Sigma II Series SGM*H/SGDH USER'S MANUAL SGDH
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- Front Cover
- About this Manual
- Related Manuals
- Safety Information
- Notes for Safe Operation
- CONTENTS
- 1 Outline
- 2 Selections
- 3 Specifications and Dimensional Drawings
- 3.1 Ratings and Specifications of SGMAH (3000 min-1)
- 3.2 Ratings and Specifications of SGMPH (3000min-1)
- 3.3 Ratings and Specifications of SGMGH (1500min-1)
- 3.4 Ratings and Specifications of SGMGH (1000min-1)
- 3.5 Ratings and Specifications of SGMSH (3000min-1)
- 3.6 Ratings and Specifications of SGMDH (2000min-1)
- 3.7 Ratings and Specifications of SGMUH (6000min-1)
- 3.8 Mechanical Specifications of Servomotors
- 3.9 Terms and Data for Servomotors With Gears
- 3.10 Servomotor Dimensional Drawings
- 3.11 Dimensional Drawings of SGMAH Servomotors (3000 min-1)
- 3.11.1 SGMAH Servomotors (3000 min-1) Without Gears
- 3.11.2 SGMAH Servomotors (3000 min-1) With Brakes
- 3.11.3 SGMAH Servomotors (3000 min-1) With Standard Backlash Gears
- 3.11.4 SGMAH Servomotors (3000 min-1) With Standard Backlash Gears and Brakes
- 3.11.5 SGMAH Servomotors (3000 min-1) With Low-backlash Gears
- 3.12 Dimensional Drawings of SGMPH Servomotors (3000 min-1)
- 3.12.1 SGMPH Servomotors (3000 min-1) Without Gears and Brake
- 3.12.2 SGMPH Servomotors (3000 min-1) With Brakes
- 3.12.3 SGMPH Servomotors (3000 min-1) With Standard Backlash Gears
- 3.12.4 SGMPH Servomotors (3000 min-1) With Standard Backlash Gears and Brakes
- 3.12.5 SGMPH Servomotors (3000 min-1) With Low-backlash Gears
- 3.13 Dimensional Drawing of Output Shafts With Oil Seals for SGMAH and SGMPH Servomotors
- 3.14 Dimensional Drawings of SGMGH Servomotors (1500 min-1)
- 3.14.1 SGMGH Servomotors (1500 min-1) Without Gears and Brakes
- 3.14.2 SGMGH Servomotors (1500 min-1) 200-V Specifications Without Gears and With Brakes
- 3.14.3 Servomotors SGMGH (1500 min-1) 400-V Specifications Without Gears and With Brakes
- 3.14.4 SGMGH Servomotors (1500min-1) With Standard Backlash Gears and Without Brakes (Foot-mound Type)
- 3.14.5 SGMGH Servomotors (1500min-1) With Standard Backlash Gears and Without Brakes (Flange-mounted Type)
- 3.14.6 SGMGH Servomotors (1500min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type)
- 3.15 Dimensional Drawings of SGMGH Servomotors (1000 min-1)
- 3.15.1 SGMGH Servomotors (1000 min-1) Without Gears and Brakes
- 3.15.2 SGMGH Servomotors (1000 min-1) Without Gears and With Brakes
- 3.15.3 SGMGH Servomotors (1000 min-1) With Standard Backlash Gears and Without Brakes (Foot-mounted Type)
- 3.15.4 SGMGH Servomotors (1000 min-1) With Standard Backlash Gears and Without Brakes (Flange-mounted Type)
- 3.15.5 SGMGH Servomotors (1000 min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type)
- 3.16 Dimensional Drawings of SGMSH Servomotors (3000min-1)
- 3.16.1 SGMSH Servomotors (3000min-1) Without Gears and Without Brakes
- 3.16.2 SGMSH Servomotors (3000 min-1) 200-V Specifications Without Gears With Brakes
- 3.16.3 SGMSH Servomotors (3000 min-1) 400-V Specifications Without Gears With Brakes
- 3.16.4 SGMSH Servomotors (3000 min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type)
- 3.17 Dimensional Drawings of SGMDH Servomotors (2000min-1)
- 3.18 Dimensional Drawings of SGMUH Servomotors (6000min-1)
- 3.19 Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors
- 4 SERVOPACK Specifications and Dimensional Drawings
- 4.1 SERVOPACK Ratings and Specifications
- 4.2 SERVOPACK Installation
- 4.3 SERVOPACK Internal Block Diagrams
- 4.3.1 Single-phase 200 V, 30 W to 400 W, and 100 V, 30 W to 200 W Models
- 4.3.2 Three-phase 200 V, 500 W to 1.5 kW, and Single-phase 220 V, 800 W, 1.5 kW Models
- 4.3.3 Three-phase 200 V, 2.0 kW to 5.0 kW Models
- 4.3.4 Three-phase 200 V, 6.0 kW to 15 kW Models
- 4.3.5 Three-phase 400 V, 500 W to 3.0 kW Models
- 4.3.6 Three-phase 400 V, 5.0 kW Model
- 4.3.7 Three-phase 400 V, 6.0 kW, 7.5 kW Models
- 4.3.8 Three-phase 400 V, 11.0 kW, 15.0 kW Models
- 4.4 SERVOPACK’s Power Supply Capacities and Power Losses
- 4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia
- 4.6 SERVOPACK Dimensional Drawings
- 4.7 Dimensional Drawings of Base-mounted SERVOPACK Model
- 4.7.1 Single-phase 100 V: 30 W/50 W/100 W (A3BE/A5BE/01BE) Single-phase 200 V: 30 W/50 W/100 W/200 W (A3AE/A5AE/01AE/02AE)
- 4.7.2 Single-phase 100 V: 200 W (02BE) Single-phase 200 V: 400 W (04AE)
- 4.7.3 Three-phase 200 V: 500 W/750 W/1.0 kW (05AE/08AE/10AE) Single-phase 220 V: 750 W (08AE-S)
- 4.7.4 Three-phase 200 V: 1.5 kW (15AE) Three-phase 400 V: 500 W/750 W/1.0 kW/1.5 kW (05DE/08DE/10DE/15DE)
- 4.7.5 Single-phase 220 V: 1.5 kW (15AE-S) Three-phase 200 V: 2.0 kW/3.0 kW (20AE/30AE) Three-phase 400 V: 2.0 kW/3.0 kW (20DE/30DE)
- 4.7.6 Three-phase 200 V: 5.0 kW (50AE) Three-phase 400 V: 5.0 kW (50DE)
- 4.7.7 Three-phase 200 V: 6.0 kW/7.5 kW (60AE/75AE)
- 4.7.8 Three-phase 400 V: 6.0 kW/7.5 kW (60DE/75DE)
- 4.7.9 Three-phase 200 V: 11.0 kW/15.0 kW (1AAE/1EAE)
- 4.7.10 Three-phase 400 V: 11.0 kW/15.0 kW (1ADE/1EDE)
- 4.8 Dimensional Drawings of Rack-mounted SERVOPACK Model
- 4.8.1 Single-phase 100 V: 30 W/50 W/100 W (A3BE-R/A5BE-R/01BE-R) Single-phase 200 V: 30 W/50 W/100 W/200 W (A3AE-R/A5AE-R/01AE-R/02AE-R)
- 4.8.2 Single-phase 100 V: 200 W (02BE-R) Single-phase 200 V: 400 W (04AE-R)
- 4.8.3 Single-phase 220 V: 750 W (08AE-S-R) Three-phase 200 V: 500 W/750 W/1.0 kW (05AE-R/08AE-R/10AE-R)
- 4.8.4 Three-phase 200 V: 1.5 kW (15AE-R) Three-phase 400 V: 500 W/750 W/1.0 kW/1.5 kW (05DE-R/08DE-R/10DE-R/15-DE-R)
- 4.8.5 Single-phase 220 V: 1.5 kW (15AE-S-R)
- 4.8.6 Three-phase 200 V: 2.0 kW/3.0 kW (20AE-R/30AE-R) Three-phase 400 V: 2.0 kW/3.0 kW (20DE-R/30DE-R)
- 4.8.7 Three-phase 200 V: 5.0 kW (50AE-R) Three-phase 400 V: 5.0 kW (50DE-R)
- 4.9 Dimensional Drawings of Duct-ventilated SERVOPACK Model
- 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
- 5.1 Specifications and Dimensional Drawings of Servomotor Main Circuit Cable
- 5.1.1 Cables for SGMAH and SGMPH Servomotors Without Brakes
- 5.1.2 Cables for SGMAH and SGMPH Servomotors With Brakes
- 5.1.3 Flexible Cables for SGMAH and SGMPH Servomotors Without Brakes
- 5.1.4 Flexible Cables for SGMAH and SGMPH Servomotors With Brakes
- 5.1.5 Cables for 400 V SGMAH and SGMPH Servomotors Without Brakes
- 5.1.6 Cables for 400 V SGMAH and SGMPH Servomotors With Brakes
- 5.2 Servomotor Main Circuit Wire Size and Connectors
- 5.2.1 Wire Size
- 5.2.2 SGMAH and SGMPH Servomotor Connectors for Standard Environments
- 5.2.3 SGMGH, SGMSH, SGMDH, and SGMUH Servomotor Connector Configurations
- 5.2.4 SGMGH Servomotor (1500 min-1) Connectors for Standard Environments
- 5.2.5 SGMGH Servomotor (1000 min-1) Connectors for Standard Environments
- 5.2.6 SGMSH Servomotor (3000 min-1) Connectors for Standard Environments
- 5.2.7 SGMDH Servomotor (2000 min-1) Connectors for Standard Environments
- 5.2.8 SGMUH Servomotor (6000 min-1) Connectors for Standard Environments
- 5.2.9 SGMGH Servomotor (1500 min-1) Connectors Conforming to IP67 and European Safety Standards
- 5.2.10 SGMGH Servomotor (1000 min-1) Connectors Conforming to IP67 and European Safety Standards
- 5.2.11 SGMSH Servomotors (3000 min-1) Connectors Conforming to IP67 and European Safety Standards
- 5.2.12 SGMDH Servomotors (2000 min-1) Connectors Conforming to IP67 and European Safety Standards
- 5.2.13 SGMUH Servomotors (6000 min-1) Connectors Conforming to IP67 and European Safety Standards
- 5.2.14 Connector Dimensional Drawings
- 5.3 SERVOPACK Main Circuit Wire Size
- 5.4 Encoder Cables for CN2 Connector
- 5.4.1 Encoder Cable With Connectors For SGMAH and SGMPH Servomotors
- 5.4.2 Encoder Cable for SGMGH, SGMSH, SGMDH, and SGMUH Servomotors
- 5.4.3 Encoder Cable With a SERVOPACK Connector and Encoder Loose Leads for SGMAH and SGMPH Servomotors
- 5.4.4 Encoder Cable with a SERVOPACK Connector and Encoder Loose Leads for SGMGH, SGMSH, SGMDH, and SGMUH Servomotors
- 5.4.5 Encoder Flexible Cables for SGMAH and SGMPH Servomotors
- 5.4.6 Encoder Flexible Cables for SGMGH, SGMSH, SGMDH, and SGMUH Servomotors
- 5.5 Connectors and Cables for Encoder Signals
- 5.6 Flexible Cables
- 5.7 I/O Signal Cables for CN1 Connector
- 5.8 Peripheral Devices
- 5.8.1 Cables for Connecting Personal Computers
- 5.8.2 Digital Operator
- 5.8.3 Cables for Analog Monitor
- 5.8.4 Connector Terminal Block Converter Unit
- 5.8.5 Brake Power Supply Unit
- 5.8.6 External Regenerative Resistor
- 5.8.7 Regenerative Resistor Unit
- 5.8.8 Absolute Encoder Battery
- 5.8.9 Molded-case Circuit Breaker (MCCB)
- 5.8.10 Noise Filter
- 5.8.11 Magnetic Contactor
- 5.8.12 Surge Suppressor
- 5.8.13 DC Reactor for Harmonic Suppression
- 5.8.14 Variable Resistor for Speed and Torque Setting
- 5.8.15 Encoder Signal Converter Unit
- 5.8.16 MECHATROLINK-I I/F Unit
- 5.8.17 DeviceNet I/F Unit
- 5.8.18 PROFIBUS-DP I/F Unit
- 5.8.19 INDEXER Module
- 5.8.20 Setup Support Tool SigmaIndexer
- 5.8.21 Fully-closed I/F Unit
- 5.1 Specifications and Dimensional Drawings of Servomotor Main Circuit Cable
- 6 Wiring
- 6.1 Wiring Main Circuit
- 6.2 Wiring Encoders
- 6.3 Examples of I/O Signal Connections
- 6.4 Others
- 6.4.1 Wiring Precautions
- 6.4.2 Wiring for Noise Control
- 6.4.3 Installation Conditions of EMC Directives
- 6.4.4 Installation Conditions of UL Standards
- 6.4.5 Using More Than One SERVOPACK
- 6.4.6 Extending Encoder Cables
- 6.4.7 Operating Conditions on 400-V Power Supply Voltage
- 6.4.8 DC Reactor for Harmonic Suppression
- 6.5 Connecting Regenerative Resistors
- 7 Digital Operator/Panel Operator
- 7.1 Functions on Digital Operator/Panel Operator
- 7.2 Operation in Utility Function Mode (Fn***)
- 7.2.1 List of Utility Function Modes
- 7.2.2 Alarm Traceback Data Display (Fn000)
- 7.2.3 Zero-point Search Mode (Fn003)
- 7.2.4 Parameter Settings Initialization (Fn005)
- 7.2.5 Alarm Traceback Data Clear (Fn006)
- 7.2.6 Automatic Offset-adjustment of Motor Current Detection Signal (Fn00E)
- 7.2.7 Manual Offset-adjustment of Motor Current Detection Signal (Fn00F)
- 7.2.8 Password Setting (Protects Parameters from Being Changed) (Fn010)
- 7.2.9 Motor Models Display (Fn011)
- 7.2.10 Software Version Display (Fn012)
- 7.2.11 Application Module Detection Results Clear (Fn014)
- 7.3 Operation in Parameter Setting Mode (Pn***)
- 7.4 Operation in Monitor Mode (Un***)
- 8 Operation
- 8.1 Trial Operation
- 8.2 Control Mode Selection
- 8.3 Setting Common Basic Functions
- 8.4 Absolute Encoders
- 8.5 Operating Using Speed Control with Analog Reference
- 8.6 Operating Using Position Control
- 8.7 Operating Using Torque Control
- 8.8 Operating Using Speed Control with an Internally Set Speed
- 8.9 Limiting Torque
- 8.9.1 Internal Torque Limit (Limiting Maximum Output Torque)
- 8.9.2 External Torque Limit (Output Torque Limiting by Input Signals)
- 8.9.3 Torque Limiting Using an Analog Voltage Reference
- 8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference
- 8.9.5 Checking Output Torque Limiting during Operation
- 8.10 Control Mode Selection
- 8.11 Other Output Signals
- 9 Adjustments
- 9.1 Autotuning
- 9.2 Online Autotuning
- 9.2.1 Online Autotuning
- 9.2.2 Online Autotuning Procedure
- 9.2.3 Selecting the Online Autotuning Execution Method
- 9.2.4 Machine Rigidity Setting for Online Autotuning
- 9.2.5 Method for Changing the Machine Rigidity Setting
- 9.2.6 Saving the Results of Online Autotuning
- 9.2.7 Procedure for Saving the Results of Online Autotuning
- 9.3 Manual Tuning
- 9.4 Servo Gain Adjustment Functions
- 9.4.1 Feed-forward Reference
- 9.4.2 Torque Feed-forward
- 9.4.3 Speed Feed-forward
- 9.4.4 Proportional Control Operation (Proportional Operation Reference)
- 9.4.5 Using the Mode Switch (P/PI Switching)
- 9.4.6 Setting the Speed Bias
- 9.4.7 Speed Feedback Filter
- 9.4.8 Speed Feedback Compensation
- 9.4.9 Switching Gain Settings
- 9.4.10 Torque Reference Filter
- 9.5 Analog Monitor
- 10 Inspection, Maintenance, and Troubleshooting
- 10.1 Troubleshooting
- 10.1.1 Alarm Display Table
- 10.1.2 Warning Display
- 10.1.3 Alarm Display Table when the Application Module is Used
- 10.1.4 Warning Display Table when the Application Module is Used
- 10.1.5 Alarm Display Table when the Linear Motor is Used
- 10.1.6 Troubleshooting of Alarm and Warning
- 10.1.7 Troubleshooting for Malfunction without Alarm Display
- 10.2 Inspection and Maintenance
- 10.1 Troubleshooting
- 11 Appendix
- 11.1 Servomotor Capacity Selection Examples
- 11.2 Connection to Host Controller
- 11.2.1 Example of Connection to MP920 4-axes Analog Module SVA-01
- 11.2.2 Example of Connection to CP-9200SH Servo Controller Module SVA (SERVOPACK in Speed Control Mode)
- 11.2.3 Example of Connection to MEMOCON GL120/130 Series Motion Module MC20
- 11.2.4 Example of Connection to MEMOCON GL60/70 Series Positioning Module B2813 (SERVOPACK in Position Control Mode)
- 11.2.5 Example of Connection to OMRON’s Motion Control Unit
- 11.2.6 Example of Connection to OMRON’s Position Control Unit
- 11.2.7 Example of Connection to OMRON’s Position Control Unit C500-NC221 (SERVOPACK in Speed Control Mode)
- 11.2.8 Example of Connection to OMRON’s Position Control Unit C500-NC112 (SERVOPACK in Position Control Mode)
- 11.2.9 Example of Connection to MITSUBISHI’s AD72 Positioning Unit (SERVOPACK in Speed Control Mode)
- 11.2.10 Example of Connection to MITSUBISHI’s AD75 Positioning Unit (SERVOPACK in Position Control Mode)
- 11.3 List of Parameters
- 11.4 Parameter Recording Table
- INDEX
- Revision History
- Back Cover