Transcript
LEGEND Digital Torque Amplifier SGDG Product Catalog Supplement
LEGEND Digital Torque Amplifier SGDG Product Catalog Supplement
Simply the world’s best, easiest to use Digital Torque Amplifier. Plug -and-Play Linear or Rotary Motors Status, Diagnostic Display Main Power 90 - 253 VAC 1∅,3∅ 127-357 VDC
·Linear/Rotary Motor Select
·Encoder Output Resolution
·Dynamic Braking
90 - 253 VAC Control Power
On/Off
·AC/DC Power ·Motor Direction Stand-alone Servo interface 0 ± 10V Analog + I/O
Internal/External Regeneration Serial Motor Encoder Connection
Sig ma II Servo Moto rs 100W - 1.5Kw Serial Enco ders
Table of Contents Table of Contents Product Overview............................................................................................. 4 - 9
LEGEND Digital Torque System SGMAH Servomotors .................................................................................. 11 - 26 SGMPH Servomotors ..................................................................................27 - 44 SGMPH Gearmotors....................................................................................45 - 54 SGMGH Servomotors..................................................................................55 - 66 SGMGH Gearmotors ..................................................................................67 - 76 SGMSH Servomotors ..................................................................................77 - 88 SGDG LEGEND Digital Torque Amplifier .................................................. 89 - 110
3
Product Overview Yaskawa provides a full lineup of servomotors for your LEGEND Digital Torque Amplifier. Choose the best drives for your needs and specifications.
Servomotor
Flat Series
(3000rpm/5000rpm max)
General Purpose High speed rotation required without load.
Packaging Machines
Medium-capacity
(1500rpm/3000rpm max)
Short L-length. Good for installation in compact spaces.
SGMSH
High Speed Series
(3000rpm/5000rpm max)
High torque required at low inertia.
Material Handling Equipment
SGMPH
Robots
Large torque required at low inertia.
PCB Drilling Machines
(3000rpm/5000rpm max)
PCB Drilling Machines
High Speed Series
Applications
Chip Mounters
SGMAH
SGMGH
4
Description
Chip Mounters
Small-capacity
Series
Product Overview
Servomotor
Digital Torque Amplifier Type SGDG-***
Peak Torque
Capacity
Page
90 - 253 Vac
30W 50W up to 1,010oz • in
100W 200W 400W
11-26 04GT
750W
10GT
100W
01GT
200W up to 2,027oz • in
01GT
400W
04GT
750W
10GT
1500W
15GT
27-54
0.45kW 10GT up to 207in • lb
0.85kW
55-80
1.3kW
15GT
1.0kW
10GT
up to 130in • lb
81-92 1.5kW
15GT
5
Product Overview Single-phase 30W to 1500W (90 to 253Vac) Molded-case Circuit Breaker (MCCB) Protects the power line by shutting the circuit OFF when overcurrent is detected.
Noise Filter (optional) Used to eliminate external noise from the power line.
Host Controller Connect the SGDG digital torque amplifier to a Yaskawa host controller or one made by other vendors. (Analog input)
Magnetic Contactor Turns the servo ON and OFF. Install a surge suppressor on the magnetic contactor.
Holding Brake Power Supply (customer supplied) Used only for SGM* servomotor with a holding brake.
SGDG Digital Torque Amplifier Type SGDG-01GT to -04GT
SGMPH Servomotor
6
Product Overview Three-phase 0.5kW to 1.3kW (170 to 253Vac ) Molded-case Circuit Breaker (MCCB) Protects the power line by shutting the circuit OFF when overcurrent is detected.
Noise Filter (optional) Used to eliminate external noise from the power line.
Host Controller
Magnetic Contactor
Connect the SGDG digital torque amplifier to a Yaskawa host controller or one made by other vendors. (Analog input, pulse train input available)
Turns the servo ON and OFF. Install a surge suppressor on the magnetic contactor.
Holding Brake Power Supply (customer supplied) Used for SGM* servomotor with a brake
SGDG Digital Torque Amplifier Type SGDG-10GT to -15GT
SGMSH Servomotor
7
Product Overview NOTES:
8
Product Overview
Selecting Your LEGEND System For your convenience, each motor series in this selection guide includes a diagram to help you select and identify the components necessary for your system. Each item is letter-coded and cross-referenced in the option tables on the following pages.
1CN
SGDG Digital Torque Amplifier (B)
Connector Encoder Signal (D) Encoder side Connector (D)
Motor side Connector (D)
2CN Encoder Cable (C)
I/O Signal Connector (D)
Motor Cable (C)
Regenerative Unit (E)
1. First, select the AC servomotor suited for your application using the Yaskawa Servomotor Sizing Software or the Sigma Servomotor Data Sheets. Using the tab indicators in this guide, locate the section describing the type of servomotor you selected. 2. Then select a compatible amplifier using the LEGEND Digital Torque Amplifier Selection Table in the appropriate servomotor section of this guide. 3. Yaskawa offers pre-wired power and encoder cables with correctly matched, high quality connectors attached to permit correct interconnection. Refer to the Pre-wired Cable Selection Table to select the correct cable assembly from the list of standard cable lengths. 4. Solder-type connectors without cables are also available. Refer to the appropriate Servomotor Connector Selection Table to select the connector kit to be used with the selected servomotor or encoder (with or without brake). 5. Refer to the Peripheral Device Selection Table to select peripheral equipment to be used with the servo amplifier (i.e., regenerative unit, etc.). 6. Specify technical product manual YEA-SIA-LGD-1.2 on your LEGEND AC Servo System purchase order. One manual is available at no charge with each purchase order. The manual can also be downloaded at no charge from Yaskawa’s Web site at www.yaskawa.com. Each table includes a column labeled “Item Class,” which classifies the availability of the specified option. Following are descriptions of the codes used: Stock:
Normally 3 to 5 days lead time for most order quantities. 3 to 5 weeks maximum if temporary outages occur. For critical lead times or requirements for larger quantity shipments, check with your Yaskawa inside sales representative.
Limited Stock:
Typically, small quantities are available from stock. These items will likely change to stock items as the order demand increases. For critical lead times or requirements for larger quantity shipments, check with your Yaskawa inside sales representative.
Non-Stock: Normal delivery: 12 to 16 weeks.
9
Product Overview NOTES:
10
LEGEND System Components
SGMAH Servomotors
- With Incremental Encoder Rated Output: 30W, 50W, 100W, 200W, 400W, 750W
For Additional Information
SGMAH Ratings & Specifications SGMAH Speed/Torque Curves SGMAH Dimensions SGMAH Selection/Ordering Information SGDG Ratings & Specifications SGDG Dimensions
Page(s)
12 13 14 - 21 22 - 26 95 96 - 99
Design Features 1. Compact z Small sized motor Five frame sizes (including NEMA 23 and 34 Flanges): up to 1010oz • in peak torque Smaller installation space for more compact machine designs. 2. High Speed z High power rating High power is achieved by minimizing the inertia of the motor This increases the acceleration/deceleration rate and reduces positioning time z Maximum rotation speed of 5000rpm Increases maximum rotation speed and shortens positioning time z Rated speed of 3,000rpm 3. Encoder (reduced wiring serial encoder) z 13-bit (2048 x 4) incremental encoder standard 4. Enclosure z Totally enclosed, self-cooled IP55 (not including shaft) z Optional shaft seals are available. 5. Application Emphasis z Compact, high torque to inertia ratio z Chip mounters z PCB drilling machines z Robots z Conveyors z Packaging 6. Low Noise z Adopting the IGBT power element eliminates irritating “metallic” sounds 7. Certified International Standards z UL, cUL recognized (File #: E165827), CE compliance 11
SGMAH Servomotors
Super High Power Rate Series
LEGEND System Components
Servomotor Ratings and Specifications
A3 A5 01 02 A3 A5 01 02 04 08
100Vac
System Voltage
MOTOR SGMAH-
200Vac
*
Continuous Class B 15µm or less 1500Vac 10MΩ minimum at 500VDC Rated Output
W (hp) 30 (0.04) 50 (0.07) 100 (0.13) 200 (0.27) 30 (0.04) 50 (0.07) 100 (0.13) 200 (0.27) 400 (0.53) 750 (1.01)
Enclosure: Totally-enclosed, self-cooled Ambient Temperature: 0 to 40ºC Ambient Humidity: 20 to 80% (non-condensing) Rated Rotation Speed: 3000rpm Maximum Rotation Speed: 5000rpm
Rated Torque oz • in 13.5 22.6 45.1 90.1 13.5 22.6 45.1 90.1 181 338
N •m 0.095 0.159 0.318 0.637 0.095 0.159 0.318 0.637 1.27 2.39
Instantaneous Peak Torque oz • in N •m 40.5 0.29 67.7 0.48 135 0.96 270 1.91 40.5 0.29 67.7 0.48 135 0.96 270 1.91 542 3.82 1010 7.1
Continuous Rated Current Arms 0.66 0.95 2.4 3.0 0.44 0.64 0.91 2.1 2.8 4.4
System Voltage
MOTORS SGMAH-
Motor without Brake
100Vac
oz • in • s2 × 10 -3
*
12
Excitation: Drive Method: Mounting: Applicable Encoder:
Maximum Peak Current Arms 2.0 2.9 7.2 9.0 1.3 2.0 2.8 6.5 8.5 13.4
Permanent magnet Direct drive Flange-mounted 13-bit incremental
Rated Angular Acceleration rad/s2 57500 72300 87400 60100 57500 72300 87400 60100 73600 35600
Rated Power Rate* kW/s 3.49 11.5 27.8 38.2 5.49 11.5 27.8 38.2 93.7 85.1
Values when the servomotor is combined with an SGDG digit al torque amplif ie r.
Moment of I nertia
200Vac
SGMAH Servomotors
Time Rating: Insulation: Vibration: Withstand Voltage: Insulation Resis tance:
kg f • m2
Holding Brake (at 20°C) Motor with Brake
× 10- 4
Capacity
Torque
Coil Resistance
Rated Current
Allowable Load Inertia*
oz • in • s 2 × 1 0-3
kgf • m2 × 1 0-4
W
N• m
Ω
A
kgf • m2 × 10- 4
A3
0.235
0.0166
0.355
0.0251
6
2.0
96
0.25
0.63
A5
0.312
0.0220
0.432
0.0305
6
2.0
96
0.25
0.78
01
0.515
0.0364
0.635
0.0449
6
3.5
96
0.25
1.20
02
1.50
0.106
2.321
0.164
6.5
15
89
0.27
3.69
A3
0.235
0.0166
0.355
0.0251
6
2.0
96
0.25
0.63
A5
0.312
0.0220
0.432
0.0305
6
2.0
96
0.25
0.78
01
0.515
0.0364
0.635
0.0449
6
3.5
96
0.25
1.20
02
1.50
0.106
2.321
0.164
6.5
15
89
0.27
3.69
04
2.45
0.173
3.271
0.231
6.5
15
89
0.27
3.82
08
9.52
0.671
11.5
0.811
6
25
96
0.25
13.4
· ·
Values apply to motors without brake. JL (allowable load inertia) shows the range requiring no exterio r regenerative unit. When these values are exceeded, application may be restricted or a regenerative unit may be required.
LEGEND System Components
Speed / Torque Curves SGMAH-A5 5000
2000
A 1000
B
B
0 0
0.1
20 40 TORQUE (oz · in )
3000
A
0
A
B
1000
0
1. 5
AB
A 2000
0
10 0
0
30 0
50
5000 SGMAH08
B
2
3
150
4000 3000 2000
A
1000
TORQUE (N · m)
100
TORQUE (oz · in )
1
SGMAH-08A*/**
D 1
0.5 0.75
TOR QU E (N · m)
1000 0 0
2
100 200 TORQUE (oz · in )
1000
A B
0 0
4
2 00 400 6 00 TORQUE (oz · i n)
B
2
0
4
6
TORQUE (N · m)
8
4 00 80 0 12 00 TORQUE (oz · i n)
SGMAH-A3B 5000 SGMAH-A3
SGMAH-A5B 5000 SGMAH-A5
SGMAH-01B 5000 SGMAH-01
4000
4000
4000
3000 2000
A
A
B
B
1000 0
0
0.1
0
0. 2
0.3 0.4
TORQUE (N · m)
20 40 TORQUE (oz · i n)
60
SGMAH-02B 5000 SGMAH-02 SPEED (rpm)
3000
B
0 0. 25
3000
A
2000
A
SPEED (rpm)
SPEED (rpm)
1
TOR QU E (N · m)
A B
A 2000
C0 D
4000
C 0.5
20 40 60 80 TOR QU E (o z · in)
5000 SGMAH-04 SPEED (rpm)
2000
0 0
100V
B
3000
SGMAH-04A*/**
SPEED (rpm)
SPEED (rpm)
A
4000
TORQUE (N · m )
60
4000 3000
B
B
1000
SGMAH-02A* 5000 SGMAH-02
A
2000
0 0 0.15 0.3 0.45 0.6
0. 2 0.3 0.4
TOR QU E (N · m)
0
4000
SPEED (rpm)
3000
SGMAH-01A* SGMAH-01 5000
SPEED (rpm)
4000
A
SGMAH-A5A*
SPEED (rpm)
SPEED (rpm)
5000 SGMAH-A3
B
B
1000
0 0 0.15 0.3 0.45 0.6 0
20 40 60 80 TOR QU E (o z · in)
A : CONTINUOUS DUTY ZONE
3000 2000
A
A
B
1000 0
TORQUE (N · m )
10 0
SGMAH Servomotors
SGMAH-A3A*
200V Single Phase
0 0.25 0
B
0. 5 0.75
TOR QU E (N · m)
1
50 10 0 1 50 TORQU E (o z · in )
B : INTERMITTENT DUTY ZONE
4000 3000 2000
A
A
B
1000 0
B
0 0
0.5
1
1.5
TORQUE (N · m)
100 200 TORQUE (oz · i n)
2 30 0
*Th e pea k torq ue ava ilabl e fo r the se motors with LEG END AC amps an d 100 VA C S ystems are sho wn A : 200V CONTINUOUS DUTY ZONE in da sh ed lin es. The Co ntinuo us Du ty ratin g cu rve is the 200V ZONE sameBas: sh own,INTERMITTENT except with spDUTY eed li mita tio ns ( up to th e crossover po int wi th d erated P ea k Torq ue C : 400V CONTINUOUS DUTY ZONERating ( dashe d line s) . 400V INTERMITTENT ZONE **TheDsp: eed torq ue sho wn is apDUTY plica ble for eithe r 200 VA C Sin gle- Pha se o r 200 VA C Th ree- Pha se
13
LEGEND System Components
Dimensions in inches (mm) (1) 13-Bit Incremental Encoder, without Brake 30W (0.04hp), 50W (0.07hp), 100W (0.13hp) 11.81(300) ±1.18 (30) ENCODER CABLE, Φ0.24 (Φ6) UL20276
Encoder plug 55100-0600
MOTOR CABLE, Φ0.28 (Φ7) UL1818orUL3535 1.38(35)
U Motor Plug 350779-1
11.81 (300) ±1.18 (30)
0.0016 (0.04) A
LL
LR
LM
0.30 (7.5)
LC 0.85(21.5)
0.098 (2.5)
QK
Φ0.315 (F8)
ΦS*
ΦLB**
Y
0.16(4)
LC
0.60 (15.2) LG
0.43(11)
0.37 (9.5)
0.79 (20)
T Cross-sectionY-Y
Φ0.0016 (Φ0.04) A
L
0.87 (22)
W
SGMAH Servomotors
•
Y
ΦLA
Serial encoder
A
2-ΦLZ 0.0008(0.002)
Type SG MAH- †
QK
U
W
T
L
LL
LM
LR
LG
LC
ΦLA
ΦLZ
W ithout Keyway A3
F2
3.72 2.74 1.44 0.55 (14) 0.047 (1.2) 0.079 (2) 0.079 (2) (94.5) (69.5) (36.5) A3
F4
W ithout Keyway A5
F2
4.02 3.03 1.73 0.98 0.20 1.57 1.81 ( 44) (25) (5) (40) (46) 0.55 (14) 0.047 (1.2) 0.079 (2) 0.079 (2) (102) (77) A5
F4
W ithout Keyway 01
F2
4.7 3.72 2.42 0.55 (14) 0.07 (1.8) 0.12 (3) 0.12 ( 3) (119.5) (94.5) (61.5) 01
F4
† Some motor dimensions vary for motors with the optional shaft seal: see p. 18 for details.
0.17 (4.3)
Allowable Allowable Approx. Output Radial Thrust ΦS* Φ LB** Mass W (hp) Load Load lb (kg) lb (N) lb (N) 0.24 (6)
30 (0.04)
0.66 (0.3)
50 1.18 (30) (0.07)
0.88 (0.4)
100 (0.13)
1.10 (0.5)
0.31 (8)
15 (68) 17 (78)
Specified Tolerances Dimension
*ΦS
Unit
Diameter 0.2362 0.3150 6.000 8.000
in mm
Encoder Connection
Encoder Plug 5
6
3
4
1
2
Tolerance +0.0000-0.0003 +0.0000-0.0004 +0.000 -0.008 +0.000 -0.009
Diameter
Tolerance
1.181
+0.0000 -0.0008
30.000
+0.000 -0.021 Motor Connection
Motor Plug
Pin
Output
Wire Color
Pin
Output
Wire Color
1 2 3 4 5 6
PG 5V PG 0V — — Data + Data -
Red Black — — Li ght Blue Wh ite /Li ght Blu e
2 2 3 4
Phase U Phase V Phase W FG (Frame Ground)
Red White Blue Green/Yellow
Plug: 55100-0600 (Molex) Mating connector : Socket: 54280-0600
14
**ΦLB
1
d e 4
Plug 350779-1 ( AMP) Pin: 350561-3 or 350690-3 (Nos. 1 to 3) Ground pin: 770210-1 ( No 4) Mating connector: Cap: 350780-1 Socket: 350570-3 or 350689-3
12 ( 54)
LEGEND System Components
Encoder cable, Φ0.24 (Φ6)
UL20 276
11.85 (300) ±1.1 8 (30 )
Encoder plug 55100-0600
SGMAH Servomotors
200W (0.27hp), 400W (0.53hp), 750W (1.01hp)
W
U
Motor cable UL 1818, UL3534 or UL35 35
T
Motor plug 350779-1
1.38 (35)
Cross-se ction Y-Y
11.85(300) ±1.18(30)
0.51 (13)
L LL
1.04 (26.5)
0 .00 16 (0 .04 )
A
0.0016 (0.04)
A
LR
LC
0.12 (3)
LM LG
0.43 (11)
0.79 (20)
0.37(9.5)
0.85 (21.5)
ΦL A
QK ΦS*
Y
Y A
Serial e ncoder
Type SGMAH02A
F4
04A
F4
08A
F4
*
L
LL
LM
4.98 3.8 2.46 ( 126.5) (96.5) (62.5) 6.08 4.9 3.56 ( 154.5) ( 124.5) (90.5) 7.28 5.71 4.37 (185) (145) (111)
LC
ΦLB**
•
4-ΦLZ
0.000 8 (0.02)
LR
LG
LC
ΦLA
ΦLZ
ΦS*
ΦLB**
QK
U
W
T
1.18 (30)
0.24 (6)
2.36 (60)
2.76 (70)
0.22 (5.5)
0.55 (14)
1.97 (50)
0.79 (20)
0.12 (3)
0.2 (5)
0.2 (5)
1.57 (40)
0.31 (8)
3.15 (80)
3.54 (90)
0.28 (7)
0.63 (16)
2.76 (70)
1.18 (30)
0.12 (3)
0.2 (5)
0.2 (5)
Output W (hp) 200 (0.27) 400 (0.53) 750 (1.01)
Approximate Mass lb (kg) 2.43 (1.1) 3.75 (1.7) 7.5 (3.4)
Allowable Allowable Radial Thrust Load Load lb ( N) lb (N) 55 ( 245)
17 (74)
88 ( 392)
33 (147)
Please see the following table for dimension tolerances.
Specified Tolerances Dimension Unit in mm
*ΦS Diameter 0.5512 0.6299 14.000 16.000
** ΦLB Tolerance +0.0000-0.0004 +0.0000-0.0004 +0.000 -0.011 +0.000 -0.011
Diameter 1.9685 2.7559 50.000 70.000
Tolerance +0.0000 -0.0010 +0.0000 -0.0012 +0.000 -0.025 +0.000 -0.030
15
LEGEND System Components •
200W (0.27hp), 400W (0.54hp) with NEMA 23* Flange/Pilot
SGMAH Servomotors
Encoder cable, Φ0.24 (Φ6) 11.85 (300) ±1. 18 (30) UL20276 Motor cable UL1818, UL3534 or UL3535
Encoder plug 55100-0600 Motor plug 350779-1
1.38 (35)
11.85 (300) ±1.18 (30) 0.0016 (0.04) A Φ0.0016 (0.04) A L LL LM
1.32 (33.5) 0.37(9.5)
0.79 (20)
LR 0. 06 (1.6)
0.43 (11)
0.51 (13)
A
Serial e ncoder
Type SGMAH02
AN21 04
AN21
ΦLA
LC
ΦLB**
ΦS*
LG
LC 0.85 (21.5)
4-ΦLZ
0 .00 08 (0 .02 )
L
LL
LM
LR
LG
LC
ΦLA
ΦLZ
ΦS*
ΦLB**
Output W (hp)
4.67 (118.5) 5.77 (146.5)
3.9 (98.5) 5.0 (126.5)
2.56 (65) 3.66 (93)
0.79 (20)
0.24 (6)
2.36 (60)
2.63 (66.7)
0.18 0.50 (4.5) (12.7)
1.5 (38.1)
200 (0.27) 400 (0.53)
Approximate Mass lb (kg) 2.43 (1.1) 3.75 (1.7)
Allowable Radial Load lb (N)
Allowable Thrust Load lb (N)
55 (245)
17 (74)
Specified Tolerances Dimension Unit in mm
*
16
*ΦS Diameter 0.5000 12.7
** ΦLB Tolerance +0 -0.00043 +0 -0.011
Diameter 1.5000 38.1
Tolerance +0.0000 -0.00098 +0.000 -0.025
For servo applic ation torques: shaft diameter is 0.5in (12.7mm) rather than 0.25 (6.35mm), as is in typical NEMA 23.
LEGEND System Components • 750W (1.01hp) with NEMA 34* Flange/Pilot 11.85 (300) ±1.18 (30) Encoder cable, Φ0.24 (Φ6) UL20276Φ6 Motor cable Φ0.27 (Φ7) UL3443
SGMAH Servomotors
Encoder plug 55100-0600 1.38 (35) Motor plug 350779-1
11.85 (300) ±1.18 (30) L LL LM
Φ0.0016 (Φ0.04) A
LR 0.08 (2) LG
A
13-bit serial incremental encoder
0.85 (21.5) ΦLA
LC
ΦS*
0.63 (16)
LC 0.43 (11)
0.28 (7) 0.91(23) 1.04 (26.5) 0.37 (9.5)
0.0016 (0.04) A
ΦLD*** ΦLB**
0.51 (13)
4-ΦLZ
0.0008 (0. 02)
Type SGMAH-
L
LL
LM
LR
LG
LC
ΦLA
ΦLZ
ΦS*
ΦLB**
08AAN21
7.20 (183)
5.75 (146)
4.43 (112.5)
1.46 (37)
0.31 ( 8)
3.35 (85)
3.87 (98.4)
0.28 (7)
0.63 (16)
2.87 (73)
Output ΦLD*** W (hp) 2.60 (66)
750 (1.01)
Approx Mass lb (kg) 7.5 ( 3.4)
Allowable Allowable Radial Thrust Load Load lb (N) lb (N) 88 (392)
33 (147)
Specified Tolerances Dimension Unit in mm
*
*ΦS
**ΦLB
**Φ*LD
Diamet er
Tolerance
Diameter
Tolerance
Diameter
Tolerance
0.625 15.875
+0.0000-0.00043 +0.000 -0.011
2.874 73.000
+0.0000 -0.0012 ?
2.598 66.000
+0.0012 -0 +0.003 -0
For servo applic ation torques: shaft diameter is 0.0.625in (15.875mm) rather than 0.375 (9.525mm), as is in typical NEMA 34.
17
LEGEND System Components (2) 13-Bit Incremental Encoder, with Brake Encoder plug
W
Motor cableΦ0.28(Φ7) UL1828or UL3535
Motor plug 350779-1
1.38 (35)
11.85 (300) ±1.18 (30)
Φ0.0016(Φ0.04) A
LL
0.98 (25)
LM
0.098 (2.5)
1.57 (40) 0.85(21.5)
0.20 (5)
0.79 (20) 0.60(15.2)
0.43(11)
0.87(22)
T Cross-section Y - Y
0.0016 (0.04) A
L
0.37(9.5)
U
55100-0600
UL20276
0.30 (25)
Φ0.315 ( Φ8)
QK
0.16(4)
1.57 (40)
SGMAH Servomotors
11.85(300)±1.18 (30)
Encoder cable, Φ0.24(Φ6)
Holdingbrake(de-energizedoperation) DC Power supply = 24V Brakeholdingtorque =Motor ratedtorque
ΦS*
Y
ΦLB**
Y 2−Φ0.17 (Φ4.3)
Φ1.81 (Φ46)
A 0.0008 (0.02)
Serial encoder
Type SG MAH-
U
A3
F2C A3
F4C A5
F2C A5
F4C 01
F2C 01
F4C
W
0.047 (1.2) 0.07 (1.8)
T
L
LL
LM
0.12 (3)
4.96 (126) 5.26 (133.5) 6.3 (160)
3.98 (101) 4.27 (108.5) 5.31 (135)
1. 44 (36.5) 1. 73 (44.0) 2. 42 (61.5)
0.079 (2) 0.12 (3)
Φ S*
0.24 (6)
ΦLB**
1.18 (30)
0.31 (8)
QK
0.55 (14) 0.55 (14)
Output W (hp)
Approximate Mass lb (kg)
30 (0.04) 50 (0.07) 100 (0.13)
1.32 (0.6) 1.54 (0.7) 1.76 (0.8)
Allowable Radial Load lb (N)
15 (68)
Allowable Thr ust Load lb (N)
12 (54)
18 (78)
Specified Tolerances Dimension
*ΦS
Unit in mm
** ΦLB
Diameter
Tolerance
0.2362 0.3150 6.000 8.000
+0.0000-0.0003 +0.0000-0.0004 +0.000 -0.008 +0.000 -0.009
Diameter
Tolerance
1.181
+0.0000 -0.0008
30.000
+0.000 -0.021
Connector Specifications:
3
5
f
1
d
h
Motor Plug
1 2 3 4 5 6
Motor Connection Phase U Red Phase V White Phase W Blue FG (Frame Ground) Green/Yellow Brake Terminal Red Brake Terminal Black
Plug: 350715- 1 (AMP) Pin: 350561- 3 or 350690-3 (except No. 4) Ground pin: : 770210-1 (No. 4) Mating connector: Cap: 350781- 1 Socket: 350570- 3 or 350689-3
18
Encoder Plug 5
6
3
4
1
2
1 2 3 4 5 6
Encoder Connect ion PG 5V Red PG 0V Black — — — — Data + Light Blue Data White/Light Blue
Plug: 55100- 0600 (Molex) Mating connector: Socket: 54280- 0600
LEGEND System Components
11.85 (300) ±1.18 (30)
Encoder plug 55100-0600
Motor cable Φ0.28 (Φ7) 1.38 (35) UL1828 or UL3535
UL20276
U
Motor Plug 350715-1
T
Cross-Section Y-Y
11.85 (300) ±1.18 (30)
0.79 (20)
Φ0.0016 (Φ0.04) A
LR 0.12 (3) LG
LC 0.85 ( 21.5)
QK
Y A Holding brake (de-energized operation) DC Power supply = 24V Brake holding torque = Motor rated torque
ΦLA
LC
Y
ΦS* ΦLB**
1.04 (26.5)
0.0016 (0.04) A
L LL LM
0.37 (9.5)
0.51 (13)
0.43 (11)
Encoder cable, Φ0.24 (Φ6)
SGMAH Servomotors
200W (0.27hp), 300W (0.40hp), 400W (0.53hp), 750W (1.01hp)
W
•
4-ΦLZ
0.0008 (0.02)
Serial encoder
Type SGMAH-
U
W
T
02A
F4C 04A
F4C
0.12 (3)
0.2 (5)
08A
F4C
L
LL
LM
6.54 5.35 (166) (136) 7.64 6.46 (194) (164) 9.04 7.46 (229.5) (189.5)
LR
LG
2.46 (62.5) 1.18 3.56 (30) (90.5) 4.37 1.57 (111) (40)
LC
ΦLA
ΦLZ
ΦS*
ΦLB**
QK
0.24 2.36 (6) (60)
2. 76 0.22 (70) (5.5)
0.55 1.97 (14) (50)
0.79 (20)
0.31 3.15 (8) (80)
3. 54 0.28 (90) (7)
0.64 (16)
1.18 (30)
2.76 (70)
O utput W (hp)
Appr oximate Mass lb (kg)
200 (0.27) 400 (0.53) 750 (1.01)
3.53 (1.6) 4.85 (2.2) 9.48 (4.3)
Allowable Allowable Radial Thrust Load Load lb (N) lb (N)
55 (245)
17 (74)
88 (392)
33 (147)
Specifie d Tolerances Dimension Unit in mm
*ΦS
**ΦLB
Diameter
Tolerance
Diameter
Tolerance
0.5512 0.6299 14.000 16.000
+0.0000-0.0004 +0.0000-0.0004 +0.000 -0.011 +0.000 -0.011
1.9685 2.7558 50.000 70.00
+0 -0.0010 +0 -0.0012 +0 -0.025 +0 -0.03
19
LEGEND System Components Dimension Modifications for Motors with Optional Shaft Seal 30W (0.04hp), 50W (0.07hp), 100W (0.13hp)
LR LE LD
ΦLB
ΦLP
QK
ΦS
SGMAH Servomotors
•
Shaft seal
Type SGMAHA3 A5 01
*
20
QK
ΦLB*
ΦS*
LE
LR
LD
ΦLP
0.55 (14)
1.18 (30)
0.236 (6)
0.10 (2.5)
0.98 (25)
0.30 (7.5)
1.14 (28)
Tolerances for diameters LB and S are the same as those for motors without shaft seals.
LEGEND System Components •
200W (0.27hp), 400W (0.53hp), 750W (1.01hp)
SGMAH Servomotors
LR LE LD
ΦLB
ΦLP
ΦS
QK
Shaft seal
Type SGMAH02 04 08
*
QK
ΦLB*
ΦS*
0.55 (14)
1.97 (50)
0.55 (14)
0.98 (25)
2.76 (70)
0.63 (16)
LE 0.12 (3)
LR
LD
ΦLP
1.18 (30)
0.39 (10)
1.89 (48)
1.57 (40)
0.43 (11)
2.60 (66)
Tolerances for diameters LB and S are the same as those for motors without shaft seals.
Torque Reduction Factor for SGMAH motors equipped with a shaft seal: Servo Motor Model
A3
A5
01
02
04
08
Torque Reduction Factor
70%
80%
90%
90%
95%
95%
For example: The SGMAH-A3 continuous and peak torque rating should be reduced to 70% of the listed catalog specification. To specify a motor with a shaft seal, refer to the motor part number explanation on the following page.
21
LEGEND System Components
Selecting Your SGMAH LEGEND System SGMAH Servomotors
First, select the AC servomotor suited for your application using SigmaSize: the Yaskawa servomotor sizing software, available at no charge. (Request SigmaSize software via e-mail, at:
[email protected]). Use the diagram below to locate and identify the components of your system. Each item is letter-coded and cross-referenced in the option tables on the following pages.
System Configuration Optional Holding Brake Shaft Keyway
SGDG Digital Torque Amplifier Amplifier (B) (B) 1CN
SGMAH Servomotor (A)
Connector Encoder (D) Encoder side Connector (D)
Shaft Seal
Motor side Connector (D)
2CN Encoder Cable (C)
I/O Signal Connector (D)
Regenerative Unit (E)
Motor Cable (C) Specify a technical manual, if it is needed, on your servo system purchase order: LEGEND Digital Torque Amplifier User’s Manual: YEA-SIA-LGD-1.2 (Manual is provided at no charge with a purchase order, but it must be requested).
Model Number Designation SGMAH - 01 A A F 4 1 LEGEND AC Servomotor Type Rated Output A3: 30W (0.04hp) A5: 50W (0.07hp) 01: 100W (0.13hp) 02: 200W (0.25hp) 04: 400W (0.5hp) 08: 750W (1hp) Power Supply A: 200V B: 100V
Accessories 1: Standard C: Standard with 24VDC Brake S: Standard with Shaft Seal * E: Standard with Brake & Shaft Seal * Shaft Specifications 4: Straight Shaft with Keyway 2: Straight Shaft without Keyway Revision Level F: Standard N: NEMA Flange ( for 200W, 400W, and 800W without brake only) Encoder Specifications A: 13-bit (2048 x 4) Incremental Encoder * Keyways, Shaft Seals and Hold ing Brakes are not availa ble on motors with NEMA flanges.
22
LEGEND System Components
Use the table below to select the recommended SGMAH LEGEND AC servomotor and amplifier. Motors Used with 13-bit Increment al Encoders (5000rpm* Maximum) Description System Voltage Construction
Peak Torque* (oz • in)
Rated Torque* (oz • in)
40.5
13.5
67.7
22.6
200V Straight Shaft without Keyway
135
200V Straight Shaft with Keyway
270
45.1
90.1
542
181
1010
338
200V
135
45.1
Straight Shaft without Keyway NEMA Flange
270 542 1010*
90.1 181 338*
40.5
13.5
100V Straight Shaft without Keyway
67.7
135
22.6
45.1
100V Straight Shaft with Keyway 100V Straight Shaft without Keyway NEMA Flange
270
90.1
135
45.1
270
90.1
Motor Inertia (oz • in • s2×10 -3)
Mot or MODEL NUMBER (A)
0.235 0.355 0.312 0.432 0.515 0.635 0.515 0.635 1.50 2.321 2.45 3.271 9.52 11.5 0.515 0.635 1.50 2.45 9.52 0.235 0.355 0.312 0.432 0.515 0.635 0.515 0.635 1.50 2.321 0.515 0.635
SGMAH-A3AAF21 SGMAH-A3AAF2C SGMAH-A5AAF21 SGMAH-A5AAF2C SGMAH-01AAF21 SGMAH-01AAF2C SGMAH-01AAF41 SGMAH-01AAF4C SGMAH-02AAF41 SGMAH-02AAF4C SGMAH-04AAF41 SGMAH-04AAF4C SGMAH-08AAF41 SGMAH-08AAF4C SGMAH-01AAF21** SGMAH-01AAF2C** SGMAH-02AAN21*** SGMAH-04AAN21*** SGMAH-08AAN21**** SGMAH-A3BAF21 SGMAH-A3BAF2C SGMAH-A5BAF21 SGMAH-A5BAF2C SGMAH-01BAF21 SGMAH-01BAF2C SGMAH-01BAF41 SGMAH-01BAF4C SGMAH-02BAF41 SGMAH-02BAF4C SGMAH-01BAF21** SGMAH-01BAF2C**
1.50
SGMAH-02BAAN21***
Amplifier Amplifier MODEL NUMBER (B)* Single-Phase SGDG
3-Phase SGDG-
Motor & Amplifier Item Class
— —
Stock
01GT — — — 04GT 10GT 10GT 01GT 04GT 10GT*
Stock
— — 10GT —
01GT —
Stock
— — Stock 04GT
—
—
Stock
Notes: 24V D C brakes for SGMAH AC servomotors are standard. Contact a lo cal source for 24VD C power supplies. Motor power and encoder cable s are factory pre-wired with approximately 13” lead length with amplifier mating connectors. Use the table s on the following pages to specif y mating connectors or pre-wired cable s available in various lengths. For technical informatio n, request Yaskawa User’s Manual number YEA-SIA-LGD-1.2. * Reference the previously listed speed/torque (force) curves for performance wit h the applied system voltage and phase(s). For more detailed SGDG amplif ier specifications and dimensions, refer to pages 95 to 99. ** Use NEMA 23 adapter flange (see periphia l device selection) *** NEMA 23 flange and pilot (see SGMAH Dimension) **** NEMA 34 flange and pilot (see SGMAH Dimension)
23
SGMAH Servomotors
Servomotor & Amplifier Selection
LEGEND System Components Pre-wired Cable Selection SGMAH Servomotors
Use the table below to select pre-wired cables for your SGMAH AC servomotor. Motor Size (kW)
Cable Description (C) Power Cable without Brake
Comment s
Item Class
JZSP-CMM00- (A)
Power Cable with Brake Shielded Power Cable without Brake*** Shielded Power Cable with Brake*** Encoder Cable Encoder Cable (for applications up to 20m) Only for Solder Connections Encoder Cable (for applications from >20 to <50m maximum) Only for Solder Connections
Part Number*
JZSP-CMM10- (A)
BAHCE-(A)
These cables are available in five lengths. Use two digits in the part number’s last place: 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m
Stock**
Limited Stock
BAHBCE-(A) JZSP-CMP00-(A)
—
FR-RMCT-SB
All
UL20276-SB
These cables are available in any length. For example, to order one FR-RMCT-SB cable, 16m long, specify: quantity: 16 part no.: FR-RMCT-SB
Stock Input/Output 1CN Cable & Transition Terminal Block
Input/Output 1CN Cable with Pigtail Leads
* ** ***
24
JUSP-TA36P
35mm DIN rail mountable; the cable length is 0.5 meters.
CKI-SGDG-
Use the following key to specify required cable length (last digit of part number): 01: 1m (standard) 02: 2m 03: 3m
The “(A)” at the end of the cable part number indicates the revisio n level. Revision level may be subject to change prior to this catalo g reprinting. Standard cable le ngths are Stock items; non-standard cable lengths are Limited Stock items. Use these power cables where it is important to meet CE (EMC) requirements.
LEGEND System Components
Use the table below to select mating connectors or kits for your SGMAH AC servomotor. Motor Size (kW)
Connector Description (D)
Motor Power Mating Connector (without Brake)
Part Number
Comments
JZSP-CMM9-1 These connector kits include pin and socket. Requires use of Amp Crimp Tool (90548-1). (See below).
Motor Power Mating Connector (with Brake)
Amp Crimp Tool
Item Class
Stock
JZSP-CMM9-2
—
All
2CN Amplifier Mating Connector
90548-1
JZSP-CMP9-1
Crimp tool for Motor Power Connector (JZSP-CMM9- )
Limited Stock
—
Stock
1CN Mating Connector
XXX X
molex
Motor Encoder Mating Connector
JZSP-CMP9-2
—
DP9420007
for SGDG I/O 36-pin
25
SGMAH Servomotors
Connector Selection
LEGEND System Components Peripheral Device Selection SGMAH Servomotors
Use the table below to select peripheral devices for your SGMAH AC servomotor. Component Description (E)
External Regenerative Unit*
50Ω, 60W for 100 W and 400W amps.
JUSP–RG08D
25Ω 300W for 400W* and 1.5kW amps
RH500N25_ohmK
NEMA Flange Adapter
Note *
26
Part Number
SGM-N23
Comments
Item Class
This is a general purpose regenerative unit. Caution: Proper setup is necessary to avoid equipment damage.
Stock
For 30, 50, and 100W SGMAH motors only. Complies to NEMA 23 mounting standard.
Refer to the SGDG digital torque amplifier section of this catalog for additional specifications, and the LEGEND Digit al Torque Amplifie r User ’s Manual (YEA-SIA-LGD-1.2) for proper resistor sizing guidelines. For SGDG–04 applicatio ns requiring additional regenerative capacity beyond the JUISP–RG08D capacity, specify SGDG–04GTY22P and QTY 2 of RH500N25_ohmK. Resistors must be used in series to provide 600W (before derating) of increased capacity.
LEGEND System Components Flat Series
SGMPH Servomotors - With Incremental Encoder
For Additional Information
Page(s)
SGMPH Ratings & Specifications SGMPH Speed/Torque Curves SGMPH Dimensions SGMPH Selection/Ordering Information SGDG Ratings & Specifications SGDG Dimensions
28 29 30 - 38 39 - 43 95 96 - 99
Design Features 1. Compact z The length is about 1/2 of conventional motors z Enhanced withstand load since motor output shaft bearing size is upgraded z Up to 5000rpm maximum speed 2. Enhanced Environmental Resistance z Water resistance, IP67 standard (not including the shaft) z Optional shaft seal available z Reinforced lead-out cable access 3. Encoder (reduced wiring serial encoder) z 13-bit (2,048ppr x 4) incremental encoder standard 4. Application Emphasis z Chip mounters z PCB drilling machines z Robots z Conveyor z Packaging 5. Certified International Standards z UL, cUL recognized, (File #: E165827), CE compliance
27
SGMPH Servomotors
Rated Output: 100W, 200W, 400W, 750W, 1500W
LEGEND System Components
Servomotor Ratings and Specifications Time Rating: Insulation: Vibration: Withstand Voltage: Insulation Resistance:
Continuous Class B 15µm or less 1500Vac 500VDC 10MΩ or more
Enclosure: Totally-enclosed, self-cooled Ambient Temperature: 0 to 40ºC Ambient Humidity: 20 to 80% (non-condensing) Rated Rotation Speed: 3000rpm Maximum Rotation Speed:5000rpm
Instantaneous Peak Torque
Continuous Rated Current*
Maximum Peak Current*
Rat ed Angular Acceleration
Rated Power Rate
W (hp)
oz • in
N• m
oz • in
N• m
A rms
A rms
rad/s 2
kW/s
01
02
04
08
15
100 (0.13) 200 (0.27) 400 (0.54) 750 (1.01) 1500 (2.01)
45.1 90.1 180 338 676
0.318 0.637 1.27 2.39 4.77
135 270 542 1010 2027
0.96 1.91 3.82 7.1 14.3
0.89 2.0 2.6 4.1 7.5
2.8 6.0 8.0 13.9 23.0
64800 33000 38500 11400 11900
20.4 21.0 49.0 27.0 56.7
01
100 (0.13)
45.1
0.318
135
0.96
2.2
7.1
64800
20.4
02
200 (0.27)
90.1
0.637
270
1.91
2.7
8.4
33000
21.0
100V ac
MOTORS: SGMPH-
200Vac
System Voltage
*
100Vac
SGMPH Servomotors
Applied Voltage
Rated Torque
200Va c
Rated Output
Excitation: Permanent magnet Drive Method: Direct drive Mounting: Flange-mounted Applicable Encoder: 13-bit Incremental
*
28
Values are calculated when the servomotor is combined with an SGDG servo amplif ier . Moment of Inertia MOTORS SGMPH-
Motor without Brake oz • in • s 2
× 10 -3
Holding Brake (at 20°C) Motor with Brake
Capacit y
Coil Resistance
Rated Current
Allowable Load Inertia *
kgf • m2 × 10 -4
oz • in • s 2 × 10 -3
kg f • m2 × 10 -4
W
Ω
A
kg f • m2 × 10-4
01
0.695
0.0491
1.106
0.0781
6
96
0.25
1.20
02
2.73
0.193
4.274
0.302
5
115
0.21
3.69
04
4.69
0.331
6.234
0.44
7.6
76
0.32
3.82
08
29.7
2.10
42.09
2.975
7.5
77
0.31
13.4
15
56.9
4.02
69.29
4.895
10
58
0.42
24.1
01
0.695
0.0491
1.106
0.0781
6
96
0.25
1.20
02
2.73
0.193
4.274
0.302
5
115
0.21
3.69
Allowable load inertia (J L) shows the range requirin g no exterior regenerative unit. When these values are exceeded, application may be restricted or a regenerative unit may be required. Values are calculated when the servomotor is combined with an SGDG servo amplifier. MOTORS SGMPH-
Servomotor Capacity W
01
02
04
08
15
100 200 400 750 1500
Holding Brake Holding Torque kgf · cm oz-in 69.5 5.0 139 10 279 20 514 37 1015 73
LEGEND System Components
Speed / Torque Curves SGMPH-01A*
SGMPH-02A* 50 00
400 0
40 00
A
2 000
B
1 000 0 0 .25
0.5
0
0.7 5 1.0
0
0.5
0
50 1 00 1 50 TOR QUE (oz · i n)
A
2 000
B
1 000 0
0
2
4
6
A
2000
0
4
0
400 8 00 12 00 TO RQ UE (oz · in )
0
8
12
1
2
3
30 00 20 00
B
10 00 0
4
A
0
0
2
4
2 00 40 0 TO RQ UE (o z · in)
0
60 0
SGMPH-01B 4 000
2000
SP EED (rpm)
5 000
B
1000 0
0 0 .25
0.5 0.75
1.0
TOR QUE (N · m ) 0
50 1 00 1 50 T OR QUE (oz · i n)
B
1 000 0
8
A
2 000
0
4
8
12
16
TO RQ UE (N · m ) 0
40 0 80 0 120 0 TO RQU E (o z · i n)
800 160 0 24 00 T ORQ UE (oz · in )
SGMPH-02B
4000
A
6
3 000
TO RQU E (N · m )
5000
3000
SP EED (rpm)
4 000
0
60 0
SGMPH15A
SGMPH-08A 40 00
1 000
2 00 40 0 TOR QUE (oz · i n)
4
16
4 000
2 000
3
T ORQ UE (N · m )
5 000
B
2
T ORQ UE (N · m )
8 00 160 0 24 00 T ORQ UE (oz · in )
50 00
A
1
1 000 0
8
SPEE D (rpm)
SPEE D (rpm)
0
B
TOR QUE (N · m )
SP EED (rpm)
0
2
3000
SGMPH-04A
0
100V Single-Phase
10 00
5 000
3 000
B
5000 4 500 4000
T OR QUE (N · m ) 0
1. 5
A
20 00
SGMPH15A* SP EED (rpm)
SPE ED (r pm)
3 000
1
T ORQ UE (N · m )
30 00
1 00 2 00 3 00 T OR QUE (oz · i n)
SGMPH-08A* 5 000 4 000
B
100 0
T OR QUE (N · m )
0
A
200 0
SGMPH Servomotors
3 000
300 0
SP EED (rpm)
500 0
4 000
0
200V Three-Phase
SGMPH-04A*
5 000 SPE ED (r pm)
SP EED (rpm)
200V Single-Phase
3 000
A
2 000
B
1 000 0 0
0 .5
1
1.5
2
TOR QU E (N · m ) 0
1 00 200 TO RQ UE (o z · in)
* The peak torque available these motors with *The peak torque available forfor these motors with LEGEND AC amps and 100VAC Systems are shown LEGEND AC amps and 100VAC Systems are shown in dashed lines. The Continuous Duty rating curve the in dashed lines. The Continuous Duty rating curve is is the same as shown, except with speed limitations (up to same as shown, except with speed limitations (up to thethe crossover point with derated Peak Torque Rating (dashed crossover point with derated Peak Torque Rating (dashed lines). lines)).
300
A : CONTINUOUS DUTY ZONE
B : INTERMITTENT DUTY ZONE
** 200VAC Single-phase
29
LEGEND System Components
Dimensions in inches (mm) (1) 13-Bit Incremental Encoder, w/o Brake Note:
•
1. The keyway co mpl ies with JIS B13 01-1976 (precisi on). A straigh t key i s supp lied. 2. Co nfo rms to the IP67 encl osure, exclud ing th e sha ft (o pti onal shaft seal avai labl e). 3. The quoted all owabl e rad ial loa d i s the value at a posi tio n 5 mm (0.2 in) from the shaft en d.
100W (0.13hp) Encoder cable UL20276 Φ0.24 (6)
11.81 (300) ±1.18 (30)
Encoder plug U
Motor Plug Motor cable
W
S RUC 17GMR CN 087
T Cross-section Y-Y
SR UC 0 6JMSC N2 36
0. 71 (1 8)
SGMPH Servomotors
Hexagonal nut 11.81 (300) ±1.18 (30) Opposite Side width: 0.55 (14) L 0.0016 (0.04) A LL LR LC LM Φ0.0016 (Φ0.04) A 0.83 (21) 0.42(10.5) 0.12 (3) LG ΦLA
ΦLB**
Y
Y
LC
QK
0.55 (14)
4 - ΦLZ
ΦS*
0.37 (9.5)
0.51 (13)
A
Serial encoder (absolute or incremental)
0.0008(0.002)
Key Type SGMPH-
L
LL
01
E41 D 01
E41 D
3.43 (87 )
LM
2.4 4 1.67 (62) (42.5)
LR
LG
LC
ΦL A ΦLZ
ΦS*
ΦLB**
0.98 (25)
0.24 (6)
2.36 (60 )
2.7 6 (70)
0.315 (8)
1.97 (50)
0.21 (5.3)
QK
U
0.5 5 (14)
0.071 (1.8)
W
T
0.1 2 0.12 (3) (3)
Outp ut W (hp )
Torqu e in•lb (N•m)
Time Rating
Ra ted Sp eed (rpm)
Approx Mass lb (kg)
100 (0.13)
2 .81 (0.318)
Con ti nuo us
3000
1.54 (0.7 )
Al lowab le Allow able Radia l Th rust L oad Load lb (N) l b (N) 17 .5 (78)
11.0 (49)
Note: The quoted allowable radial load is the value at a position 0.79in ( 20mm.) from the mounting sur face.
Specified Tolerances *ΦS
Dimension
Encoder Plug 1 2 3
13
11
17
14
4 5
10
12
6
16
9
15
8 7
SR UC 1 7GMR CN 087 (In te rcon ne ctro n)
**Φ LB
Unit
Diameter
Tolerance
Diameter
Tolerance
in mm
0.3150 8.000
+0.0000-0.0004 +0.000 -0.009
1.9685 50.000
+0.0000 -0.0010 +0.000 -0.025
Incremental Terminal Specifications Pin No. Description Color 3 4 1, 2, 5 - 7, 10 - 17 8 9 Conne ctor Case
Data + Data− Free +5 V (Power Supply) 0V (Powe r Suppl y) FG (Frame Grou nd)
Blu e Blue /White — Red Black Shiel d w ire
Mating Connector: SPNA17HFRON16900E3 (Interconnectron)
30
Motor Plug 1
6
2
5 3
Motor Wiring Specifications Pin Number
4
SRU C 06 JMSC N23 6 (Inte rconn ectro n)
Description
Color
1 Phase U Red 2 Phase V White 3 Phase W Blue 6 FG (Frame Ground) Green/Yellow Mating Connector : SPNA06KFSDN169 (Interconnectron)
LEGEND System Components •
200W (0.27hp), 400W (0.53hp) Encoder cable UL20276 Φ0.24 (6)
11.81 (300) ±1.18 (30)
Encoder plug
U W
SR UC 1 7GMRC N0 87
Motor cable
Motor Plug SRU C 06 JMSC N23 6
T
Cross-section Y-Y Hexagonal nut Opposite side width: 0.55 (14) LC
11.81 (300) ±1.18 (30) LR 0.0016 (0.04)
0.33 (8.5) LG
0.37 (9.5)
Φ0.0016 (Φ0.04) A
0.12 (3)
4 -ΦLZ
QK
0.55 (14)
Y
ΦS*
LC
ΦLB**
0.51 (13)
0.83 (21)
A
SGMPH Servomotors
0.28 (7)
0.71 (18) maximum
L LL LM
Y
ΦLA
A
Serial encoder (absolute or incremental)
0.0008(0.02)
Key Type SGMPH-
L
02
E4 1 D 04
E4 1 D
3.8 2 (97) 4.6 1 (1 17)
LL
LM
2.64 1.89 (67) (48.1) 3.46 2.68 (87) (68.1)
LR
LG
LC
ΦLA
ΦLZ
ΦS*
1.18 (30)
0.31 (8)
3.15 (80 )
3.54 (9 0)
0.2 8 0.551 (7) (14)
ΦL B* *
2.76 (70 )
QK
U
Voltage Outp ut W
V
W (hp )
Torq ue in•lb (N•m)
200
200 (0.27) 400 (0.53)
5.6 4 (0.637) 11.2 (1.2 7)
T
0.63 0.12 0.2 0 0.20 (16) (3) (5) (5)
Ti me Rating
Rated Approx Spee d Mass (rpm) l b (kg)
Continuous
30 00
3.0 9 (1.4) 4.6 3 (2.1)
Allow able Allo wable Rad ial Thrust Load Load lb (N) l b (N) 55.1 (2 45)
Note: The quoted allowable radial load is the value at a position 0.98in (25mm) fr om the mounting surface.
Specified Tolerances *Φ S
Dimension
**ΦLB
Unit
Diameter
Tolerance
Diameter
Tolerance
in mm
0.5512 14.000
+0.0000-0.0004 +0.000 -0.011
2.7559 70.000
+0.0000 -0.0012 +0.000 -0.030
Interconnection Connector Specifications: See page 25.
31
15.4 (68)
LEGEND System Components •
750W (1.01hp) Encoder cable UL20276 F0.24 (6)
U 11.81 (300) ±1.18 (30)
Encoder plug W
SR UC 17 GMRC N0 87
Motor Plug
MOTOR CABLE
T
SRU C 06 JMSCN 23 6
Cross-section Y - Y 11.81 (300) ±1.18 (30)
0.28 (7)
0.0016 (0.04)
LR
LC 1.50 (38) Φ0.0016 (Φ0.04) A
SGMPH Servomotors
0.14 (3.5) QK
0.51 0.75 (13) (19)
Y
ΦS*
Y
LC
ΦLB**
0.37 (9.5)
A 1.1 (28) maximum
L LL LM 0.41 (10.5) LG
Hexagonal nut Opposite side width: 0.67 (17)
ΦLA
4 - ΦLZ A
Serial encoder (absolute or incremental)
Type SGMPH-
0.0008 (0.002)
Key L
LL
LM
LR
LG
LC
ΦLA
ΦLZ ΦS* ΦLB**
QK
U
W
T
Voltage Output V W (hp)
08
E4 4.98 3.41 2.63 1.57 0.39 4.72 5.71 0.39 0.63 4.33 0.87 0.12 0.20 0.20 200 750 1D (126.5) (86.5) (66.7) (40) (10) (120) (145) (10) (16) (110) (22) (3) (5) (5) (1.01) Note: The quoted allowable radial load is the value at a position 1.38in ( 35mm) from the motor mounting surface.
Torque in•lb (N•m)
Time Rating
Rated Approx Speed Mass (rpm) lb (kg)
21.1 (2.39)
Contin- 3000 uous
9.26 (4.2)
Specified Tolerances *Φ S
Dimension
**Φ LB
Unit
Diameter
Tolerance
Diameter
Tolerance
in mm
0.6299 16.000
+0.0000-0.0004 +0.000 -0.011
4.3307 110.000
+0.0000 -0.0014 +0.000 -0.035
Interconnection Connector Specifications: See page 25.
32
Allowable Allowable Radial Thrust Load Load lb (N) lb (N)
88.1 (392)
33.0 (147)
LEGEND System Components •
1500W (2.0hp) Encoder cable UL20276 Φ0.24 (6)
U
11.81 (300) ±1.18 (30) W
Encoder plug SRUC17GMRCN087
T
Motor Plug SRUC06JMSCN020
Cross-section Y - Y
11.81 (300) ±1.18 (30)
LR
LC 1.50(38)
LM
0.28 (7)
0.41 (10.5)
LG
4 - ΦLZ
Φ0.0016 (Φ0.04) A
0.14 (3.5)
1.1 (28)
LL
Hexagonal nut Opposite side width: 0.67 (17)
A
SGMPH Servomotors
0.0016 (0.04)
L
maximum
Motor cable
ΦLA
0.37 (9.5)
0.51 0.75 (13) (19)
QK
ΦS*
Y
LC
ΦLB**
Y
A 0.0008 (0.002)
Serial encoder (absolute or incremental)
Key Typ e SGMPH-
L
LL
LM
LR
LG
ΦLA ΦLZ
LC
6.08 4.5 1 3.73 1.57 0.3 9 4.72 5.71 (1 54.5) (114 .5) (94 .7) (4 0) (10) (120 ) (145)
15
E41D
0.39 (10 )
ΦS*
ΦL B* *
0.75 (1 9)
4.33 (110)
QK
U
W
T
0 .87 0.14 0.24 0.24 (22) (3.5 ) (6) (6)
Voltage Output V W (hp)
Torque i n•lb (N•m)
Time Rating
150 0 (2 .0)
42 .1 (4.77)
Co nti nu- 300 0 ous
20 0
Rated Approx Speed Mass (rp m) lb (kg) 14.55 (6.6)
Al lowa ble Allo wable Radi al Thrust Load Loa d lb (N) l b (N) 11 0 (49 0)
33.0 (147)
Note: The quoted allowable radial load is the value at a position 1.38in (35mm) from the motor mounting sur face.
Specified Tolerances *Φ S
Dimension
**Φ LB
Unit
Diameter
Tolerance
Diameter
Tolerance
in mm
0.7480 19.000
+0.0000-0.0005 +0.000 -0.013
4.3307 110.000
+0.0000 -0.0014 +0.000 -0.035
Interconnection Connector Specifications Encoder Plug 1 2
11 10
12
3
13
4
14 5
17
6
16
9
15
8 7
SR UC 1 7GMR CN0 87 (In te rcon ne ctro n)
Incremental Terminal Specif ications Pin Number Description Color 3 Data + 4 Data− 1, 2, 5 - 7, 10 - 17 Free 8 +5V (Power Supply) 9 0V (Power Supply) Connector Case FG (Frame Ground)
Blue Blue/White — Red Black Shield wire
Mating Connector: SPNA17HFRON16900E3 (Interconnectron)
Motor Plug
Motor Wiring Specifications Pin No.
1
6
3
4
2
5
S RUC 06JM SCN 020 (In terco nne ctron)
1 2 3 6
Descript ion
Color
Phase U Red Phase V White Phase W Blue FG (Frame Ground) Green/Yellow
Mating Connector: SPNA06KFSDN169 (Interconnectron)
33
LEGEND System Components (2) 13-Bit Incremental Encoder, with Brake Note:
•
1. The keyway complies with JIS B1301- 1976 (precision) . A straight key is supplied. 2. The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor. 3. Conforms to the IP67 enclosure, excluding the shaft (optional shaft seal available).
100W (0.13hp) 11.81 (300) ±1.18 (30)
Encoder plug
Encoder cable
SRUC17GMRCN087
U W
UL20276 Φ0.24 (6)
Motor Plug
MOTOR cable
A
Φ0.0016(Φ0.04) A ΦLA
maximum.
0.0016(0.04) 0.12 (3)
LG
4- ΦLZ
QK 0.90 (23)
Y
LC
0.51 (13)
ΦLB**
0.37 (9.5)
LC 0.83(21)
LR
0.71(18)
SGMPH Servomotors
L LL LM 0.41 (10.5)
Cross-sectionY- Y
Hexagonal nut Oppositesidewidth: 0.67(17)
11.81 (300) ±1.18(30)
0.28(7)
T
SRUC06JMSCN236
ΦS*
Y
A
Serial encoder (AbsoluteorIncremental)
Magnetic brake: Non-excitationoperation DCpower supply: 24V
0.0008(0.002)
Ke y
Type SGMPH-
L
LL
01
E4 CD
4.57 (116 )
3.58 (91 )
LM
LR
LG
LC
1 .67 0.98 0.24 2.36 (4 2.5 ) (25) (6) (60 )
ΦL A ΦLZ 2.76 (70)
ΦS* ΦLB* *
0.22 0 .31 5 1.968 (5.5) (8) (50 )
QK
U
W
T
Vo lta ge Ou tpu t (V) W (hp)
To rq ue in•l b (N•m)
Time Rating
R ate d Approx Speed Mass (rpm) lb (kg)
100 (0.13)
2.8 1 (0.318)
Continuous
3000
0.55 0.0 71 0 .12 0.12 (14 ) (1.8) (3 ) (3)
200
1.5 (0.7)
All owabl e All owabl e R adial Thrust Lo ad Lo ad lb (N ) lb (N) 17.5 (7 8)
11.0 (4 9)
Note: The quoted allowable radial load is the value at a position 0.79in (20mm) from the motor mounting surface.
Specified Tolerances *ΦS
Dimension
**Φ LB
Unit
Diameter
Tolerance
Diameter
Tolerance
in mm
0.3150 8.000
+0.0000-0.0004 +0.000 -0.009
1.9685 50.000
+0.0000 -0.0010 +0.000 -0.025
Interconnection Connector Specifications Encoder Plug 1 2
11 10
12
3
13
4
14 5
17
6
16
9
15
8 7
SR UC 1 7GMRC N0 87 (In te rcon nec tro n)
34
Incremental Terminal Specifications Pin Number Description Color 3 4 1, 2, 5 - 7, 10 - 17 8 9 Conne ctor Case
Data + Data− Free +5 V (Power Supply) 0V (Powe r Supp ly) FG (Frame Gro und)
Blu e Blu e/White Red Black Shie ld wire
Mating Connector: SPNA17HFRO N16900E3 (Interconnectron)
Motor Plug
Motor Wiring Specifications Pin Number
1
6
3
4
2
5
SRUC06JMSCN236 (Interconnectron)
Description
Color
1 Phase U Red 2 Phase V White 3 Phase W Blue 4 Holding Brake Black 5 Holding Brake Black 6 FG (Frame Ground) Green/Yellow Mating Connector: SPNA06KFSBN16918 (Interconnectron)
LEGEND System Components •
200W (0.27hp), 400W (0.53hp) Encoder cable UL20276 Φ0.24 (6)
11.81 (300) ±1.18 (30)
U
Encoder plug Motor cable
W
SRU C 17 GM RCN 08 7
T
Motor Plug SR UC 0 6JMS CN2 36
0.51 (13)
0.90 (23)
SGMPH Servomotors
0.71 (18) maximum
Φ0.0016 (Φ0.04) A QK Y
Serial encoder (Absolute or Incremental)
Type SGMPH 02
E4 CD 04
E4 CD
ΦLA
ΦS*
Y
LC
ΦLB**
0.37 (9.5)
HEXAGONAL NUT Opposite side width: 0.67 (17) 0.0016 (0.04) A LC 0.83 (21)
11.81 (300) ±1.18 (30) L LL LR LM LG 0.12 (3)
0.28 (7) 0.33 (8.5)
Cross-section Y-Y
ΦLZ
A
Magnetic brake: Non-excitation operation DC power supply: 24V
0.0008(0.002)
Ke y L 5 .06 (128.1) 5 .85 (148.5)
LC
ΦLA
ΦL Z ΦS*
ΦLB**
3.88 1.89 (98.5) (48.1) 1.18 0.3 1 3 .15 4.67 2.68 (30) (8) (80) (1 18.5) (68.1)
3 .54 (90)
0 .28 0.551 (7 ) (14 )
2 .75 6 0 .63 0.12 0.20 0 .20 (7 0) (16) (3) (5) (5 )
LL
LM
LR
LG
QK
U
W
T
Voltage Output V W(hp)
Torque in•lb ( N•m)
Time Rating
Rated Speed (rpm)
Approx Mass lb (kg)
200 (0.27) 400 (0.53)
5 .64 (0.637) 1 1.2 (1 .27 )
Con tin uou s
300 0
4.2 (1.9) 5.7 (2.6)
200 400
Allowable Allowable Radial Thrust Load lb Load (N) lb (N) 5 5.1 (24 5)
Note: The quoted allowable radial load is the value at a position 0.98in (25mm) from the motor mounting surface.
Specified Tolerances *Φ S
Dimension
**ΦLB
Unit
Diameter
Tolerance
Diameter
Tolerance
in mm
0.5512 14.000
+0.0000-0.0004 +0.000 -0.011
2.7559 70.000
+0.0000 -0.0012 +0.000 -0.030
Interconnection Connector Specifications: See page 25.
35
15.4 (68 )
LEGEND System Components 750W (1.01hp) 11.81 (300) ±1.18 (30) Encoder plug
U
SRUC17GM RCN087
Motor cable
Motor Plug SRUC06JMSCN236
T
11.81 (300) ±1.18 (30)
Hexagonal nut Opposite side width: 0.55 (14) LC
LR 0.0016 (0.04) A
1.5 (38)
Φ0.0016 (Φ0.04)
0.14 (3.5)
A
1.1 (28)
0.28 (7)
L LL LM 0.41 (10.5) LG
Cross-section Y - Y
maximum.
Encoder cable UL20276 Φ0.24(6)
W
•
4 - ΦLZ
QK 1.0 (25.5)
Y
ΦS*
Y
ΦLC
ΦLB**
SGMPH Servomotors
0.37 (9.5) 0.51 (13)
ΦLA A
Serial encoder (Absolute or Incremental)
Magnetic brake: Non-excitation operation DC power supply: 24V
0.0008 (0.002)
Key
Type SGMPH-
L
LL
08
E4 CD
6 .42 (16 3)
4.84 (123)
LM
LR
LG
LC
ΦLA
ΦL Z ΦS* ΦLB**
2 .63 1.57 0.39 4 .72 5.71 (6 6.7 ) (40) (1 0) (12 0) (145 )
0 .39 0.6 3 (10) (16)
4.33 (110 )
QK
U
W
T
0.87 0.12 0.20 0.20 (22) (3) (5) (5)
Voltage Output V W (hp)
Torque in•lb (N•m)
Time Rating
Rated Approx Speed Mass (rpm) lb (kg)
7 50 (1.0 1)
2 1.1 5 (2.39)
C ontinu ous
3000
200
12.6 (5.7 )
Note: T he quoted allowable radial load is the value at a position 1.38in (35mm) from the motor mounting surface.
Specified Tolerances *ΦS
Dimension
**Φ LB
Unit
Diameter
Tolerance
Diamet er
Tolerance
in mm
0.6299 16.000
+0.0000-0.0004 +0.000 -0.011
4.3307 110.000
+0.0000 -0.0014 +0.000 -0.035
Interconnection Connector Specifications: See page 25.
36
Allowable Allowable Radial Thrust Load lb Load (N) lb (N) 88.1 (392)
3 3.0 (14 7)
LEGEND System Components •
1500W (2.0hp) Encoder cable UL20276 Φ0.24 (6)
11.81 (300) ±1.18 (30)
U
Encoder plug
W
SR UC 1 7GMRC N0 87
T
Motor Plug
Motor cable
SR UC 06 JMSC N02 0
Cross-section Y - Y
11.81 (300) ±1.18 (30) 0.0016 (0.04) LR
0.41 (10.5)
LC 1.50 (38)
LG 0.14 (3.5)
Φ0.0016 (Φ0.04) A
QK
1.00 (25.5)
ΦLB **
ΦS *
Y
LC
0.37 (9.5) 0.51 (13)
1.1 (28) Maximum
0.28 1.30 (33) (7)
Hexagonal nut Opposite side width: 0.55 (14)
A
SGMPH Servomotors
L LL LM
Y
Serial encoder (Absolute or Incremental)
A
Magnetic brake: Non-excitation operation DC power supply: 24V
0.0008 (0.002)
Key Type SGMPH-
L
LL
7.4 0 5.83 (1 88) (148)
15
E4CD
LM
LR
LG
LC
3.7 3 1.5 7 0.39 4 .72 (94.7) (40) (10) (12 0)
ΦLA
ΦLZ
ΦS* ΦL B* *
5.71 (145)
0.39 (1 0)
0.75 (19)
4.33 (110)
QK
U
W
T
0.87 0.14 0.2 4 0.24 (22) (3.5 ) (6) (6)
Voltage Ou tput V W (hp)
Torque in•l b ( N•m)
Ra ted Approx Time Sp eed Mass Rating (rpm) lb (kg)
150 0 (2.02)
42.1 (4.77)
Continu o us
20 0
3000
1 7.9 (8.1)
Al lowab le All owabl e Radia l Thrust L oad Loa d lb (N) l b (N ) 110 (490 )
33.0 (147)
Note: The quoted allowable r adial load is the value at a position 1.38in (35mm) fr om the motor mounting surface.
Specified Tolerances *Φ S
Dimension
**Φ LB
Unit
Diameter
Tolerance
Diameter
Tolerance
in mm
0.7480 19.000
+0.0000-0.0005 +0.000 -0.013
2.7559 70.000
+0.0000 -0.0014 +0.000 -0.035
Interconnection Connector Specifications Encoder Plug 1 2
11 10
12
3
13
4
14 5
17
6
16
9
15
8 7
SR UC 1 7GMR CN0 87 (In te rcon ne ctro n)
Incremental Terminal Specifications Pin Number Description Color 3 Data + 4 Data − 1, 2, 5 - 7, 10 - 17 Free 8 +5V (Power Supply) 9 0V (Power Supply) Connector Case FG (Frame Ground)
Blue Blue/White — Red Black Shield wire
Mating Connector: SPNA17HFRON16900E3 (Interconnectron)
Motor Plug
Motor Wiring Specifications Pin No.
1
6
3
4
2
5
S RUC 06JM SCN 020 (In terco nne ctron)
1 2 3 4 5 6
Description
Color
Phase U Red Phase V White Phase W Blue Holding Brake Black Holding Brake Black FG (Frame Ground) Green/Yellow
Mating Connector: SPNA06KFSDN169 (Interconnectron
37
LEGEND System Components Dimension Modifications for Motors with Optional Shaft Seal LR
LE
LD
ΦLB**
LP
ΦS*
QK
SGMPH Servomotors
Shaft Seal Type SGMPH-
QK
01 02 04 08 15
0.55 (14)
ΦLB* 1.97 (50)
Φ S* 0.31 (8)
0.64 (16)
2.76 (70)
0.55 (14)
0.87 (22)
4.33 (110)
0.63 (16) 0.75 (19)
LE
0.12 (3) 0.14 (3.5)
LR
LD
0.98 (25)
0.28 (7)
ΦLP 1.54 (39)
1.18 (30)
0.39 (10)
1.93 (49)
1.57 (40)
0.41 (10.5)
3.03 (77)
*Refer to the following table for tolerances for dia meters LB and S. Specified Tolerances
*Φ S
Dimension Unit in
mm
**ΦLB
Diameter
Tolerance
Diameter
Tolerance
0.3150 0.5512 0.6299 0.7480 8.000 14.000 16.000 19.000
+0.0000-0.0004 +0.0000-0.0004 +0.0000-0.0004 +0.0000-0.0005 +0.000 -0.009 +0.000 -0.011 +0.000 -0.011 +0.000 -0.013
1.9685 2.7559 4.3307
+0.0000 -0.0010 +0.0000 -0.0014 +0.0000 -0.0014
50.000 70.000 110.000
+0.000 -0.025 +0.000 -0.035 +0.000 -0.035
Torque Reduction Factor for SGMPH motors equipped with a shaft seal: Servomotor Model
01
02
04
08
15
Torque Reduction Factor
90%
90%
95%
95%
95%
For Example: The SGMPH-01 continuous and peak torque rating should be reduced to 90% of the listed catalog specification. To specify a motor with a shaft seal, refer to the motor part number explanation on the following page. 38
LEGEND System Components
Selecting Your SGMPH LEGEND System First, select the AC servomotor suited for your application using SigmaSize: the Yaskawa servomotor sizing software, available at no charge. (Request SigmaSize software via e-mail, at:
[email protected]). Use the diagram below to locate and identify the components of your system. Each item is letter-coded and cross-referenced in the option tables on the following pages.
System Configuration Optional Holding Brake
SGDG Digital Torque Amplifier (B) 1CN
SGMPH Servomotor (A)
Connector Encoder (D) Encoder side Connector (D)
Shaft Seal
Motor side Connector (D)
2CN Encoder Cable (C) Motor Cable (C)
I/O Signal Connector (D)
Regenerative Unit (E)
Specify a technical manual, if it is needed, on your servo system purchase order: LEG END Dig ita l To rque A mp lifier Use r’s Ma nual : YEA-SIA-LGD-1.2 (Manual is provided at no charge with a purchase order, but it must be requested).
Model Number Designation SGMPH - 01 A A E 4 1D Sigma Servomotor Type Rated Output 01: 100W (0.13hp) 02: 200W (0.25hp) 04: 400W (0.5hp) 08: 750W (1hp) 15: 1.5kW (2hp) Power Supply A: 200V UL Recognized B: 100V UL Recognized
Accessories 1D: Standard CD: Standard with 24VDC Holding Brake SD: Standard with Shaft Seal ED: Standard with Brake & Shaft Seal Shaft Specifications 4: Straight Shaft with Keyway Revision Level Encoder Specifications A: 13-Bit (2048 x 4) Incremental Encoder
39
SGMPH Servomotors
Shaft Keyway
LEGEND System Components Servomotor & Amplifier Selection Use the table below to select the appropriate SGMPH AC servomotor and amplifier. Description System Voltage and Construction
Peak Torque* (oz • in)
135
SGMPH Servomotors
200V 13-Bit Incremental Encoder Straight Shaft with Keyway
270
Rated Torque* (oz • in)
0.917
SGMPH-01AAE41D
1.46
SGMPH-01AAE4CD
2.96
SGMPH-02AAE41D
4.35
SGMPH-02AAE4CD
4.92
SGMPH-04AAE41D
6.31
SGMPH-04AAE4CD
1-Phase SGDG-
3-Phase SGDG-
01GT
—
90. 1
542
Motor & Amplifier Item Class
—
181 10GT
1010
135
29.9
SGMPH-08AAE41D
35.7
SGMPH-08AAE4CD
57.1
SGMPH-15AAE41D
67.8
SGMPH-15AAE4CD
0.917
SGMPH-01BAE41D
338
10GT
676*
100V, 1-Phase
15GT*
Stock
15GT
—
45. 1
Straight Shaft with Keyway
1.46
5000rpm*
2.96
Pre-wired with Heavy Duty Connectors
Motor MODEL # (A)
04GT
2027*
13-Bit Incremental Encoder
Amplifier MODEL # (B)*
45. 1
5000rpm* Pre-wired with Heavy Duty Connectors
Motor Inertia (oz • in • s 2x10-3 )
SGMPH-01BAE4CD 04GT
270
SGMPH-02BAE41D
90. 1
— 4.35
SGMPH-02BAE4CD
Notes: 24V DC brakes for SGMPH LEGEND AC servomotors are standard. Contact a local source for 24V DC power supplie s. Motor power and encoder cable s are factory pre-wired with approximately 13” lead length with heavy duty mating connectors. Use the tables on the following page to specify mating connectors and/or various cable le ngths. For technic al information, request Yaskawa User’s Manual number YEA-SIA-LGD-1.2. *
40
Reference the previously listed speed/torque (force) curves for performance with the applied system voltage and phase(s). For more detailed SGDG amplifier specif ications and dimensions, refer to pages 95 to 99.
LEGEND System Components Pre-wired Cable Selection Use the table below to select pre-wired cables for your SGMPH AC servomotor.
Power Cable with Interconnectron Connectors (without Brake) Power Cable with Interconnectron Connectors (with Brake) (IP67)
Motor Size (kW)
Part Number*
0.1, 0.2, 0.4, 0.8
B4ICE-(A)
1.5
B5ICE-(A)
0.1, 0.2, 0.4, 0.8
B4IBCE-(A)
1.5
B5IBCE-(A)
Encoder Cable with Interconnectron Connector (IP67)
A1ICE-(A)
Encoder Cable (for applications up to 20m) Only for Solder Connections
FR-RMCT-SB
Encoder Cable (for applications from >20 to <50m) Only for Solder Connections
UL20276-SB
Comments
Item Class
These UL and CE compliant cables are available in five lengths. Use two digits in the part number’s last place: 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m
SGMPH Servomotors
Cable Description (C)
These cables are available in any length. For example, to order one FR-RMCT-SB cable, 16m long, specify: quantity:16
Stock**
part no.: FR-RMCT-SB
All
Input/Output 1CN Cable & Transition Terminal Block
Input/Output 1CN Cable with Pigtail Leads
* **
JUSP-TA36P
35mm DIN rail mountable; the cable length is 0.5 meters.
.CKI-SGDG--
Use the following key to specify required cable length (last digit of part number): 01: 1m (standard) 02: 2m 03: 3m
The “(A)” at the end of the cable part number indicates the revision level. Revision le vel may be subje ct to change prior to this catalog reprintin g. Standard cable lengths are Stock it ems; non-standard cable lengths are Limited Stock items.
41
LEGEND System Components *
Connector Selection Use the table below to select mating connectors or kits for your SGMPH AC servomotor. Connector Description (D)
Motor Size (kW)
Interconnectron Connector for Motor Power Cable (with or without Brake) (IP67)
Part Number
FIN07S-B2
SGMPH Servomotors
0.1, 0.2, 0.4, 0.8, 1.5
2CN Amplifier Mating Connector
JZSP-CMP9-1
Comments
Item Class
Solder Cup
—
Stock Interconnectron Connector for Encoder Cable (IP67)
FIN17C-A2
Gauge: 24 - 18AWG Requires Crimp Tool B150 and positioner.
1CN Mating Connector
DP9420007
–
—
B150
—
—
B055/A
—
All Interconnectron Crimp Tool Positioner
42
Limited Stock
LEGEND System Components Peripheral Device Selection Use the table below to select peripheral devices for your SGMPH AC servomotor.
50Ω, 60W, or 100W and 400W External Regenerative Unit*
*
25Ω, 300W for 400W* and 1.5kW amp
Part Number JUSP–RG08D RH500N25_ohmK
Comments
Item Class
This is a general purpose regenerative unit. Caution: Proper set-up is necessary to avoid equipment damage.
Stock
For SGDG–04 applicatio n requiring additional regenerative capacity beyond the JUSP–RG08D capacity, specify SGDG–04GTY22P and QTY 2 of RH5000N25_ohmK. Resistors must be used in series to provid e 600W (before deratin g) of increased capacity.
43
SGMPH Servomotors
Component Description (E)
LEGEND System Components NOTES:
SGMPH Servomotors
44
LEGEND System Components
SGMPH Gearmotors - With Incremental Encoder Rated Output : 100W, 200W, 400W, 750W, 1500W
For Additional Information
SGMPH Gearmotor Ratings & Specifications SGMPH Gearmotor Dimensions SGMPH Gearmotor Selection/Ordering Information SGDG Ratings & Specifications SGDG Dimensions
Page(s)
46 48 50 95 96
- 47 - 49 - 54 - 99
Design Features
SGMPH Gearmotors
1. Compact z Fits in limited mounting space 2. Torque z 40.9 to 3540in • lb peak torque z Cost-effective solution for low speed and high torque applications z Uses improved Sigma II motor technology 3. Encoders z 13-Bit incremental encoder standard 4. Enclosure z Totally enclosed, self-cooled IP67 (not including shaft) 5. Application Emphasis z Compact, high torque to inertia ratio z Chip mounters z PCB drilling machines z Robots z Conveyors z Packaging 6. Certified International Standards z UL, cUL recognized (File #: E165827), CE compliance
45
LEGEND System Components
Gearmotor Ratings and Specifications GEARMOTOR Part Number SG05SA-PE01
SG10SA-PE01
SG25SA-PE01
SG50SA-PE01
SG1ASA-PE01
SG05SA-PE02
SG10SA-PE02
SG25SA-PE02
SG50SA-PE02
SG1ASAPE02
SG05SA-PE04
SG10SA-PE04
SG25SA-PE04
SG50SA-PE04
SG1ASA-PE04
SG05SA-PE08
SG10SA-PE08
SG25SA-PE08
SG50SA-PE08
SG05SA-PE15
SG10SA-PE15
SG25SA-PE15
SG50SA-PE15
Rated Peak Rated Maximum Speed ** Torque** Torque** Speed** Speed N1 (in • lb) (in • lb) (rpm) (rpm) (rpm) 13.67 40.93 600 1000 900 27.34 81.84 300 500 450 66.95 200.39 120 200 180 133.89 283.00 60 100 90 267.78 637.00 30 50 45 27.34 81.84 600 1000 1000/600 54.68 163.69 300 500 500/300 133.89 283.00 120 200 200/120 267.78 708.00 60 100 100/60 535.56 1593.00 26 48 50/30 54.81 164.42 600 1000 640 109.61 283.00 300 500 320 268.38 708.00 120 200 128 536.75 1610.25 52 96 64 1073.50 2832.00 20 36 32 102.34 306.04 600 1000 640 204.67 612.07 300 500 320 501.13 1498.63 104 192 128 1002.25 2997.25 40 72 64 205.16 614.50 520 960 640 410.31 1228.99 260 480 320 1004.63 3009.13 80 144 128 2009.25 3540.00 40 72 64
Torque T1 (in • lb) 8.59 17.17 42.04 84.08 168.16 17.17 34.34 84.08 168.16 336.32 34.34 68.68 168.16 336.32 672.65 51.51 103.02 252.24 504.48 103.02 206.04 504.48 1008.97
Torque T2 (in • lb) 34.34 68.68 168.16 336.32 672.65 81.8/36.2* 163.7/72.4* 283/177* 708/354.7* 1593/704.4* 77.27 154.53 378.36 756.73 1513.45 51.51 103.02 252.24 504.48 103.02 206.04 504.48 1008.97
SGMPH Gearmotors
* Values for 100V Gearmotor ** To achieve the speed/torque performance listed, use only the gearmotor/amp combinations and system supply as specified on page 51. Note: 1. These performance ratings apply when duty cycles are 60% or less, and when the gearmotor runs for 1,000 cycles per hour or less. Contact your Yaskawa representative when duty cycles exceed 60%, and when the gearmotor runs for more than 1,000 cycles per hour. 2. Rated Speed is at 20°C ambient temperature. Reduce Rated Speed by 20% at 40°C ambient temperature. 3. For right-angle gearmotors, please consult the factory for availability.
Torque
A = Continuous Duty B = Intermittent Duty
Peak Torque
T2
B
Rated Torque
A T1 Rated Speed
N1 Maximum Speed
46
Speed
LEGEND System Components
Gearmotor Mechanical Ratings SG05SA-PE01
SG10SA-PE01
SG25SA-PE01
SG50SA-PE01
SG1ASA-PE01
<10
SG05SA-PE02
SG10SA-PE02
SG25SA-PE02
SG50SA-PE02
SG1ASA-PE02
Gearhead Maximum Radial Load (lbf )
Gearhead Maximum Axial Load (lbf )
Gearhead Inertia (in • lb • s2)
Gearmotor Weight (lb)
146
158
0.000052
3.24
326
349
0.00025
6.39
540
428
0.0016
12.79
326
349
0.00025
540 1035
428 900
0.0016 0.0049
7.94 14.34 27.79
326
349
0.00025
8.82
540 1035 1687
428 900 1350
0.0016 0.0049 0.0047
15.88 29.33 50.83
540
428
0.0016
19.18
1035 1687
900 1350
0.0049 0.0047
34.84 56.34
1035
900
0.0048
34.40
1687
1350
0.0047
60.75
7.28
<10
SG05SA-PE04
SG10SA-PE04
SG25SA-PE04
SG50SA-PE04
SG1ASA-PE04
<10
SG05SA-PE08
SG10SA-PE08
SG25SA-PE08
SG50SA-PE08
<10
SG05SA-PE15
SG10SA-PE15
SG25SA-PE15
SG50SA-PE15
<10
CONVENTIONAL GEARMOTOR TORSIONAL ANGLE YASKAWA Sigma II GEARMOTOR
FR
REDUCER’S BACKLASJ
FA TORQUE
2% OF RATED TORQUE
FR : Radial Force FA: Axial Force
47
SGMPH Gearmotors
Gearhead Backlash (arc min)
GEARMOTOR Part Number
LEGEND System Components
Dimensions in inches (mm) Q QK T
W KD
Motor leads extend 11.81in (300mm) from motor
U
LL LL3 LR
T
LC
(4) Holes 90° apart MT threaded MD deep
LE øLA
øGD øLB
øS GEARMOTOR SG05SA-PE01
A SG10SA-PE01
A SG25SA-PE01
A SG50SA-PE01
A
LR 0.965 (24.5) 1.417 ( 36) 1.811 ( 46)
LB 1.378 (35) 2.047 (52) 2.677 (68)
GD 1.969 ( 50) 2.756 ( 70) 3.543 ( 90)
S 0.472 (12) 0.630 (16) 0.866 (22)
LC 2.362 (60) 2.756 (70) 3.543 (90)
LA 1.732 (44) 2.441 (62) 3.150 (80)
MT M4 x 0.7 M5 x 0.8 M6 x 1.0
MD 0.315 (8) 0.394 ( 10) 0.472 ( 12)
Q 0.709 (18) 1.102 (28) 1.417 (36)
QK 0.551 (14) 0.984 (25) 1.260 (32)
1.417 ( 36)
2.047 (52)
2.756 ( 70)
0.630 (16)
3.150 (80)
2.441 (62)
M5 x 0.8
0.394 ( 10)
1.102 (28)
SG50SA-PE02
A
LL3 LL LE 1.988 5.177 0.158 (50) (131.5) (4) 3.465 6.772 (88) (172) 4.193 7.500 (106.5) (190.5) 2.677 6.181 0.197 (68) (157) (5) 3.465 6.969 (88) (177) 4.193 7.697 (106.5) (195.5)
1.811 ( 46)
2.677 (68)
3.543 ( 90)
0.866 (22)
3.543 (90)
3.150 (80)
0.472 ( 12)
SG1ASA-PE02
A
5.295 9.036 0.236 (134.5) (229.5) (6)
2.756 ( 70)
3.543 (90)
4.724 (120)
1.260 (32)
4.724 (120)
4.252 (108)
SG05SA-PE04
A SG10SA-PE04
A SG25SA-PE04
A
2.677 6.969 (68) (177) 0.197 (5) 4.193 8.484 (106.5) (215.5)
1.417 ( 36) 1.811 ( 46)
2.047 (52) 2.677 (68)
2.756 ( 70) 3.543 ( 90)
0.630 (16) 0.866 (22)
3.150 (80) 3.543 (90)
2.441 (62) 3.150 (80)
SG50SA-PE04
A
5.295 (134.5)
9.823 (2.50)
0.236 (6)
2.756 ( 70)
3.543 (90)
4.724 (120)
1.260 (32)
4.252 (108)
SG1ASA-PE04
A SG05SA-PE08
A SG10SA-PE08
A
6.024 (153) 3.150 (80)
10.551( 0.315 268.0) (8) 7.815 0.197 (198.5) (5)
3.819 ( 97) 1.811 ( 46)
4.724 ( 120) 2.677 (68)
6.102 (155) 3.543 ( 90)
1.575 (40) 0.866 (22)
5.512 (140) 3.150 (80)
SG25SA-PE08
A
5.295 (134.5)
0.236 (6)
2.756 ( 70)
3.543 (90)
4.724 (120)
1.260 (32)
SG50SA-PE08
A
6.024 (153)
10.532( 0.315 267.5) (8)
3.819 ( 97)
4.724 ( 120)
6.102 (155)
1.575 (40)
5.512 (140)
4.016 (102)
9.626 0.236 (244.5) (6)
2.756 ( 70)
3.543 (90)
4.724 (120)
1.260 (32)
4.252 (108)
6.024 (153)
11.634 0.315 (295.5) (8)
3.819 ( 97)
4.724 ( 120)
6.012 (155)
1.575 (40)
5.512 (140)
M6 x 1.0 M8 x 1.25 M5 x 0.8 M6 x 1.0 M8 x 1.25 M10 x 1.5 M6 x 1.0 M8 x 1.25 M10 x 1.5 M8 x 1.25 M10 x 1.5
SG1ASA-PE01
A SG05SA-PE02
A SG10SA-PE02
A SG25SA-PE02
A
SGMPH Gearmotors
SG05SA-PE15
A SG10SA-PE15
A SG25SA-PE15
A SG50SA-PE15
A
48
9.803 (249)
4.724 (120)
4.252 (108)
KD
W 0.158 (4) 0.197 (5) 0.236 (6)
T 0.158 ( 4) 0.197 ( 5) 0.236 ( 6)
U 0.098 (2.5) 0.118 (3) 0.138 (3.5)
0.984 (25)
0.197 (5)
0.197 ( 5)
0.118 (3)
1.417 (36)
1.260 (32)
0.236 (6)
0.236 ( 6)
0.138 (3.5)
0.630 ( 16)
2.284 (58)
1.969 (50)
0.158 (4)
0.394 (10)
0.315 ( 8)
0.197 (5)
0.394 ( 10) 0.472 ( 12)
1.102 (28) 1.417 (36)
0.984 (25) 1.260 (32)
0.079 (2)
0.197 (5) 0.236 (6)
0.197 ( 5) 0.236 ( 6)
0.118 (3) 0.138 (3.5)
0.630 ( 16)
2.284 (58)
1.969 (50)
0.158 (4)
0.394 (10)
0.787 ( 20) 0.472 ( 12)
3.228 (82) 1.417 (36)
2.756 (70) 1.260 (32)
0.236 (6) 0.079 (2)
0.472 (12) 0.236 (6)
0.315 ( 8)
0.197 (5)
0.236 ( 6)
0.138 (3.5)
0.630 ( 16)
2.284 (58)
1.969 (50)
0.158 (4)
0.394 (10)
0.787 ( 20)
3.228 (82)
2.756 (70)
0.236 (6)
0.472 (12)
0.630 ( 16)
2.284 (58)
1.969 (50)
0.158 (4)
0.394 (10)
0.315 ( 8)
0.197 (5)
0.787 ( 20)
3.228 (82)
2.756 (70)
0.236 (6)
0.472 (12)
0.079 (2)
LEGEND System Components
Tolerances for standard (SG) gearmotors ΦS
Unit
Diameter Tolerance 0.472, 0.630 +0.00047 +0.00004 0.866 +0.00059 +0.00008 1.25984, 1.57480 +0.00071 +0.00008 12, 26 +0.012 +0.001 22 +0.015 +0.002 32, 40 +0.018 +0.002
in mm
ΦLB
Diameter 1.378 2.047, 2.677 3.5433, 4.724 35 52, 68 90, 120
W
Tolerance Width Tolerance +0.00000 -0.00063 0.158, 0.197, 0.236 +0.00000 -0.00118 +0.00000 -0.00075 0.39370 +0.00000 -0.00142 +0.00000 -0.00087 0.47244 +0.00000 -0.00169 +0.000 -0.016 4, 5, 6 +0.000 -0.030 +0.000 -0.019 10 +0.000 -0.036 +0.000 -0.022 12 +0.000 -0.043
SGMPH Gearmotors
Dimension
49
LEGEND System Components
Selecting Your SGMPH Gearmotor System First, select the AC gearmotor suited for your application using SigmaSize: the Yaskawa servomotor sizing software, available at no charge. (Request SigmaSize software via e-mail, at:
[email protected]). Use the diagram below to locate and identify the components of your system. Each item is letter-coded and cross-referenced in the option tables on the following pages.
System Configuration Shaft w/Keyway
SGDG Digital Torque Amplifier (B) 1CN
SGMPH Gearmotor (A)
Connector for Encoder Signal (D) Encoder side Connector (D)
Motor side Connector (D)
2CN Encoder Cable (C)
I/O Signal Connector (D)
Regenerative Unit (E)
Motor Cable (C) Specify a technical manual, if it is needed, on your servo system purchase order: LE GEND Digital Torqu e A mplifier User’s Manua l: YEA-SIA-LGD-1.2 (Manual is provided at no charge with a purchase order, but it must be requested).
SGMPH Gearmotors
Model Number Designation SG 05 S A-PE 02 A A C AC Gearmotor Series G: Standard (<10 arc min) Reduction Ratio 05: 5:1 10: 10:1 25: 25:1 50: 50:1 1A: 100:1 Construction S: Standard Revision Level Motor Series PE: SGMPH
50
Accessories C: 24VDC Brake Blank:Standard YEA stock motor options Encoder Specifications A: 13-Bit Incremental Encoder Power Supply A: 200V B: 100V Motor Output 01: 100W (0.13hp) 02: 200W (0.25hp) 04: 400W (0.5hp) 08: 750W (1hp) 15: 1.5kW (2hp)
LEGEND System Components Gearmotor & Amplifier Selection Use the table below to select the appropriate SGMPH LEGEND AC gearmotor and amplifier.
MODEL # SG05SA-PE01AA SG10SA-PE01AA SG25SA-PE01AA SG50SA-PE01AA SG1ASA-PE01AA SG05SA-PE02AA SG10SA-PE02AA SG25SA-PE02AA SG50SA-PE02AA SG1ASA-PE02AA SG05SA-PE04AA SG10SA-PE04AA SG25SA-PE04AA SG50SA-PE04AA SG1ASA-PE04AA SG05SA-PE08AA SG10SA-PE08AA SG25SA-PE08AA SG50SA-PE08AA SG05SA-PE15AA SG10SA-PE15AA SG25SA-PE15AA SG50SA-PE15AA SG05SA-PE01BA SG10SA-PE01BA SG25SA-PE01BA SG50SA-PE01BA SG1ASA-PE01BA SG05SA-PE02BA SG10SA-PE02BA SG25SA-PE02BA SG50SA-PE02BA SG1ASA-PE02BA
Gearhead only
Rated Torque* (in • lb)
Peak Torque* (in • lb)
Rated Speed* (rpm)
Maximum Speed* (rpm)
13.67 27.34 66.95 133.89 267.78 27.34 54.68 133.89 267.78 535.56 54.81 109.61 268.38 536.75 1073.50 102.34 204.67 501.13 1002.25 205.16 410.31 1004.63 2009.25 13.67 27.34 66.95 133.89 267.78 27.34 54.68 133.89 267.78 535.56
40.93 81.84 200.39 283.00 637.00 81.84 163.69 283.00 708.00 1593.00 164.42 283.00 708.00 1610.25 2832.00 306.04 612.07 1498.63 2997.25 614.50 1228.99 3009.13 3540.00 40.93 81.84 200.39 283.00 637.00 81.84 163.69 283.00 708.00 1593.00
600 300 120 60 30 600 300 120 60 26 600 300 120 52 20 600 300 104 40 520 260 80 40 600 300 120 60 30 600 300 120 60 26
1000 500 200 100 50 1000 500 200 100 48 1000 500 200 96 36 1000 500 192 72 960 480 144 72 1000 500 200 100 50 1000 500 200 100 48
Inert ia (in • lb • s 2) 0.000052 0.00025 0.0016 0.00025 0.0016 0.0049 0.00025 0.0016 0.0047 0.0016 0.0049 0.0047 0.0048 0.0047 0.0047 0.000052 0.00025 0.0016 0.00025 0.0016 0.0049
Gear Ratio 5:1 10:1 25:1 50:1 100: 1 5:1 10:1 25:1 50:1 100: 1 5:1 10:1 25:1 50:1 100: 1 5:1 10:1 25:1 50:1 5:1 10:1 25:1 50:1 5:1 10:1 25:1 50:1 100: 1 5:1 10:1 25:1 50:1 100: 1
Amplifier MODEL # (B)* SGDG-
Gear Motor Item Class
Amplifier Item Class
3-5 Week Leadtime for Assembly
Stock
01GT*
04GT*
10GT**
SGMPH Gearmotors
Gearmotor (A)
15GT**
04GT***
Notes:24V D C Brakes for SGMPH AC gearmotors are standard. Contact a local source for 24V D C power supplies. Use the tables on the followin g page to specify mating connectors or pre-wired cable s in dif ferent lengths. * Reference the previously listed speed/torque curves for performance. For more detailed SGDG amplif ie r specifications and dimensions, refer to pages 95 - 99. To achieve the performance (speed/torque) listed, the AC supply to the LEGEND AC must be * 200 - 230 VAC 1 phase 10% - 15% 60, 50Hz ** 200 - 230 VAC 3 phase 10% - 15% 60, 50Hz *** 100-115 VAC 1 phase 10% - 15% 60, 50Hz
51
LEGEND System Components .
Pre-wired Cable Selection Use the table below to select pre-wired cables for your SGMPH AC gearmotor. Cable Description (C) Power Cable with. Interconnectron Connectors (without Brake) Power Cable with Interconnectron Connectors (with Brake)
Motor Size (kW) 0.1, 0.2, 0.4, 0.8 1.5 0.1, 0.2, 0.4, 0.8 1.5
Encoder Cable with Interconnectron Connector
Part Number*
Comments
B4ICE-(A)
These UL and CE compliant cables are available in five lengths.Use the following key to specify needed cable length (last two digits of the part number): 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m
B5ICE-(A) B4IBCE-(A) B5IBCE-(A)
A1ICE-(A)
Encoder Cable (for applications up to 20m) Only for Solder Connections Encoder Cable (for applications from >20 to <50m) Only for Solder Connections
FR-RMCT-SB
UL20276-SB
Item Class
These cables are available in any length. For example, to order one FR-RMCT-SB cable, 16m long, specify: quantity: 16 part no.: FR-RMCT-SB
Stock**
All
SGMPH Gearmotors
Input/Output 1CN Cable & Transition Terminal Block
Input/Output 1CN Cable with Pigtail Leads
* **
52
JUSP-TA36P
35mm DIN rail mountable; the cable length is 0.5 meters.
CKI-SGDG-
Use the following key to specify required cable length (last digit of part number): 01: 1m (standard) 02: 2m 03: 3m
The “(A)” at the end of the cable part number indicates the revision level. Revision level may be subject to change prior to this catalog reprintin g. Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items.
LEGEND System Components Connector Selection Use the table below to select mating connectors or kits for your SGMPH AC gearmotor. Connector Description (D)
Motor Size (kW)
Interconnectron Connector for Motor Power Cable (with or without Brake)
Part Number
FIN07S-B2
0.1, 0.2, 0.4, 0.8, 1.5
2CN Amplifier Mating Connector
JZSP-CMP9-1
Comments
Item Class
IP67 Mated Solder Cup
—
Stock IP67 Mated
Interconnectron Connector for Encoder Cable
FIN17C-A2
1CN Mating Connector
DP9420007
—
—
B150
—
—
B055/A
—
Gauge: 24 - 18 AWG
Requires Crimp Tool B150 and positioner.
Interconnectron Crimp Tool Positioner
Limited Stock
53
SGMPH Gearmotors
All
LEGEND System Components Peripheral Device Selection Use the table below to select peripheral devices for your SGMPH LEGEND AC gearmotor. Component Description (E) 50 ohms 120 watt for 01, 04, 1.0 amps External Regenerative Unit*
*
SGMPH Gearmotors
54
25 ohms 300 watt for 1.5 amp
Part Number RH220BN50_ohmJ RH500N25_ohmK
Comments
Item Class
This is a general purpose regenerative unit. Caution: Proper set-up is
necessary to avoid equipment damage.
For an alternate solution, specify the individual resistor part number RH500N25_OHMK in necessary serie s or parallel connection. Refer to the SGDG servo amplifier section of this catalog (pages 95 to 99) for additio nal specifications, and the LEGEND Digit al Torque Amplifier User’s Manual (YEA-SIA-LGD-1.2) for proper resistor sizing guidelines.
Stock
LEGEND System Components
SGMGH Servomotors - With Incremental Encoder Rated Output:
0.45kW, 0.85kW, 1.3kW
For Addition al Information
SGMGH Ratings & Specifications SGMGH Speed/Torque Curves SGMGH Dimensions SGMGH Selection/Ordering Information SGDG Ratings & Specifications SGDG Dimensions
Page(s)
56 57 58 60 95 96
- 59 - 65 - 99
Design Features 1. Compact Small sized motor Compatible with previous generation G series motors Ten types of rated outputs ranging from 0.79 to 207in • lb of peak torque Optional built-in holding brake available 2. Higher Speed and Acceleration Up to 3000rpm maximum High torque to inertia ratio 3. Encoders 17-bit incremental encoder (standard) 4. Enhanced Environmental Resistance Totally enclosed, self-cooled IP67 (excluding shaft) Shaft seal (optional) 5. Application Emphasis Machine tools and woodworking machines Packaging machines Gantry Robots Press Automation Thermoforming 6. Certified International Standards UL, cUL recognized (File #: E165827) CE compliance
55
SGMGH Servomotors
General Purpose
LEGEND System Components
Servomotor Ratings and Specifications SGMGH Servomotors
Time Rating: Insulation: Vibration: Withstand Voltage: Insulation Resistance:
*
lb f • i n Ar m s N•m Arm s
(
09A A 13A A
* **
56
kW (hp)
N• m
lb f • in (kg f • cm)
N• m
lb f • in (kg f • cm)
A rm s
0.45 (0.6) 0.85 (1.1) 1.3 (1.7)
2.84 5.39 8.34
25 (29) 48 (55) 74 (85)
8.92 13.8 23.3
79 (91) 122 (141) 207 (238)
3.8 7.1 10.7
11 17 28
Rated Torque*
Instantaneous Peak Tor que*
Rated Current*
Values when the servomotor is combined with an SGDG digital torque amplif ie r.
Torque Con stant
05A A
Instantaneous Maximum Speed*: 0.45 to 1.5kW: 3000rpm Excitation: Permanent magnet Drive Method: Direct drive Mounting: Flange-mounted
Instantaneous Maximum Cur rent* Arms
Rated Output*
05A A 09A A 13A A
MOTORS SGMGH-
Enclosure: Totally-enclosed, self-cooled IP67 (except for shaft opening) Ambient Temperature: 0 to 40ºC Ambient Humidity: 20 to 80% (non-condensing) Rated Speed*: 1500rpm
Values when the servomotor is combined with an SGDG digital torque amplifier .
MOTO RS: SGMGH-
*
Continuous Class F 15µm or less 1500Vac 10MΩ minimum at 500VD C
7.3 (0.82) 7.3 (0.83) 7.4 (0.84)
)
Hol ding Brake (a t 20°C) Mo me nt of Inertia
lb • i n • s2 × 1 0-3
kgf •m 2
6.41
7.24
12.3
13.9
× 10
-4
Capaci ty
Torque
Coil. Resi stance
R ate d Current
Add iti onal Inerti a
W
N •m
W
A
gf • cm • s2
4.41 9.85
58.5
0.41
1.85
Allow able Load Inertia
Ra ted Power Rate*
Rated An gular Accel eration*
Ine rtia Time Con stant
Ind ucti ve Ti me Constant
kgf • m2 × 10-4
kW/s
rad/s2
ms
ms
36.2
11.2
3930
5.0
5.1
69.5
20.9
3880
3.1
5.3
103
33.8
4060
2.8
6.3
12.7 18.2
20.5
Values when the servomotor is combined with an SGDG digit al torque amplif ier at an armature win din g temperature of 100°C. These characteristics can be obtained when the following heat sinks (steel plates) are used for cooling purposes: Type 05A A to 13A A: 15.75 × 15.75 × 0.79 (in)(400 × 400 × 20 (mm))
LEGEND System Components
200V Three-phase System: SGMGH-05A A
SGMGH-09A
A
B
1000
0
2
4
6
8
2000
A
5
TORQUE (N · m)
0
20
40
B
1000
0 0
10
10
15
2000
A
80
0
0 0
20
10
50
100
20
30
TOR QU E (N · m )
150
0
TOR QU E (lb · in )
TORQUE (l b · i n)
B
1000
TOR QU E (N · m )
60
A
3000 SPEED (rpm)
2000
0
SGMGH-13A
3000 SPEED (rpm)
SPEE D (rpm)
3000
A
SGMGH Servomotors
Speed / Torque Curves
50
100 150
200
TOR QU E (lb · in )
250
200V Single-phase System: SGMGH-05A
SGMGH-09A
A
A
B
1000
0
0
2
4
6
TOR QU E (N · m )
20
40
60
TOR QU E (lb · in )
8
10
2000 1500
A
B
1000
0
0
5
10
15
20
2000
A
0
50
100
TOR QU E (lb · in )
B
1000
0 0
10
TOR QU E (N · m )
80
A
3000 SP EED (rpm)
2000
0
SGMGH-13A
3000 SPEE D (rpm)
SPEED (rpm)
3000
A
30
20
TORQUE (N · m)
150
A : CONTINUOUS DUTY ZONE
0
50
100
150
200
250
TORQUE (lb · i n)
B : INTERMITTENT DUTY ZONE
57
LEGEND System Components
Dimensions in inches (mm) (1) 17-Bit Incremental Encoder SGMGH Servomotors
L LR
LM LG
0.0016 A
LE
LC 0.0016 A
3. 94(100)
S*
LR
LH
W
LE
A ΦL
Q
IE
K L1 3.46 (88)
S
LB **
T
LC
QK
U
LL LT
A 4 - LZ MTG Holes
0.0008
KB1 KB2
Fl ange Dimen si ons Type SGMGH-
L
LL
LM
7.7 2 5.43 3.62 (1 96) (138) (92 ) 8.6 2 6.34 4.53 (2 19) (161) (115) 9.5 7 7.28 5.47 (2 43) (185) (139)
05A A61 09A A61 13A A61 Note:
LR
2.28 (58 )
LT
KB1
KB2
2.56 4.61 (6 5) (117) 1.81 3.46 5.51 (4 6) (8 8) (140) 4.41 6.46 (112) (164)
IE
—
KL1
ΦL A ΦLB** LC
LE
Sha ft End Di men sion
LG ΦLH ΦLZ
ΦS*
Q
QK
W
T
U
All owabl e All owabl e Ap proximate Radial Thrust Mass Lo ad Lo ad lbf (kg) lb f (N) lb f (N) 12 .1 (5.5) 16 .8 (7.6) 21 .2 (9.6)
0.75 0.20 0.2 0 0.12 (5) (3) 4 .29 5.71 4.33 5.12 0.24 0.4 7 6.5 0 .35 (19 ) 1.57 0.98 (5) (10 9) (145) (110) (130 ) (6) (12) (1 65) (9 ) (4 0) (25) 0.87 0.24 0.2 4 0.14 (22 ) (6) (6) (3.5)
110 (490)
22 (9 8)
154 (686)
77 (343)
1. SGMGH -0 5A A to 44A A d o n ot contain eyeb olts. 2. Dimensi ons a re the same w hen using either incremen tal or absol ute enco ders. 3. Toleran ces on the dimensio ns of fl ange typ e LB and of sha ft e xtensi ons S are based on JIS (Japanese Industrial Sta ndard) B0401 “Limits a nd Fits for En ginee ring.”
Specified Tolerances Dimension
Encoder Plug M
B L N P C A K D S R J E H G F
MS3102A20-29P
*ΦS
Unit
Diameter
Tolerance
Diameter
Toler ance
in mm
0.7480, 0.8 661 19.000, 22.000
+0 .00 00-0.0005 +0.000 -0.0 13
4.3 307 110 .00 0
+0.0000 -0.0014 +0.000 -0.035
Connector Wir ing on the Encoder s A B C D E F G H J
— — Data + Data − — — 0V +5Vd c
K L M N P R S T
FG (Frame Groun d)
Non-Environ me nta l Mating Co nnector: MS3 108B20-29 S (L Type) MS3 106B20-29 S (Strai ght Type ) Cabl e Cl amp: MS3057-1 2A
58
**ΦLB
— — — — — — — —
Motor Plug Connector Wiring on the Motor Side D
A
C
B
A B C D
U Phase V Ph ase W Pha se Ground Terminal
LEGEND System Components (2) 17-Bit Incremental Encoder. with Brake LL LT
LR
LM
0.001 6 A
LE
LG
LC
0.0016 A S*
LR
05 A A6C 09 A A6C 13 A A6C Note:
9 .21 (23 4) 10.12 (25 7) 11.06 (28 1)
6.93 (176 ) 7.83 (199 ) 8.78 (223 )
LR
LT
5.0 8 (129) 5.9 8 2.28 1.85 (152) (58) (47 ) 6.9 3 (176)
T
4 - LZ MTG Ho les
Fla nge Dimensio ns LM
QK S
LB** 0.0008
KB2
LL
Q
A ΦL
LH
LC
100 (3.94) KL2 KL1
A
L
W
LE
KB1
Type SGMGH -
SGMGH Servomotors
0.5 to 4.4kW (0.7 to 5.9hp)
U
•
Shaft End Dimension
KB1
KB2 KL1 KL2
2.2 (56) 3 .11 (79) 4 .06 (10 3)
6.1 (155 ) 0 .75 0.20 0 .20 7.01 4 .72 3.46 5.7 1 4.33 5.12 0.24 0.4 7 6.5 0.35 (19) 1.57 0 .98 (5) (5 ) (178 ) (12 0) (88) (1 45) (110 ) (1 30) (6) (12) (1 65) (9) (40 ) (25) 7.95 0 .87 0.24 0 .24 (202 ) (22) (6) (6 )
ΦL A ΦLB** L C
L G ΦLH ΦLZ ΦS*
LE
Q
QK
W
T
U
Approxi ma te Mass l bf (kg)
0.12 (3) 0.14 (3.5)
16.5 (7.5) 21.2 (9.6) 26.5 (12)
All owabl e Al lowa ble R adial Thru st Lo ad Load lb f (N) l bf (N) 110 (490)
22 (98)
154 686)
77 (343 )
1. Di me nsions are the same when usin g e ith er i ncremental or ab so lute e ncoders. 2. Tol erances on the di me nsions of flange type LB an d o f shaft exte nsions S are base d on JIS (Japan ese Indu strial Standa rd ) B0401 “Li mi ts and Fi ts for Engin eering .”
Specified Tol erances *ΦS
Di me nsion
* *ΦLB
Unit
Di ameter
Tole rance
Diameter
Tolera nce
in mm
0.7480, 0.8 661 19.000, 22.000
+0.0000-0.000 5 +0.000 -0.013
4 .33 07 110.000
+0.0 000 -0.0014 +0.000 -0.035
Motor Plug A
F E D
G
B C
Con necto r Wiring on the Motor Side A U Phase B V Phase C W Phase D FG (Frame Ground)
E Brake Terminal F Brake Terminal G —
59
LEGEND System Components
Selecting Your SGMGH LEGEND System SGMGH Servomotors
First, select the AC servomotor suited for your application using SigmaSize: the Yaskawa servomotor sizing software, available at no charge. (Request SigmaSize software via e-mail, at:
[email protected]). Use the diagram below to locate and identify the components of your system. Each item is lettercoded and cross-referenced in the option tables on the following pages.
System Configuration Optional Holding Brake Shaft Keyway SGMGH Servomotor (A) SGDG Digital Torque Amplifier (B) 1CN I/O Signal Connector (D)
Regenerative Unit (E)
Connector for Encoder Signal (D) Encoder side Connector (D) 2CN Encoder Cable (C) Motor Cable (C)
Motor side Connector (D)
Shaft Seal
Specify a technical manual, if it is needed, on your servo system purchase order: LEGEND Digital Torque Amplifier User’s Manual: YEA-SIA-LGD-1.2 (Manual is provided at no charge with a purchase order, but it must be requested).
Model Number Designation SGMGH - 09 A C A 6 C AC Servomotor Type Rated Output 05: 500W (0.7hp) 09: 850W (1.14hp) 13: 1.3kW (1.7hp) Power Supply A: 200V Encoder Specifications C: 17-Bit Incremental Encoder
60
Accessories 1: Standard C: 24VDC Brake S: Shaft Seal E: Brake and Shaft Seal Shaft Specifications 6: Straight Shaft with Keyway Rated Speed A: 1500rpm
LEGEND System Components
Use the table below to select the appropriate SGMGH AC servomotor and amplifier. Description
200V
Peak Torque* (in • lb)
Rated Torque* (in • lb)
79
25
17-bit Incremental Encoder Straight Shaft with Keyway
122
48
3000rpm* maximum MS Connectors
207
74
Motor Inertia (in • lb • s x 10 )
Motor MODEL # (A)
6.41
SGMGH-05ACA61
8.26
SGMGH-05ACA6C
12.30
SGMGH-09ACA61
14.15
SGMGH-09ACA6C
18.2
SGMGH-13ACA61
20.1
SGMGH-13ACA6C
2
-3
Amplifier MODEL # (B)* Analog/Digital Input SGDG-
Motor & Amplifier Item Class
10GT* Stock
15GT*
Note: 24V D C brakes for SGMGH AC servomotors are standard. Contact a local source for 24V D C power supplies. For technical informatio n, request Yaskawa manual number YEA-SIA-LGD-1.2. *
The speed/torque specif ications listed above are achievable when applied with 200V 3 phase systems. Reference the previo usly listed speed/torque (force) curves for performance wit h any other applie d voltages and phase(s). For more detailed SGDG amplifier specificatio ns and dimensions, refer to pages 95 to 99.
61
SGMGH Servomotors
Servomotor & Amplifier Selection
LEGEND System Components Pre-wired Cable Selection SGMGH Servomotors
Use the table below to select pre-wired cables for your SGMGH AC servomotor. Cable Description (C)
Power Cable with Connectors (IP67)
Motor Size (kW)
0.5, 0.9, 1.3
Encoder Cable
Encoder Cable (for applications up to 20m). Only for solder connections
Input/Output 1CN Cable & Transition Terminal Block
Input/Output 1CN Cable with Pigtail Leads
* **
62
without Brake
B1E-
(A)
with Brake
B1BE-
JZSP-CMP02-
(IP67)
Encoder Cable (for applications from >20 to <50m) Only for solder connections
Part Number*
FR-RMCT-SB
All
UL20276-SB
JUSP-TA36P
CKI-SGDG-
(B)
(A)
Comments
Item Class
Use the following key to specify needed cable length (last two digits of the part number): 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m These cables are available in five lengths. Use two digits in the part number’s last place: 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m These cables are available in any length.
Stock**
For example, to order one FR-RMCT-SB cable, 16m long, specify: quantity: 16 part no.: FR-RMCT-SB
35 mm DIN rail mountable; the cable length is 0.5m.
Use the following key to specify needed cable length (last digit of part number): 01: 1m (standard) 02: 2m 03: 3m
The “(A)” at the end of the cable number in dicates the revision level. The revision level may be subject to change prior to this catalog’s reprintin g. Standard cable lengths are Stock items; non-standard cable le ngths are Limit ed Stock items.
LEGEND System Components
Use the table below to select mating connectors for each SGMGH AC servomotor. Connector Description (D)
MS Connector for Motor Power Cable*
Motor Size (kW)
0.5, 0.9, 1.3
MS Connector for Encoder Cable
Part Number Comments
without Brake
with Brake
MS3106B18-10S
MS3106B20-15S
Straight-type connector
MS3108B18-10S
MS3108B20-15S
L-type connector
MS3057-10A
MS3057-12A
Item Class
Cable clamp
MS3106B20-29S
Straight-type connector
MS3108B20-29S
L-type connector
MS3057-12A
Cable clamp
DP9420007
Can use 1CN for analog speed and torque monitor service checks.
JZSP-CMP9-1
—
Stock
All
1CN Mating Connector
2CN Encoder Mating Connector
*
Choose either a straig ht or L-type connector and the associated cable clamp for a complete assembly. For example, L-type connector MS3108B18-10S is compatible with cable clamp MS3057-10A. MS connectors lis ted in the table are nonenvironmental.
63
SGMGH Servomotors
Connector Selection
LEGEND System Components Peripheral Device Selection SGMGH Servomotors
Use the table below to select peripheral devices for each SGMGH AC servomotor. Component Description (E)
External Regenerative Unit*
*
64
Part Number
50 ohms 120 watt for 1.0 amp
RH120 50ohmJ
25 ohms 300 watt for 1.5 amp
RH500N25_ohmK
Comments
Item Class
This is a general purpose regenerative unit. Caution: Proper set-up is necessary to avoid equipment damage.
Stock
Refer to the SGDG servo amplifier section of this catalog for additional specifications, and the LEGEND Digit al Torque Amplifier User’s Manual (YEA-SIA-LGD-1.2) for proper resistor sizin g guidelines.
LEGEND System Components
Use the table below to select shielded pre-wired power cables for your SGMGH AC servomotor. Motor Size (kW)
Cable Description (C)
Power Cable with Connectors
Part Number* without Brake
0.5, 0.9, 1.3
B1CE-
(A)
Item Class
Use the following key to specify needed cable length (last two digits of the part number): 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m
Limited Stock
with Brake
B1BCE-
(A)
IP67
*
Comments
The “(A)” at the end of the cable number indic ates the revision level, which may be subject to change prior to this catalog’s reprin ting.
CE Connector Selection Use the table below to select mating connectors for your SGMGH AC servomotor. Connector Description (D)
Connector for Motor Power Cable*
Motor Size (kW) 1.0, 1.5, 2.0
Part Number without Brake
with Brake
CE05-8A18-10SD-B-BAS
CE05-8A20-15SD-B-BAS
CE3057-10A-1(D265)
CE3057-12A-1(D265)
CE02-6A20-29NSW and CE20BA-S Connector for Encoder Cable
and CE3057-12A-3(D265)
* **
Comments**
Item Class
L-type connector Cable clamp L-type connector (plug and back shell)
Limited Stock
and Cable clamp (diameters 0.265 to 0.394in)
Choose the connector and the associated cable cla mp for a comple te assembly. Connectors listed in this table are environmentally sealed. Connectors are manufactured by DDK and listed here with the la rgest standard cable cla mp availa ble .
65
SGMGH Servomotors
CE Pre-wired Cable Selection
LEGEND System Components NOTES: SGMGH Servomotors
66
LEGEND System Components
SGMGH Gearmotors (1500rpm) - With Incremental Encoder
For Additional Information
Page(s)
SGMGH Gearmotor Ratings & Specifications SGMGH Gearmotor Dimensions SGMGH Gearmotor Selection/Ordering Information
68 - 69 70 71 - 76
Design Features 1. Compact z Fits in limited mounting space z High torque to inertia ratio 2. Torque z 383 to 3540in • lb peak torque z Uses time-proven, Sigma motor technology 3. Encoders z 17-Bit incremental encoder (standard) 4. Enhanced Environmental Resistance z Totally enclosed, self-cooled IP67 (not including shaft) 5. Application Emphasis z Machine tools, woodworking machines, and thermoforming machines z Roll feeders z Press automation z Gantry robots z PCB drilling machines z Packaging machines 6. Certified International Standards z cUL recognized (File #: E165827), CE compliance
67
SGMGH Gearmotors
Rated Output: 0.45kW, 0.85kW, 1.3kW
LEGEND System Components
Gearmotor Ratings and Specifications Rated Torque* (in • lb)
GEARMOTOR Part Number SG05SA-GA05AC SG10SA-GA05AC SG25SA-GA05AC SG50SA-GA05AC SG05SA-GA09AC SG10SA-GA09AC SG25SA-GA09AC SG50SA-GA09AC SG05SA-GA13AC SG10SA-GA13AC SG25SA-GA13AC
Peak Torque* (in • lb)
Rated Speed* (rpm)
Maximum Speed* (rpm)
Standard SGMGH Gearmotors 383 300 600 637 150 300 1770 60 120 3540 30 60 592 300 600 1,185 150 300 2901 60 120 3540 30 60 1000 300 600 1593 150 300 3540 60 120
122 244 597 1194 231 463 1133 2266 358 716 1753
Speed N1 (rpm)
Torque T1 (in • lb)
Torque T2 (in • lb)
440 220 88 44 560 280 112 60 550 275 110
61 122 298 597 116 232 568 1135 179 358 877
206 412 1009 2018 498 996 2438 3540 721 1442 3531
SGMGH Gearmotors
* To achieve the speed/torque performance listed, use only the gearmotor/amp combinations and system supply as specified on page 72.
Torque
A = Continuous Duty B = Intermittent Duty
Peak Torque
T2
B
Rated Torque
A T1 Rated Speed
N1 MaximumSpeed
68
Speed
LEGEND System Components
Gearmotor Mechanical Ratings Gearhead Backlash (arc min)
GEARMOTOR Part Number
Gearhead Maximum.Radial Load (lbf)
Gearhead Maximum Axial Load (lbf)
Gearhead Inertia (lb • n • s2)
Gearmotor Weight (lb)
Standard SGMGH Gearmotors
<10
TORSIONAL ANGLE
540
428
0.0016
21.14
1035 1687 540 1035
900 1350 428 900
0.0049 0.0047 0.0016 0.0048
36.80 58.30 25.84 36.65
1687
1350
0.0047
63.00
1035
900
0.0048
41.05
1687
1350
0.047
67.40
SGMGH Gearmotors
SG05SA-GA05AC SG10SA-GA05AC SG25SA-GA05AC SG50SA-GA05AC SG05SA-GA09AC SG10SA-GA09AC SG25SA-GA09AC SG50SA-GA09AC SG05SA-GA13AC SG10SA-GA13AC SG25SA-GA13AC
CONVENTIONAL GEARMOTOR YASKAWA SIGMA II GEARMOTOR
FR
REDUCER’S BACKLASJ TORQUE
2% OF RATED TORQUE
FA FR : Radial Force FA: Axial Force
69
LEGEND System Components
Dimensions in inches (mm) U
W
LL LL3 LR P Q QK LE
KD
LC1
ΦLB
4 - ΦMT
ΦS
MD
LC
T
ΦGD
LL1
ΦLA
SGMGH Gearmotors
•
Standard SGMGH Gearmotors
GEARMOTOR SG05SA-GA05AC SG10SA-GA05AC SG25SA-GA05AC
LL1
5.43 (138)
SG50SA-GA05AC SG05SA-GA09AC SG10SA-GA09AC SG25SA-GA09AC SG50SA-GA09AC SG05SA-GA13AC SG10SA-GA13AC SG25SA-GA13AC
6.34 (161)
7.28 (185)
LL3
LL
LE
LR
ΦLB ΦGD ΦS
3.15 (80) 5.30 (134.5) 6.02 (153) 3.15 (80) 4.02 (102) 6.02 (153) 4.02 (102) 6.02 (153)
10.63 (270) 12.62 (320.5) 13.35 (339) 11.54 (293) 12.24 (311) 14.25 (362) 13.19 (335) 15.20 (386)
0.20 (5) 0.24 (6) 0.32 (8) 0.20 (5) 0.24 (6) 0.32 (8) 0.24 (6) 0.32 (8)
1.81 (46) 2.76 (70) 3.82 (97) 1.81 (46) 2.76 (70) 3.82 (97) 2.76 (70) 3.82 (97)
2.68 (68) 3.54 (90) 4.72 (120) 2.68 (68) 3.54 (90) 4.72 (120) 3.54 (90) 4.72 (120)
3.54 (90) 4.72 (120) 6.10 (155) 3.54 (90) 4.72 (120) 6.10 (155) 4.72 (120) 6.10 (155)
P
LC
LC1 ΦLA ΦMT* MD*
3.15 M6 x 0.47 0.87 (80) 1.0 (12) (22) 1.26 4.25 M8 x 0.63 (32) (108) 1.25 (16) 1.58 5.51 M10 x 0.79 (40) (140) 1.5 (20) 0.87 3.15 M6 x 0.47 (22) (80) 1.0 (12) 5.12 1.26 N/A (130) N/A 4.25 M8 x 0.63 (32) (108) 1.25 (16) 1.58 5.51 M10 x 0.79 (40) (140) 1.5 (20) 1.26 4.25 M8 x 0.63 (32) (108) 1.25 (16) 1.58 5.51 M10 x 0.79 (40) (140) 1.5 (20)
Q
QK
KD
W
1.42 (36) 2.28 (58) 3.23 (82) 1.42 (36) 2.28 (58) 3.23 (82) 2.28 (58) 3.23 (82)
1.26 (32) 1.97 (50) 2.76 (70) 1.26 (32) 1.97 (50) 2.76 (70) 1.97 (50) 2.76 (70)
0.08 (2) 0.16 (4) 0.24 (6) 0.08 (2) 0.16 (4) 0.24 (6) 0.16 (4) 0.24 (6)
0.24 (6) 0.39 (10) 0.47 (12) 0.24 (6) 0.39 (10) 0.47 (12) 0.39 (10) 0.47 (12)
T
U
0.24 0.14 (6) (3.5) 0.32 (8)
0.20 (5)
0.24 0.14 (6) (3.5)
0.32 (8)
0.20 (5)
Note:* For Standard (SG) Gearmotors only: 4 x ΦMT threaded holes to a depth of dimension MD, set 90° apart.
Specified Tolerances for Standard (SG) Gearmotor Models: ΦS
Dimension Unit in
mm
70
Diameter 0.866 1.260, 1.575 22 32, 40
Tolerance +0.00059 +0.00008 +0.00071 +0.00008 +0.015 +0.002 +0.018 +0.002
ΦLB Diameter 2.677 3.54331, 4.72441 68 90, 20
Tolerance +0.00000 -0.00075 +0.00000 -0.00087 +0.000 -0.019 +0.000 -0.022
W Width 236 0.39370 0.47244 6 10 12
Tolerance +0.00000 -0.00118 +0.00000 -0.00142 +0.00000 -0.00169 +0.000 -0.030 +0.000 -0.036 +0.000 -0.043
LEGEND System Components
Selecting Your SGMGH Gearmotor System First, select the AC gearmotor suited for your application using SigmaSize: the Yaskawa servomotor sizing software, available at no charge. (Request SigmaSize software via e-mail, at:
[email protected]). Use the diagram below to locate and identify the components of your system. Each item is lettercoded and cross-referenced in the option tables on the following pages.
System Configuration
SGMGH Gearmotor (A) SGDG Digital Torque Amplifier (B) 1CN I/O Signal Connector (D)
Regenerative Unit (E)
Connector for Encoder Signal (D) Encoder side Connector (D) 2CN Encoder Cable (C) Motor Cable (C)
Motor side Connector (D)
Shaft Seal
Spe cify a techn ica l ma nual , if it is ne eded , on you r servo system p urchase or der: LE GEND Digital Torqu e Amplifier User’s Manu al: Y EA-S IA -LGD-1 .2 (Ma nual is provid ed at n o ch arge with a purcha se o rder, but i t must be re quested) .
Model Number Designation SG 05 S A - GA 05 A C C LEGEND AC Gearmotor Series SG: Standard (<10 arc minute) Reduction Ratio 05: 5:1 10: 10:1 25: 25:1 50: 50:1 Constructio n S: Standard Orie ntatio n A: Standard
Accessories C: 24Vd c Brake Blank:Standard YEA motor (stock) Encoder Specifications C: 17-Bit Incremental Encoder Power Supply A: 200V Motor Output 05: 0.45kW (0.6hp) 09: 0.85kW (1.14hp) 13: 1.3kW (1.7hp) Design Revision A: SGMGH (1500rpm) Motor Serie s G: SGMGH
71
SGMGH Gearmotors
Shaft Keyway
LEGEND System Components
Gearmotor & Amplifier Selection Use this table below to select the appropriate SGMGH AC gearmotor and amplifier. See notes on page 75. Description
200V* 17-bit Incremental Encoder Straight Shaft with Keyway
SGMGH Gearmotors
MS connectors
Rated Torque* (in • lb) 122 244 597 1194 231 463 1133 2266 358 716
Peak Torque* (in • lb) 383 637 1770 3540 592 1185 2901 3540 1000 1593
Rated Speed* (rpm) 300 150 60 30 300 150 60 30 300 150
Maximum Speed* (rpm) 600 300 120 60 600 300 120 60 600 300
Gear Ratio
Gearmotor Model Number ( A)
5:1 10:1 25:1 50:1 5:1 10:1 25:1 50:1 5:1 10:1
SG05SA-GA05AC SG10SA-GA05AC SG25SA-GA05AC SG50SA-GA05AC SG05SA-GA09AC SG10SA-GA09AC SG25SA-GA09AC SG50SA-GA09AC SG05SA-GA13AC SG10SA-GA13AC
Amplifier Motor and MODEL # Amplifier SGDG- (B) Item Class Gear Motor: 3-5 Week Leadtime 10GT** for Assembly
15GT**
Amplifier: Stock
Notes: 1. These performance ratings apply when duty cycles are 60% or less, and when t he gearmotor runs for 1,000 cycles per hour or less. 2. 3. 4. 5. *
72
Contact your Yaskawa representative when duty cycles exceed 60%, and when the gearmotor runs for more than 1,000 cycles per hour. Rated Speed is at 20°C ambient temperature. Reduce Rated Speed by 20% at 40°C ambient temperature. For right-angle gearmotors, please consult the factory for availability. 24V D C brakes for SGMGH LEGEND AC gearmotors are standard. Contact a local source for 24VDC power supplies. For technical information, request Yaskawa manual number YEA-SIA-LGD-1.2. To achieve the speed/torque performance listed above, use only with 200-230VAC 3 phase 10%-15% systems. For more detailed SGDG amplifier specifications and dimensions, refer to pages 91 to 95.
LEGEND System Components
Pre-wired Cable Selection Use the table below to select pre-wired cables for your SGMGH AC gearmotor. Part Number* without Brake
with Brake
Comments
B1BE(A)
Use the following key to specify needed cable length (last two digits of the part number): 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m
Encoder Cable
JZSP-CMP02-(B)
These cables are available in five lengths. Use two digits in the part number’s last place: 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m
Encoder Cable (for applications up to 20m) Only for Solder Connections
FR-RMCT-SB
These cables are available in any length.
Power Cable with Connectors
0.5, 0.9, 1.3
B1E(A)
(IP67)
Encoder Cable (for applications from >20 to <50m) Only for Solder Connections
Input/Output 1CN Cable & Transition Terminal Block
Input/Output 1CN Cable with Pigtail Leads
All
UL20276-SB
Item Class
SGMGH Gearmotors
Cable Description (C)
Motor Size (kW)
Stock**
For example: to order one FR-RMCT-SB cable, 16m long, specify: quantity: 16 part no.: FR-RMCT-SB.
JUSP-TA36P
35 mm DIN rail mountable; the cable length is 0.5m.
CKI-SGDG-
Use the following key to specify needed cable length (last digit of part number): 01: 1m (standard) 02: 2m 03: 3m
* The ”(A)” at the end of the cable number indicates the revision level. The revisio n level may be subject to change prio r to this catalog’s reprintin g. ** Standard cable le ngths are Stock items; non-standard cable lengths are Limited Stock items.
73
LEGEND System Components
Connector Selection Use the table below to select mating connectors for your SGMGH AC gearmotor. Connector Description (D) MS Connector for Motor Power Cable *
Motor Size (kW)
Part Number
without Brake with Brake MS3106B18-10S MS3106B20-15S 0.5, 0.9, MS3108B18-10S MS3108B20-15S 1.3 MS3057-10A MS3057-12A MS3106B20-29S MS3108B20-29S
MS Connector for Encoder Cable
MS3057-12A
Comments
Item Class
Straight-type connector L-type connector Cable clamp Straight-type connector L-type connector
Cable clamp
SGMGH Gearmotors
Stock All 1CN Mating Connector
2CN Encoder Mating Connector
*
74
DP9420007
JZSP-CMP9-1
Can use 1CN for analog speed and torque monitor service checks.
—
Choose either a straight or L-type connector and the associated cable clamp for a comple te assembly. For example, L-type connector MS3108B18-10S is compatib le wit h cable cla mp MS3057-10A.
LEGEND System Components Peripheral Device Selection Use the table below to select peripheral devices for your SGMGH AC gearmotor. Component Description (E)
External Regenerative Unit*
50Ω 120 watt for 1.0 amp
RH120 50ohmJ
25Ω 300 watt for 1.5 amp
RH500N25_ohmK
Comments
Item Class
This is a general purpose regenerative unit. Caution: Proper set-up is necessary to avoid equipment damage.
Stock
For an alt ernate solution, specify the individual resistor part number RH500N25_OHMK in necessary series or paralle l connection. Refer to the SGDG servo amplifie r section of this catalog for addit io nal specif ic ations, and the LEGEND Digital Torque Amplifier User’s Manual (YEA-SIA-LGD-1.2) for proper resistor sizing guid elines.
SGMGH Gearmotors
*
Part Number
75
LEGEND System Components
CE Pre-wired Cable Selection Use the table below to select shielded pre-wired power cables for your SGMGH AC gearmotor. Motor Size (kW)
Cable Description (C)
Power Cable with Connectors
Part Number* without Brake
0.5, 0.9, 1.3
B1CE-(A)
B1BCE(A)
(IP67)
SGMGH Gearmotors
*
Comments
Item Class
Use the following key to specify needed cable length (last two digits of the part number): 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m
Limited Stock
with Brake
The “(A)” at the end of the cable number indicates the revis io n level. The revision level may be subject to change prior to this catalog’s reprinting.
CE Connector Selection Use the table below to select mating connectors for your SGMGH AC gearmotor. Connector Description (D)
Connector for Motor Power Cable*
Motor Size (kW) 1.0, 1.5, 2.0
Part Number without Brake
with Brake
CE05-8A18-10SD-B-BAS
CE05-8A20-15SD-B-BAS
CE3057-10A-1(D265)
CE3057-12A-1(D265)
CE02-6A20-29NSW and CE20BA-S Connector for Encoder Cable
and CE3057-12A-3(D265)
* **
76
Comments**
Item Class
L-type connector Cable clamp L-type connector (plug and back shell)
Limited Stock
and Cable clamp (diameters 0.265 to 0.394in)
Choose the connector and the associated cable cla mp for a complete assembly. The connectors listed in the table are suitable for IP67 environments. Connectors are manufactured by DDK and listed here with the la rgest standard cable cla mp availa ble .
LEGEND System Components Super High Power Rate Series
SGMSH Servomotors - With Incremental Encoder Rated Output: 1.0kW, 1.5kW
For Additional Information
Page(s)
SGMSH Ratings & Specifications SGMSH Speed/Torque Curves SGMSH Dimensions SGMSH Selection/Ordering Information SGDG Ratings & Specifications SGDG Dimensions
78 79 80 - 81 82 - 87 91 92 - 95
Design Features
SGMSH Servomotors
1. Compact z Small sized motor z Six frame sizes: up to 130in • lb peak torque 2. High Speed z Rated Speed: 3000rpm z Maximum Speed: 5000rpm 3. Encoders z 17-bit incremental encoder standard 4. Enclosure z Totally enclosed, self-cooled IP67 (excluding shaft) z IP67 with shaft seal (option) 5. Application Emphasis z High torque to inertia ratio z Chip mounters z PCB drilling machines z Robots z Conveyors z Packaging 6. Certified International Standards z UL, cUL recognized (File #: E165827), CE compliance
77
LEGEND System Components
Servomotor Ratings and Specifications
MOTORS: SGMSH-
Rated Torque*
Instantaneous Maximum Speed: 5000rpm Excitation: Permanent magnet Drive Method: Direct drive Mounting: Flange-mounted Painting Color: Muncell notation N1.5
Instantaneous Peak Torque*
Rated Current*
Instantaneous MaximumCurrent*
N•m
kgf • cm (lb • in)
N•m
kgf • cm (lb • in)
A rms
A rms
10A
A
1.0 (1.3)
3.18
32.4 (28.2)
9.54
97.2 (84.4)
5.7
17
15A
A
1.5 (2.0)
4.9
50 (43.4)
14.7
150 (130)
9.7
28
lb f • i n Ar m s N•m Arm s
(
)
Holding Brake (at 20°C) Moment of Inertia
lb f • in •
kg f • m 2
s2. × 10-3
× 10 -4
SGMSH Servomotors
10A
A
5.6 (0.64)
1.54
1.74
15A
A
5.0 (0.56)
2.19
2.47
*
Enclosure: Totally-enclosed, self-cooled IP67 (except for shaft opening) Ambient Temperature: 0 to 40ºC Ambient Humidity: 20 to 80% (non-condensing) Rated Speed: 3000rpm
kW (hp)
Torque Constant MOTORS SGMSH-
Continuous Class F 15µm or less 1500Vac 10MΩ minimum at 500VDC Rated Output*
200Vac
Amplifier System Voltage
Time Rating: Insulation: Vibration: Withstand Voltage: Insulation Resistance:
Capacity
Torque
Coil Resistance
W
N •m
W
7.0
7.84
82.0
Rated Current
Additional Inertia
Allowable Load Inertia
Rated Power Rate*
Rated Angular Acceleration*
Inertia Time Constant
Inductive Time Constant
A
lb f • in • s2. × 10-3
kgf • m2 × 10-4
kW /s
rad/s 2
ms
ms
8.7
57.9
18250
0.87
7.1
12.4
97.2
19840
0.71
7.7
0.29
0.219
These it ems and torque-speed characteristics quoted in combination with an SGDG digital torque amplifier at an armature winding temperature of 20°C.
Note: These characteristic s can be obtained when the following heat sin ks (steel plates) are used for coolin g purposes: Type 10A
A to 15A
A: (11.81 × 11.81 × 0.47 (in)) (300 × 300 × 12 (mm))
78
LEGEND System Components
Speed / Torque Curves
.
200V Three-phase System SGMSH-15AA
5000
5000
4000
4000
SPEED (rpm)
SPEED (rpm)
SGMSH-10A A
3000
A
2000
B
1000 0 0 0
2
4
6
TOR QU E (N · m)
20
40
8
60
3000
B
1000 0
10
A
2000
0
5
10
15
TORQUE (N · m )
80
0
50
100
150
TORQUE (lb · in )
TOR QU E (l b · i n)
200V Single-phase System
5000
5000
4000
4000
3000
A
2000
B
1000 0
0
2
4
6
8
10
3000
20
40
60
B
A
2000 1000 0
0
TORQUE (N · m)
0
SGMSH Servomotors
SGMSH-15AA
SPEED (rpm)
SPEED (rpm)
SGMSH-10AA
5
10
15
TORQUE (N · m )
80
0
TOR QU E (l b · i n)
50
100
TORQUE (lb · in )
150
A : CONTINUOUS DUTY ZONE B : INTERMITTENT DUTY ZONE
79
LEGEND System Components
Dimensions in inches (mm) (1) 17-bit Incremental Encoder L LL LT
LR
LM
0.0016 A LE
0.0016 A
LC
S
3.94 (1 00)
LG
LR LE Q QK
LA
LC
LH
KL2
LB
S
0 .00 08
KB1
4 - LZ MTG Ho les
0.1 6 (4)
A
0.28 (7)
KL1
0 .31 (8)
Allowable Radial Load lbf (N)
Allowable Thrust Load lb f (N)
KB2
L
LL
LM
LR
LT
KB1 KB2 KL1 KL2 ΦLA ΦLB** LC
LE
LG ΦLH ΦLZ ΦS*
Q
Approximate Mass lb f (kg) QK
SGMSH Servomotors
7.64 5.87 4.06 2.99 5.04 10AA61 (194) (149) (103) 1.77 1.81 (76) (128) 3.78 3.43 4.53 3.74 3.94 0.12 0.39 5.12 0.28 0.94 1.57 1.26 10.1 (4.6) 154 44 ( 686) (196) 8.66 6.89 5.08 (45) (46) 4.02 6.06 (96) (87) (115) ( 95) (100) (3) (10) (130) (7) ( 24) (40) (32) 12.8 (5.8) 15AA61 (220) (175) (129 ) (102) (154) Note: 1. Dimensions are the same when using either incremental or absolute encoders. 2. Tolerances on the dimensions of flange type LB and shaft extensions S are based on JIS ( Japanese Industrial Standard) B0401 “Limits and Fits for Engineering.” Specified Tolerances Dimension Unit in mm
Encoder Plug M
A
B N P C K D R S J E H G F L
T
MS3102A20-29P
A B C D E F G H J
*ΦS Diameter 0.9449 24.000
**ΦLB Tolerance +0.0000-0.0005 +0.000 -0.013
Connector Wiring on the Incr emental Encoders — K — — L — Data + M — Data − N — — P — — R — 0V S — +5Vdc T — FG (Frame Ground)
Non -En vi ronmental Mati ng Connector: MS3108 B2 0-29S (L Type ) MS3106 B2 0-29S (Straight Type) Cab le Clamp: MS305 7-12A
80
Shaft End Dimension
Flange Dimensions
Type SGMSH-
Diameter 3.7402 95.000
Motor Plug D
A
C
B
MS3102A22-22P
Tolerance +0.0000 -0.0014 +0.000 -0.035
Connector Wiring on the Motor Side A U Phase B V Phase C W Phase D Ground Terminal
LEGEND System Components (2) 17-bit Incremental, with Brake L LL LT
LR
LM
0.0016 A
LE
3 .94 (100 )
LA
LC
LB
LH
0.31 (8)
40.0008
LZ MTG Ho les
0.16 (4)
A
0.2 8 (7)
S
KL2
KL1
LC
S
LG
LR LE Q QK
0.001 6 A
KB1 KB2
L
9.37 (238) 15AoA6C 10.39 (264) 10AoA6C
Shaft End Dimension
Flange Dimensions LL
LM
LR
LT
KB1
KB2
KL1
KL2 ΦLA ΦLB** LC
7.6 (193) 8.62 (219)
5.79 (147) 6.81 (173)
LE
LG FLH ΦLZ ΦS*
1.77 2.64 6.77 ( 45) 1.81 ( 67) (172) 3.94 3.43 4.53 3.74 3.94 0.12 0.39 5.12 0.28 1.77 ( 46) 3.66 7.8 (100) ( 87) (115) (95) (100) (3) (10) (130) (7) ( 45) ( 93) (198)
Q
Allowable Allowable Appr oximate Radial Thrust Mass Load Load lbf (kg) QK lb f (N) lb f ( N)
0.94 1.57 1.26 (24) (40) (32)
13.2 ( 6.0) 16.5 ( 7.5)
154 (686)
44 (196)
Specified Toler ances Dimension
*ΦS
Unit in mm
Diameter 0.9449 24.000
**ΦLB Tolerance +0.0000-0.0005 +0.000 -0.013
Diameter 3.7402 95.000
Toler ance +0.0000 - 0.0014 +0.000 - 0.035
Motor Plug A
F E D
G
B C
MS3102A20-15P
A B C D
Connector Wiring on U Phase V Phase W Phase FG (Frame Ground)
the Motor Side E Brake Terminal F Brake Terminal G —
81
SGMSH Servomotors
Type SGMSH-
LEGEND System Components
Selecting Your SGMSH AC Servo System First, select the AC servomotor suited for your application using SigmaSize: the Yaskawa servomotor sizing software, available at no charge. (Request SigmaSize software via e-mail, at:
[email protected]). Use the diagram below to locate and identify the components of your system. Each item is letter-coded and cross-referenced in the option tables on the following pages.
System Configuration Optional Holding Brake Shaft Keyway SGMSH Servomotor (A) SGDG Digital Torque Amplifier (B) 1CN I/O Signal Connector (D)
SGMSH Servomotors
Regenerative Unit (E)
2CN
Shaft Seal Motor side Connector (D)
Encoder side Connector (D) Encoder Cable (C) Motor Cable (C)
Specify a technical man ual, if it is nee ded , on your se rvo syste m pu rchase ord er: LEG END Dig ital Tor que Ampl ifie r User ’s Man ual : Y EA-S IA -LG D- 1.2 (Man ual is p rovide d at no cha rge with a p urchase ord er, b ut it mu st be req uested).
Model Number Designation SGMSH - 10 A C A 6 1 AC Servomotor Type Rated Output 10: 1.0kW (1.3hp) 15: 1.5kW (2.0hp) Power Supply A: 200V Encoder Specifications C: 17-bit Incremental Encoder
82
Connector for Encoder Signal (D)
Accessories 1: Standard C: 24V DC Brake S: Shaft Seal E: Shaft Seal and Brake Shaft Specifications 6: Straight Shaft with Keyway Rated Speed A: 3000rpm
LEGEND System Components Servomotor & Amplifier Selection Use the table below to select the appropriate SGMSH AC servomotor and amplifier.
Description
200V, 17-bit Incremental Encoder
Motor Inertia Peak Torque* Rated Torque* (in • lb) (in • lb) (in • lb • s 2 X 10-3 ) 1.54 84.4
MS Connectors
Amplifier MODEL # (B)* Analog/Digital Input SGDG-
Motor & Amplifier Item Class
SGMSH-10ACA61
28.2
10GT* 1.76
Straight Shaft with Keyway 5000rpm* maximum
Motor MODEL # (A)
SGMSH-10ACA6C Stock
2.19 130
SGMSH-15ACA61
43
15GT* 2.41
SGMSH-15ACA6C
Note: 24V D C brakes for SGMSH AC servomotors are standard. Contact a local source for 24V D C power supplies. For technical informatio n, request Yaskawa User’s Manual number YEA-SIA-LGD-1.2. The speed/torque specif ications listed above are achievable when applied with 200V 3 phase systems. Reference the previously listed speed/torque (force) curves for performance with any other applied voltages and phase(s). For more detailed SGDG amplifier specifications and dimensio ns, refer to pages 91 to 95.
SGMSH Servomotors
*
83
LEGEND System Components Pre-wired Cable Selection Use the table below to select pre-wired cables for your SGMSH AC servomotor.
Cable Description (C)
Power Cable with L-type Connectors
Motor Size (kW)
1.0, 1.5
Part Number* without Brake
B1E(A)
with Brake
B1BE(A)
(IP67)
Encoder Cable
JZSP-CMP02-(B)
(IP67)
Encoder Cable (for applications up to 20m) Only for Solder Connections
SGMSH Servomotors
Encoder Cable (for applications from >20 to <50m) Only for Solder Connections
Input/Output 1CN Cable & Transition Terminal Block
Input/Output 1CN Cable with Pigtail Leads
* **
84
FR-RMCT-SB
All
Item Class
Comments
Use the following key to specify needed cable length (last two digits of the part number): 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m These cables are available in five lengths. Use two digits in the part number’s last place: 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m
These cables are available in any length.
UL20276-SB
For example, to order one FR-RMCT-SB cable, 16m long, specify: quantity: 16 part no.: FR-RMCT-SB
JUSP-TA50P
35mm DIN rail mountable; the cable length is 0.5m.
CKI-SGDG-
Stock**
Use the following key to specify required cable length (last digit of part number): 01: 1m (standard) 02: 2m 03: 3m
The “(A)” at the end of the cable number in dicates the revision level. The revision level may be subject to change prior to this catalog’s reprintin g. Standard cable lengths are Stock items; non-standard cable le ngths are Limit ed Stock items.
LEGEND System Components Connector Selection Use the table below to select mating connectors for your SGMSH AC servomotor. Connector Description (D)
MS Connector for Motor Power Cable *
Motor Size (kW) 1.0, 1.5
MS Connector for Encoder Cable
Part Number without Brake
Comments
with Brake
MS3106B18-10S MS3106B20-15S MS3108B18-10S MS3108B20-15S MS3057-10A MS3057-12A MS3106B20-29S MS3108B20-29S
Straight-type connector L-type connector Cable clamp Straight-type connector L-type connector
MS3057-12A
Cable clamp
Item Class
Stock
1CN Mating Connector
2CN Encoder Mating Connector
*
DP9420007
—
JZSP-CMP9-1
—
SGMSH Servomotors
All
Choose either a straight or L-type connector and the associa ted cable cla mp for a complete assembly.
85
LEGEND System Components Peripheral Device Selection Use the table below to select peripheral devices for your SGMSH AC servomotor. Component Description (E)
External Regenerative Unit*
*
SGMSH Servomotors
86
Part Number
50Ω 120 watt for 1.0 amp
RH120 50ohmJ
25Ω 300 watt for 1.5 amp
RH500N25_ohmK
Comments
Item Class
This is a general purpose regenerative unit. Caution: Proper set-up is necessary to avoid equipment damage.
Stock
Refer to the SGDG servo amplif ie r section of this catalog for addit ional specif ications, and the LEGEND Dig ital Torque Amplif ie r User’s Manual (YEA-SIA-LGD-1.2) for proper resistor sizing guidelines
LEGEND System Components CE Pre-wired Cable Selection Use the table below to select shielded pre-wired cables for your SGMSH AC servomotor. These are suitable for IP67 environments. Use the standard encoder cable MS3057-12A listed on page 85. Motor Size (kW)
Cable Description (C)
Power Cable with Connectors
1.0, 1.5
(IP67)
*
Part Number* without Brake
B1CE(A)
Comments
Item Class
Use the following key to specify required cable length (last digit of part number): 03. 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m
Limited Stock
with Brake
B1BCE-(A)
The “(A)” at the end of the cable number indicates the revis io n level. The revision level may be subject to change prior to this catalog’s reprinting.
Use the table below to select mating connectors for your SGMSH AC servomotor Connector Description (D)
Connector for Motor Power Cable*
Motor Size (kW) 1.0, 1.5, 2.0
Part Number without Brake
with Brake
CE05-8A18-10SD-B-BAS
CE05-8A20-15SD-B-BAS
CE3057-10A-1(D265)
CE3057-12A-1(D265)
CE02-6A20-29NSW and CE20BA-S Connector for Encoder Cable
and CE3057-12A-3(D265)
* **
Comments**
Item Class
L-type connector Cable clamp L-type connector (plug and back shell)
Limited Stock
and Cable clamp (diameters 0.265 to 0.394in)
Connectors are manufactured by DDK and listed here with the largest standard cable clamp available. Choose the connector and the associated cable clamp for a complete assembly. The connectors listed in the table are suit able for IP67 environments.
87
SGMSH Servomotors
CE/IP67 Connector Selection
LEGEND System Components NOTES:
SGMSH Servomotors
88
LEGEND Digital Torque Amplifiers
SGDG Digital Torque Amplifiers - For Analog Command/Torque Control
For Additional Information SGDG Ratings & Specifications SGDG Dimensions Accessories Peripherals SGMAH Servomotors SGMPH Servomotors SGMPH Gearmotors SGMGH Servomotors SGMGH Gearmotors SGMSH Servomotors
Page(s) 91 92 103 106 11 27 45 55 67 77
- 95 - 110 - 120 - 26 - 44 - 54 - 66 - 76 - 88
1. Improved Performance Higher bandwidth response (1.5KHz torque loop frequency response) 2. Faster, simplified control system designs Built-in AC supply.....direct connect with wide voltage range compatibility (90 - 253Vac ) Optional DC Bus 127VDC to 357VAC (Maximum) Simplified, Pre-engineered motor/amp compatibility, guaranteed speed/torque (force) performance and system protection. Compatible with Sigma II servomotors and linear motors 3. Easier start-up and installation No programming, tuning, or parameter adjustments Self checking protective diagnostic and display..... for motor, amp, system wiring and power supply monitoring that saves time during installation and helps reduce costly service calls and replacement. Scaleable linear encoder feedback (rotary switch setting) Scaleable position feedback for upper controller Easy to read status monitors: Two LED status lights One seven-segment display Automatic determination of motor settings at connection 4. Additional functionality with ready-to-install application modules Single axis motion controller (future) 5. Certified International Standards UL, cUL listed (File #: E147823), CE compliance
89
SGDG Amplifiers
Design Features
LEGEND Digital Torque Amplifiers Model Number Designation SGDG LEGEND AC SGDG Servo Amplifier
Model T:
Rated Capacity
Power Supply G: 90 to 253Vac* (Optional DC Bus input)
Amplifier Model 01 04 10 15
SGDG Amplifiers
90
GT
Output kW (HP) 0.10 (0.13) 0.40 (0.54) 1.0 (1.3) 1.5 (2.0)
AC Supply Phases 1 1 or 3
Torque Control
IMPORTANT: * While the amplifier has a wide voltage range capability, choice of system voltage and phase(s) determines the achievable motor speed and torque specifications. Specify your motor and amp “system” with the torque and speed requirements. Speed/torque (force) curves are published with each motor listing in this catalog.
LEGEND Digital Torque Amplifiers
Control Circuit
Ambient**/Storage Temperature Ambient/Storage Humidity Vibration/Shock Resistance
Input Signal Torque Reference Position Output
Torque Control Mode
Structure
Three-phase, full-wave rectification IGBT PWM (sinusoidal commutation) Serial incremental encoder 0 to 55 °C / -20 to 85 °C 90% or less (no-condensing) 4.9m/s 2/9.8m/s 2 Base mounted (duct ventilation available as option) and flat mount type 0 to ±10V at peak torque (forward rotation with positive reference). Resolution: 16 bit analog to digital conversion.
Input Impedance
Approximately 14kΩ
Circuit Time Constant
Approximately 47µs
Encoder Output Form
Phases A, B and C: Line driver output
Encoder Output
Choices: set with rotary switch: • Binary: 512, 1024, 2098,...32768 • Decimal: 1000, 2500, 5000, 6000, 10,000, 20,000, or 25,000
Monitirs Sequence Output
I/O Signals
Single-phase AC 90 ~ 253Vac
Reference Voltage
Sequence Input
Servo ON, Dynamic Brake OFF*** w/choice of Photocoupler input 12V-24dc (primary) or 5 Vdc TTL inputs (effective logic is “High”)
Torque Monitor
5V/Maximum torque or force
Speed Monitor
1V/1000rpm or 1000 mm/sec
—
Regenerative Processing Built-in Functions
Single-phase: AC90 ~ 253Vac Three-phase: AC170 ~ 253Vac Optional DC bus input: 127VDC (minimum) to 357VDC (maximum)
Protection LED and Alarm Output Display Others
Servo run, alarm (Photocoupler output: 12V-24vdc) Incorporated. Overcurrent, overload, regenerative error, main circuit voltage error, heat sink overheat, power open phase, overflow, overspeed, encoder error, encoder disconnected, overrun, CPU error, switch setting error, linear motor scale polarity error. POWER, CHARGE, one 7-segment LED display Automatic servomotor ID
Notes: *
When 1Kw and 1.5Kw amps are used with single phase power input, the continuous power rating must be derated to 70%. Reference speed/torque curves for the selected motor for de-ratings. ** Use the amplifier within the ambient temperature range. When enclosed, the temperatures inside the cabinet must not exceed the specified range. *** Regarding: “DB (Dynamic Brake) OFF Function”. (1) The dynamic brake function is always ON when the main power is not applied. (2) The dynamic brake function is always ON when the logic control power is not applied. (3) The dynamic brake state during SVOFF can be selected with SWI-1 (ON or OFF). (4) When SVOFF or an alarm state occurs during move, the dynamic braking function can be enabled or disabled by the state of DBOFF input signal at the CNI connector. WARNING! If the DB is disabled, the load will coast free.
91
SGDG Amplifiers
Input Power Supply
Main Circuit *
Control Mode Feedback Location
Basic Specifications
SGDG Amplifier Ratings and Specifications
LEGEND Digital Torque Amplifiers
Dimensions in inches (mm) SGDG Digital Torque Amplifier (Standard) •
SGDG-01GT (90V to 253V Single-phase, 30 to 100W) 0.32 (8)
L EGEND0 1 CHARG E
PO W ER
8
L1 L2
4.17 (106)
⊕1 ⊕2
0.24 (6)
6.30 (160)
1.54 (39)
YASKAWA
Terminal block (3 types)
Groundterminal 2 x M4 screws 0.24 (6)
L1C L2C B1
C N 1
B2 U V W
CN1 CN2
C N 2
0.39 (10) 2.17 (55)
2.95 (75)
5.12 (130)
0.20 (5)
0.28 (7)
2 x M4 screwholes
5.89 (149.5) ±0.020 (0.5) (Mountingpitch)
0.22 (5.5)
Mounting Hole Diagram 3.60 (91.5)
0.67 (17)
0.20 1.97(50) (5) Approximate mass: 1.76lb (0.8kg)
Connectors on the amplifier (supplied):
SGDG Amplifiers
Connector Symbol
Amplifier Receptacle
CN1 CN2
10236-52A2JL 53460-0611
Manufacturer
3M Company Molex Co.
User needs to obtain the following: Connector Symbol 1CN 2CN
92
Mating Connector 10136-3000VE connector 10336-52A0-008 case 55100-0600
Manufacturer
3M Company Molex Co.
LEGEND Digital Torque Amplifiers SGDG-04GT (90V to 253V Single-phase, 200W to 400W)
2- Φ0.20 ( Φ5 ) hole s 0.315 (8)
L EGEND 0 4 CHA RG E
P OWER
8
L1 L2 ⊕1 ⊕2
L1C
C N 1
L2 C B1
4.17 (106)
6.30 (160)
Terminal block (3 types)
1.54 (39)
YASKAWA
CN1
B2
U
CN2
V
0.39 (10) 0.24 (6) 0.20 (5) 2.95 (75)
2.95 (75)
0.47 1 2)
0.28 (7)
3.60 (91.5)
2 x M4 screw hole s
5.89 ( 149 .5 ) ±0.02 0 (0.5) (Mounting pitch)
0.22 (5 .5 )
Mo untin g Ho le Diag ram
5.12 (130)
0.67 (17)
2 .4 8 (63 )
SGDG Amplifiers
G rou nd termin al 2 x M4 scr ews
C N 2
0.24 (6)
W
0.20 (5 )
•
Mating connectors: see page 92. App roximate mass: 2.43 lb (1.1kg)
93
LEGEND Digital Torque Amplifiers •
SGDG-10GT (170V to 253V, 0.5 to 1.0kW) 2-Φ0.20 (Φ5) holes Air flow 0.31 (8) Terminal block (3 types)
L EGEND 1 0
1.54 (39)
YASKAWA
8
L1 L2 L3 ⊕1 ⊕2
Air flow
C N 1
0.24 (6)
L1C L2C B1 B2 B3 U V
4.17 (106)
6.30 (160)
CHARGE POWER
CN 1 CN 2
C N 2
W
0.39 (10) 0.59 (15)
Ground terminal 2 x M4 Air flow screws 1.38 (35)
2.95 (75)
7.09 (180)
2.17 (55) 3.54 (90)
0.28 (7)
(5.5)
0.22
Mounting Hole Diagram 5.57 (91.5)
0.20 (5)
SGDG Amplifiers
94
0.67 (17)
(Mounting pitch)
5.89 (149.5) ±0.020 (0.5)
2 x M4 screw holes
Air flow Approximate mass: 3.75lb (1.7kg) 1.06 (27)
2.48 (63)
Mating connectors: see page 92.
LEGEND Digital Torque Amplifiers SGDG-15GT (173V to 253V 1.5kW)
2-Φ0.20 (Φ5) holes Heat sink Air flow
0.31 (8)
POWER
8
L1 L2 ⊕1 ⊕2
1C L LC 2 B1 B2
C N 1
U V W
CN1 CN2
C N 2
Groundterminal 2 x M4 screws
0.20 (5)
4.17 (106)
6.30 (160)
LEGEND 15 CH ARGE
1.54 (39)
YASKAWA
Air flow 4.33 (110)
Terminal block ( 3 types)
2.95 (75)
7.09 (180)
0.16 (4)
2 x M4 screw holes
0.28 (7)
(Mounting pitch)
0.20 (5)
5.57 (141.5)
Cooling fan
3.94 (100) ±0.020 (0.5) (Mounting pitch)
0.20 (5)
Approximate mass: 6.17lb (2.8kg)
SGDG Amplifiers
5.89 (149.5) ±0.020 (0. 5)
0.22 (5.5)
Mounting Hole Diagram
0.20 (5)
•
Mating connectors: see page 92.
95
LEGEND Digital Torque Amplifiers
Amplifier Switch Settings •
SW1 Function Selection Switch (dip switches) Switch No.
2
Function Status After DB Stop During Base Block Torque Reference Filter
3
Input Power Selection
At OFF Release DB after motor stop No DC-Power Input Compatible
Linear Scale Polarity Reversal
B-Phase progression: U, V, W direction
A-Phase progression: U, V, W direction
Regen overload alarm or warning Feedback pulse B phase reversal Command Direction Reversal Not used
No
Yes
Reversed
Not reversed
ON
Reversed
Not reversed
ON
1
4
5 6 7 8
•
Default Setting ON ON ON ON (enable only when linear motor is used) ON
ON
SW2 Linear Scale Pitch Setting (rotary switches) Setting 0* 1 2 3 4 5 6 7 *
Linear Scale Pitch Setting 0µ m 2µ m 4µ m 20 µ m 40 µ m 800 µ m 1000 µ m Not used
default setting
SGDG Amplifiers
Switch Settings
96
At ON Continue DB after motor stop Yes AC-Power Input Compatible
Setting 8 9 A B C D E F
Linear Scale Pitch Setting Not used Not used Not used Not used Not used Not used Not used Not used
LEGEND Digital Torque Amplifiers SW3 Encoder Division Ratio Setting (rotary switches) For a 13-bit Rotary Motor Setting 0* 1 2 3 4 5 6 7 * **
Encoder Division Ratio Setting** 8192 P/R 8000 P/R 7200 P/R 6000 P/R 5000 P/R 4096 P/R 4000 P/R 3600 P/R
Setting 8 9 A B C D E F
Encoder Division Ratio Setting** 3000 P/R 2500 P/R 2048 P/R 2000 P/R 1800 P/R 1600 P/R 1000 P/R Not used
Setting 8 9 A B C D E F
Encoder Division Ratio Setting** 30,000 P/R 24,000 P/R 16,000 P/R 131,072 P/R*** 120,000 P/R*** 100,000 P/R*** 80,000 P/R*** Not used
The default factory setting. Post quadrature @ the host controller.
For a 17-bit Rotary Motor Setting 0* 1 2 3 4 5 6 7
Encoder Division Ratio Setting** 65536 P/R 64000 P/R 60000 P/R 50000 P/R 40000 P/R 36000 P/R 32768 P/R 32000 P/R
* The default factory setting. ** Post quadrature @ the host controller. *** Max. motor rpm must be limited to 2500 rpm to avoid an “overspeed alarm”.
For Linear Motors Setting 0* 1 2 3 4 5 6 7 * **
Encoder Division Ratio Setting** 1/20 1/256 1/250 1/200 1/128 1/100 1/64 1/40
Setting 8 9 A B C D E F
Encoder Division Ratio Setting** 1/32 1/16 1/10 1/8 1/5 1/4 1/2 Not used
SGDG Amplifiers
•
The default factory setting. Post quadrature @ the host controller.
97
LEGEND Digital Torque Amplifiers Regenerative Resistance External Regenerative Resistors Regenerative resistors for servo amplifiers are internally or externally mounted, as shown in the following table. They can be mounted externally on all servo amplifiers, but are especially effective when regenerative energy exceeds the servo amplifier’s capacity. When mounted externally, be sure to remove the jumper between B2 and B3 (for 10GT and 15GT), which deactivates the internal regenerative resistor, and connect to B1 and B2. If the power resistor is used at the rated load rate, resistor temperatures will reach 200ºC~300ºC. Be sure to derate before using. Check with the manufacturer for the load characteristics of the resistor. Use at a load rating of 20% or less when using natural cooling (natural convection cooling), and at 50% or less when forced air cooling is used. For safety reasons, we recommend the use of resistors with thermostatic switches. Important: External regeneration resistor sizing and amplifier set-up will be important for proper operation. Use Yaskawa’s Sigma II Series Servo System User’s Manual: YEA-SIA-S800-32.2 for tips on calculating capacity requirements of external regenerative resistor.
Applicable Amplifier
200V Singlephase
200V Threephase
SGDG Amplifiers
*
98
Regenerative Resistor Mounted in a Amplifier Resistance (Ω)
Capacity* (W)
Regenerative Power Process by Integrated Resistor (W)
—
—
—
Minimum Allowable Resistance (Ω)
SGDG01GT SGDG04GT
40
SGDG10GT
50
60
12
SGDG15GT
30
70
14
20
Capacity prior to derating. The regenerative capacity (average) which can be processed is a 20% rating of the regeneration resistor capacity integrated in the Amp.
LEGEND Digital Torque Amplifiers
Regenerative Resistance The following table provides guidelines by example for the selection of regenerative resistors. Please consult the Design and Maintenance section of the Sigma II Series User’s Manual (No. YEA-SIA-S800-32.2) for a more detailed description of the selection procedure. Part # RH500N25_OHMK
JUSP-RG08D
2 - M3
2.36 (60)
0.12 (3)
15 (0. 59)
9.21 (234)
6 (0.24)
9.84 (250)
3.15 (80)
0.18 (4.5)
Namepl ate
Hole 6 dia. ( Φ 0.24)
25 (0.98)
M4 Exter nal Ter minal Scr ews + REGE NERA TI VE UNI T JUS P-RG08 D
x PO WER
8.58 (218)
R E-O N
1.57 (40)
2 -Φ0.18 (Φ4.5)
AL-RE
16 0 (6 .30 ) 130 (5.12) 149 (5.87)
AL-O V P/ Y 3
X
N
X
(Y4 )
X
(Y5 )
X
C1
X
C2
X X
5 (0. 20)
15 (0.59)
x
(0. 98)
6 (0.24) 25
50
18.5
130
(1.97)
(0. 73)
(5. 12)
Lead wire: L = 17.72 (450) Rated power: 300W Resistance value: 25Ω Regenerative Resistor Specifications
Tolerance
J: ±5%, K: ±10%
Temperature Characteristics
±260PPM/°C (20Ω or higher)
Withstand Voltage
∆R at 2000Vac applied for one minute: ±(0.1% + 0.05Ω)
Insulation Resistance
500Vdc 20MΩ @ 500VDC
Short-term Overload
∆R with ten times the rated power applied for five seconds: ±(2% + 0.05Ω)
Service Life
∆R in 1000 hours at rated power 90 minutes ON and 30 minutes OFF (±5% +0.05Ω)
Inflammability
Fire does not occur with 10 times the rated power applied for one minute.
Ambient Temperature Range
-25 to 150°C
SGDG Amplifiers
•
99
LEGEND Digital Torque Amplifiers
Connection Diagram, Single-phase Single-pha se 90 to 253 Va c (50 /6 0Hz) 1 MCCB Pow er Powe r OFF ON
Nois e filter
Ala rm p ro cessin g 1 MC SU P
1MC
B1
1MC
Be su re to a ttach a surg e supp ressor to th e excitatio n co il of th e magn etic contactor and re lay.
B2
A (1 ) Servomo to r B (2 ) M C (3)
U
L1
V W
L2
D (4)
L1 C
SGDG Amplifier
L2 C
Optica l e ncod er 2C N
Be sure to gro und
Be su re to p rope rly prepa re th e e nd of th e shie lde d wire .
1CN
CMD -IN P SG
To rque re fe rence : 0 to ±10 V/mo to r torq ue
PG
3
L PF*
A/D
4 15 0Ω
2 0 PAO 2 1 /PAO Enco der ou tp ut 2 2 PBO Ap pli cabl e lin e recei ver SN7 517 5 or MC34 86 man ufac23 /PBO ture d by T/I, or th e equ ival ent 24 PC O 2 5 /PC O
1
+1 2V to 2 4V ServoON w ith 1Ry ON Dyna mic Brake OFF** w ith 2Ry ON
+24 V 13
1RY 2 RY
3.3k Ω
/S-ON 14
Se rvo ON
B OFF 15
DB OFF
26 27 33
28
VT G
29
T-MON
30
SG
Se rvo ON 7 /S-RUN Y+Servo re ady ou tp ut 1 0 /S-RUN - (ON whe n read y)
D B OFF 5V ** GND 5 V
SGDG Amplifiers
34
ALM+ 3 5 ALM-
Co nne cto r sh ell FG Con nect shie ld to conn ector shel l
* Th e ti me constan t for th e prima ry fil te r i s 4 7µs
100
Servo al arm outpu t (OFF w ith an al arm)
Pho to coup ler maxi mum outpu t: Ope rating vo ltage : 30VD C Opera ti ng curre nt: 50mA D C
P: Indi cates tw isted wi re pairs.
LEGEND Digital Torque Amplifiers
Connection Diagram, Three-phase Thr ee-phase 1 70 to 2 53Va c (50 /6 0Hz) R S T 1 MCCB Po wer Pow er OFF ON
N oise filter
Ala rm p rocessi ng 1 MC
1MC
1MC
SUP
B1
Be su re to a ttach a surg e supp ressor to th e excitatio n co il of th e magn etic contactor and re lay.
B2
B3
A (1 ) Servomo to r B (2 ) M C (3)
U
L1
V W
L2 L3
D (4)
L1 C
SGDG Amplifier
L2 C
Optica l e ncod er 2C N
Be sure to gro und
Be su re to p rope rly prepa re th e e nd of th e shie lde d wire .
1CN
CMD-IN P SG
Torq ue refere nce: 0 to ±10 V/mo to r torq ue
PG
3
L PF*
4 15 0Ω
20 21
PAO /PAO PG di vidi ng ratio o utput
22 PBO 23 /PBO 24 25
PC O /PC O
Ap pli cabl e lin e recei ver SN75 175 o r MC 348 6 -man ufactured b y T/I, or the eq uiva len t
1
Dyna mic Bra ke OFF** wi th 2 Ry ON
2 RY
+24V 13
3.3k Ω
/S-ON 14
Se rvo ON
B OFF 15
DB OFF
26 27 33
28
VTG
29
T-MON
30
SG
Servo ON 7 /S-RUN Y+Servo rea dy outpu t 10 /S-RUN - (ON w hen re ady)
DB OFF 5V ** GND 5V
34
SGDG Amplifiers
ServoONwi th 1 Ry ON
+12 V to 24 V 1RY
Se rvo ala rm o utput (OFF wi th a n ala rm)
ALM+ 35 ALMCon nector she ll FG Con nect shie ld to conn ector shel l
* Th e ti me constan t for th e prima ry fil te r i s 4 7µs
Pho to coup ler maxi mum outpu t: Ope rating vo ltage : 30VD C Opera ti ng curre nt: 50mA D C
P: Indi cates tw isted wi re pairs.
101
LEGEND Digital Torque Amplifiers
Connector Terminal Block Converter Unit JUSP-TA36P Servo Amplifier YASKAW A
L15
8 CN1 +10% -0%
Length of cable supplied: 19.69 (500)
40-pin connector plug FCN-364P040-AU
B20
A1
A20
1
39
2
40
0.14 (3.5)
0.33 (8.5)
7.97 (202.5)
1.77 (45)
B1
1.16 (29.5)
0.61 (15.5)
36-pin terminal block M3.5 screws
0.29 (7.3)
Connector Terminal Block Converter Unit JUSP-TA36P* (cable included) Mounting Hole Diagram
8.25 (209.5)
1.16 (29.5) 0.27 (7.0)
8.51 (216.2)
SGDG Amplifiers
*Terminal specifications : see the following page
102
0.27 (7.0)
1.77 (45)
0.14 (3.5)
0.61 (15.5)
0.14 (3.5)
LEGEND Digital Torque Amplifiers
JUSP-TA36P Terminal Block Pin Numbers and Signal Names SGDG Servo Amplifier CN1 Pin Number — 1 SG 2 T-REF 3 SG 4 — 5 SG 6 RUN 7 — 8 — 9 RUN 10 — 11 — 12 +24VIN 13 14 /S-ON DB OFF 15 — 16 — 17 18 — 19 SG 20 PAO 21 /PAO 22 PBO /PBO 23 PCO 24 25 /PCO 26 /S-ON 5V 27 — 28 VTG 29 T-MON 30 — 31 — 32 — 33 SG 34 ALM+ 35 ALM36 — Connector Case
JUSP-TA36P Terminal Block Unit
Signal Name*
P
P P P
Connector Number A1 B1 A2 B2 A3 B3 A4 B4 A5 B5 A6 B6 A7 B7 A8 B8 A9 B9 A10 B10 A11 B11 A12 B12 A13 B13 A14 B14 A15 B15 A16 B16 A17 B17 A18 B18
Terminal Block Number 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
*
SGDG Amplifiers
Cable: Supplied with the terminal block P: Indicates twisted pair wires.
Use the connection diagrams on the previous pages for more functional details of recommended wiring.
103
LEGEND Digital Torque Amplifiers
Connection Diagram Connection Example The following diagrams show the procedure for wiring a digital torque amplifier to an incremental encoder. Connecting an encoder (CN2) and output signals from the servo amplifier (CN1)
Amplifier
Incremental encoder CN2
C (5) D (6)
P
2-5 2-6
1-20 1-21
PAO /PAO
P
B phase
1-22 1-23
PBO /PBO
P
C phase
1-24 1-25
PCO /PCO
P
H (1) G (2)
0V
22AWG
J
SGDG Amplifiers
104
Applicable line receiver SN75175 manufactured by T/I, or the equivalent
Output line-driver SN751LS194 manufactured by T/I, or the equivalent 2-1 PG5V 2-2 PG0V
PG
(Shell)
CN1
A phase
1-19
Connector shell Shield w ires
Connector shell
SG
0V
LEGEND Digital Torque Amplifiers Overload Characteristics Digital Torque amplifiers have a built-in overload protection function that protects the amplifiers and servomotors from overload. Allowable power for the amplifiers is limited by the overload protective function, as shown in the figure below. The overload detection level is set under hot start conditions at a servomotor ambient temperature of 40°C.
Operating Time (s)
10,000
1,000
B
100 A 10 5 1 Rated torque
A p pr ox .
Rated torque +Maximumtorque 2
Motor Torque
Maximum Torque
SGDG Amplifiers
Note: The overload protection characteristics of A and B in the figure are applicable when the servo amplifier is combined with one of the following servomotors: A: SGMAH or SGMPH servomotor with a maximum capacity of 400W. B: Other servomotors similar to the SGMAH, SGMPH, SGMGH, and SGMSJ.
105
LEGEND Digital Torque Amplifiers
Cable Specifications and Peripheral Devices Ratings and specifications for peripheral devices, as well as cable specifications for digital torque amplifiers are summarized in the tables below.
CAUTION Wiring Precautions •
Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines at least 11.81” (30cm) apart.
• •
Use twisted pair or shielded multi-core twisted pair wires for signal and encoder (PG) feedback lines. The maximum lengths for signal lines are as follows: • Maximum of 9.84ft (300cm) for reference input lines. • Maximum of 65.6ft (20m) for PG feedback lines. • Use a cable with 164 ft (50m) specifications for distances over 65.6ft (20m).
Cable Specifications The following table provides wire size specifications: External Terminal Name Main circuit power input terminals
L1, L2 (Single Phase)
Servomotor connection terminals
U, V, W
Control power supply terminals
L1C, L2C
Control I\O signal connector
CN1
PG signal connector
CN2
Ground terminal
SGDG Amplifiers
106
SGDG Terminal Symbol
Wire Size AWG [in2 (mm2)] 01GT
04GT
16 AWG [HIV 0.002 (1.25)
14 AWG [0.003 (2.0)]
16 AWG [HIV 0.002 (1.25)] Twisted pair or shielded twisted pair wires Core wire at least 28 AWG [0.0002 (0.12)], tinned, annealed copper twisted wires Finished cable dimensions: maximum Φ0.63in (16mm) for CN1 and Φ0.27in (6.8mm) for CN2. 14 AWG [HIV 0.003 (2.0)]
LEGEND Digital Torque Amplifiers Cable Specifications (cont’d) External Terminal Name Main circuit power input terminals
L1, L2, L3 (Three-phase)
Servomotor connection terminals
U, V, W
Control power supply terminals
L1C, L2C
Control I\O signal connector
CN1
PG signal connector
CN2
Ground terminal
1. 2. 3. 4.
Wire Size AWG [in2 (mm2) 10GT
15GT 14 AWG [HIV 0.003 (2.0) 16 AWG [HIV 0.002 (1.25)]
Twisted pair or shielded twisted pair wires Core wire at least 28 AWG [0.0002 (0.12)], tinned, annealed copper twisted wires Finished cable dimensions: maximum Φ0.63in (16mm) for CN1 and Φ0.27in (6.8mm) for CN2. 14 AWG [HIV 0.003 (2.0)]
Wire sizes were selected for three cables per bundle at 40°C ambient temperature with the rated current. Use cables with a minimum withstand voltage of 600V for main circuits. If cables are bundled in PVC or metal ducts, consider the reduction ratio of the allowable current. Use heat-resistant cable under high ambient or panel temperatures where normal vinyl cable will rapidly deteriorate.
SGDG Amplifiers
Notes:
SGDG Terminal Symbol
107
LEGEND Digital Torque Amplifiers The following table shows types of cables. It is used in conjunction with the preceding tables. Cable Type Name PVC IV HIV
SGDG Amplifiers
108
Composition Standard polyvinyl chloride cable 600V PVC cable Temperature-resistant vinyl cable
Temperature Rating of Conductor °C — 60 75
LEGEND Digital Torque Amplifiers The following table specifies the appropriate cables for CN1 and CN2 amplifier connectors. Wire sizes were selected with the expectation of three cables per bundle, at an ambient temperature of 40°C, at the rated current level. Connector Name Control I/O Signal Connector
PG Signal Connector
Signal CN1
CN2
Description Cable Applicable wire Finished cable Dimension Cable
Specification Use twisted pair or shielded twisted pair wire. (AWG): 24, 26, 28, 30 Φ0.63 (Φ16.0) maximum Use Yaskawa cable, or shielded twisted pair wire. (AWG): 24, 26, 28, 30 Use 22 AWG [0.0005in2 (0.34mm 2)] for the encoder power supply and 26 AWG [0.0002 in2 (0.14mm 2)] for other signals. These conditions permit wiring distances up to 65.6ft (20m).
Applicable wire Finished cable Dimension
Φ0.27 (Φ6.8) maximum
Peripheral Device Types and Capacities
Singlephase 100V
0.10
0.20
0.10
04GT
SGMPH-02B 01GT
13
0.20 Singlephase 200V
0.40
04GT
Capacity per Amplifier (kVA)
Rated Main Power (Arms)
0.15 0.25
1.1 1.8
0.40
2.0
0.60
5.2
0.20 0.25
0.82 1.1
0.40
2.0
0.75
3.4
1.2
5.5
Maximum MCCB or Inrush Fuse Current Capacity* (Arms) (A rms)
28
Model
Fn2070-6/07
Single-phase 250V a c 6A
6
Fn2070-10/07
Single-phase 250V a c 10A
4
Fn2070-6/07
Single-phase 250V a c 6A
8
Fn2070-10/07
10GT
SGMAH-08 SGMPH-08
2.1
11. 0
11
Fn2070-16/07
1.5
15GT
SGMPH-15
4.0
19. 0
19
Fn350-30/33
SGMGH-05A A
1.4
4.0
4
1.9
5.4
1.0
15 10GT
15GT
SGMAH-08A SGMPH-08A SGMGH-09A A SGMSJ-10A SGMPH-15A SGMGH-13A A SGMSJ-15A
2.3
7.0
3.2
9.5
Specifications
4
1.0
1.5
* **
SGMAH-A3A SGMAH-A5A SGMAH-01A SGMPH-01A SGMAH-02A SGMPH-02A SGMAH-04A SGMPH-04A
0.5 Threephase 200V
Applicable Servomotor
SGMAH-A3B SGMAH-A5B SGMAH-01B SGMPH-01B SGMAH-02B
01GT
Recommended Noise Filter**
Power Supply
7
Fn258L-16/07
Single-phase 250V a c 10A Single-phase 250V a c 16A Single-phase 250V a c 30A
Motor Magnetic Contactor
(10A) or equivalent
(20A) or equivalent 35A or equivalent (8A) or equivalent
Three-phase 480V a c (20A) or 16A equivalent
10
Size per local code requirements. Typical fuse interrupting characteristics at 25°C: 200% for 2s minimum; 700% for 0.01s minimum. The Fn noise filter is manufactured by Schaffner Corporation. Specifications are available at: www. schaffner.com .
109
SGDG Amplifiers
Amplifier Model Main Control Circuit Power Power Capacity Required Supply (kW) SGDG(W)
LEGEND Digital Torque Amplifiers Peripheral Device Manufacturers J.S.T. Corporation 1957 South Lakeside Drive Waukegan, Illinois 60085
Schaffner EMC Inc. 52 Mayfield Ave. Edison, New Jersey 08837
Phone (847) 473-1957 http://www.jst.com
Phone: 1-800 367-5566 (732) 225-9533 Fax: (732) 225-4789 http://www.shaffner.com
Molex (Headquarters) (Note: not selling 2CN serial encoder connector in the US) 2222 Wellington Court Lisle, Illinois 60532 Phone: (630) 527-4474 Fax: (630) 548-2897
Phone: (847) 803-6100 Fax: (847) 803-6296
(Connector information is not available from Molex or Yaskawa)
Tokin America 32950 Alvarado-Niles Rd. Suite 500 Union City, California 94507
For literature requests or Molex support for the 2CN connector, the Chicago area distributor is TTI. Ask for the Yaskawa inside sales representative. 1-800-CALLTTI (1-800-225-5884)
SGDG Amplifiers
110
TDK Corporation of America 1600 Feehanville Dr. Mount Prospect, Illinois 60056
Phone: (510) 324-4110 Fax: (510) 324-1762 http://www.tokin.com
LEGEND Digital Torque Amplifier SGDG Product Catalog Supplement
Yaskawa . . . A World of Automation Solutions
Yaskawa Electric America, Inc. Chicago-Corporate Headquarters 2121 Norman Drive South Waukegan, Illinois 60085 1-800-YASKAWA http://www.yaskawa.com
Yaskawa Electric America, Inc. July, 2009
Yaskawa Electric Europe Am Kronberger Hang 2, 65824 Schwalbach, Germany 49-6196-569-300 http://www.yaskawa.de
Yaskawa Electric Corporation New Pier Takeshiba South Tower, 1-16-1 Kaigan Minatoku, Tokyo 105 Japan 81-3-5402-4511 http://www.yaskawa.co.jp
YEA-KAA-LGD-1C Printed In U.S.A.
