 0 Torque (%) 0 100 200 Model: SGMAV- Model: SGMAV450 C2A 02A 250 06A 400 01A 300 Winding Resistance Loss ( W ) Winding Resistance Loss ( W ) 350 300 Torque (%) (b) SGMAV Rotary Servomotors A5A 200 150 100 50 04A 350 08A 300 10A 250 200 150 100 50 0 0 0 100 200 300 Torque (%) 0 100 200 300 Torque (%) Model: SGMAV- 450 06A 400 350 08A 450 300 Model: SGMPS- 10A 04A 400 250 15A 350 02A 200 300 01A 08A 150 250 100 200 50 150 0 100 0 100 200 300 Torque (%) 50 0 0 100 200 Torque (%) 300 Selecting Servomotor Capacity and Regenerative Capacity Winding Resistance ( W ) Loss ( W ) WindingLoss Resistance 04A (c) SGMPS Rotary Servomotors 390 Selecting Regenerative Resistors (d) SGMGV Rotary Servomotors Model: SGMGV- Model: SGMGV800 Winding Resistance Loss ( W ) Winding Resistance Loss ( W ) 600 500 05¡ 400 03¡ 300 200 700 20¡ 600 13¡ 500 09¡ 400 300 200 100 100 0 0 100 200 300 0 0 400 50 100 150 200 250 300 Torque (%) Torque (%) Model: SGMGV- Model: SGMGV- 1200 1400 Winding Resistance Loss ( W ) Winding Resistance Loss ( W ) 75¡ 1000 44¡㧘55¡ 800 30¡ 600 400 200 1200 1EA 1000 1AA 800 600 400 200 0 0 0 50 100 150 200 250 0 300 50 100 150 200 250 300 Torque (%) Torque (%) (e) SGMSV Rotary Servomotors Model: SGMSV- Model: SGMSV- 1400 1600 70A Winding Resistance Loss ( W ) Winding Resistance Loss ( W ) 25¡ 1200 20¡ 1000 800 600 400 15¡ 10¡ 200 0 0 50¡ 1200 1000 30¡㧘40¡ 800 600 400 200 100 200 Torque (%) 391 1400 300 400 0 0 100 200 Torque (%) 300 400 Others Selecting Servomotor Capacity and Regenerative Capacity Selecting Regenerative Resistors (f) SGMCS Direct Drive Servomotors 1000 Winding Resistance Loss ( W ) 10C 600 Winding Resistance Loss ( W ) Model: SGMCS- Model: SGMCS- 700 04C 14C 500 07B 05B 400 02B 300 200 16E 800 35E 25D 600 08D 17D 400 200 100 0 0 100 0 0 300 200 100 300 200 Torque (%) Torque (%) (g) SGLGW Linear Servomotors Model: SGLGW-30A 250 Model: SGLGW-40A 1200 Winding Resistance Loss ( W ) Winding Resistance Loss ( W ) 365C¡ 080C¡ 200 050C¡ 150 100 50 1000 253C¡ 800 600 140C¡ 400 200 0 0 0 100 200 300 0 400 100 200 300 Model: SGLGW-40A 2500 400 Torque (%) Torque (%) Model: SGLGW-60A 1400 365C¡-M Winding Resistance Loss ( W ) Winding Resistance Loss ( W ) 365C¡ 2000 253C¡-M 1500 140C¡-M 1000 500 1200 1000 253C¡ 800 140C¡ 600 400 200 0 0 100 200 300 400 0 500 0 100 200 Torque (%) 400 Model: SGLGW-90A Model: SGLGW-60A 3000 300 Torque (%) 6000 365C¡-M 253C¡-M 2000 1500 140C¡-M 1000 500 0 0 100 200 300 Torque (%) 400 500 5000 4000 370C¡ 3000 200C¡ 2000 1000 0 0 100 200 300 Torque (%) 400 500 Selecting Servomotor Capacity and Regenerative Capacity Winding Resistance Loss ( W ) Winding Resistance Loss ( W ) 535C¡ 2500 392 Selecting Regenerative Resistors (h) SGLFW Linear Servomotors Model: SGLFW-20A Winding Resistance Loss ( W ) Winding Resistance Loss ( W ) 120A¡ 250 200 090A¡ 150 100 Model: SGLFW-35A 800 300 50 700 600 230A¡ 500 400 120A¡ 300 200 100 0 0 0 0 100 200 300 400 500 100 200 Torque (%) Model: SGLFW-50A 1000 380B¡ 800 600 400 200B¡ 400 Model: SGLFW-1ZA 1800 Winding Resistance Loss㧔W㧕 Winding Resistance Loss㧔W㧕 1200 300 Torque (%) 1600 1400 380B¡ 1200 1000 200B¡ 800 600 400 200 200 0 0 0 100 0 200 300 100 Torque (%) 1200 Winding Resistance Loss㧔W㧕 Winding Resistance Loss㧔W㧕 700 600 300 Model: SGLFW-50D Model: SGLFW-35D 800 200 Torque (%) 230A¡ 500 400 120A¡ 300 200 1000 800 380B¡ 600 200B¡ 400 200 100 0 0 100 200 300 400 Model: SGLFW-1ZD Winding Resistance Loss㧔W㧕 1800 1600 1400 380B¡ 1200 1000 800 200B¡ 600 400 200 0 0 100 200 Torque (%) 393 100 200 Torque (%) Torque (%) 2000 0 0 300 300 Others Selecting Servomotor Capacity and Regenerative Capacity Selecting Regenerative Resistors (i) SGLTW Linear Servomotors Model: SGLTW-20A Model: SGLTW-35A 3500 Winding Resistance Loss 㧔W㧕 Winding Resistance Loss 㧔W㧕 2500 2000 460A¡ 1500 320A¡ 1000 170A¡ 3000 460A¡ 2500 320A¡ 2000 1500 170A¡ 1000 500 500 0 0 100 200 300 0 400 0 100 200 Torque (%) Model: SGLTW-35A 400 Model: SGLTW-40A 7000 800 Winding Resistance Loss 㧔W㧕 Winding Resistance Loss㧔W㧕 900 300 Torque (%) 320H¡ 700 600 170H¡ 500 400 300 6000 600B¡ 5000 400B¡ 4000 3000 2000 200 1000 100 0 0 50 100 150 200 0 250 0 200 Torque (%) Model: SGLTW-50A 600 1000 320H¡ 800 170H¡ 600 400 Model: SGLTW-80A 10000 Winding Resistance Loss㧔W㧕 9000 8000 7000 400B¡ 6000 5000 4000 3000 2000 200 1000 0 0 50 100 150 Torque (%) 200 250 0 0 200 400 600 Torque (%) Selecting Servomotor Capacity and Regenerative Capacity Winding Resistance Loss㧔W㧕 1200 400 Torque (%) 394 Selecting Regenerative Resistors (i) SGLTW Linear Servomotors (cont’d) Model: SGLTW-35D 900 800 320H¡ 700 600 500 170H¡ 400 300 Model: SGLTW-40D 8000 Winding Resistance Loss㧔W㧕 Winding Resistance Loss 㧔W㧕 1000 7000 6000 600B¡ 5000 400B¡ 4000 3000 2000 200 1000 100 0 0 0 100 300 200 0 200 Torque (%) Model: SGLTW-50D 600 1000 320H¡ 800 170H¡ 400 Model: SGLTW-80D 12000 Winding Resistance Loss 㧔W㧕 Winding Resistance Loss㧔W㧕 1200 600 400 Torque (%) 10000 8000 400B¡ 6000 4000 2000 200 0 0 0 50 100 150 200 250 0 200 Torque (%) 400 600 Torque (%) (j) SGLCW Cylinder Type Linear Servomotors Model: SGLCW-D16A Winding Resistance Loss㧔W㧕 Winding Resistance Loss㧔W㧕 350 145AP 300 115AP 250 085AP 200 150 100 Model: SGLCW-D20A 1200 400 1000 170AP 800 135AP 600 100AP 400 200 50 0 0 0 100 200 300 400 0 500 200 1600 1400 Winding Resistance Loss㧔W㧕 Winding Resistance Loss㧔W㧕 600 Model: SGLCW-D32A Model: SGLCW-D25A 1600 215AP 1200 170AP 1000 125AP 800 600 400 200 1400 285AP 1200 225AP 1000 165AP 800 600 400 200 0 0 0 100 200 300 Torque (%) 395 400 Torque (%) Torque (%) 400 500 0 100 200 300 Torque (%) 400 500 Others Selecting Servomotor Capacity and Regenerative Capacity Selecting Regenerative Resistors (k) SGT Linear Sliders 700 1200 Winding Resistance Loss㧔W㧕 F4¡ 600 500 F3¡ 400 300 200 1000 800 600 F9A 400 200 100 0 0 0 100 200 300 400 0 100 Torque (%) 200 Model: SGT¡ Model: SGT¡ 1200 1400 Winding Resistance Loss㧔W㧕 Winding Resistance Loss㧔W㧕 300 Torque (%) 1000 GF¡ 800 GE¡ 600 GD¡ 400 200 1200 GI¡ 1000 GH¡ 800 GG¡ 600 400 200 0 0 0 100 200 Torque (%) 300 400 0 100 200 300 400 Torque (%) Selecting Servomotor Capacity and Regenerative Capacity Winding Resistance Loss㧔W㧕 Model: SGT¡ Model: SGT¡ 800 396 Connection to Host Controller Example of Connection to Machine Controller MP2¡¡¡ I/O Power supply +24V + - +24V 024 V SGDV-¡¡¡¡11/15 SERVOPACK (MECHATROLINK-II communications reference type) Machine controller MP2¡¡¡ Other SERVOPACK or terminator CN6A/B L1C L2C L1 L2 L3 Control power supply Main circuit power supply CN6A/B M - I / II Servomotor U +24V-IN 6 V W 1Ry * P-OT N-OT 7 8 ALMALM+ 4 3 A B M C D CN2 ENC Connector shell *: The ALM signal is output for five seconds or less when the power is turned ON. Take this into consideration when designing the power ON sequence. The ALM signal actuates the alarm detection relay “1Ry” to stop the main circuit power supply to the SERVOPACK. Notes: 1 Only signals applicable to Machine Controller MP2¡¡¡ and Yaskawa’s SGDV SERVOPACK are shown in the diagram. 2 The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example. 3 Note that incorrect connection will cause damage to the Machine Controller and SERVOPACK. Take particular care to wire correctly. 4 Open the signal lines not to be used. 5 The above connection diagram shows only X-axis connection. When using another axes, make connection to the SERVOPACK in the same way. 6 The normally closed (N.C.) input terminals not to be used at the Machine Controller I/O connector section must be short-circuited at the connector. 7 Make the setting so that the servo can be turned ON/OFF by the /S-ON signal. 8 The SERVOPACK has a built-in safety function to protect prevent anyone in the vicinity from being injured by unexpected motion. But, in order to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs with the Safety Jumper Connector connected. 397 Others Connection to Host Controller Example of Connection to MP2200 / MP2300 Motion Module SVA-01 Analog Input Ground Standard analog input Standard analog input MP2200/MP2300 Series SVA-01 * CN1/CN2 SG 7 AO_0 (NREF) 2 PA 3 4 PAL PC 5 6 PCL 19 SG 9 AI_0 (VTG) 8 AO_1 (TREF) 10 0V (For 24V) 11 0V (For 24V) 12 DO_2 (PCON) 13 DO_4 14 DO_3 15 DI_3 (P-OT) +24V 16 17 DI_0 (SVALM) DI_2 (ZERO/HOME LS) 18 1 SG 20 SEN (5V) 21 AI_1 (TMON) 22 㧙 23 PB 24 PBL 25 SG 26 AI-GND 27 AO-GND 28 0V (For 24V) 29 0V (For 24V) 30 DO_1 (ALMRST) 31 DO_0 (SV ON) 32 DO_5 (SEN for VS866) 33 DI_4 (N-OT) +24V 34 35 DI_1 (SRDY) 36 DI_5 (EXT/DEC) Connector shell EXT/DEC input ZERO/HOME LS input SGDV-¡¡¡¡01/05 SERVOPACK 㧔Analog voltage/pulse train reference type㧕 6 5 33 34 19 20 10 CN1 SG V-REF PAO /PAO PCO /PCO SG 9 32 T-REF ALM 41 45 46 42 47 31 2 4 /P-CON (Switches the control mode.) /P-CL (Depends on the user settings.) /N-CL (Depends on the user settings.) P-OT +24V IN U ALM+ V SG W SEN 35 36 28 27 1 30 PBO /PBO TGON-(/BRK-) TGON+(/BRK+) SG /S-RDY- 44 40 /ALM RST /S-ON 43 N-OT 29 22 21 /S-RDYBATBAT+ L1C L2C L1 L2 L3 Control power supply Main circuit power supply Servomotor A B C M D CN2 ENC Connector shell ABS encoder battery (3.6V) ABS encoder battery (0V) P-OT input Holding brake interlock output (+) N-OT input Holding brake interlock output (-) Notes: 1 Connection cables (model: JEPMC-W 2040-¡¡) to connect the SERVOPACK to the MP2200/MP2300 are provided by Yaskawa. For details, see “Machine Controller MP2200/MP2300 Motion Module User’s Manual” (manual no. YEA-SIEPC88070016). 2 Only signals applicable to MP2200 / MP2300 Motion Module SVA-01 and Yaskawa’s SGDV SERVOPACK are shown in the diagram. 3 The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example. 4 Note that incorrect connection will cause damage to the Machine Controller and SERVOPACK. Take particular care to wire correctly. 5 Open the signal lines not to be used. 6 The above connection diagram shows only X-axis connection. When using another axes, make connection to the SERVOPACK in the same way. 7 The normally closed (N.C.) input terminals not to be used at the Machine Controller I/O connector section must be short-circuited at the connector. 8 Make the setting so that the servo can be turned ON/OFF by the /S-ON signal. 9 The SERVOPACK has a built-in safety function to protect prevent anyone in the vicinity from being injured by unexpected motion. But, in order to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs with the Safety Jumper Connector connected. 398 Host Controller represents twisted-pair wires. Connection to *: Cable for Analog Monitor (Model: JZSP-CA01-E) (JZSP-CAS01-E) SGDV CN5 Black 4 GND Black 3 GND White 2 Analog monitor 1 (Torque reference monitor) Red 1 Analog monitor 2 (Speed monitor) Example of Connection to MP920 4-axis Analog Module SVA-01 SGDV-¡¡¡¡01/05 SERVOPACK 㧔Analog voltage/pulse train reference type㧕 MP920 Series SVA-01 CN1 ޯ CN4 CN1 * 2 7 3 NREF SG 4 23 24 5 6 7 PA PAL PB PBL PC PCL SG 16 +24V OUT V-REF SG PAO /PAO PBO /PBO PCO /PCO SG 5 6 33 34 35 36 19 20 1 +24V-IN 47 34 31 SVON 30 ALMRST 12 PCON 13 /S-ON U V 44 /P-CON 41 OTR N-OT 43 14 OTF P-OT 42 32 DOSEN SEN 11 0V 20 1 28 SEN SG 0V SG /S-RDY- 4 2 30 29 0V /TGON- 28 17 10 35 18 22 21 SVALM 0V SVRDY BRK BAT 0BAT ALM+ ALM/S-RDY+ /TGON+ BAT(+) BAT(-) 31 32 29 27 21 22 Main circuit power supply A B M C D 40 /ALM-RST Control power supply Servomotor W FG *: L1C L2C L1 L2 L3 CN2 ENC Connector shell represents twisted-pair wires. Notes: 1 Connection cables (model: JEPMC-W6050-¡¡) to connect the SERVOPACK to the MP920 are provided by Yaskawa. For details, see “Machine Controller MP920 User’s Manual Design and Maintenance” (manual no. SIEZ-C887-2.1). 2 Only signals applicable to MP920 4-axes Analog Module SVA-01 and Yaskawa’s SGDV SERVOPACK are shown in the diagram. 3 The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example. 4 Note that incorrect connection will cause damage to the Machine Controller and SERVOPACK. Take particular care to wire correctly. 5 Open the signal lines not to be used. 6 The above connection diagram shows only X-axis connection. When using another axes, make connection to the SERVOPACK in the same way. 7 The normally closed (N.C.) input terminals not to be used at the Machine Controller I/O connector section must be short-circuited at the connector. 8 Make the setting so that the servo can be turned ON/OFF by the /S-ON signal. 9 The SERVOPACK has a built-in safety function to protect prevent anyone in the vicinity from being injured by unexpected motion. But, in order to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs with the Safety Jumper Connector connected. 399 Others Connection to Host Controller Example of Connection to OMRON’s Motion Control Unit MC unit manufactured by OMRON Corporation C200H-MC221 (CS1W-MC221 / MC421) (CV500-MC221 / MC421) SGDV-¡¡¡¡01/05 SERVOPACK 㧔Analog voltage/pulse train reference type㧕 DRV connector 1 24V input 2 24V input ground 3 X-axis alarm input X-axis run reference output 4 X-axis alarm reset output 5 X-axis SEN signal ground 8 X-axis SEN signal output 9 X-axis feedback ground 10 X-axis phase A input 11 X-axis phase /A input 12 13 X-axis phase B input 14 X-axis phase /B input 15 X-axis phase Z input 16 X-axis phase /Z input 17 X-axis speed reference 18 Axis speed reference ground 24V output 24V output ground CN1 ALM+ /S-ON /ALM-RST SG *1 *2 SEN *1 SG PAO /PAO PBO /PBO PCO /PCO V-REF SG +24V-IN ALM- 19 20 I/O connector 24V input X-axis CW limit input X-axis CCW limit input X-axis immediate stop input X-axis origin proximity input 24V input ground 24VDC 1 2 4 6 10 14 31 40 44 2 4 1 33 34 35 36 19 20 5 6 L1C L2C L1 L2 L3 Control power supply Main circuit power supply Servomotor U V W A B M C D CN2 ENC Connector shell 47 32 24VDC Battery*1 BAT 㧔+㧕 *1 BAT 㧔-㧕 *1 21 22 2.8 V to 4.5 VDC *1: Use a battery when using an absolute encoder. No battery is needed for CN1 (between21, 22) when using an encoder cable with a battery. ∙ Battery for CN1 : ER6VC3N (3.6 V, 2000 mA) ∙ Battery for battery unit : JUSP-BA01-E (3.6 V, 1000 mA) *2: represents twisted-pair wires. 400 Host Controller Connection to Notes: 1 Only signals applicable to OMRON Corporation’s MC unit and Yaskawa’s SGDV SERVOPACK are shown in the diagram. 2 The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example. 3 Note that incorrect connection will cause damage to the MC unit and SERVOPACK. Take particular care to wire correctly. 4 Open the signal lines not to be used. 5 The above connection diagram shows only X-axis connection. When using another axes, make connection to the SERVOPACK in the same way. 6 The normally closed (N.C.) input terminals not to be used at the motion control unit I/O connector section must be short-circuited at the connector. 7 Make the setting so that the servo can be turned ON/OFF by the /S-ON signal. 8 The SERVOPACK has a built-in safety function to prevent anyone in the vicinity from being injured by unexpected motion. But, in order to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs with the Safety Jumper Connector connected. Example of Connection to OMRON’s Position Control Unit I/O power supply Position control unit CS1W-NC133 / 233 / 433 manufactured by OMRON Corporation +24V + - 5V power supply for pulse output 5V GND for pulse output A4 A3 CW(+) output CW(-) output CCW(+) output CCW(-) output A5 A6 A7 A8 +24V 024 V +5V *4 Error counter reset output A11 Origin input signal A16 Origin input common A14 A1 A2 24V power supply for output 24V GND for output +24V-IN Input common A24 1Ry X-axis external interrupt input X-axis origin proximity input X-axis CCW limit input X-axis CW limit input X-axis immediate stop input A19 A21 A23 A22 A20 SGDV-¡¡¡¡01/05 SERVOPACK 㧔Analog voltage/pulse train reference type㧕 *2 CN1 PULS 7 L1C /PULS 8 L2C SIGN 11 L1 /SIGN 12 L2 CLR 15 L3 14 /CLR 19 PCO /PCO 20 25 COIN+ 26 /COINU /S-ON P-OT N-OT /ALM-RST ALM*1 ALM+ 47 40 42 43 44 32 31 V W Control power supply Main circuit power supply Servomotor A B M C D CN2 ENC Connector shell*3 FG *1: The ALM signal is output for five seconds or less when the power is turned ON. Take this into consideration when designing the power ON sequence. The ALM signal actuates the alarm detection relay “1Ry” to stop the main circuit power supply to the SERVOPACK. *2: Set parameter Pn200.0 = 1 or 6. *3: Connect the shield wire to the connector shell. *4 r epresents twisted-pair wires. Notes: 1 Only signals applicable to OMRON Corporation’s position control unit and Yaskawa’s SGDV SERVOPACK are shown in the diagram. 2 The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example. 3 Note that incorrect connection will cause damage to the position control unit and SERVOPACK. Take particular care to wire correctly. 4 Open the signal lines not to be used. 5 The above connection diagram shows only X-axis connection. When using another axes, make connection to the SERVOPACK in the same way. 6 The normally closed (N.C.) input terminals not to be used at the position control unit I/O connector section must be short-circuited at the connector. 7 Make the setting so that the servo can be turned ON/OFF by the /S-ON signal. 8 The SERVOPACK has a built-in safety function to prevent anyone in the vicinity from being injured by unexpected motion. But, in order to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs with the Safety Jumper Connector connected. 401 Others Connection to Host Controller Example of Connection to Mitsubishi’s AD72 Positioning Unit (SERVOPACK in Speed Control) SGDV-¡¡¡¡01/05 SERVOPACK （Analog voltage/pulse train reference type） I/O power supply +24V + Positioning unit AD72 manufactured by Mitsubishi Electric Corporation *2 CONT 1 2 3 SERVO 1 2 3 4 5 6 ENCO 4 5 7 8 10 11 3 6 9 +24 V − 0 24 V ON when positioning is cancelled. ON when proximity is detected. +24V-IN /S-ON 1Ry *1 ALM+ STOP DOG SV-ON READY 1Ry ALM − V-REF (T-REF) Speed reference SG *4 PULSE A PULSE B PULSE C 0V 0V 0V PAO /PAO PBO /PBO PCO /PCO SG L1C L2C L1 L2 L3 Control power supply Main circuit power supply Servomotor CN1 47 40 U 31 V W A B M C D 32 5 (9) 6 (10) ENC CN2 33 34 35 36 19 20 1 CN1 42 P-OT 43 N-OT 024 V Connector shell* 3 *1: The ALM signal is output for five seconds or less when the power is turned ON. Take this into consideration when designing the power ON sequence. The ALM signal actuates the alarm detection relay “1Ry” to stop the main circuit power supply to the SERVOPACK. *2: Pin numbers are the same both for X-axis and Y-axis. *3: Connect the shield wire to the connector shell. *4: represents twisted-pair wires. 402 Host Controller Connection to Notes: 1 Only signals applicable to Mitsubishi Electric Corporation’s AD72 positioning unit and Yaskawa’s SGDV SERVOPACK are shown in the diagram. 2 The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example. 3 Note that incorrect connection will cause damage to the positioning unit and SERVOPACK. Take particular care to wire correctly. 4 Open the signal lines not to be used. 5 The above connection diagram shows only X-axis connection. When using another axes, make connection to the SERVOPACK in the same way. 6 The normally closed (N.C.) input terminals not to be used at the positioning unit I/O connector section must be short-circuited at the connector. 7 Make the setting so that the servo can be turned ON/OFF by the /S-ON signal. 8 The SERVOPACK has a built-in safety function to prevent anyone in the vicinity from being injured by unexpected motion. But, in order to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs with the Safety Jumper Connector connected. Example of Connection to Mitsubishi’s AD75 Positioning Unit (SERVOPACK in Position Control) SGDV-¡¡¡¡01/05 SERVOPACK 㧔Analog voltage/pulse train reference type㧕 I/O power supply Positioning unit AD75 manufactured by Mitsubishi, Electric Corporation +24V +24 V + - 0 24 V L1C L2C L1 L2 L3 X-axis(Y-axis) 26 7 READY 14 STOP 11 DOG 1Ry ON when positioning is cancelled. ON when proximity *1 is detected. 25 PGO 1Ry *2 3 21 4 22 /PCO 20 ALM+ 31 ALM- 32 PULS 7 8 SIGN SIGN /SIGN 11 12 CLR /CLR 15 14 2.2k 23 V W /PULS W A U 19 PULSE 5 Main circuit power supply Servomotor CN1 PCO 24 Control power supply B D ENC CN2 CN1 +24 V 47 40 /S-ON 42 P-OT 43 N-OT CLEAR Connector shell FG *1: r epresents twisted-pair wires. *2: The ALM signal is output for five seconds or less when the power is turned ON. Take this into consideration when designing the power ON sequence. The ALM signal actuates the alarm detection relay “1Ry” to stop the main circuit power supply to the SERVOPACK. Notes: 1 Only signals applicable to Mitsubishi Electric Corporation’s AD75 positioning unit and Yaskawa’s SGDV SERVOPACK are shown in the diagram. 2 The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example. 3 Note that incorrect connection will cause damage to the positioning unit and SERVOPACK. Take particular care to wire correctly. 4 Open the signal lines not to be used. 5 The above connection diagram shows only X-axis connection. When using another axes, make connection to the SERVOPACK in the same way. 6 The normally closed (N.C.) input terminals not to be used at the positioning unit I/O connector section must be short-circuited at the connector. 7 Make the setting so that the servo can be turned ON/OFF by the /S-ON signal. 8 The SERVOPACK has a built-in safety function to prevent anyone in the vicinity from being injured by unexpected motion. But, in order to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs with the Safety Jumper Connector connected. 403 M C 0 24 V Others Connection to Host Controller Example of Connection to Mitsubishi’s QD75D¡ Positioning Unit (SERVOPACK in Positioning Control) Positioning unit QD75D¡ manufactured by Mitsubishi Electric Corporation SGDV-¡¡¡¡01/05 SERVOPACK 㧔Analog voltage/pulse train reference type㧕 3 DOG 1 FLS 2 RLS 4 STOP 11 READY 12 READY COM 6 COM 7 COM ON when proximity is detected. 1Ry L1C L2C L1 L2 L3 ON when positioning is cancelled. Control power supply Main circuit power supply Servomotor A U 17 PULSE R+ 18 B V CN1 *1 D SIGN 11 PULSE R- /SIGN 12 15 PULSE F+ PULS 7 16 PULSE F- /PULS 8 9 PG05 PCO 19 CN1 PG COM /PCO 20 47 CLR 15 40 /S-ON /CLR 14 42 P-OT 43 N-OT 10 13 14 W CLEAR CLEAR COM ENC CN2 2.2k 1Ry *2 ALM+ 31 ALM- 32 M C W +24 V 0 24 V +24 V + I/O power supply - +24V *1: r epresents twisted-pair wires. 0 24 V 404 Host Controller Connection to *2: The ALM signal is output for five seconds or less when the power is turned ON. Take this into consideration when designing the power ON sequence. The ALM signal actuates the alarm detection relay “1Ry” to stop the main circuit power supply to the SERVOPACK. Notes: 1 Only signals applicable to Mitsubishi Electric Corporation’s QD75D¡ positioning unit and Yaskawa’s SGDV SERVOPACK are shown in the diagram. 2 The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example. 3 Note that incorrect connection will cause damage to the positioning unit and SERVOPACK. Take particular care to wire correctly. 4 Open the signal lines not to be used. 5 The above connection diagram shows only X-axis connection. When using another axes, make connection to the SERVOPACK in the same way. 6 The normally closed (N.C.) input terminals not to be used at the positioning unit I/O connector section must be short-circuited at the connector. 7 Make the setting so that the servo can be turned ON/OFF by the /S-ON signal. 8 The SERVOPACK has a built-in safety function to prevent anyone in the vicinity from being injured by unexpected motion. But, in order to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs with the Safety Jumper Connector connected. Yaskawa America, Inc. Drives & Motion Division 2121 Norman Drive South Waukegan, IL 60085 Tel: 1-800-YASKAWA (927-5292) • Fax: 1-847-887-7310 MotionSupport@yaskawa.com • www.yaskawa.com Document YEA-KAEPS80000042 • Rev: K-4 • 08/14/2014 • © 2011-2014
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