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Sigma II Servo System Product Catalog Supplement

1. 10 45 81 B2 B3 FAN1 jS m Ll 5 1 R2 i EU 2 D2 pa 04 V Nube fd P P servomotor 1MC u al U j Toa Rp Lt v Y I 1 4 1 w u N N 7 PG THS1 a Gate drive over 99 Relay drive Elia Gate drive Current protection a O Pa Voltage sensor Interface 0 5 to 1 0kW 200V models V Current PW ASIC sensor For battery RR I GNE a 15 T DC DC 2 120 converter Digtal PG signal c
2. Fu2 24 Voltage l sensor For battery m connection 15 x 4 circu its oU Sf RE DC DC converter ASIC PWM control etc 45V CN1 12V PG output AC power supply 45V p Reference pulse Open during 100 200V input Pi Power servo alarm 1RY Ore Lor Speed and torque o 6 So 2RY a t 1 4 AD H reference input o Ls 5 ov CPU 2RY High speed Monitor display POWER position speed diode we calculation etc vo la Analog voltage Sequence Kt Surge suppressor overt CN10 5 CN3 Connector for Analog monitor Digital operator optional unit output for supervision personal computer 400V 5 0kW Models Three phase 10 38010480V 45 50 60Hz B1 B2 PEt 1 FU1 P I P AC servomotor Line filter o ZN a R7 1MC CHARGE 4 ZN u L1 BA1 BA3 ei u a R ay Vx e eae BALA Wu B v Soup MX 5 21 THS L3 pt ie w AA z B 4 w 2 T SCR1 N N PLY1 T o Base drive over current lator 2 protection isol Relay Voltage sensor 984 Control power drive isolator L 24V c PG not provided
3. o Encoder cable 0 24 6 11 85 300 1 18 30 Encoder plug 5 5 UL20276 al im 55100 0600 8 He gt Motor cable 0 28 7 zi or ULI amp 280rUL3535 7 1 38 35 Motor plug Ln iS id WM 350779 1 Cross section Y Y 44 85 300 1 18 30 Z CETTE US L 20 0016 0 04 LL 0 98 25 i i LM 0 098 2 5 i sS 287 20 0 79 20 0 20 5 Soe ES 5 000152 jn 0 30 25 5 i k y QK 00 315 HS 8 Sv x 5 5 o f Ye 4 3 1 81 946 Holding brake de energized operation A DC Power supply 24V Brake holding torque Motor rated torque 7 10 0008 0 02 Serial encoder Type SGMAH A3LILIF2C ASLILIFAC Output W hp Approximate Mass Ib kg Allowable Radial Load Ib N Allowable Thrust Load Ib N O1LILIF2C O1LILIFAC Specified Tolerances Dimension 5 Unit Connector Specifications Motor Plug 14 Diameter 0 2362 Tolerance 0 0000 0 0003 Diameter 0 3150 6 000 30
4. 200V SGMAH A3A SGMAH A5A SGMAH 01A T pen 5000 5000 r 5000 lt 5 4000 4000 4000 2 E gt 3000 3000 amp 3000 o A B a 2000 2000 2000 a 72 o o 1000 1000 1000 0 0 0 0 01 02 03 04 0 0 15 0 3 045 0 6 0 025 05 075 1 TORQUE m TORQUE N TORQUE N m 6 20 49 1 80 80 L 0 20 40 60 100 0 50 00 150 TORQUE oz amp in TORQUE oz in TORQUE oz in SGMAH 02A SGMAH 04A SGMAHOS8A 5000 5000 4000 4000 8 3000 2 3000 Q a A B B m m 2000 2000 5 N o 1000 1000 0 0 5 0 05 1 15 2 0 1 2 3 4 8 TORQUE N X m i TORQUE N X m TORQUE N m 0 100 200 300 0 200 400 600 0 400 800 200 TORQUE oz X in TORQUE oz X in TORQUE oz in 100V SGMAH A3B SGMAH A5B SGMAH 01B 5000 5000 5000 4000 4000 4000 3000 8 3000 8 3000 a a A a A B ti 2000 tt 2000 2000 n N 72 e 1000 1000 1000 0 0 0 0 01 02 03 04 0 0 15 0 3 045 06 0 025 05 0 75 1 TORQUE N m TORQUE N X m TORQUE N X m 0 20 40 60 100 26 40 69 8e 0 50 00 150 TORQUE oz X in TORQUE oz X in TORQUE oz in SGMAH 02B SGMAH 04A 5000 5000 CONTINUOUS 4000 4000 DUTY ZONE 3000 3000 B A B B INTERMITTENT 2000 2000 DUTY ZONE 72 1000
5. 84 71 4 i e i elh 55 Q 0 95 24 1 50 38 Wire lead in hole with vWF A 1 77 1 30 633 grommet 827 210 193 45 49 45 13 7 348 10 20 259 49 Mounting Hole Diagram Sis eI 4 M5 Mounting holes I zd 1 eee 4 I I o o 7 A Q soak I Approximate Mass 30 916 14kg i CO KS _ 116 787 20 1 16 No 29 5 29 5 5 ot 177 M8 Main circuit terminal 2 5 ta o lt x E E E y ye A A cT lt E a z gt o oe gt 3 J a E 1 6 I PIi 118 5 gt I LIN 1 mS CE LO ME n gt 1 y 1 N i 2 i j 80 5 9 D i o cp ET 2 Es m 66 UN id 00S 69 61 62 06071 sev 6061 060 D x c rab S A Ono RE 9 EE s
6. 5075 DC Reactor for suppressing harmonics in the power supply Limited X5076 Stock Check factory for avialability 148 Cable Description C Power Cable with Connectors IP67 The A atthe end of the cable number indicates the revision level The revision level be subject to change prior to this catalog s reprinting CE IP67 Connector Selection 400V Three phase Sigma ll Servo Systems CE Pre wired Cable Selection Use the table below to select shielded pre wired cables for your SGMSH UH Sigma l ll servomotor These are suitable for IP67 environments Use the standard encoder cable listed on page 148 Motor Size KW Part Number 1 0 1 5 2 0 3 0 4 0 5 0 All 7 Comments Use the following key to specify needed cable length last two dig its of the part number 03 3m 5m 10m standard 15m 20m Use the table below to select mating connectors for your SGMSH UH Sigma ll servomotor Connector Description D Connector for Motor Power Cable Motor Size KW CE05 8A18 10SD B BAS CE3057 10A 1 D265 1 0 1 5 2 0 L type connector Cable clamp for diameters 0 413 to 0 555in CE05 8A22 22SD B BAS CE3057 12A 1 D265 L type connector Cable clamp for
7. 0394100 SJO0 OUIOAJ8S Shaft End Allowable Allowable imension Radial Load Thrust Load Flange Dimensions Note 1 Dimensions are the same when using either incremental or absolute encoders with or without optional shaft seal 2 Tolerances on the dimensions of flange type LB and shaft extensions S are based IS J apanese Industrial Standard B0401 Limits and Fits for Engineering Dimension Unit Diameter Tolerance Diameter Tolerance 4 3307 0 0005 0 00035 Fin 0 0000 0 0005 350 00005 1 00088 110 000 30 013 0 009 24 000 28 000 0 000 0 013 130 10 014 0 011 Connector Wiring on the Incremental Encoders K Connector Wiring on the Motor Side U Phase V Phase oV Battery Note W Phase 9 Battery Note Ground Terminal Frame Note Used with an absolute Ground encoder only Non Environmental Mating Connector MS3108B20 295 L Type MS3106B20 295 Straight Type Cable Clamp 53057 12 MS3102A20 29P Tm O o D gt 142 400V Three phase Sigma Servo Systems 2 17 bit Incremental or Absolute En
8. Values for 100V Gearmotor 9 Note 1 These performance ratings apply when duty cycles are 60 or less and when the gearmotor runs for 1 000 de cycles per hour or less Contact your Yaskawa representative when duty cycles exceed 60 and when the gear 3 2 motor runs for more than 1 000 cycles hour 2 Rated Speed is at 20 ambient temperature Reduce Rated Speed by 20 40 ambient temperature 3 For right angle gearmotors please consult the factory for availability Torque A Continuous Duty Peak Torque B Intermittent Duty T2 Rated Torque T1 Speed Rated Speed N1 1 Maximum Speed 46 100 200V Single phase Sigma II Servo Systems Gearmotor Mechanical Ratings Gearhead Gearhead Gearhead Gearhead Gearmotor Backlash Maximum Radial Maximum Axial Inertia Weight arc min Load Ib Load 16 in Ib s Ib GEARMOTOR Part Number SGO05SA PEO1LILI SG10SA PEO1LILI SG25SA PEO1LILI SG50SA PE0100 SG1ASA PEO1LILI 0 0016 0 000052 0 00025 SGO05SA PEO2LILI SG10SA PEO2LILI 0 00025 SG25SA PEO2LILI SG50SA PEO2LILI 0 0016 SG1ASA PEO2LILI 0 0049 SGO05SA PEOALILI SG10SA PEOALILI SG25SA PEOALILI 0 0016 SG50SA PEOALILI 0 0049 SG1ASA PEOALILI 0 0047 0 00025 SGO05SA PEOS8LILI SG10SA PEO8LILI SG25SA PEO08LILI SG50SA PEO
9. 3CN Connector Peripheral SGDH Servo Encoder Signal D Signal Amplifier Cable E B Encoder side Motor side Connector D Connector D 1CN 2CN JJ Encoder Cable Signal Connector D Motor Cable C Regenerative Unit E 1 First select the Sigma 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 Sigma Il Servo 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 Referto the Peripheral Device Selection Table to select peripheral equipment to be used with the servo amplifier i e digital operator regenerative unit software etc 6
10. SGN T o Shaft Keyway For Monitor D SGMPH i Servomotor 3CN Connector A Peripheral SGDH Servo Encoder D Shaft Seal Signal Amplifier r2 B Encoder side Motor side Cable Connector D Connector D E 1 Jn 2CN gt o gt 3 Encoder Cable C J 3 I O Signal Motor Cable C Connector D Specify a technical manual if it is needed on your servo system purchase order Sigma II Series Servo System User s Manual YEA SIA S800 32 2 Regenerative Unit E Manual is provided at no charge with a purchase order but it must be requested Model Number Designation SGMPH 01 AAE 41D Sigma Servomotor Type Accessories Rated Output 1D Standard 01 100W 0 13hp CD Standard with 24Vpc Holding Brake 02 200W 0 25hp SD Standard with Shaft Seal 04 400W 0 5hp ED Standard with Brake amp Shaft Seal 08 750W 1hp Shaft Specifications 15 1 5kW 2hp 4 StraightShaft with Keyway Power Supply Revision Level A 200V UL Recognized Encoder Specifications B 100V UL Recognized A 13 Bit 2048 x 4 Incremental Encoder 1 16 Bit 16 384 x 4 Absolute Encoder 100 200V Single phase Sigma ll Servo Systems Servomotor amp Amplifier Selection Use the table below to select the appropriate SGMPH Sigma servomotor and amplifier Refer to the mo
11. B5E LILI A 7 Comments Use the following key to specify needed cable length last two digits of the part number 10m standard 15m 20m JZSP CMP02 00 B These cables are available in five lengths Use two digits in the part number s last place 03 3m 5m 10m standard 15m 20m FR RMCT SB 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 JUSP TA50P 35 mm DIN rail mountable the cable length is 0 5m JZSP CKI01 L A JZSP CKIOD LILI Use the following key to specify needed cable length last digit of part number 1 1m standard 2 2m 3 3m Use the following key to specify required cable length last two digits of the part number D50 0 5m m standard at the end of the cable number is the revision level The revision level may be changed prior to this catalog s reprinti Standard cable lengths are Stock items non standard cable lengths are Limited Stock items 50 Pin Female D Sub output connector mates to customer supplied third party terminal block e g Wago 289 449 Weidmuller 919658 Phoenix 2283647 Amphenol S ine 20 51039 and many others he oo o 133 o lt 3
12. 200V SGMPH 01A SGMPH 02A SGMPH 04A 5000 5000 5000 4000 4000 4000 3000 8 3000 8 3000 B B 2000 2000 2000 o o e 1000 1000 1000 0 0 0 0 025 05 0 75 10 0 05 1 15 2 0 1 2 3 4 TORQUE N em i TORQUE Nem TORQUE Nem 0 50 00 150 0 100 200 300 200 400 600 TORQUE oz in TORQUE oz in TORQUE oz in SGMPH 08A SGMPH15A 5 5000 5000 25 4000 4000 o lt 3000 3000 o 5 All B 2000 2000 e o 1000 1000 0 0 0 2 4 6 8 0 8 12 16 TORQUE Nem TORQUE Nem o 400 800 200 0 800 1600 2400 TORQUE oz in TORQUE oz in 100V SGMPH 01B SGMPH 02B SGMPH 04A 5000 5000 5000 4000 4000 4000 3000 8 3000 3000 B 2000 2000 2000 03 e 1000 1000 1000 0 0 0 0 025 05 075 10 0 05 1 15 2 0 1 2 3 4 TORQUE Nem TORQUE Nem TORQUE Nem 0 50 100 150 0 100 200 300 TORQUE oz in TORQUE oz in TORQUE o2 in in CONTINUOUS DUTY ZONE B INTERMITTENT DUTY ZONE When combined with SGDH 04FE amplifier 29 100 200V Single phase Sigma ll Servo Systems Dimensions in inches mm 1 13 Bit Incremental or 16 Bit Absolute Encoder w o Brake Note 1 The keyway complies with 15 B1301 1976 precision A straight key is supplied 2 Conforms to the IP 67 enclosure excluding the shaft optional shaft seal available 3 The quoted allowable radial load is the value at a po
13. Design Features 1 Compact e Small sized motor e Eight frame sizes up to 422in Ib peak torque 2 Higher Speed e Rated Speed 3000rpm e Maximum Speed Up to 6000rpm SGMUH only 3 Encoders e 17 bit 32 768 ppr x 4 incremental encoder standard e 17 bit absolute encoder option 4 Enclosure e Totally enclosed self cooled IP67 excluding shaft e P67 with shaft seal option 5 Application Emphasis High torque to inertia ratio Chip mounters PCB drilling machines Robots Conveyors e Packaging 6 Certified International Standards e UL cUL recognized File 4 E165827 CE compliance 137 400V Three phase Sigma II Servo Systems Servomotor Ratings and Specifications Time Rating Continuous Enclosure Totally enclosed self cooled Maximum Rotational Speed Insulation Class F IP 67 except for shaft opening 5000 6000rpm Vibration 15m or less Ambient Temperature 0 to 40 Excitation Permanent magnet Withstand Voltage 1500 1800Vac Ambient Humidity 20 to 80 Drive Method Direct drive Insulation Resistance 10MQ minimum non condensing Mounting F lange mounted at 500Vpc Rated Speed 3000rpm 6000rpm Painting Color Muncell notation N1 5 SGMUH models only Rated Instantaneous Rated TEE eue MOTORS A Rated Torque 5 Output Peak Torque Current 2 Current Number kW hp Ib in KG cm Ib in KG cm 28 2 324 Amplifier Systems Vol
14. 18 07 459 Front cover Cooling fan 48 _ 14 56 370 _ N 20020 flow A pe DOM 3 0 See 8 8 Sg Control circuit MD o 7 connector 8 3CN 5 5 slejsisis ete elere elelele 1 2 oe n oc 14 56 370 6 61 152 N 4 12 01 305 Ground terminal M8 Main circuit v 2 x M8 screws B 13 70 348 Mounting Hole Diagram SD oN Note Dimensions are for positioning of application module Unlike other Sigma II amplifiers the male connector is inset into the amplifier so that it does not protrude past the outside edge 4 M8 Mounting holes N N Approximate Mass 82 210 40kg t ME 1 oka 0 98 i2 60 320 10 98 cw 25 25 A E E lt o 173 400V Sigma II Servo Systems e SGDH 3GDE 400V Three phase 37kW 23 19 589 Cooling 4 ir flow 3 56 65 5 5 oo om Control circuit D connector o 3CN 8 amp 5545482 n Kl 919151919199 SERIE 19 69 50 4 leer E Rd Pm Ground terminal 12 07 306 5 2 x M8 screws L 13 70
15. 5000 4000 3000 B 2000 1000 0 0 10 20 30 TORQUE 0 100 200 TORQUE in SGMSH 50ALIA 5000 4000 3000 A B 2000 1000 0 0 10 20 30 40 50 TORQUE m 0 100 200 300 400 500 TORQUE lb in A CONTINUOUS DUTY ZONE B INTERMITTENT DUTY ZONE 85 o o o Servomotors o D lt S 3 S 7 200V Three phase Sigma Servo Systems Dimensions in inches mm 1 17 bit Incremental or Absolute Encoder Bas LL _ LR _LM cal 11 0 0016 A LG i LE 0 00161 4 8 amp ai 3 3 g 4 1 lt Z 0 0008 4 lZ MTG Holes Shaft End Dimension 1 Allowable Allowable Radial Thrust 253 Load Load Ib kg a Mc HE We S Q QK f lb N Ibe N Flange Dimensions 5 12 130 6 5 165 o o Note 1 Dimensions are the same when using either incremental or absolute encoders with or without optional shaft seal 2 Tolerances on the
16. o pen Encoder cable 0 24 6 1 2 Encoder plug 7 22 3 pq 55100 0600 U Hi gt he Motor cable 11818 13534 or UL3535 138 35 s Motor plug Ti 0 350779 1 Cross section Y Y 1185800211880 1 Jo 0016 0 04 A 0 0016 0 04 20 51 13 L gt 7 26 LL gt lt LR gt 741265 puriga om 01203 LC _ _ 0 79 20 LG _ 085 21 5 a gt a ay m I 3 G i TN ar Y e _ I E Y hd g Y Serial encoder 7 00008 0 02 Allowable Allowable Radial Thrust Load Load Ib N Ib N Approximate Mass Ib kg 0200F40 18 2 55 197 0 243 11 O4ALIFALI 375 17 3 15 3 54 0 2 76 1 18 i 1 5 O8ALIFALI 3 4 P lease see the following table for dimension tolerances Some motor dimensions vary for motors with the optional shaft seal See p 20 for details Specified Tolerances Diameter Tolerance Diameter Tolerance in 0 5512 0 0000 0 0004 1 9685 0 0000 0 0010 0 0000 0 0004 2 7559 0 0000 0 0012 m 40 000 0 011 50 000 40 000 0 025 40 000 0 011 70 000 30 000 0 030 13 100 200V Single phase Sigma ll Servo Systems 2 13 Bit Incremental or 16 Bit Absolute Encoder with Brake 30W 0 04 50W 0 07hp 100W 0 13hp
17. Open during Serial port SRY servo alarm CN5 Analog monitor output for supervision Digital operator personal computer 111 x o r Oc No gt p 0 100 200V Sigma ll Servo System 6 0kW to 7 5kW 200V Models Regenerative Resistor optional Three phase 10 20010230V 15 D i a Tu 50160Hz OQ O9 6 6 pat zur Bs PM1 PM2 PM3 servomotor Line filter Di A cn i 1MC x Lt 1 A u R ei CHARGE LEE igre E pe v 5 ll BA2 mel SCRI N N Th Q R2 Base drive over current E protection isolator Voltage Relay drive Voltage sensor ND sensor PG ER ar E e isolator
18. Digital Operator E Optional Holding Brake 5CN x Shaft Keyway For Monitor D SGMGH po cdd Servomotor 3CN M Peripheral SGDH Connector for L Shaft Signal Amplifier Encoder Signal D Seal Connector D B Encoder side Motor side Connector 0 lt 0 1CN 2 5 Encoder Cable C Signal Motor Cable C Connector D Specify a technical manual if it is needed on your servo system purchase order Sigma II Series Servo System User s Manual YEA SIA S800 32 2 I Manual is provided at no charge with a purchase order but it must Model Number Designation SGMGH 09ACA6 C Sigma Servomotor Type Accessories Rated Output 1755 05 500W 0 7hp DC 09 850W 1 14hp S ShaftSeal 13 L3kW 1 7hp E Brake and Shaft Seal 20 2 0kW 2 7hp L Shaft Specifications Apa m 6 Straight Shaft with Keyway D 55 5 5kW 7 5hp Rated Speed 75 7 5kW 10hp 1500rpm 1A 1L0kW 15hp Encoder Specifications 1E 15kW 20hp C 17 BitIncremental Encoder Power Supply 2 17 BitAbsolute Encoder A 200V 200V Three phase Sigma Servo Systems Servomotor amp Amplifier Selection Use the table below to select the appropriate SGMGH Sigma servomotor and amplifier Refer to the motor model designation on the previous page specifying the available modification to motor construction features o Q
19. Eu 2031 51 10 0016 0 04 A 10 28 7 C3 0 12 3 3 EN 49 0016 60 04 A 3 zs LG I E xl L1 n 051 0 0 90 Y 23 E i d J k q Y d HL Serial encoder Magnetic brake Non excitation operation Absolute or Incremental DC power supply 24V 4 10 0008 0 002 457 13 58 1 67 0 98 0 24 2 36 iis a Torque Voltage Output 1 968 50 2 76 70 0 22 5 5 Note The quoted allowable radial load is the value at a position 0 79in 20mm from the motor mounting surface 16 motor dimens ions vary for motors with the optiona Shaft seal See p 38 for details Specified Tolerances inelb Nem Rated Approx Allowable Radial Load Ib N Dimension DS Diameter Tolerance Diameter Tolerance Allowable Thrust Load Ib N 0 55 0 071 0 12 0 12 200 100 2 81 Contin 3000 15 17 5 110 14 L8 3 3 0 13 0 318 uous 0 7 78 49 in 0 3150 0 0000 0 0004 1 9685 3 30 0000 0 0010 8 000 30 000 0 009 50 000 30 000 0 025 Interconnection Connector Specifications Encoder Plug Incremental Terminal Specifications Motor Plug Pin Number Description Battery Color Battery 3 6V Data Blue Data Blue White 5 7 10 17 Free Motor Wiring Specifications Description Phase U Ph
20. 3 Amount of S phase rotation Used only with lt f PSO Serial data output Backup battery 2 8 to 4 5V BAT PSOr Applicable line receiver Wh bsol d PBAT dy SN75175 or MC3486 manufac When using an absolute encoder 2 7 tured by or the equivalent SEN signal input 5V 5 SEN When using an absolute encoder ov SG 24V 24 Speed coincidence detection 1Ry T lt V CMP ON when speed coincides Servo ON with 2Ry ON S ONJA pi z Servo ON 6 Positioning completed 2RY TL Apa o o K Proportional control P control ON a EA 5 P control with 2Ry ON 5 n ER d P L uu orwara run E o o K pohbted T GON T GON output Wea Ste rhe Lem ON at levels above setting N E R i wole C g gt mes Reverse run prohibited with Q Y 5 fem 5 ERE ains IVO ri N LS OPEN mS gt Alarm reset S RDY ON hon Alarm reset with 3Ry ON S RDY 6Ry P c 45 i 2 current Forward current limit ON with 6Ry ON pe od 1 Servo alarm output 7RY Lp Reverse current EE N CL and d _ OFF with an alarm Reverse current limit ON with amp ARy ONS O T limit ON ALM Connector shell FG Connect shield to connector shell The time constant for the primary filter is 47us Photocoupler maximum output Operatin
21. 7 74 200V Three phase Sigma Servo Systems Selecting Your SGMGH Gearmotor System First select the Sigma servomotor suited for your application using SigmaSize the Yaskawa servomotor sizing software available at no charge Request SigmaSize software via e mail at literature yaskawa com 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 Digital Operator E 5CN Shaft Keyway For Monitor D SGMGH M Gearmotor 3CN A pow Peripheral SGDH Connector for Shaft Amplifier Encoder Signal D Seal Od Signa 52 Connector D B Encoder side Motor side ot Connector D Connector D ns J 2CN 1CN UE 5 lt m Encoder Cable C Signal Motor Cable C Connector D Specify a technical manual if it is needed on your servo system purchase order Sigma II Series Servo System User s Manual YEA SIA S800 32 2 Manual is provided at no charge with a purchase order WINNIE but it must be requested Model Number Designation SG05 SA GA05A2 C Sigma
22. be 0 19 4 8 Motor type Dimensions Inch mm SGMAH A3 3 72 94 5 0 2362 000 0003 w NEMA 23 Adaptor 6 0 000 006 SGMAH A5 4 02 102 0 2362 000 0003 w NEMA 23 Adaptor 6 0 000 006 SGMAH 01 4 70 119 5 0 3150 000 0004 w NEMA 23 Adaptor 8 0 000 009 Dimensions include a field installed SGM N23 adapter flange on the listed motor 18 1 500 002 002 88 1 05 05 1 500 002 002 38 1 05 05 1 500 002 002 38 1 05 05 2 625 66 7 2 625 66 7 2 625 66 7 100 200V Single phase Sigma II Servo Systems Dimension Modifications for Motors with Optional Shaft Seal 30W 0 04hp 50W 0 07hp 100W 0 13hp lt 5 LR 9 le gt LE LD gt QK N y y xj Shaft seal LN TT 9 m Ds SGMAH EN L amas 0 236 6 0 55 14 1 18 30 0 10 2 5 0 98 25 0 30 7 5 1 14 28 0315 8 315 8 for diameters LB and S are the same as x motors without shaft seals 100 200V Single phase Sigma II Servo Systems 200W 0 27hp 400W 0 53hp 750W 1 01 D qub or ii ie 2 QK e e I 2 Shaft seal 1 97 50 0 55 14
23. Holding Brake Power Supply customer supplied Used only for SGM servomotor with a holding brake 4 Servo Amplifier 4 Type SGDH A3AE to 15AE S Required for servomotor S with a brake SGMPH Servomotor Product Overview Three phase 0 5kW to 15kW 230VAC Power Supply Three phase 230VAC Molded case Circuit Breaker MCCB ME 8 8 8 8 ares Protects the power 1 sis line by shutting the circuit OFF ES 4 70 case Digital Operator Personal Circuit Breaker Type JUSP OP02A 1 Computer Cable for connecting to amplifier Noise Filter optional required Used to eliminate external noise from the power line Noise Filter Host Controller RR Connect the SGDH servo amplifier to Yaskawa host controller or one made by other vendors Analog input pulse train input 1 Magnetic available 2 ff af ON and OFF 14 Magnetic i Install a surge Contactor 4 ime 1 suppressor on p the magnetic contactor E LA Holding Brake U x Power Supply EE 1 B1 B2 customer supplied J Used for SGM servomotor M with a brake Regenerative SG DH Servo Amplifier Resistor option Type SGDH 05AE to 1EAE 9
24. 7 400V Three phase Sigma Servo Systems Connector Selection Use the table below to select mating connectors for each SGMGH Sigma servomotor o Q Q I Connector Description D MS Connector for Motor Power Cable Motor Size kW Part Number MS3106B18 10S Comments Straight type connector 0 5 0 9 1 3 MS3108B18 10S L type connector MS3057 10A Cable clamp MS3106B22 22S Straight type connector 2 0 3 0 4 4 MS3108B22 22S L type connector MS3057 12A Cable clamp MS Connector for Brake Power Cable MS3106B32 17S Straight type connector 5 5 7 5 11 15 MS3108B32 17S L type connector MS3057 20A Cable clamp MS Connector for Encoder Cable incremental or abso lute encoder 1CN Mating Connector 2CN Encoder Mating Connector 3CN Peripheral Mating Connector 5CN Connector and 1m Cable with Pig tails MS3108A10SL 3S MS3057 4A L type connector Cable clamp MS3106B20 29S Straight type connector MS3108B20 29S L type connector MS3057 12A Cable clamp JZSP CKI9 JZSP CMP9 1 DE9404559 Can use 5CN for analog speed and torque monitor service checks Choose either a straight or L type connector and the associated cable clamp for a complete assembly For example L type connector 5 3108 18 105 is compatible with cable clamp MS3
25. TORQUE Fp Radial Force 2 OF RATED TORQUE Axial Force 71 200V Three phase Sigma ll Servo Systems HOWSS Q t o 3 P 7 Dimensions in inches mm LL _ z H3 __ LR P O MD QK Standard SGMGH Gearmotors GEARMOTOR 0 LC E 4 7 NN 4 7 For Standard SG Gearmotors only 4 x threaded holes to a depth of dimension MD set 90 apart Specified Tolerances for Standard SG Gearmotor Models Diameter 0 3 Tolerance 0 0 00047 0 00004 Diameter 1 378 Tolerance 0 00000 0 00063 Tolerance 0 00000 0 00118 472 0 6 0 866 0 00059 0 00008 2 047 2 677 0 00000 0 00075 0 00000 0 00142 1 260 1 575 0 00071 0 00008 0 012 0 001 3 54331 4 72441 0 00000 0 00087 0 000 0 016 0 00000 0 00169 0 000 0 030 0 015 0 002 0 000 0 019 0 000 0 036 72 0 018 0 002
26. 0 000 0 022 0 000 0 043 Precision SGMGH Gearmotors 200V Three phase Sigma ll Servo Systems GEARMOTOR LL1 LL LE LR LB GD S P LCI GLA eMT MD Q OK KD W T U SH04SA GA05AC 5 055 05 aos SH07SA GAOBAC 96 076 150 150 276 087 0 79 299 1335 026 028 142 126 0 08 024 0 24 0 14 SHI0SA GAOBAC 38 G 70 22 20 76 85 69 7 36 G2 Q 6 G5 482 1191 0 08 512 5 165 543 1225 302 5 2 130 SH20SA GAOSAC 138 5H285A GA05AC 577 1289 236 217 354 126 398 4722 035 039 228 197 0 16 0 39 SHAOSA GAOSAC 1465 327 5 60 65 0 G2 118 1 120 do 050 Q0 032 020 SH50SA GA05AC 30 8 5 1435 012 335 276 512 158 551 555 650 043 047 323 276 020 047 SH705A GAOSAC gi 3645 3 5 G0 0130 40 240 aa 065 12 82 070 6 12 SH04SA GAO9AC s 5 378 117 150 150 276 087 079 512 299 335 026 028 142 126 0 08 0 24 0 24 ee 96 099 38 ga 70 Q2 20 130 06 69 6617 G9 G2 20 616 65 149 1252 0 08 SH10SA GA09AC 010 Gi O 160 6
27. 42 100 200V Single phase Sigma ll Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for your SGMPH Sigma II servomotor Component Description E Part Number Comments Item Class Hand held Digital Ip ed Portable unit with 1m adapter cable for Operator Panel an Jzsp cmsoo 1 Sigma II O 25 5 09 o o Absolute Encoder Battery m eee JZSP BAO1 3 6V 1000mAh lithium battery Stock Pre wired 2 0m cable with 9 pin connector Minimum Recommended System Requirements Pentuim 200 MHz 64MB RAM 200MB hard drive CDROM Drive RS 232 or RS 422 EU port Screen rsolution 800x600 w 256 colors and Windows 95 98 4 0 2000 Windows Software Interface Cable SigmaWin Software planned For SGDH 01AE SGDH 02AE SGDH 04AE These are general purpose regenera Individual External Regener SGDH 08AE RH12050ohmJ tive units ative Unit SGDF 08AE S Caution Proper set up is necessary amps to avoid equipment damage ide SeDHiBAE s RHS00N25 ohmK For 200V SGDH 01AE X5071 SGDH 02AE X5070 SGDH 04AE X5069 DC Reactor SGDH 08AE X5061 Limited for suppressing harmonics SGDF 08AE S X5079 Stock in the power supply SGDH 15AE X5060 SGDH 15AE S X5078 For 100V SGDH 01BE X5063 SGDH 02BE X5062 For an alternate solution specify the individual resistor part number RH500N25
28. 8 UUUUUUUUUUUUUUUUUUUUUUUUUUUUUUO as va V y 9 81 60 gt 005 69 61 e cr NSRBHRSRERRERERRARRRZAREERERARREAAS UUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUU EG rode te A aer era dp rei 99 5 OO IN ANNnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn gt e I NA CITE Y 159 Te x N N Mounting Hole Diagram oA19S AUDIS Tio TIN gb A Oe ee a dra ey ua TY Y je Pm l l 1 1 1 1 l l 1 1 1 1 I 1 i 2 gt 1 Y Re Ro do LP 1 To TIN 92 p 62 060 6061 060 Approximate Mass 51 8lb 23 5kg 181 400V Sigma II Servo Systems e Type JUSP RA18 2 F0 24 F6 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 2020 between B2 and B3 which deactivates the internal regenerative resistor M4 Ground terminal circuit terminal M Curentresisance Important External regeneratio
29. CE05 8A22 22SD B BAS connector E 002044 CE3057 12A 1 D265 Cable clamp Motor 2 for diameters 0 492 to 0 630in ower Cable CE05 8A32 17SD B BAS connector 2 or Or 5 5 7 5 1 15 CE05 6A32 17SD B BSS Straight type connector Limited CE3057 20A 1 Cable clamp Stock for diameters 0 866 to 0 937in CE05 8A10SL 3SC B BAS L type connector for holding brake Connector for Hold and and ing Brake CE3057 4A 1 D265 Cable clamp for diameters 0 142 to 0 220in CE02 6A20 29NSW and type connector Connector for CEOOBAS 279 and back shell Encoder Cable or incremental or or absolute encoder Cable clamp 057 12 3 0265 for diameters 0 265 to 0 394in Choose the connector and the associated cable clamp for a complete assembly The connectors listed in the table are suitable for IP 67 environments i Connectors are manufactured by DDK and listed here with the largest standard cable clamp available 136 400V Three phase Sigma II Servo Systems Higher rpm Power Rate Series SGMSH UH Servomotors with incremental Absolute Encoder Rated Output 1 0kW 1 5kW 2 0kW 3 0kW 4 0kW 5 0kW For Additional Information SGMSH UH Ratings amp Specifications SGMSH UH Speed Torque Curves SGMSH Dimensions SGMUH Dimensions SGMSH UH Selection Ordering Information SGMSH UH Optional CE Selection SGDH Ratings amp Specifications SGDH Dimensions
30. gt W 3 Open collector reference PL1L 3 power supply PL l3 8 BAT Backup battery 2 8 to 4 5V 91 When using an absolute encoder Pear o SEN signal input 5V When using an absolute encoder ov SG 24 24 A7 3 1 Servo ON with 2Ry ON SON ervo ON wi y gt R a P control with 2Ry ON pas Poje 73 Forward run prohibited with f P LS OPEN N LS n oT 143 Reverse run prohibited with O_O N LS OPEN Alarm reset with 3Ry ON 6Ry O O 7RY O O Forward current limit ON with 6Ry ON N CL Reverse current limit ON with amp ARy ON INCL Connect shield to connector shell The time constant for the primary filter is 47us K Alarm reset Ns sure to properly prepare the end of the shielded wire V ALO1 Alarm code maximum output Operating voltage 30Vpc Operating current 20 PG dividing ratio output Applicable line receiver 5 75175 or MC3486 manufac tured by or the equivalent 7 Amount of S phase rotation Used only with Serial data output Applicable line receiver 5175 or MC3486 manufac tured by or the equivalent Speed coincidence detection Q V CMP4 ON when speed coincides MES Positioning completed ON when positioning is COIN completed Forward run gt prohibited Reverse run gt prohibited d T GON T GON output _ ON at levels above the setting
31. 7 100 200V Single phase Sigma ll Servo Systems For more detailed 100 200V SGDH amplifier specifications and dimensions refer to pages 99 112 Pre wired Cable Selection Use the table below to select pre wired cables for your SGMPH Sigma gearmotor Cable Description C Power Cable with Intercon nectron Connectors without Brake Motor Size B4ICE LILT A Power Cable with Intercon nectron Connectors with Brake 5 00 B5IBCE LILI A Encoder Cable with Intercon nectron Connector incremental or absolute Encoder Cable for applications up to 20m Only for Solder Connections Encoder Cable for applications from gt 20 to lt 50m Only for Solder Connections Input Output 1CN Cable amp Transition Terminal Block Input Output 1CN Cable with Pigtail Leads Input Output 1CN Cable Cable with Female D Sub output Connector kkk A1ICE LILI A Comments These UL and CE compli ant cables are available in five lengths Use the fol lowing key to specify needed cable length last two digits of the part num 10m standard 15m 20m FR RMCT SB 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 JUSP TA50P 35mm DIN rail mountable the cable length is 0
32. am H s e Po 133 1 33 PAO 1 2 r p P r Meo 5 H s a k ppo H s t 1 38 s as 57 aon t 88 1 9 1 1 aos t so k so 1 1 49 pen a a k t a s 2 nor ae a poa a a5 mo 48 I m e 50 1 ss c c ay 2 a o U 2 3 2 wW o c Cable Supplied with the terminal block tr Indicates twisted pair wires the factory Use the connection diagrams on the previous pages for more functional details 116 100 200V Sigma Servo Systems Amplifier to Encoder Connection Diagram Connection Example The following diagrams show the procedure for wiring a servo amplifier to an encoder Connecting an encoder CN2 and output signals from the servo amplifier CN1 Incremental Encoders Servo amplifier Incremental encoder i A gt 149 PCO CE Me vH Output line driver Applicable line SN751LS194 manufactured receiver L 2 or the equivalent SN75175 manufactured by or the equivalent ov Absolute Encoders Absolute encoder Servo amplifier b 1 19 PCO A 1 20 PCO cub b 1 19 PSO N20 1 PSO Output line driver SN751LS194NS manufactured by or the equivalent
33. or FS5827 15 07 16A 15A Single phase 35Aor Fn350 30 33 250V 3 m equivalent 5827 25 07 2A 8 equivalent GH 05AOA AH 08A GH 09AOA Three phase SH 10A i Fn258L 16 07 480 PH 15A 16A SH 15A GH 20A0A SH 20A GH 30AOA Three phase emnt Fn258L 30 07 480 ac 5 30 30A 20A or equivalent GH 44 Three phase SH 50 Fn258L 42 07 480V a GH 55 42A Three phase GH 75 Fn258L 55 07 480V4 55A 50A or equivalen 65A or equivalen T 15A or ree phase FS5559 150 35 250V ac equivalen 100A or GH 1E 150 equivalen Size per local code requirements Typical fuse interrupting characteristics at 25 C 200 for 2s minimum 700 for 0 015 minimum The FnOOOO noise filter is manufactured by Schaffner Corporation 5 pecifiactions are available at www schaffner com o lt lt gt 3 17 122 100 200V Sigma Servo Systems Peripheral Device Manufacturers J S T Corporation 1957 South Lakeside Drive Waukegan Illinois 60085 Phone 847 473 1957 http www jst 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
34. 050 12 2 0 17 5 090 10 10DE SGMSH 10D 23 35 T 34 Fn258L 7 07 4800 56 10A or SGMUH 10D or 55826 6 07 7A 6A equivalent SGMGH 13DLIA 15 15DE EGMSH ISD 32 4 8 4 6 SGMGH 20DLIA 4 9 71 20 20DE 9 Fn258L 16 07 Three phase soy SGMGH 30DLIA 56 or 480Vac equivalent 30 30DE 15 SGMSH 30D 6 8 8 5 9 8 F55826 10 07 16 10A SGMUH 30D SGMGH 44D 17 5 0 50DE SGMSH 50D 10 3 149 58 14 9 55959 35 33or Tree phase 400V 6 0 60DE SGMGH 55D 12 4 178 118 73007 Vac 93 35A 30A 50A or 75 75DE SGMGH 75D 15 4 223 22 3 75 or 11 0 1 SGMGH 1AD 22 6 32 1 Ns 32 1 F55559 80 34 or OV ase equivalent 55826 55 07 100A or 15 0 1EDE SGMGH 1ED 30 9 44 6 44 6 BOA 55A equivalent Three phase 100A or 22 0 2BDE SGMBH 2B 36 7 53 162 100 Fn258L 75 34 4B0V equivalent 30 0 3ZDE SGMBH 3Z 50 1 72 m iso Fn258L 10035 Three phase 150A or 37 0 3GDE SGMBH 3G 61 8 89 Fn258L 130 35 480Vac equivalent 45 0 4EDE SGMBH 4E 75 2 109 Three phase 225A 55 0 5EDE SGMBH 5E 91 9 133 1009 225 480Vac equivalent Size per local code requirements The Fnzzzz noise filter is manufactured by Schaffner Corporation Specifications are available at www schaffner com 198 Typical fuse interrupting characteristics at 25 200 for 2s minimum 700 for 0 01s minimum 100 200V Sigma II Servo Systems Peripheral Device Manufacturers J S T C
35. 25 e SS SSSA ES t basura 59 0 gt 3 d 25 X gt 9 a ae ear aa ea z e E 5 E x Or QU ITO TO R NRE 2 sa x E 2 a gt TE O I SGDH Servo Amplifiers 178 0 g 0 gt 42 42 2 42 gt st JUSP RA14 Front cover oA19S 95 nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 009 6961 T coo um N E NI wk ip ern s E A r T 423 I E i m gt Pu a I ES a 2 114 ME 14 Ir lola al 115 m o 4 a tt o Fg 1 IN e 1 amp x a 1 gt 1 3 2 Vy N 9 L Lo La I I sud e gt E p 3 _ 5 4 1 8 Sl
36. For400V SGDH 05DE X5074 For400V SGDH 10DE SGDH 15DE X5075 For 400V SGDH 20DE SGDH 30DE X5076 For 400V SGDH 50DE X5077 Larger capacity amplifiers Check factory for availability Limited Stock 135 he oo SE 59 9 o 400V Three phase Sigma Servo Systems CE Pre wired Cable Selection Cable Description C o S t 50 3 9 mi Power Cable with Connectors IP67 Power Cable for Holding Brake IP67 The A atthe end ofthe cable number ind Motor Size KW 0 5 0 9 1 3 Comments Use the following key to 2 0 3 0 4 4 BBCE LILI A specify needed cable length last two digits of the part 5 5 7 5 11 BDCE LILI A number 15 All 7 00 10m standard 15m 20m icates the revision level The revision level may be subject to change prior to this cata Use the table below to select shielded pre wired power cables for your S MGH Sigma servomotor Part Number Limited Stock Limited Stock 095 reprinting Connector Selection Use the table below to select mating connectors for your SGMGH Sigma ll servomotor Connector Motor Size T CE05 8A18 10SD B BAS connector 0 5 0 9 13 CE3057 10A 1 D265 Cable clamp 2 for diameters 0 413 to 0 555in
37. LE LG W Allowable Radial Load N 45 1143 SGMGH 05DLIA to 44 do not contain eyebolts Tolerances on the dimensions of flange type LB and of shaft extensions S are based on 1 2 Dimensions are the same when using either incremental or absolute encoders with or without optional shaft seal 3 IS Japanese Industrial Standard B0401 Limits and Fits for Engineering Specified Tolerances Dimension 5 Diameter 0 7480 0 8661 Tolerance 0 0000 0 0005 Tolerance 0 0000 0 0014 Diameter 1 3780 30 0004 0 0000 30 0000 0 0010 1 6535 30 0000 0 0006 19 000 22 000 0 0012 0 0004 0 000 0 013 0 0000 0 0018 110 000 30 000 0 035 35 000 30 010 0 000 114 300 30 000 0 025 42 000 30 000 0 016 30 030 40 011 200 000 30 0000 0 046 Connector Wiring on the Motor Side U Phase V Phase W Phase Battery Note 35V gc FG Frame Ground Non Environmental Mating Connector 53108820 295 L Type MS3106B20 29S Straight Type Cable Clamp 53057 12 Battery Note 128 Note Used with an absolute encoder only Ground Terminal 400V Three phase Sigma Servo Systems 2 17 Bit Increme
38. LS gt ON when positioning is Reverse n prohibited with SRI Y completed Alarm reset with 3Ry ON ALM RST 4 X tk Alarm reset 5 27 hit GONs T GON output y 6Ry 5 3 3 ip F d d T GON ON at levels above the setting Forward current limit ON with 6Ry ON Z pona current ah ipu r3 S RDY Servo ready output N CL Reverse current ON when ready Reverse current limit ON with 7Ry ON The time constant for the primary filter is 47us Photocoupler maximum output Operating voltage 30Vpc Operating current 50 FG Connect shield to connector shell Indicates twisted wire pairs 191 7 A 5 Oa gt i o lt gt 3 o 400V Sigma II Servo Systems Connector Terminal Block Converter Unit JUSP TA50P CN1 Length of cable supplied 19 69 500 10 50 pin connector plug MR 50RMD2 50 pin terminal block M3 5 screws Connector Terminal Block Converter Unit JUSP TA5OP cable included Mounting Hole Diagram 10 01 254 2 0 61 15 5 o 10 28 261 2 E terminal specifications see the following page 192 400V Sigma II Servo Systems JUSP TA50P Terminal Block Pin Numbers and Signal Names SGDH Servo Amplifier JUSP TA50P Terminal Block Unit d CN1 Pin Connector Terminal Block Signal _ Number sa P 1 5
39. e te a eh a e m D MEME 14 Y OO xo 0 N Mounting Hole Diagram 1 16 29 5 A bdo gt 8 g if 25 1 S gir TA 1 1 AX 1 s Das ami ea t i NE 1 coc TIO TIN 060 Sev 6061 7060 Approximate Mass 47 4lb 21 5kg 180 SGDH Servo Amplifiers i g 0 gt 42 42 2 42 gt st e JUSP RA16 T C Aa _ E tS 5 UUJULUJUUUJUUUUU JUUU 11 PROSSER HES Ai See NUN 7 gt tO BED SUS AES eA EER TEE T 8 g Y x la he UUUUUUUUUUUUUUUUUUUUUUUUUUUUUUU ATP RE SHAS NRE Oe Te N N UUUUUUUUUUUUUUUUUUUUUUUUUUUUUUU d
40. gearmotor Description Item Class Component E Hand held Digital Operator Panel BBBBB SERVOPACK ALARM DSPL RESET JUSP OP02A 1 and JZSP CMS00 1 Portable unit with 1m adapter cable for Sigma ll Software Interface Cable YS 42 Pre wired 2 0m cable with 9 pin connector Absolute Encoder Battery JZSP BA01 3 6V 1000mAh Lithium Battery JZSP BAO01 1 For SGDH 60 and above same as JZSP BAO1 with longer lead SigmaWin Software JZSP WP0001 Minimum Recommended System Requirements Pentuim 200 MHz 64MB RAM 200MB hard drive CDROM Drive RS 232 or RS 422 port Screen rsolution 800x600 w Windows Regenerative Unit for 6 0kW amplifier 880W Regenerative Unit for 7 5 11 and 15kW amplifiers 1760W JUSP RAO04 JUSP RAO05 These are general purpose regenerative units Order the Motion document 99004 for setup instructions for this unit Caution Proper set up is necessary to avoid equipment dam age DC Reactor for suppressing harmonics in the power supply For an alternate soluti For 200V SGDH 05A SGDH 08AE SGDH 10AE SGDH 15AE SGDH 20AE SGDH 30AE SGDH 50AE on specify the individual resistor part number RH500N25 OHMK in necessary series or paralle Limited Stock connec tion Refer t
41. 0 55 14 0 07 1 8 0 12 3 0 12 3 Some motor dimensions vary for motors with the optional shaft seal See p 19 for details Connector Specifications Specified Tolerances Dimension 5 Unit Diameter Tolerance Diameter Tolerance 0 2362 30 0000 0 0003 03150 10 0000 0 0004 1 181 40 0000 0 0008 6 000 0 000 0 008 7 8 000 30 000 0 009 30 000 40 000 0 021 Encoder Connection Motor Connection 5 Motor Pl Pin Output Wire Color g Pin Output Wire Color Phase U Red g Phase V White Orange Phase W Blue White Orange FG Frame Ground Green Yellow Light Blue 2 Plug 350779 1 AMP White Light ue Pin 350561 3 or 350690 3 Nos 1 to 3 ote Pins Number 3 and 4 are connectors in i used for 16 bit absolute encoder option only Grund pin 770210 1 NG 4 Plug 55100 0600 Molex Mating connector Mating connector Cap 350780 1 Socket 54280 0600 Socket 350570 3 or 350689 3 12 100 200V Single phase Sigma II Servo Systems 200W 0 27hp 400W 0 53hp 750W 1 01
42. 490 147 Note Em quoted allowable radial load is the value at a position 1 38in 35mm from the motor mounting T 1Some motor dimensions vary for motors with the optional shaft seal See p 38 for detai Specified Tolerances Dimension 5 Unit Diameter Tolerance Diameter Tolerance 0 7480 30 0000 0 0005 2 7559 30 0000 0 0014 19 000 10 000 0 013 70 000 30 000 0 035 Interconnection Connector Specifications Encoder Plug Incremental Terminal Specifications Motor Plug Motor Wiring Specifications Pin Number Description Description Battery 3 6V Red Data Blue Phase V White Data Blue White Phase W Blue Free Holding Brake Black B 17GMRCN087 5V Power Supply Red SRUC 06 MSCN020 Holding Brake Black Interconnectron OV Power Supply Black Interconnectron FG Frame Ground Green Yellow Connector Case FG Frame Ground Shield wire Mating Connector SPNAOGKFSDN169 Note Incremental Terminal pins number 1 and 2 are 9 connectors used for 16 bit absolute encoder option Interconnectron only Mating Connector SPNA17HFRON16900E3 Interconnectron 37 100 200V Single phase Sigma ll Servo Systems Dimension Modifications for Motors with Optional Shaft Seal SIOJOWOAISS 97 50 I I 2 76 70 I 0 39 10 4 33 110 0 41 10 5 efer to the following table for tolerances
43. A Opposite side width 0 67 17 LL LR LM 0 28 0 41 10 5 7 ug 0 14 3 5 0 0016 0 04 T THS 5 I 0 35 9 0 0 53 0 75 QK 13 19 Y OS 2 5 _ LLL LA i 3 h Serial encoder 7 0 0008 0 002 absolute or incremental Allowable Allowable Output Torque Rated Approx Type SGMPH 7 5 V W P soon 1 57 0 39 4 72 571 039 0 75 433 0 87 0 14 0 24 0 24 200 1500 421 Continu 3000 1455 110 n B m 843 i 40 10 120 145 10 19 110 22 3 5 6 6 2 0 4 77 ous 6 6 490 ian Note ELI nd allowable radial load is the value at a position 1 38in 35mm from the motor mounting surface 15 motor dimensions vary for motors with the optional shaft seal See p 38 for details Specified Tolerances Diameter Tolerance Diameter Tolerance 0 7480 0 0000 0 0005 13307 30 0000 0 0014 19 000 30 000 0 013 110 000 30 000 0 035 Motor Plug Motor Wiring Specifications Incremental Terminal Specifications Pin TUE Description Color PinNo Description Color Battery Phase U Red Battery 3 6V Phase V White Data Blue Phase W Blue D
44. SGDH 08AE S 5079 15 5 i i X5078 SGDH 05AE SGDH 08AE X5061 SGDH 10AE SGDH 15AE SGDH 20AE 5060 SGDH 30AE 5059 SGDH 50AE X5068 Larger size Consult factory amplifiers for availability 5 QE Oc No gt 2 109 100 200V Sigma II Servo System DC Reactor Dimensional Drawings Dimensions Approximate poena in mm Mass ode A E Ib kg 38 2 05 1 77 97 1 amp ey QN Mle RA oY me E wo QN Aa N BOGSORSRS w 2 5 gt 0 9 30 Cr 110 100 200V Sigma Servo Systems Typical Internal Connection Diagrams 0 5kW to 1 5kW 200V Models Three phase 200 to 250V 50 60Hz Three phase 200 to 230V 50 60Hz
45. Sigma II Servo System Product Catalog Supplement 7 YASKAWA World of Automation Solutions sigma Servo System Product Catalog Supplement Table of Contents Product E Yu DE D vore X 2 7 100 200V Single phase Sigma Il Servo System SGMAH Sigma ll Servo System 9 25 SGMPH Sigma ll Servo SyStelTiasi ues ia ioter tior eio Ae 27 43 SGMPH Sigma Il Gearmotor 45 54 SGDH Sigma Servo 95 123 200V Three phase Sigma II Servo System SGMGH Sigma Il Servo System 2 2 entente tna heit e tute 55 66 SGMGH Sigma ll Gearmotor System 67 81 SGMSH Sigma ll Servo 2 4 4 4 83 93 SGDH Sigma Servo 95 123 400V Three phase Sigma II Servo System SGMGH Sigma ll Servo 125 136 SGMSH UH Sigma ll Servo 137 149 SGMBH Sigma ll Servo 151 162 SGDH Sigma Servo 163 199 Product Overview Yaskawa has a full lineup of servomotors and amplifiers Choose the best drives for your needs and specifications Servomotor Description Applications Igh Speed Series
46. oN Values when the servomotor is combined with SGDH servo amplifier at an armature winding temperature of 20 C These characteristics can be obtained when the following heat sinks steel plates are used for cooling purposes Type to 1 15 75 x 15 75 x 0 79 in 400 x 400 x 20 mm Type 20 to 75 21 65 21 65 x 1 18 in 550 x 550 x 30 mm Type to 1 25 59 x 25 59 x 1 38 650 x 650 x 35 mm 56 200V Three phase Sigma ll Servo Systems Speed Torque Curves 200V SGMGH 13AL1A SGMGH 05AL A SGMGH 09AL 1A 3000 2000 3000 2000 A B 1000 0 8 10 0 5 10 15 20 0 10 20 30 L TORQUE m x 5 2 0 SPEED rpm 1000 0 0 2 4 6 N TORQUE 0 20 40 60 80 0 50 100 150 0 50 100 150 200 250 TORQUE Ib in TORQUE Ib in TORQUE lb in 5 20 5 44 0 3000 3000 3000 amp 2000 amp 2000 amp 2000 Q Q Q A B a 1000 1000 5 1000 0 0 0 0 10 20 30 40 0 10 20 30 40 50 0 20 40 60 80 TORQUE m TORQUE m TORQUE 0 100 200 300 0 100
47. www yaskawa com http www yaskawa de Yaskawa Electric America Inc May 2004 A World of Automation Solutions 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 G MI 990011I Sigmall Printed In U S A
48. 160 Use the table below to select pre wired cables for your SGMBH Sigma servomotor Cable Description C Recommended Power Cable SGMBH Fan Power Cable Motor Size kW Part Number Without Brake With Brake 4x6AWG Ax6AWG or 4AWG Comments 4x4AWG Ax4AWG 14AWG 4x2AWG 4x2AWG 2 14AWG 4x1AWG 12AWG Based 30 ambient temperature Pre wired Cable Selection Item Class Source Locally Encoder Cable incremental or absolute Encoder Cable Only for solder connections up to 50m Input Output 1CN Cable amp Transition Terminal lock Input Output 1CN Cable with Pigtail Leads Input Output 1CN Cable Cable with Female D Sub output Connector BIE LILI A BICE LILI A Use following key to specify cable length last digit of part 03 3m 05 5m 10 10m 15 15m 20 20m J ZSP CMP 22 O1D A Use following key to specify cable length last digit of part 03 3m 05 5m 10 10m standard 15 15m 20 20m 75 29 __ Use following key tospecify cable length last digit of part 20 20m 50 50m JUSP TASOP 35mm DIN rail mountable the cable length is 0 5m JZSP CKIO1 EIA Use following key to specify cable length last digit of part E 1m standard 2 2m 3 3m JZSP CKIOD LILI Use following key to
49. 2 76 70 0 63 16 Tolerances for diameters LB and S are the same as those for motors without shaft seals Torque Reduction Factor 2 Selaa ame ppec wi with a seal Servo Motor Model 5 70 80 Factor 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 20 100 200V Single phase Sigma ll Servo Systems Selecting Your SGMAH Sigma Il Servo System First select the Sigma servomotor suited for your application using SigmaSize the Yaskawa servomotor sizing software available at no charge Request SigmaSize software via e mail at literature yaskawa com 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 Digital Operator E SGMAH Servomotors Optional Holding Brake i e _ Shaft Keyway For Monitor D SGMAH md Servomotor lt 3CN Connector A Peripheral SGDH Servo Encoder D Shaft Seal Signal Amplifier I Cable
50. 258 SHI6SA GA30AC 92 713 1667 SH20SA GA30AC j 187 174 54 630 217 717 051 059 024 0 63 0 39 024 SH28SA GA30AC 200 442 5 90 160 55 182 Q13 3 15 6 16 10 5 SH40SA GA30AC 2 TO O 2 o 73 200V Three phase Sigma ll Servo Systems e Precision SGMGH Gearmotors Continued GEARMOTOR LL SHO4SA GA44AC 17 24 438 18 76 476 5 19 96 507 22 87 4 118 581 30 Note LC1 may be greater than LC despite the depiction on the gearmotor drawing For Precision SH Gearmotors only 4 x thru holes at a depth of dimension MD set 90 apart Specified Tolerances for Precision SH Gearmotor Models Dimension PIDE Unit Diameter Tolerance Diameter Tolerance Tolerance i 0 00059 0 00008 2 15591 0 0 00114 0 1685 0 23622 1 0 1 25984 1 57480 0 00071 0 00008 3 54331 0 00047 0 00134 0 39370 0 00000 0 00142 2 16535 2 95276 0 00083 40 00008 5 11811 6 29921 7 08661 0 00055 0 00154 0 47244 0 62992 0 00000 0 00169 3 34646 0 00098 0 00012 1 81402 0 00059 0 00173 0 787400 0 86614 40 00000 0 00205 40 015 40 002 10 0 010 0 029 40 018 40 002 90 0 012 0 034 40 021 40 002 130 160 180 0 014 0 039 40 025 40 003 200 0 015 0 044 G o m 3
51. 31 53lb 14 3kg Mating connectors See page 167 30 171 400V Sigma II Servo Systems e SGDH 2BDE 400V Three phase 22kW 18 07 459 Front cover Cooling fan o U _ 14 56 370 ja flow RS mU 4 8 Control circuit 0 connector vt 8 e ee O LUN 204 panog 555 1 elelele elelelele HU 1 n N eel moles 14 56 870 6 61 152 2 X Ground terminal 12 01 305 M8 Main circuit terminal 2 x M8 screws 13 70 348 Mounting Hole Diagram Er OF _ 2 Note Dimensions are for positioning of application 1 o module Unlike other Sigma amplifiers the male connector is inset into the amplifier so that it does not protrude past the outside edge 4 M8 Mounting holes I I N m Approximate Mass 88 210 40kg Mating connectors See page 167 4 s n oka 0 98 12 60 1820 10 98 i 25 25 o Q o lt gt 3 bpd O 172 400V Sigma II Servo Systems e SGDH 3ZDE 400V Three phase 30kW
52. 348 Mounting Hole Diagram Note Dimensions are for positioning of application module Unlike other Sigma II amplifiers the male connector is inset into the amplifier so that it does 3 N not protrude past the outside edge i us Mounting holes 5 N 1 e Approximate Mass 132 3lb 60kg o Mating connectors See page 167 lt 3 Jg A E 0 98 18 37 450 0 98 25 25 e 174 400V Sigma II Servo Systems SGDH 4EDE 400V Three phase 45kW SGDH 5EDE 400V Three phase 55kW Front cover Cooling fan cO LO LO A N flow Q T T T T r DX 7771 1 E E E 5 5 Ir oo 22 SIX Control circuit Connector for operator connector 5 59 142 D 3CN AE 8 8 1 oe 71 1 T 21 qt 65 550 6 87 174 5 gt in ere terminal p 12 07 306 5 M10 Main circuit terminal gt x M8 Screws 13 70 348 Mounting Hole Diagram Note Dimensions are for positioning of application module Unlike other Sigma Il amplifiers the male 1
53. 5 5 8 12 AWG HIV 0 005 3 5 6 AWG HIV Servomotor connection terminals U V W 10 AWG 0 022 14 HIV 0 009 5 5 6 AWG 8 AWG HIV 0 012 81 0022 Control power supply terminals L1C L2C 16 AWG HIV 0 002 1 25 Control NO signal connector Twisted pair or shielded twisted pair wires PG signal connector CN2 Core wire at least 28 AWG 0 0002 0 12 tinned annealed copper twisted wires See page 122 for details Finished cable dimensions maximum 0 63in 16mm for CN1 and 0 27 6 8mm for CN2 Ground terminal External Terminal Name Main circuit power input terminals Symbol L1 L2 L3 Three phase SGDH Terminal 14 AWG HIV 0 003 2 0 Wire Size AWG in mm 1AAE 1EAE 4 AWG HIV 0 022 14 Servomotor connection terminals U V W Control power supply terminals L1C L2C 16 AWG HIV 0 002 1 25 Control IO signal connector CN1 Twisted pair or shielded twisted pair wires PG signal connector CN2 Core wire at least 28 AWG 0 0002 0 12 tinned annealed copper twisted wires See page 122 for details Finished cable dimensions maximum 0 63in 16mm for CN1 and 0 27 6 8mm for CN2 Ground terminal deteriorate 14 AWG HIV 0 003 2 0 Wire sizes were selected for three cables per bundle at 40 C ambient temperature with the rated cu
54. Amphenol S 20 51039 and many others 23 100 200V Single phase Sigma ll Servo Systems Connector Selection Use the table below to select mating connectors or kits for your SGMAH Sigma ll servomotor Connector Description D n Part Number Comments Motor Power Mating Connector JZSP CMM9 1 without Brake o LET 60 or 7 These connector kits include pin and socket Requires use of Amp Crimp Tool 90548 1 See below Motor Power Mating Connector JZSP CMM9 2 with Brake Crimp tool for Motor Limited Amp Crimp Tool 90548 1 Power Connector Stock JZSP CMMO LI 2CN Amplifier Mating Connector JZSP CMP9 1 Motor Encoder Mating Connector JZSP CMP9 2 1CN Mating JZSP CKI9 for SGDH I O Connector 50 pin 3CN Peripheral Mating Connector 5CN Analog Monitor Connector YSC 1 DE9404559 24 100 200V Single phase Sigma ll Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for your SGMAH Sigma ll servomotor Component Description E Part Number Item Class SGMAH Servomotors Hand held Digital ud rU Portable unit with 1m adapter cable Operator Panel wvsen JZSP CMso00 1_ for Sigma ll Absolute Encoder Battery JZSP BAO1 3 6V 1000mAh
55. E B Encoder side Motor side a Connector D Connector D 1CN 2CN JJ Encoder Cable C J I O Signal Motor Cable C Specify a technical manual if it is needed on your servo system purchase order Sigma II Series Servo System User s Manual YEA SIA S800 32 2 Manual is provided at no charge with a purchase order Regenerative Unit E but it must be requested Model Number Designation SGMAH 01 AAF4 1 L Accessories Sigma II Servomotor Type 1 Standard Rated Output C Standard with 24Vpc Brake 30W 0 04hp S Standard with Shaft Seal 50W 0 07hp E Standard with Brake amp Shaft S eal 01 100W 0 13hp Shaft S pecifications 02 200W 0 25hp 4 Straight Shaft with Keyway 04 400W 0 5hp 2 Straight Shaft without Keyway 08 750W 1hp Revision Level Power Supply F Standard e 200V N NEMA flange 200W 400W amp 800W B 100V only without holding brake Encoder S pecifications A 13 bit 2048 x 4 Incremental Encoder l 16 bit 16384 x 4 Absolute Encoder Keyways shaft seals and holding brakes not available on motors with NEMA flanges revision level N 21 100 200V Single phase Sigma ll Servo Systems Servomotor amp Amplifier Selection Use the table below to select the recommended SGMAH Sigma servomotor and amplifier Refer to the motor model designation on the previous page specifying the
56. Peak Torque in Ib Rated Torque in Ib Motor Inertia in Ib s X 103 Motor MODEL A SGMSH 10ACA61 SGMSH 10ACA6C Amplifier MODEL Analog Digital Input SGDH SGMSH 15ACA61 SGMSH 15ACA6C SGMSH 20ACA61 SGMSH 20ACA6C SGMSH 30ACA61 SGMSH 30ACA6C SGMSH 40ACA61 SGMSH 40ACA6C SGMSH 50ACA61 SGMSH 50ACA6C For technical information request Yaskawa manual number Y EA SIA S 800 32 2 For more detailed SGDH amplifier specifications and dimensions refer to pages 99 112 Motor amp Amplifier Item Class o o 89 Servomotors 200V Three phase Sigma Servo Systems Pre wired Cable Selection Use the table below to select pre wired cables for your SGMSH Sigma ll servomotor Part Number Cable Description C Comments without Brake with Brake B1BE OD A Use the following key to specify needed cable length last two digits of Power Cable with L 2 the number type Connectors f 03 3m i 2 05 5m IP67 10 10m standard 15 15m B3BE O0 A 20 20 cables are available in five engths Use two digits in the part Encoder Cable number s last place incremental or w 03 3m absolute i JZSP CMP02 LILI B h IP67 10 29 standard 20 20m Encoder Cable for applications up to 20m FR RMCT SB These cables are availab
57. SGMAH 04AAF41 SGMAH 04AAF4C SGMAH 01BAF21 SGMAH 01BAF2C SGMAH 02BAN21 SGMAH 04AAN21 Motor amp Amplifier Item Class Motor power and encoder cables are factory pre wired with approximately 13 lead length with amplifier mating connectors Use the tables on the fo lowing pages to specify mating connectors or pre wired cables available in vari For technical information request Yaskawa manual number Y EA SIA S 800 32 2 For more detailed SGDH amplifier specifications and dimensions refer to pages 95 to 110 NEMA 23 adapter flange see Peripheral Device Selection NEMA 23 flange and pilot see Dimensions in inches mm ee NEMA 34 flange and pilot see Dimensions in inches mm 22 ous lengths 100 200V Single phase Sigma II Servo Systems Pre wired Cable Selection Use the table below to select pre wired cables for your SGMAH Sigma ll servomotor Cable Description C Part Number Comments SGMAH Servomotors Power Cable without Brake B These cables are available in five lengths Use two dig Stock Power Cable with its in the part number s last Brake i place ee JZSP CMM10 LILI A pm 05 5m Shielded Power 10 10m standard Cable without zug BAHCE LILI A 15 15m Limited Brake sa a 20 20m Fower
58. SGMPH Dimensions SGMPH Selection Ordering Information SGDH Ratings amp Specifications SGDH Dimensions 25 5 09 nz o Design Features 1 Compact The length is about 1 2 of conventional motors Enhanced withstand load since motor output shaft bearing size is upgraded Up to 5000rpm maximum speed 2 Enhanced Environmental Resistance Water resistance not including the shaft 67 standard Optional shaft seals available Reinforced lead out cable access 3 Encoders reduced wiring serial encoder 13 bit 2 048ppr x 4 incremental encoder standard 16 bit 16 384ppr x 4 absolute encoder option 4 Application Emphasis Chip mounters e PCB drilling machines e Robots Conveyor Packaging 5 Certified International Standards UL cUL recognized File 4 E165827 CE compliance 27 100 200V Single phase Sigma II Servo Systems Servomotor Ratings and Specifications Time Rating Continuous Enclosure Totally enclosed self cooled Excitation Permanent magnet Insulation Class B Ambient Temperature 0 to 402C Drive Method Direct drive Vibration 15um or less Ambient Humidity 20 to 80 Mounting Flange mounted Withstand Voltage 1500Va non condensing Applicable Encoder Insulation Resistance 500Vpc Rated Rotation Speed 3000rpm 13 bit Incremental and 10MQ or more Maximum Rotation Speed 5000rpm 16 bit Absolute encoder Rated Rated Instantaneous Peak
59. SGMSH Servomotor Product Overview Three phase 0 5kW to 55kW 480VAC Power Supply Three phase 480VAC Molded case Circuit AA A Breaker MCCB Lu Em Protects the power 4 Arii ond line by shutting EE the circuit OFF Digital Operator Personal Molded case Type JUSP OP02A 1 Computer Circuit Breaker Cable for connecting to amplifier Noise Filter optional required Used to eliminate external noise from the power line Noise Filter T Host Controller Connect the SGDH servo amplifier to BB Yaskawa host controller or one made by other vendors Analog input pulse train input available HH Turns the servo H WV 4 MP920 Install a surge suppressor on the magnetic contactor Magnetic Contactor EY f i Control Power Supply SGDH Servo Amplifier Type SGDH 05DE to 5EDE MN SGMGH Servomotor Product Overview Selecting Your Sigma Servo 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 Digital Operator E EJ
60. go Nat Rated Output Torque Torque Power Rate SGMPH Current Current Acceleration W hp oz in Nem oz Nem ag A ms rad s kW s 100 0 13 0 27 400 0 54 750 1 01 1500 2 01 400 0 54 180 127 542 3 82 2 6 8 0 38500 49 0 Values are calculated when the servomotor is combined with an SGDH servo amplifier When combined with an SGDH 04FE o 9 o lt 3 100Vag Moment of Inertia Holding Brake at 20 C Allowable Coil Rated Load MOTORS Motor without Brake Motor with Brake Capacity Resistance Current Inertia SGMPH oz ein s x103 KG m2x10 oz in 52 103 KG m2x104 Q A KG m2x10 Allowable load inertia shows the range requiring no exterior regenerative unit When these values are exceeded applica tion may be restricted or a regenerative unit may be required Values are calculated when the servomotor is combined with an SGDH servo amplifier Servomotor Holding Brake MOTORS gaps Holding Torque 28 100 200V Single phase Sigma II Servo Systems Speed Torque Curves
61. lithium battery Pre wired 2 0m cable with 9 pin connector Minimum Recommended System Requirements Pentuim 200 MHz 64MB RAM 200MB hard drive CDROM Drive RS 232 or RS 422 port Screen rsolution 800x600 w 256 colors and Windows Windows Software Interface Cable SigmaWin Software JZSP WP0001 For 200V SGDH A3AE SGDH A5AE SGDH 01AE X5071 SGDH 02AE X5070 DC Reactor SGDH 04AE X5069 Limited for suppressing harmonics SGDH 08AE X5061 Sto the power supply SGDH 08AE S X5079 oc For 100V SGDH A3BE SGDH A5BE SGDH 01BE X5063 SGDH 02BE X5062 This is a general purpose T _ regenerative unit MI External Regener B ine 01 02 RH120 500hmJ i Caution Proper set up is neces sary to avoid equipment damage NEMA Flange Adapter SGM N23 motors only Complies to NEMA 23 mounting standard Refer to the SGDH servo amplifier section of this catalog for additional specifications and the Sigma II Series Servo System User s Manual Y EA SIA S800 32 2 for proper resistor sizing guidelines 25 100 200V Single phase Sigma II Servo Systems NOTES o So 50 gt or o 7 26 100 200V Single phase Sigma II Servo Systems Flat Series SGMPH Servomotors with incremental Absolute Encoder Rated Output 100W 200W 400W 750W 1500W For Additional Information Page s SGMPH Ratings amp Specifications SGMPH Speed Torque Curves
62. required cable length last two dig its of the part number D50 0 5m 01 1m standard 02 2m 03 3m Es Standard cable lengths are Stock items non standard cable lengths are Limited Stock items 50PinFemale D Sub output connector mates to customer supplied third party terminal block 0 Wago 289 449 Weidmuller 919658 Phoenix 2283647 Amphenol S ine 20 51039 and many others 146 Item Class Stock inting 400V Three phase Sigma Servo Systems Connector Selection Use the table below to select mating connectors for your SGMSH UH Sigma ll servomotor su cud i Part Number Comments MS3106B18 10S Straight type connector _ MS3108B18 10S L type connector MS Connector for 7 MS3057 10A Cable clamp Motor Power Cable 53106 22 225 Straight type connector I MS3108B22 22S L type connector Num MS3057 12A Cable clamp MS Connector for E z MS3108A 10SL 3S L type connector Brake Power Cable MS3057 4A Cable clamp MS3106B20 29S Straight type connector MS3108B20 29S L type connector MS Connector for Encoder Cable incremental or eae encoder lo p MS3057 12A Cable clamp SGMSH UH Servomotors JZSP CKI9 2CN Encoder Mating Connector JZSP CMP9 1 D aeu 0 3CN Peripheral Mating Connector YSC 1 5CN Connector and 1m Cable with Pig DE9404559 tails Choose eith
63. uous 245 68 0 53 127 1 Note quoted allowable radial load is the value ata position 0 98in 25mm from the motor mounting surface 15 motor dimensions vary for motors with the optional shaft seal See p 38 for details Specified Tolerances Dimension 5 05512 30 0000 0 0004 2 7559 30 0000 0 0012 14 000 30 000 0 011 70 000 30 000 0 030 Interconnection Connector Specifications See p 33 35 100 200V Single phase Sigma Servo Systems 750W 1 01 11 81 300 1 18 30 Encoder cable Encoder plug UL20276 024 ON da SRUC 17GMRCNO87 Motor Plug SRUC 06 MSCN236 1181 m 118 30 Cross section Y Y Hexagonal nut 0 0016 0 04 A al 005 j 028 e meas 2 0 35 90 3 Y lt 5 5 3 22 d Y Serial encoder Magnetic brake Non e citation operation 4 0 0008 0 002 Absolute or Incremental DC power supply 2 A Ky T Rated A Allowable Allowable Voltage Output 28 Type SGMPH ELZ 5 dLB With in lb Qk Me Nom omnc 4 84 2 63 1 57 0 39 472 5 71 0 39 0 63 433 0 87 0 12 0 20 750 2115 Contin jo 126 881 330 63 123 66 7 40 10 120 145 10 16 110 Q2 3 6 1 01 2 39 uous 5 7 92 147 Note The quoted allowable
64. 05DE 10DE 15DE 20DE 30DE T L1 L2 L3 Main circuit power input terminals Mud P P Three phase 16 AWG HIV 0 0019 1 25 14 AWG 0 003 2 0 Servomotor connection terminals U V W Control power supply terminals L1C L2C 16 AWG HIV 0 0019 1 25 for400V Control NO signal connector CN1 Twisted pair or shielded twisted pair wires Core wire at least 28 AWG 0 0002 0 12 tinned annealed copper twisted wires See page 198 for details PG signal connector CN2 Finished cable dimensions maximum 0 63 16mm for and 0 27 6 8mm for Ground terminal 14 AWG HIV 0 003 2 0 SGDH Terminal Wire Size AWG in mm External Terminal Name Symbol 50DE 60DE 75DE 1ADE 1EDE T Main circuit power input terminals ueris m HIV 3 5 0 005 0 000 0 012 0 022 2 HIV 3 5 HIV 5 5 HIV 5 5 HIV 8 HIV 14 5 Servomotor connection terminals V W 0 005 0 009 0 009 0 012 0 022 gt Control power supply terminals L1C L2C 16 AWG HIV 0 0019 1 25 E z for 400V Control NO signal connector CN1 Twisted pair or shielded twisted pair wires Core wire at least 28 AWG 0 0002 0 12 tinned annealed E copper twisted wires See page 198 for details PG signal connector CN2 Finished cable dimensions maximum 0 63 16mm for o and 0 27 6 8mm for Ground terminal 14 AWG HIV 0 003 2 0 196 400V Sigma II Servo Systems TNT
65. 1000 0 0 0 05 1 15 2 0 1 2 3 4 TORQUE N X 0 100 200 300 2 When combined with SGDH 04 FE amp TORQUE oz X in 11 100 200V Single phase Sigma ll Servo Systems Dimensions in inches mm 1 13 Bit Incremental or 16 Bit Absolute Encoder without Brake o EM 30W 0 04 50W 0 07hp 100W 0 13hp 60 11 81 300 1 18 30 J Encoder plug 3 ENCODER CABLE 40 24 6 7 dZ 55100 0600 o UL20276 E F H or MOTOR CABLE 40 28 7 H U a OLIBIS or UL3535 5 1 38 35 m 2 otor Plug 350779 1 p 7 11 81 300 1 18 30 L 0 0016 0 04 A T gt A a Cross section Y Y L 450 0016 0 04 gt LL _ 9 98 25 _ T LM 10 30 7 5 lt 157 40 0 098 2 5 0 85 21 5 0 60 15 2 0160 SI 0 20 5 Bhi gt 0 315 F8 0 1 1 Y h 2 20 17 4 3 7 j 7 d 7 Y e N Y Y z H 1 81 46 7 0 0008 0 002 Approximate Allowable Allowable Mass Radial Load Thrust Load Ib kg lb N Ib N Without Keyway 0 55 14 10 047 1 2 0 079 2 0 079 2 Without Keyway 0 55 14 10 047 1 2 0 079 2 0 079 2 Without Keyway
66. 1531 3820 94 188 175 756 68 200V Three phase Sigma ll Servo Systems Rated Peak Maximum Torque Torque Speed in Ib rpm SH20SA GA20AC 1913 4425 150 SH28SA GA20AC 2679 4425 107 SH40SA GA20AC 3827 9550 75 SH50SA GA20AC 4783 9735 60 SH04SA GA30AC SH05SA GA30AC SH07SA GA30AC SH10SA GA30AC SH16SA GA30AC SH20SA GA30AC SH28SA GA30AC SH40SA GA30AC SH04SA GA44AC SH05SA GA44AC SH07SA GA44AC GEARMOTOR Part Number SH10SA GA44AC SH16SA GA44AC rs SH20SA GA44AC 2 SHO4SA GAB5AC SHO5SA GA55AC SHO7SA GA55AG o SH10SA GA55AC SHO4SA GA75AC 1648 4086 375 750 625 824 1899 SH05SA GA75AC 2060 5108 300 600 500 1030 2374 SH07SA GA75AC 2884 7151 214 429 857 1442 3323 SH10SA GA75AC 4121 7789 150 300 250 2060 4748 Torque A Continuous Duty Peak Torque Intermittent Duty T2 Rated Torque T1 Speed Rated Speed N1 I Maximum Speed 69 200V Three phase Sigma Servo Systems Gearmotor Mechanical Ratings Gearhead Gearhead Gearhead Gearhead G Backlash Maximum Radial Load Maximum Axial Load Inertia PUE arc min Ibr Ib s Ib Standard SGMGH Gearmotors 540 428 1035 1687 540 SG10SA GA09AC 1035 SG25SA GA09AC 1687 Approx GEARMOTOR Part Number SG05SA GA05AC SG10SA GA05AC 1035 SG25SA GA13AC 168
67. 16442 SG10SA PE04AA 109 61 283 00 56255 04 268 38 708 00 SG50SA PE04AA 536 75 1610 25 0 000052 0 00025 0 00025 0 0016 SG1ASA PE04AA 1073 50 2832 00 0 0047 d Normal 50055 A PE08AA 102 34 306 04 0 0016 leadtine SG10SA PE08AA 204 67 612 07 3 4 56255 A PEOBAA 501 13 1498 63 0 0049 weeks for assembly SG50SA PEQ8AA 1002 25 2997 25 0 0047 56055 15 205 16 614 50 SG10SA PE15AA 410 31 1228 99 SG25S A PE15AA 1004 63 3009 13 0 0047 SG50SA PE15AA 2009 25 3540 00 0 0047 56055 01 13 67 40 93 56105 01 21 34 81 84 SG25S 66 95 200 39 SG50SA PEQ1BA 133 89 283 00 SG1ASA PEQ1BA 267 78 637 00 0 0016 56055 02 21 34 81 84 SG10SA PE02BA 54 68 163 69 0 00025 SG25SA PE02BA 133 89 283 00 SG50SA PE02BA 267 78 708 00 0 0016 SG1ASA PE02BA 535 56 1593 00 0 0049 SGMPH 0 0048 E 6 o 9 0 000052 0 00025 Notes 24Vpc Brakes for SGMPH Sigma II gearmotors are standard Contacta local source for 24Vpc power supplies Use the tables on the following page to specify mating connectors or pre wired cables in different lengths For technical information request Yaskawa technical bulletin number 5 5 800 16 16 and Yaskawa manual number 5 5800 15 51 Q 3
68. 200 300 400 0 200 400 600 800 TORQUE in TORQUE Ib in TORQUE Ib in SGMGH 55A A SGMGH 75AL A SGMGH 1AAD A 3000 3000 3000 amp 2000 2000 2000 m m 02 1000 2 1000 amp 4000L A o o N B 0 0 0 20 40 60 80 100 0 50 100 150 0 50 100 150 200 TORQUE N m i TORQUE N TORQUE 200 400 600 800 0 500 1000 1500 0 500 1000 1500 TORQUE lb in TORQUE Ib in TORQUE Ib in SGMGH 1EALIA 3000 amp 2000 m A CONTINUOUS DUTY ZONE 1000 A B DUTY ZONE 0 0 50 100 150 200 250 TORQUE N m 0 500 1000 1500 2000 TORQUE Ib in 57 200V Three phase Sigma Servo Systems Dimensions in inches mm 1 17 Bit Incremental Absolute Encoder 110 0016 A 0 0 0016 A SJ0 OUIOAJOS Flange Dimensions ft End Dimension Allowab Approximate ird Nees Load LC LE LG QK W T Ib kg 16 N 4 33 110 Note 1 SGMGH 05ALIA to 44 do not contain eyebolts 2 Dimensions are the same when using either incremental or absolute encoders with or without optional shaft seal 3 Tolerances on the dimensions of flange type LB and of shaft extensions S are based on JIS J apanese Industrial Standard B0401 Li
69. 3000rpm S000rpm Large torque required at low inertia o o fe mm 9 L 2 z ES ag 8 SGMPH Flat Series a or T ROR Inlays Short L length Good for m installation in compact x 5 T D E SGMGH General Purpose m SOD max High speed rotation required without load F 2 LL 8 rp 2 des o S E 7 o 29 E 8 SGMSH High Speed Series 9 3000rpm S000rpm max High torque required at low D S inertia o a S gt gt ic a SGMUH High Speed Series m 6000rpm max High torque at 6000rpm n SGMBH Large kW gt 2000 max 5 c o Tf E s 5 5 G E 9 9 k Product Overview Servomotor Servo Amplifier Type SGDH Peak Torque Capaciy singe i ni TWEE phase Thre prase 30W 50W A5BE A5AE upto 100W 01BE 01AE eee 1 0100z 200W 02BE 02AE 400W 04AE 750W 08AE S E 100W 01BE Es 200W 02BE 02AE 202707 SUD 04AE 29 97 750W 08AE S 08AE 1500W 15AE S 15AE 0 45kW 05 0 85kW 10AE 10DE 1 3kW 15AE 15DE 1 8kW 20AE 20DE up to 2 9kW
70. 30AE 30DE 57 97 1 988in Ib 4 In 5 5kW 60AE 60DE 7 5kW 75AE 75DE 11kW 1AAE 1ADE 15kW 1EAE 1EDE 1 0kW 10AE 10DE 1 5kW 15 15DE up to 2 0kW 20AE 20DE E 422in Ib 3 0kW 30AE 300E 4 0kW 50AE 50DE 5 0kW 50AE 50DE up to 1 0 kW 10DE 139 190in Ib 3 0kW m 300E 153 22kW 2BDE 30kW Z m 3ZDE Ib ae 3GDE 1 45kw LI S 4EDE 55kW xs Product Overview Single phase 30W to 1500W 230VAC Power Supply Molded case Circuit Breaker Protects the power Digital Operator Personal line by shutting Molded case Type JUSP OP02A 1 Computer the circuit OFF Circuit Breaker when overcurrent Cable for is detected connecting to servo amplifier required Used to eliminate external noise Yaskawa host controller or one made by from the power line 4 i other vendors Analog input pulse train input available Contactor Noise E Filter Wass Host Controller Noise Filter optional Connect the SGDH servo amplifier to a LET ims am Contactor ON and OFF Install a surge suppressor on the magnetic contactor
71. 5 2 EM 9 1213 5 gt Fy gt lt Y a f A 1 Y Y Qe A Holding brake de energized operation 4 0 0008 0 02 DC Power supply 24V Brake holding torque Motor rated torque Serial encoder Approximate AUREL Type i yp MEGS Radial SGMAH t Load Ib kg b N O2LILIFAC O4ALIF4C 08 4 16 motor dimensions vary for motors with the optional shaft seal See p 20 for details Specified Tolerances Dimension 5 Unit Diameter Tolerance Diameter Tolerance 0 5512 0 0000 0 0004 1 9685 0 0 0010 0 6299 0 0000 0 0004 2 7558 0 0 0012 mm 14 000 0 000 0 011 50 000 0 0 025 16 000 0 000 0 011 70 00 0 0 03 15 100 200V Single phase Sigma II Servo Systems e 200W 0 27hp 400W 0 54hp with NEMA 23 Flange Pilot Encoder cable 450 24 6 UL20276 11 85 300 1 18 30 pen Encoder plug 8 55100 0600 42 L u Motor cable 60 UL1818 UL3534 or 1 38 35 Motor plug 35 UL3535 350779 1 eI FEE a 11 85 300 1 18 30 0 0016 0 04 0 0016 0 04 0 51 13 5 L __ LR 132035 j liM 1006 9 0 79 2b ST j Serial encoder Allowable Allowable Radial Thrust Load Load Ib N Ib N Approximate Mass Ib kg 020AN21 2 56 2 43 1 1 04 21 3 6
72. 64 COE A 9 64 060 Sev 60 61 060 co A c e TOT E 8o 5 2 LO E 59 5 um 25 2 beds gt 9 9 gt EE E u y lt 179 YW z e 0 gt 42 E 00 c 00 gt st JUSP RA15 E g P A annnnananannananananannnnanannn c So a ee _ gt 8 S DADA hen dp S B 9 Tie Se a RON E 2 UUUUUUUUUUUUUUUUUUUUUUUUUUUUUUU x annnannaannannaannaanannnannannnn N oll UUUUUUUUUUUUUUUUUUUUUUUUUUUUUUU 2150 1 v Y 8 60 gt 00S 69 61 e e DEDERE o5 895 1 90 Bo id om r UUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUU
73. 87 22 2 36 60 8 58 218 2 40 18 64 5 V 40 0 18 4 5 1 65 42 Lead wire L 2 17 72 450 Lead wire L 11 81 300 Rated power 300W Rated power 70W Resistance value 25Q Resistance value 50Q e Regenerative Resistor Specifications J 796 10 260PPM C 200 or higher AR 2000V applied for one minute 0 1 0 052 20MQ or higher at 500VDC AR with ten times the rated power applied for five seconds 2 0 05Q AR in 1000 hours at rated power 90 minutes ON and 30 minutes OFF 5 0 05Q Fire does not occur with 10 times the rated power applied for one minute 25 to 150 C Tolerance Temperature Characteristics Withstand Voltage Insulation Resistance Short term Overload Service Life Inflammability Ambient Temperature Range o O I o lt gt 3 D o 108 100 200V Sigma Servo Systems Control of Harmonic Frequency in the Power Supply Circuit If harmonic frequency control is needed in the power supply connect a DC reactor between termi nals 1 and 2 on the servo amplifier s main circuit Use the following table as a guide for selec tion of the appropriate reactor Reactor Specifications Applicable Servo Amplifier Impedance Rated Current Reactor Model mH SGDH A3BE SGDH ABBE SGDH 01BE SGDH 02BE SGDH A3AE SGDH ABAE X5071 SGDH 02AE U X5070 SGDH 04AE X5069
74. Connector information is not available from Molex or Yaskawa For literature requests or Molex support for the 2CN connector the Chicago area distributor is Ask for the Yaskawa inside slaes representative 1 800 CALLTTI 1 800 225 5884 Schaffner EMC Inc 52 Mayfield Ave Edison New Jersey 08837 Phone 1 800 367 5566 732 225 9533 Fax 732 225 4789 http www shaffner com TDK Corporation of America 1600 Feehanville Dr Mount Prospect Illinois 60056 Phone 847 803 6100 Fax 847 803 6296 Tokin America 32950 Alvarado Niles Rd Suite 500 Union City California 94507 Phone 510 324 4110 Fax 510 324 1762 http www tokin com o Oc No gt p 2 123 100 200V Sigma ll Servo System NOTES o lt lt gt 3 17 124 400V Three phase Sigma II Servo Systems General Purpose Servomotors with incremental Absolute Encoder Rated Output 0 45kW 0 85kW 1 3kW 1 8kW 2 9kW 4 4kW 5 5kW 7 5kW 11kW 15kW he SE 5 9 o For Additional Information Page s SGMGH Ratings amp Specifications SGMGH Speed Torque Curves SGMGH Dimensions SGMGH Selection Ordering Information SGDH 400V Ratings amp Specifications SGDH Dimensions Design Features 1 Compact e Small sized motor Compatible with previous generation G series motors Ten types of rated
75. Gearmotor Series Li eset SG Standard 10 arc minute 2414 Brake SH Precision 6 arc minute Blank Standard YEA motor stock Reduction Ratio 04 4 1 25 25 1 Encoder Specifications D J 16 d 17 Bit Incremental Encoder n 0150 501 2 17 Bit Absolute Encoder 16 16 170 70 P 20 20 1 ee DN Construction Motor Output Standard d qeu 09 0 85kW 1 14hp Orientation 13 1 3kW 1 7hp A ForSG Standard 20 1 8kW 2 4hp For SH Mounted Horizontally 30 2 9kW 5910 222212 Horizontally Shaft facing UP 44 4 4kW 6 0ho Motor Series 55 55k 7 3hp G SGMGH 15 7 5kW 10 0hp Design Revision SGMGH 1500rpm 200V Three phase Sigma Servo Systems amp Amplifier Selection Use this table below to select the appropriate SGMGH Sigma II gearmotor and amplifier See notes on page 77 Rated Peak Maximum nee Amplifier Motor and Description Torque Torque Speed Model Number A MODEL Amplifier in Ib in rpm SGDH B Class Standard SGMGH Gearmotors 600 05 SA 300 SG10SA GA05AC 120 SG25SA GA05AC 60 SG50SA GA05AC 600 300 SG10SA GA09AC 120 SG25SA GA09AC 60 SG50SA GA09AC 600 05SA GA13A 300 SG10SA GA13AC 120 251 SG25SA GA13AC Amplifier 600 5 1 SGO5SA GA20AC Stock 600 5 1 600 5 1 600 5 1 600 5 1 Precision earmotors 0 4 H04 600 5 1 SH05SLI GA05AC 429 SH07SLI GA05AC 200V 3 phase 300 SH10SLI GA05AC 17 bit 18
76. II Servo Systems 5 5 to 15kW 7 4 to 20hp CNN am a eama o S t 50 3 er 0100 3 94 B e 4 elZ _ Zi 0 0016 Flange Dimensions Shaft End Dimension Allowable Allowable Radial Thrust Load Load LB LC LE LG by N tb N 6 85 11 42 9 09 174 290 231 4 92 5 91 45 109 9 76 1433 1201 150 114 3 180 248 364 305 10 16 14 25 1240 258 362 315 559 6 61 i 181 866 13 50 19 57 16 34 168 200 220 343 497 415 Note 1 Dimensions are the same when using either incremental or absolute encoders with or without optional shaft seal 2 Tolerances on the dimensions of flange type LB and of shaft extensions S are based on IS J apanese Industrial Standard B0401 Limits and Fits for Engineering Specified Tolerances Dimension 5 Unit Diameter Tolerance Diameter Tolerance 1 6535 0 0000 0 0006 4 5000 30 0000 0 0010 2 1700 30 001240 0004 7 8700 0 0000 0 0018 42 000 0 000 0 016 114 300 0 000 0 025 55 000 0 030 0 011 200 000 0 0000 0 046 we aa Connector Wiring on the Brake Motor Side Connector Wiring on the Power Motor Side Brake T
77. Input Output 1CN Cable Cable with Female D Sub output Con nector JZSP CMP02 O10 B Cables are available in five lengths Use two digits in the part number s last place 03 3m 5m 10m standard 15m 20m FR RMCT SB 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 JUSP TA50P 35 mm DIN rail mountable the cable length is 0 5m JZSP CKI01 L A JZSP CKIOD LILI Use the following key to specify needed cable length last digit of part number 1 1m standard 2 2m 3 Use the following key to specify cable length last two digits of the part number 1m standard Stock A atthe end ofthe cable number indicates the revision level The revision level may be changed prior to this catalog s reprinting ne When ordering these cables for motors with brakes order the standard B5E power cable and the additional cable for the brake Standard cable lengths are Stock items non standard cable lengths are Limited Stock items gere 50 Pin Female D Sub output connector mates to customer supplied third party terminal block e g Wago 289 449 Weidmuller 919658 Phoenix 2283647 Amphenol S ine 20 51039 and many others 78 200V Three phase Sigma Servo Systems Connector Selection Use the table below to select mating connectors for you
78. Phase V Phase W Phase Receptacle CE05 2A18 10P D B Battery Non environmental mating connector HV ac Battery Note MS3108B18 10S L Type Cable Clamp 53057 10 FG Frame Ground Note Used with an absolute encoder only Non Environmental Mating Connector 53108820 295 L Type Power Wiring Terminal Box MS3106B20 29S Straight Type Cable Clamp MS3057 12A Terminal Connection Screw Size Ground 156 400V Large Capacity Sigma II Servo System 4 17 Bit Incremental Absolute Encoder Cross section Y Y 38 19 970 L 0 0020 0 05 A lt 31 50 800 52079 g Power wiring 26 93 684 m 160 0020 0 05 Fan conngelor 16 57 421 n 9 29 236 14 41 366 12 99 330 gt 11 81 300 E 12 32 313 7 87 200 8 66 220 0 20 5 Nw 52 40 61 m m eTe i gt As N N uu XU 5 y i 6 69 170 S x MN _ Encoder connector Y 7 15 98 406 4 75 121 3 54 9
79. Reference Reference Voltage oe 3Vpc Variable setting range 1 to 10V at rated torque forward rotation with positive reference input voltage 12Vpc maximum Input Impedance Approximately 14kQ Circuit Time Constant Approximately 47us Contact Speed Reference Rotation Direction Selection Uses P control signal Speed Selection Forward reverse rotation current limit signals are used first to third speed selec tion When both signals are OFF the motor stops or enters another control mode Notes Use the servo amplifier within the ambient temperature range When enclosed the temperatures inside the cab inet must not exceed the specified range Speed regulation is defined as follows Speed regulation no load motor speed full load motor speed 400 and shaft end rated motor speed Forward is clockwise viewed from the non load side of the servomotor counterclockwise viewed from the load 165 pe o M 5 Od No gt 2 o lt gt 3 5 E o 400V Sigma II Servo Systems o Q Ratings and Specifications cont d Bias Setting 0 to 450rpm setting resolution 1rpm Feed forward Compensation 0 to 100 setting resolution 1 Position Complete Width Setting Performance 0 to 250 reference units setting resolution 1 reference unit Type Sign pulse train 90 phase differen
80. SGDH 1AAE SGDH 1EAE 200V Three phase 11 0kW 15 0kW Cooling fan Pair flow mexinum 17 72 450 17 13 435 T Ground terminal t flow 8 74 2 22 000000000 000000000 a 00000000 17 13 435 o Q Approximate mass 31 5310 14 3kg Mating connectors See page 99 o lt gt 3 17 ata 57 7 87 200 118 7 30 106 100 200V Sigma Servo Systems Regenerative Resistor Units JUSP RALILI Type JUSP RA04 3 62 92 M4 Ground terminal circuit terminal Current resistance 220W 25Q configurable x4 8 30 d Approximate mass 8 82lb 4kg Type JUSP RA05 9 84 250 Earth ground 11 8 300 M4 screw External terminal M5 screw Current resistance For SGDH 75 to 1AAD 220W 25Q 8 Approximate mass 15 4lb 7kg 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 which deactivates the internal regenerative resistor Important External regeneration resistor sizing and amplifier set up will be important for proper operation Use Yaskawa s SigmaSize and the Sigma II Ser
81. SGDH Terminal Wire Size AWG in mm Symbol 2BDE 3ZDE 3GDE 4EDE 5EDE wam I 4AWG 2AWG 1AWG ua HR L2 S HIV 0 022 14 0 034 0 046 HIV 0 059 22 30 38 6AWG 4AWG 2AWG 1AWG 1AWG 17 connection Q U V W HIV HIV 0 034 HIV 0 046 0 059 HIV0 077 0 022 14 22 30 38 50 power supply termi DC24P DC24N 18 AWG HIV 0 0015 1 0 for Heatsink fan power 380 480V OV 18 AWG HIV 0 0015 1 0 400V Fan power terminals wa 18 AWG HIV 0 0015 1 0 12AWG Regenerative resistor HIV pestle B1 B2 14 AWG HIV 0 003 2 0 0 0054 3 5 12AWG DU DV DW 16 AWG HIV 0 002 1 25 HIV 0 003 2 0 Dynamic brake control power DB24 DBON 16 AWG HIV 0 002 1 25 The larger dimension falls within the limits of LAWG Notes 1 Wire sizes were selected for three cables per bundle at 40 C ambient temperature with the rated current 2 Use cables with a minimum withstand voltage of 600V for main circuits 3 If cables are bundled in PVC or metal ducts consider the reduction ratio of the allowable current 4 Use heat resistant cable under high ambient or panel temperatures where normal vinyl cable will rapidly deteriorate The following table shows types of cables It is used in conjunction with the preceding tables Cable Type Temperature Rating of Conductor Composition C Standard polyvinyl chloride cable 600V PVC cable 60
82. SIA S800 32 2 Manual is provided at no charge with a purchase order but it must be requested Model Number Designation SGMGH 09 DC A 6 Sigma Servomotor Type Rated Output 05 500W 0 7hp 09 850W 1 14hp 13 L3kW 1 7hp 20 2 0kW 2 7hp 30 3 0kW 4 0hp 44 4 4kW 6 0hp 55 5 5kW 7 5hp 75 7 5kW 10hp 1A 11 0kW 15hp 1E 15kW 20hp Power Supply D 400V Accessories 1 Standard 24Vpc Brake S ShaftSeal E Brake and Shaft Seal Shaft Specifications 6 Straight Shaft with Keyway Rated Speed 1500rpm Encoder Specifications C 17 BitIncremental Encoder 2 17 BitAbsolute Encoder 131 400V Three phase Sigma Servo Systems Servomotor amp Amplifier Selection Use the table below to select the appropriate SGMGH Sigma servomotor and amplifier Refer to the motor model designation on the previous page specifying the available modification to motor construc tion features o Q Q Amplifier Motor Inertia Motor MODEL B in Ib s x 103 MODEL Number A Analog Digital Input SGDH Motor and Amplifier Item Class o lt 3 7 Description SGMGH 05DCA61 SGMGH 05DCA6C SGMGH 09DCA61 SGMGH 09DCA6C SGMGH 13DCA61 SGMGH 13DCA6C SGMGH 20DCA61 400V SGMGH 20DCA6C Three Phase SGMGH 30DCA61 17 bit Incremental SGMGH 30DCA6C Encoder SGMGH 44DCA61 Straight Shaft 50D
83. Shaft End Dimension SGMBH L LL IR LD LF EN LP KB2 KG IKN KS KT CK1CK2 LC LE LG lLHieLz os Q U 28D 33 86 28 35 23 78 720 604 8 66 6 42 5 87 1 77 0 98 9 84 10 43 9 06 9 84 0 20 0 79 11 81 0 53 2 36 5 51 4 33 0 71 0 43 0 28 3113 26 46 220 163 149 45 25 250 265 230 250 5 20 300 13 54 60 140 110 18 11 7 3ZD A6C 790 672 Approximate Allowable Specified Tolerances Bars reus ann 2362 0 00118 0 00043 9 055 140 0000 0 00181 0 433 0 0000 0 00043 0 709 0 0000 0 00169 3ZAD A6C mm 6 40030 0011 40 000 0 046 40 000 0 1103 40 000 0 043 Servomotor Note 1 Dimensions are the same when using either incremental or absolute encoders with or without optional shaft seal 2 Tolerances on the dimensions of flange type LB of shaft extensions S and of keyway width and depth are based J IS J apanese Industrial Standard B0401 Limits and Fits for Engineering Power WiringTerminal Box Connection Screw Size Motor Fan Connector D Ground Terminal Receptacle CE05 2A18 10P D B Non environmental mating connector Brake 53108818 105 L Type Cable Clamp MS3057 10A Ground 155 o lt 5 3 2 H8N5S 400V Large Capacit
84. Specify technical product manual YEA SIA S800 32 2 on your Sigma 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 Typically small quantities are available from stock These items will likely change to stock items as the Stock 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 Product Overview NOTES SGMAH Servomotors with incremental Absolute Encoder 100 200V Single phase Sigma ll Servo Systems Super High Power Rate Series Rated Output 30W 50W 100W 200W 400W 750W For Additional Information Page s SGMAH Ratings amp Specifications SGMAH Speed Torque Curves SGMAH Dimensions SGMAH Selection Ordering Information SGDH Ratings amp Specifications SGDH Dimensions Design Features 1 Compact e Small sized motor Five frame si
85. Stock Positioner B055 A SGMPH N x 5 53 100 200V Single phase Sigma ll Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for your SGMPH Sigma ll gearmotor Component Description E Part Number Comments Hand held Digital Portable unit with 1m adapter Operator Panel JZSP CMS00 1 cable for Sigma II Absolute Encoder Battery JZSP BAO1 Stock Software Interface Cable YS 12 sper cable with 9 Minimum Recommended Sys tem Requirements Pentuim 200 MHz 64MB RAM 200MB hard drive CDROM Drive RS SigmaWin Software JZSP WP0001 232 or RS 422 port Screen D 5 rsolution 800x600 w 256 col 3 ors and Windows 95 98 NT4 0 2000 ME Win ox dows XP planned For SGDH 01AE EAE These are general purpose Individual External Regener SGDH OBAE RH120500hmJ regenerative units ative Unit 9 SGDF 08AE S Caution Proper set up is amps necessary to avoid equipment damage For SGDH 15AE SGDHABAE s 500 25 For 200V SGDH 01AE X5071 SGDH 02AE X5070 8085 DC Reactor DH 08AE 5061 for suppressing Bed in the power supply SGDH 15AE S X5078 For 100V SGDH 01BE X5063 SGDH 02BE X5062 alternate solution specify the individual resistor part number RH500N25 OHMK in necessary series or p
86. Temperature resistant vinyl cable 75 5 Od No gt 2 197 o lt gt 3 D O 400V Sigma II Servo Systems The following table specifies the cables for CN1 and CN2 servo amplifier connectors Wire sizes were selected with the expectation of three cables per bundle at an ambient temperature of 40 at the rated current level Description Cable Specification Use twisted pair or shielded twisted pair wire Applicable wire AWG 24 26 28 Finished cable Dimension 0 63 616 0 maximum Cable Use Yaskawa cable or shielded twisted pair wire Applicable wire AWG 22 24 26 Use 22 AWG 0 0005 0 34 for the encoder power supply and 26 AWG 0 0002 0 14 for other signals These conditions permit wiring distances up to 65 6ft 20m Finished cable Dimension 0 27 66 8 maximum Peripheral Device Types and Capacities Recommended M Amplifier Model Power Supply Noise F ilter m i otor Circuit Power Applicable Maximum MCCB or Power Capacity Required Servomotor Inrush Fuse B 7 Supply kw SGDH w Servo Amplifier Current Capacity Mode Specifications rms rms 0 45 05DE 5
87. as shown in the figure below The overload detection level is set under hot start conditions at a servomotor ambient temperature of 40 10 000 1 000 o 100 8 10 5 1 Rated torque Maximum torque Approx 2 Rated torque Maximum Torque Motor Torque Note The overload protection characteristics in the figure are applicable when the servo amplifier is combined with one of the fol lowing servomotors SGMGH SGMSH SGMUH SGMBH 7 A 5 Oa 0 gt 195 400V Sigma II Servo Systems Cable Specifications and Peripheral Devices Ratings and specifications for peripheral devices as well as cable specifications for servo amplifiers are summarized in the tables below N CAUTION Wiring Precautions Do not bundle or run power and signal lines together in the same duct Cable Specifications The following table provides wire size specifications 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 SGDH Terminal Wire Size AWG in mm External Terminal Name Symbol
88. available modification to motor construction features Motors Used with 13 bit Incremental Encoders 5000rpm Maximum Amplifier o lt 3 7 o Q gt Description 200V Single Phase Straight Shaft without Keyway Peak Torque oz Rated Torque oz in Motor Inertia oz in 52103 Motor MODEL NUMBER A SGMAH A3AAF 1 Amplifier MODEL NUMBER By SGMAH A3AAF2C 3 Phase SGDH Single P hase SGDH SGMAH A5AAF 21 SGMAH A5AAF2C 200V Single Phase Straight Shaft with Keyway 200V Single Phase Straight Shaft without Keyway NEMA flange 100V Single Phase Straight Shaft without Keyway 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 100V Single Phase Straight Shaft with Keyway 100V Single Phase Straight Shaft without Keyway NEMA flange Notes 24Vpc brakes for SGMAH Sigma Il servomotors are standard Contacta local source for 24Vpc power supplies SGMAH 01BAF21 SGMAH 01BAF2C SGMAH 01BAF41 SGMAH 01BAF4C SGMAH 02BAF41 SGMAH 02BAF4C
89. brake This requires optional dynamic brakes for 22 to 55kW units Protection Overcurrent overload regenerative error main circuit voltage error heat sink overheat power open phase overflow overspeed encoder error encoder dis connected overrun CPU error parameter error LED Display POWER CHARGE five 7 segment LEDs built in digital operator functions Analog Monitor BCN Built in analog monitor connector to observe speed torque and other reference signals Speed 1V 1000rpm Torque 1V rated torque Pulses remaining 0 05V reference units or 0 05V 100 reference units Built in Functions Interface Digital operator mount type or hand held RS422A port such as person computer RS 232C port can be used if some con ditions are met 1 N Communication N can be up to 14 when RS 422A port is used Axis Address Setting Set via user parameters Communication Functions Status display user constant setting monitor display alarm traceback display jogging autotuning speed torque reference signals other graphing functions etc Others Reverse rotation connection home position search automatic servomotor ID DC reactor connection terminal for high power supply frequency control Note The built in open collector power supply is not electrically isolated from the control circuit in the servo amplifier 166 400V Sigma II Servo Systems Dimensions in inc
90. connector or or CE05 6A32 17SD B BSS Straight type connector Limited and and Stock CE3057 20A 1 Cable clamp diameters 0 866 to 0 937in Connector for L type connector for holding Holding Brake CE05 8A10SL 3SC B BAS brake and and CE3057 4A 1 D265 Cable clamp diameters 0 142 to 0 220in h E E L type connector ERU CE02 6A20 and CE20BA S plug an d back shell incremental or absolute CE3057 12A 3 D265 encoder Cable clamp diameters 0 265 to 0 394in Choose the connector and the associated cable clamp 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 largest standard cable clamp available 81 200V Three phase Sigma ll Servo Systems NOTES G D 5 3 7 HOWSS 82 200V Three phase Sigma ll Servo Systems Super High Power Rate Series SGMSH Servomotors with incremental Absolute Encoder Rated Output 1 0kW 1 5kW 2 0kW 3 0kW 4 0kW 5 0kW For Additional Information SGMSH Ratings amp Specifications SGMSH Speed Torque Curves SGMSH Dimensions SGMSH Selection Ordering Information SGDH Ratings amp Specifications SGDH Dimensions Design Features 1 Compact e Small sized motor Six frame sizes up to 422in lb peak torque 2 High Speed e Rated Speed 3000rpm e Maximum Speed 5000rpm 3 Encoders e 17 bi
91. diameters 0 492 to 0 630in Connector for Hold ing Brake Connector for Encoder Cable incremental or absolute encoder CE05 8A10SL 3SC B BAS and CE3057 4A 1 D265 L type connector for holding brake Cable clamp for diameters 0 142 to 0 220in CE02 6A20 29NSW and CE20BA S CE3057 12A 3 D265 L type connector plug and back shell Cable clamp for diameters 0 265 to 0 394in Item Class Limited Stock 7 22 o gt 5 9 Part Number Comments Item Class Limited Stock Choose the connector and the associated cable clamp for a complete assembly The connectors listed in the table are suitable for IP67 environments i Connectors are manufactured by DDK and listed here with the largest standard cable clamp available 149 400V Three phase Sigma Servo Systems NOTES 9 o QO lt 5 30 ot c SI 150 400V Large Capacity Sigma II Servo System General Purpose Large Capacity Servomotors 1500rpm with Incremental Absolute Encoder Rated Output 22kW 30kW 37kW 45kW and 55kW For Additional Information SGMBH Ratings amp Specifications SGMBH Speed Torque Curves SGMBH Dimensions SGMBH Selection Ordering Information SGDH Ratings amp Specifications SGDH Dimensions Design Features 1 Compact Size e Smaller sized motor Five types of rated outputs ranging from 2480 to 6120in l
92. dimensions of flange type LB and shaft extensions S are based on JIS J apanese Industrial Standard B0401 Limits and Fits for Engineering Specified Tolerances Dimension 5 Diameter Tolerance Diameter Tolerance m 0 9449 1 1024 30 0000 0 0005 3 7402 4 3307 30 0000 0 0014 24 000 28 000 30 000 0 013 95 000 110 000 30 000 0 035 Connector Wiring on the Incremental Encoders K Data U Phase N V Phase P m W Phase R Ground Terminal S Battery Note MS3102A22 22P T5Vac T Battery Note gt MS3102A20 29P FG Frame Ground Note Used with an absolute encoder only Non Environmental Mating Connector MS3108B20 29S L Type MS3106B20 295 Straight Type Cable Clamp 53057 12 86 200V Three phase Sigma ll Servo Systems 2 17 bit Increm 0 3 94 100 0 28 7 ene THe 4 97 Men MTG Hol Shaft End Allowable Dimension Radial Mass Load ie os Q ax Flange Dimensions 0 16 4 Allowable Thrust Load 16 N 1 Dimensions are the same when using either incremental or absolute encoders with or without optional shaft seal 2 Tolerances on the dimensions
93. for diameters LB and 5 Specified Tolerances Dimension S Unit Diameter Tolerance Diameter Tolerance 0 0000 0 0004 1 9685 0 0000 0 0010 0 0000 0 0004 2 7559 0 0000 0 0014 0 0000 0 0004 4 3307 0 0000 0 0014 0 0000 0 0005 0 000 0 009 50 000 0 000 0 025 0 000 0 011 70 000 0 000 0 035 0 000 0 011 110 000 0 000 0 035 0 000 0 013 Torque Reduction Factor for SGMPH motors equipped with a shaft seal Servo Motor Model 01 Torque Reduction 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 38 100 200V Single phase Sigma ll Servo Systems Selecting Your SGMPH Sigma Servo System First select the Sigma servomotor suited for your application using SigmaSize the Yaskawa servomotor sizing software available at no charge Request SigmaSize software via e mail at literature yaskawa com 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 Digital Operator E Optional Holding Brake
94. ll servomotor Part Number without Brake MS3106B18 10S with Brake MS3106B20 15S Item mmen Comments Class Straight type connector MS3108B18 10S MS3108B20 15S L type connector MS3057 10A MS3057 12A Cable clamp Power Cable MS3106B22 22S MS3106B24 10S Straight type connector MS3108B22 22S MS3108B24 10S L type connector MS3057 12A MS3057 16A Cable clamp MS Connector for Encoder able incremental or absolute encoder 1CN Mating Connector 2CN Encoder Mating Con nector 3CN Peripheral Mating Connector 5CN Connector and 1m Cable with Pigtails D s lt ll uu d All MS3106B20 29S Straight type connector MS3108B20 29S L type connector MS3057 12A Cable clamp JZSP CKI9 JZSP CMP9 1 YSC 1 DE9404559 Choose either a straight or L type connector the associated cable clamp for a complete assembly 91 o o Servomotors 200V Three phase Sigma Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for your SGMSH Sigma servomotor Component E Part Number Description Item Class BBBBB SERVOPACK E Hand held Digital ed Portable unit with adapter cable Ope
95. outputs ranging from 0 79 to 1988in Ib of peak torque Optional built in holding brake available 2 Higher Speed and acceleration e Up to 3000rpm maximum e High torque to inertia ratio 3 Encoders e 17 bit 32 768 ppr x 4 incremental encoder standard e 17 bit absolute encoder optional 4 Enhanced Environmental Resistance e Totally enclosed self cooled IP67 excluding shaft e Shaft seal optional 5 Application Emphasis Machine tools and woodworking machines Packaging machines Gantry robots Press automation Thermoforming 6 Certified International Standards e UL cUL recognized File E165827 CE compliance 125 400V Three phase Sigma II Servo Systems Servomotor Ratings and Specifications Maximum Rotational S peed Time Rating Continuous Enclosure Totally enclosed self cooled o Insulation Class F IP67 except for shaft opening Pis jo Vibration 15um or less 0 uu and 15kW 2000rpm 30 H Ambient Temperature 0 to 409C Excitation Permanent 9 Withstand Voltage 1500Vac Ambient Humidity 20 to 80 magnet 3 o Insulation Resistance 10MO minimum non condensing Method Direct drive X i 5 9 at500Vpc Rated S peed 1500rpm Mounting Flange mounted Values when the servomotor is combined with an SGDH servo amplifier Instanta Rated Rated Instantaneous Peak Rated neous Output Torque Torque Current Maximum MOTORS Current SGMGH Amplifier System Volt
96. phase Sigma ll Servo Systems Pre wired Cable Selection Use the table below to select pre wired cables for your SGMPH Sigma ll servomotor ie Item Cable Description C Part Number Comments Class 40 r B4ICE OO A Power Cable with Intercon 4 0 nectron Connectors Th UL and CE without Brake 5 ese UL an compli i ant cables are available in ll five lengths Use two digits I 0 1 0 2 in the part number s last Power Cable with Intercon 04 08 4 place TS nectron Connectors 03 3m O 15 BSIBCE OO A sm IP67 A 10 10m standard 15 15m Encoder Cable with Intercon T Il 20 20m nectron Connector 1 3 o incremental or absolute AICE EEA I IP67 a 5 lt Encoder Cable 69 for applications o up to 20m FR RMCT SB These cables are avail o Only for Solder able in any length Connections For example to order FR RMCT SB cable 16m long Encoder Cable specify for applications quantity 16 from 220 to 50m UL20276 SB part no FR RMCT SB Only for Solder Connections Stock All Input Output 1CN Cable amp 35mm DIN rail mountable Transition JUSP TA50P the cable length is 0 5 Terminal Block meters Use the following key to specify required cable Input Output 1CN Cable with JZSP CKI01 D A e digit of part Pigtail Leads 1 1m standard 2 2m 39 3m Use the following key to specif
97. sensor 45V CN8 I T DC DC d Lec converter E ASIC For battery PWM control etc connection PGSV L pT pe output 35V Reference Open during pulse input Power Power servo alarm 1RY OFF ON 1MC Ly e Speed and torque 2 oj 0 0 0 Vo DU AD lt reference input 1MC Surge Monitor display POWER positon speed SUDPIBBSOf calculation etc Analog voltage vo d Sequence 1 0 converter q NTO NS CNS Connector Analog monitor Digital operator for output output for personal computer unit supervision O 5 gt 0 9 30 Cr 7 112 100 200V Sigma Servo Systems Connection Diagram Single phase Single phase 200 to 230 or Single phase 100 to 115 50 60Hz 50 60Hz woos Power Power Alarm L Noise filter OFF ON processing c AMG noon iMG SUP Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor and relay O 1MC A 1 Servomotor U 1 Q L1 B 2 1 Qu Wb 169 i 1 Ld SGDH Servo Amplifier Optical O O1 encoder de a I Be sure to o _ ctccc s ground Reference speed I 2 to 10V rated motor speed set by parameter sG T RE AID Torque reference y 1 to 10V rated motor speed set by parameter 50 PULS gt PULS 9 eus SIGN p SIGNI CCW 4 B Phase V Position reference CLR
98. specify cable length last two digits of the part number D50 0 5m 01 1m standard 02 2m 03 3m Standard cable lengths are Stock items non standard cable lengths are Limited Stock items This part of the cable number is revision level Cable revision can change and is independent of this catalog s reprinting ek Connectors for power cable should be ring terminals sourced locally by the customer based on the motor power terminal block screw size given in the dimension pages 50PinFemale D Sub output connector mates to customer supplied third party terminal block 0 Wago 289 449 Weidmuller 919658 Phoenix 2283647 Amphenol S ine 20 51039 and many others Stock 400V Large Capacity Sigma II Servo System Selection Use the table below to select mating connectors for your SGMBH Sigma servomotor Connector Item MS3106B18 10S Straight type connector i MS3108B18 10S L type connector MS3057 10A Cable clamp MS3106B20 29S Straight type connector MS Connector for 52108 20 295 L type connector absolute encoder MS3057 12A Cable clamp 1CN Mating Can use 1CN for analog JZSP CKI9 Speed and torque moni nn r Connecto tor service checks 2CN Encoder Mating Connector JZSP CMP9 1 Servomotor 3CN Peripheral Mating Connector 5CN Connector and 1m Cable with DE94045
99. terminals 7 5 0 30 Power line insertion hole 933 01 30 with rubber bushing Units mm inches e JUSP DB06 Dynamic Brake Unit M3 5 control circuit terminals M4 main circuit terminals Power line insertion hole 33 1 30 with rubber bushing 124 4 88 7 5 0 30 Units mm inches 185 N A Oa No gt o 400V Sigma II Servo Systems Control of Harmonic Frequency in the Power Supply Circuit If harmonic frequency control is needed in the power supply connect a DC reactor between terminals 1 and 20n the servo amplifier s main circuit Use the following table as a guide for selection of the appropriate reactor Reactor Specifications Applicable Servo Amplifier Impedance Rated Current Reactor Model mH A SGDH 05DE X5074 SGDH 10DE SGDH 15DE SGDH 20DE SGDH 30DE SGDH 50DE 5077 5075 5076 Larger size amplifiers Consult factory for availability e DC Reactor Dimensional Drawings Dimensions Approximate jen in mm Mass ode Ib kg 1 10 1 50 28 38 1 57 1 97 40 50 1 38 117 35 45 Consult factory o Q o lt gt 3 bpd O 186 400V Sigma II Servo Systems Typical Internal Connection Diagrams 400V 0 5kW to 3 0kW Models Three phase 10 38010480V 15 T 555
100. without Brake 05 09 13 BICE EID A with Brake 1 00 20 30 2 44 00 5 B7BCE LILI A 6 6 B7BCE LILI A Comments Use the following key to specify needed cable length last two digits of the part number 03 05 10 10m standard 15 15m 20 20m A atthe end of the cable number is the revision level which may be changed prior to this catalog s reprinting CE Connector Selection Use the table below to select mating connectors for your SGMGH Sigma ll servomotor Use the table below to select shielded pre wired power cables for your SGMGH Sigma ll servomotor Item Class Limited Stock Limited Stock Part Number Connector Description D Comments without Brake with Brake 0 5 0 9 05 8 18 1050 05 8 20 155 5 L type connector 1 CE3057 10A 1 D265 CE3057 12A 1 D265 Cable clamp 2 0 3 0 CE05 8A22 22SD B BAS CE05 8A24 10SD B BAS L type connector CE3057 12A 1 D265 CE3057 16A 1 D265 Cable clamp Connector for Lsveiecenrinsetor Motor Power 05 8 32 1750 5 Cable e f or 2 3 CE05 6A32 175D 8 855 Straight type connector and and CE3057 20A 1 Cable clamp diameters 0 866 to 0 937in Connector for L type connector for holdi
101. x o QE Oc No gt x 2 Shield wires Indicates twisted wire pairs 7 117 o lt lt gt 3 17 100 200V Sigma II Servo System o Q I Overload Characteristics 118 Servo amplifiers have a built in overload protection function that protects the servo amplifiers and servo motors from overload Allowable power for the servo 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 10 000 1 000 5422 100 10 5 1 Rated torque Maximum torque Approx 2 Rated torque Maximum Torque Motor Torque 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 similarto the SGMAH SGMPH SGMGH and SGMSH 100 200V Sigma Servo Systems Cable Specifications and Peripheral Devices Ratings and specifications for peripheral devices as well as cable specifications for servo amplifiers are summarized in the tables below N 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 30
102. 0 24 5 49 139 5 L 5 49 139 5 824 12 99 330 Approximate Allowable Radial Type SGMBH Mass Load Specified Tolerances Allowable Thrust Load Ib kg Ib N D ALI 772 350 1895 8428 485 2156 Note 1 Dimensions are the same when using either incremental or absolute encoders with or without optional shaft seal 055 40 0000 0 00433 40 0000 0 00204 2 Tolerances on the dimensions of flange type LB of shaft extensions S and of keyway width and depth are based IS apanese Industrial Standard B0401 Limits and Fits for Engineering gt e Fan Connector U Phase V Phase W Phase Receptacle CE05 2A18 10P D B Non environmental mating connector Battery Note MS3108B18 10S L Type Pac Battery Note CableC lamp MS3057 10A FG Frame Ground Note Used with an absolute encoder only Non Environmental Mating Connector MS 3108B20 29S L Type Power Wiring Terminal Box 53106820 295 Straight Type Cable Clamp MS3057 12A Terminal Connection Screw Size Ground 157 o lt 3 4 400V Large Capacity Sigma II Servo System DE 158 Selecting Your SGMBH Sigma Servo System First select the Sigma servomotor suited for your application using SigmaSize the Yaskawa servomotor sizing software available at no charge Request Sig
103. 0 2 30 0 0 tio 577 13 80 SH20SA GA09AC 146 5 3505 SH28SA GA09AC SH405A GA09AC 713 1526 012 335 276 512 158 551 555 650 043 047 323 276 020 0 47 SH50SA GAO9AC 181 387 5 3 70 30 40 140 aan 165 an a2 82 G0 00 SH04S A GA13AC 08 ri SH05S A GA13AC 449 1347 SHOTSA GAL3AC 114 842 008 236 217 354 126 512 398 472 035 039 228 197 0 6 0 39 SHIOSA GALBAC 2 60 55 90 G2 130 ao 120 0 58 650 4 10 1283 577 1474 SH165A GA13AC 185 2465 3745 SH205A GA13AC 713 1620 276 512 L58 5 55 043 047 0 20 SH28SA GAL3AC 181 4115 0 030 40 141 12 5 140 787 16 95 354 630 247 LN 051 039 024 039 024 SH40S A GA13AC 200 430 5 90 160 55 182 13 15 6 10 6 SHOISA GAQUAC ii SH05SA GA20AC 5 55 14 08 30 6 50 0 47 SH075A GA20AC 1 3575 165 2 276 512 158 555 043 047 0 20 032 020 AS i 0 130 0 2 E 6 SHISKGADAC fs SH20SA GA20AC 113 1585 SH28SA GA20AC 012 335 323 2 76 SH40SA GA20AC 787 1640 9 5 354 630 247 717 051 059 82 09 0 24 0 63 0 39 024 SH50SA GA20AC 200 416 5 90 160 55 182 Q5 13 15 6 16 10 5 SHO4SA GA30AC 1130 SHOSSA GA30AC ET l GR SH10SA GA30AC 156
104. 00 0 00087 0 000 0 47244 0 00000 40 000 0 015 0 002 0 000 0 0 000 0 40 018 40 002 0 000 40 000 49 SGMPH 17 x b o 9 100 200V Single phase Sigma II Servo Systems Selecting Your SGMPH Gearmotor System First select the Sigma Il servomotor suited for your application using SigmaSize the Yaskawa servomotor sizing software available at no charge Request SigmaSize software via e mail at literature yaskawa com 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 Digital Operator E 5CN T For Monitor D haft w K For Monitor D eyway Gearmotor Connector for A Peripheral SGDH Servo Encoder Signal D Signal Amplifier I Cable E B Encoder side Motor side Connector D Connector D 1 2CN Motor Cable D Specify a technical manual if it is needed on your servo system purchase order Sigma II Series Servo System User s Manual YEA SIA S800 32 2 Manual is provided at no charge with a purchase order but it must b
105. 00 300 0 100 200 300 400 TORQUE N TORQUE m 0 887 5 1775 2662 5 0 887 5 1775 2662 5 3550 TORQUE Ib in TORQUE Ib SGMBH _ 2000 E m 1000 A B 65 0 0 100 200 300 400 500 TORQUE N E m 0 887 5 1775 2662 5 3550 4437 5 TORQUE Ib in 5 SGMBH 4EDOA SGMBH gt _ 2000 _ 2000 E 40 a 1000 s A B amp 100 A B 0 0 0 200 400 600 0 200 400 600 80 TORQUE N m i TORQUE m 0 1775 2550 5325 0 1775 3550 5325 7100 TORQUE Ib in TORQUE Ib in A CONTINUOUS B INTERMITTENT DUTY ZONE DUTY ZONE 153 400V Large Capacity Sigma II Servo System Dimensions in inches mm 1 17 Bit Incremental Absolute Encoder Fan connector LN I LP LE Encoder connector 2 40 61 Motor Body Dimensions Flange Dimensions Shaft End Dimension SGMBH LL IR LD LF LN LP KB1 KB2 KG KT CKICK2 J eLAIPLB LC LE LG 17 5 Q Were U opp agi 129 17 17 19 06 8 82 436 484 224 8 66 6 42 5 87 11 77 11 77 9 84 10 43 9 06 9 84 10 20 0 79 1 81 0 53 2 36 5 51 4 33 0 71 0 43 0 28 9 19 86 121 75 11 50 220 163 149 45 45 250 265 1 230 250 5 20 300 13 5 60 140 110 18 11 7 320 A61 504 552 292 Allowable Allowable Specified Tolerances Radial Load Thrust L
106. 0000 0 0004 30 000 0 008 8 000 Phase U 30 000 0 009 Phase V Phase W FG Frame Ground Green Y ellow Brake Terminal Red Brake Terminal Black Tolerance 1 181 30 0000 0 0008 30 000 30 000 0 021 Orange White Orange Light Blue White Light Blue Plug 350715 1 AMP Note Pins number 3 and 4 are connectors used for Pin 350561 3 or 350690 3 except No 4 16 bit absolute encoder option only Ground pin 770210 1 No 4 Plug 55100 0600 Molex Mating connector Mating connector Cap 350781 1 Socket 54280 0600 Socket 350570 3 or 350689 3 100 200V Single phase Sigma II Servo Systems 200W 0 27hp 400W 0 53hp 750W 1 01 11 85 300 1 18 30 Encoder plug Encoder cable 40 24 456 E H 55100 0600 UL20276 Motor cable 450 28 47 j r UL1828 or UL3535 1 38 35 otor Flug N FE 350715 1 SUED i 24 lt gt EM lt o Cross Section Y Y 11 85 300 1 18 30 A gt 1051 13 0 79 20 i 1 0 0016 0 04 o L LL 00016 004 T o 1 04 26
107. 057 10A MS connectors listed in the table are non environ mental 134 Peripheral Device Selection 400V Three phase Sigma ll Servo Systems Use the table below to select peripheral devices for each SGMGH Sigma ll servomotor Component E Description Hand held Digital Operator Panel SERVOPACK ALARM JO I YASKAWA JUSP OP02A 1 and JZSP CMS00 1 Portable unit with 1m adapter cable for Sigma II Software Interface Cable Pre wired 2 0m cable with 5 12 9 pin connector Absolute Encoder Battery JZSP BAO01 3 6V 1000mAh Lithium Battery For SGDH 60 and above same JZSP BAO1 1 as JZSP BAO1 with longer lead SigmaWin Software Minimum Recommended System Requirements Pentuim 200 MHz 64MB RAM 200MB hard drive CDROM Drive RS 232 or JZSP WPO001 RS 422 port Screen rsolution 800x600 w 256 colors and Win dows 95 98 NT4 0 2000 ME Windows XP planned Regenerative Unit 880W for 6 0 and 7 5kW amplifier Regenerative Unit 1760W for 11 and 15kW amplifiers JUSP RA18 These are general purpose regenerative units Order the Motion document 99004 for setup instructions for this unit JUSP RA19 Caution Proper set up is necessary to avoid equipment damage Item Class DC Reactor for suppressing harmonics in the power sup ply
108. 08LILI SGO05SA PE15LILI SG10SA PE15LILI SG25SA PE15LILI SG50SA PE15LILI SGMPH Gearmotors CONVENTIONAL GEARMOTOR TORSIONAL ANGLE YASKAWA Sigma Il GEARMOTOR a REDUCER S BACKLASH N TORQUE 2 OF RATED TORQUE 47 E3 eje 1191 1573 100 200V Single phase Sigma II Servo Systems CIA E Dimensions in inches mm Motor leads extend 11 81in 300mm from motor E Lo 4 Holes 90 apart LL3 MT threaded MD deep LR GEARMOTOR SG05SA PEO1LI SG10SA PEO1LI SG25SA PEO1LI A A A A SG10SA PE15LI 56 255 150 SG50SA PE15LIA 48 100 200V Single phase Sigma II Servo Systems Tolerances for standard SG gearmotors Dimension Tolerance 4 0 00047 0 00004 Diameter Tolerance 4 0 00000 0 00063 0 158 0 197 0 23 6 Tolerance 0 00000 0 00118 4 0 00059 0 00008 2 047 2 677 4 0 00000 0 00075 0 39370 4 0 00000 0 0 00071 0 00008 0 012 40 001 3 5438 4 724 4 0 000
109. 0hp 40 4 0kW 5 4hp 50 5 0kW 6 7hp Rated Speed A Revision Level Encoder Specifications 5 1 C 17 bit Incremental I Encoder 2 17 bitAbsolute Encoder SGMUH is not available with absolute encoder 400V Three phase Sigma ll Servo Systems Servomotor amp Amplifier Selection Use the table below to select the appropriate SGMSH or SGMUH Sigma servomotor and amplifier Refer to the motor model designation on the previous page specifying the available modification to motor construc tion features Amplifier Peak Torque Rated Torque Motor Inertia Motor MODEL B in Ib in 16 in Ib s X 103 MODEL A Analog Digital Input SGDH Motor and Amplifier Item Class Description SGMSH 10DCA61 400V SGMSH 10DCA6C Three Phase 17 bit Incremental Encoder Straight Shaft with Keyway 5000rpm maximum MS Connectors SGMSH UH Servomotors 400V Three Phase SGMUH 10DCA61 17 bit Incremental Encoder Straight Shaft with Keyway SGMUH 30DCA61 6000rpm maximum MS Connectors Note 24Vpc brakes for SGMUH SGMSH Sigma Il servomotors are standard Contact a local source for 24Vp power supplies For technical information request Yaskawa manual number Y EA SIA S 800 32 2 For more detailed SGDH amplifier specifications and dimensions refer to pages 167 188 145 SIOJOWOAI8S HN HSWSS 400V Th
110. 12 TORQUE m 0 40 80 TORQUE Ib in SGMSH 15D 1A 5000 V _ 4000 E 3000 a A B 2000 5 1000 0 0 5 10 15 TORQUE m 0 50 160 150 TORQUE lb in SGMSH 40D A 5000 _ 4000 E 3000 a A B 2000 5 1000 0 0 10 20 30 40 TORQUE m 0 100 200 300 400 TORQUE lb SGMUH 30D0 A a LLI B o 0 100 200 300 TORQUE lb A CONTINUOUS DUTY ZONE B INTERMITTENT DUTY ZONE 200 5000 _ 4000 E 3000 a A B 2000 1000 0 0 5 10 15 20 TORQUE m 0 50 100 150 SGMSH 50D A 5000 _ 4000 E 3000 2000 5 1000 0 0 10 20 30 40 50 I TORQUE N m 0 100 200 300 400 TORQUE Ib in 3 139 400V Three phase Sigma Servo Systems SGMSH Dimensions in inches mm 1 17 bit Incremental or Absolute Encoder 5 LL __ LR LT ne LM 1 0 0016 A 0 00184 T E VULT HEN 5 a 0 i 9 mas IE m o A 0 0008 d
111. 20AC 2679 4425 54 107 28 1 SH28SLI GA20AC 3827 9550 38 75 40 1 SH40SLI GA20AC 4783 9735 30 60 50 1 SH50SLI GA20AC 639 1549 375 750 4 1 450 6 200V 3 phase 798 1936 300 600 5 1 SH05SO GA30AC 17 bit 1118 2710 214 429 74 SHO7SLI GA30AC Incremental 1597 3540 150 300 10 1 SH10SLI GA30AC Encoder 2476 4425 94 188 16 1 SH16SLI GA30AC 3095 7504 75 150 20 1 SH20SLI GA30AC I 6 Straight Shaft 4333 9735 54 107 28 1 SH28SL GA30AC Amplifier Od Keyway 6189 9735 38 75 40 1 5 405 Stock MS connectors 975 2441 375 750 4 1 SH04SL1 GA44AC 9 1219 3052 300 600 5 1 SHO5SLI GA44AC 6 1707 4273 214 429 7 1 SHO7SLI GA44AC 2438 6104 150 300 10 1 SH10SLI GA44AC 3780 9464 94 188 16 1 SH16SLI GA44AC 4725 9735 75 150 20 1 SH20SLI GA44AC 1202 3008 375 750 4 1 SHO4SLI GAB5AC 1502 3760 300 600 5 1 SH05SLI GA55AG 2103 5264 214 429 7 1 SH07SO GA55AC 3005 7520 150 300 10 1 SH10SLI GA55AC 1648 4086 375 750 4 1 SHO4SLI GA75AC 2060 5108 300 600 5 1 SH05SLI GA75AG 2884 7151 214 429 7 1 SHO7SLI GA75AC 4121 7789 150 300 10 1 SH10SLI GA75AC Notes 1 These performance ratings apply when duty cycles are 6096 or less and when the gearmotor runs for 1 000 cycles per hour or less Con tact your Yaskawa representative when duty cycles exceed 6096 and when the gearmotor runs for more than 1 000 cycles per hour Rated Speed is at 20 ambient temperature Reduce Rated Speed by 20 at 40 C ambient temperature For right angle gearmotors ple
112. 3Vpc Variable setting range 1 to 10V at rated torque forward rotation with positive Reference Voltage reference input voltage 12Vpc maximum Input Impedance Approximately 14kQ Circuit Time Constant Approximately 4715 Rotation Direction Selection Uses P control signal Circuit Speed Torque Control Mode Torque Reference Input Signal Forward reverse rotation current limit signals are used 1stto 3rd speed selection When both Speed Selection signals are OFF the motor stops or enters another control mode Contact Speed Reference Notes The power voltage must not exceed 230V 10 253V If itis likely that it will exceed this limit use a step down transformer For types SGDH 08AE S and SGDH 15AE S voltage is 200 to 230V 10 5 Use the servo amplifier within the ambient temperature range When enclosed the temperatures inside the cabinet must not exceed the specified range Speed regulation is defined as follows Speed regulation no load motor speed full load motor speed 400 rated motor speed x o Oc No gt p 2 Forward is clockwise viewed from the non load side of the servomotor counterclockwise viewed from the load and shaft end 97 o lt lt gt 3 17 100 200V Sigma ll Servo System o Q I Ratings and Specifications cont d Bias Setting 0 to 450rpm setting r
113. 5 o a m amp 1000 a a o 7 n 0 0 2 4 6 8 10 0 5 10 15 20 0 10 20 30 TORQUE N m TORQUE m TORQUE m 0 20 40 60 80 0 50 100 150 0 50 100 150 200 250 TORQUE Ib in TORQUE Ib in TORQUE Ib in SGMGH 20DL A SGMGH 30D A SGMGH 44D A 3000 3000 3000 amp 2000 amp 2000 2000 2 LLI 1000 1000 5 1000 0 0 0 10 20 30 40 0 10 20 30 40 50 0 20 40 60 80 TORQUE N m TORQUE N m TORQUE 0 100 200 300 1 2 40 0 200 400 600 800 TORQUE Ib in 0 2 2 de 99 TORQUE Ib in SGMGH 55D A SGMGH 75DLI A SGMGH 1ADLIA 3000 3000 2000 amp 2000 AN B amp 1000L A a 1000 5 0 0 0 0 20 40 60 80 100 0 50 100 150 0 50 100 150 200 TORQUE m TORQUE N m TORQUE m O 200 400 600 800 0 500 1000 1500 1 0 500 1000 1500 TORQUE lb gt in TORQUE lb in TORQUE lb in SGMGH 1bED A 3000 2000 A CONTINUOUS DUTY ZONE 1000 B INTERMITTENT DUTY ZONE 0 0 50 100 180 E 250 TOR QUE 0 500 1000 1500 2000 TORQUE Ib in SPEED rpm 127 400V Three phase Sigma Servo Systems o lt 3 7 o Q Dimensions in inches mm 1 17 Bit Incremental Absolute Encoder L 3 94 100 0 0016 A 40 0016 A 71 0 0008 Flange Dimensions MTG Holes Dimension LC
114. 5 meters 475 1 Use the following key to specify required cable length last digit of part number 1 1m standard 2 2m 3 JZSP CKIOD LILI Use the following key to specify required cable length last two digits of the part number 0 5m 1m standard Stock The A atthe end of the cable part number indicates the revision level Revision level may be subject to change prior this catalog reprinting Standard cable lengths are Stock items non standard cable lengths are Limited Stock items Per 50 Pin Female D Sub output connector mates to customer supplied third party terminal block e g Wago 289 449 Weidmuller 919658 Phoenix 2283647 Amphenol S 20 51039 and many others 52 100 200V Single phase Sigma II Servo Systems Selection Use the table below to select mating connectors or kits for your SGMPH Sigma ll gearmotor Connector Description D S E Part Number Comments onnector for Motor ate Power Cable with or 2e Solder Cup without Brake 2CN Amplifier Mating Connector JZSP CMP9 1 Interconnectron IP67 Mated Connector for Encoder pE Gauge 24 18 AWG Cable FIN17C A2 Requires Crimp Tool incremental or 5 absolute encoder 1 B150 and positioner 1CN Mating Connector JZSP CKI9 Interconnectron shen Crimp Tool Ee Limited
115. 59 Pigtails Choose either a straight or L type connector and the associated cable clamp for a complete assembly For example L type connector 5 3108B18 10S is compatible with cable clamp MS 3057 10A MS connectors listed in this table are non environ mental 161 400V Large Capacity Sigma II Servo System Peripheral Device Selection Use the table below to select peripheral devices for your SGMBH Sigma servomotor Component E Part Number Description Item Class oA Hand held Digital ED ens Portable unit with Im adapter Operator Panel JUSP CMsoo 1 Cable for Sigma II Ec Minimum Recommended Sys tem Requirements Pentuim 200 MHz 64MB RAM 200MB hard drive CDROM Drive RS 232 or RS 422 port Screen rsolution 800x600 w 256 colors and Win dows 95 98 NT4 0 2000 ME Windows XP planned SigmaWin Software JZSP WP0001 Absolute Encoder Battery JZSP BAO1 3 6V 1000mAh Lithium Battery Pre wired 2 0m cable with Software Interface Cable YS 12 9 pin connector o lt 5 3 s Optional Dynamic Brake Unit T for 22kW and 30kW amplifiers JUSP DB03 Optional Dynamic Brake Unit for 37kW amplifier JUSP DB04 Non Stock Optional Dynamic Brake Unit for 45kW amplifiers JUSP DB05 D
116. 6 375 17 Specified Tolerances in 0 5000 0 0 00043 1 5000 30 0000 0 00098 mm 127 30 0 011 381 30 000 0 025 For servo application torques shaft diameter is 0 5in 12 7mm rather than 0 25 6 35mm as is in typical NEMA 23 16 100 200V Single phase Sigma II Servo Systems e 750W 1 01hp with NEMA 34 Flange Pilot 11 85 300 1 18 30 Encoder cable 60 24 6 UL20276 6 Encoder plug SS UE 811 H 55100 0600 LH 13 bit serial incremental encoder Approx Allowable Allowable bus k E Radial Thrust SGMAH PLB LD W hp Wes Lay Load 9 bi Ib N 12 146 443 n 165 a 3 E an EES on esa V ao 20 am 0 Specified Tolerances Dimension Diameter Tolerance Diameter Tolerance Diameter Tolerance 0 625 0 0000 0 00043 2 874 0 0000 0 0012 2 598 0 00012 0 15 875 0 000 0 011 73 000 0 000 0 030 66 000 0 003 0 For servo application torques shaft diameter is 0 625in 15 875mm rather than 0 375 9 525mm as is in typical NEMA 34 17 SGMAH Servomotors 100 200V Single phase Sigma II Servo Systems lt 2 27 57 7 gt 0 73 18 6 8 32 UNC 2 places o Q gt N O LA o lt 3 7 0 06 1 5 2 27 57 7 4 es ae 0 206 5 2 4 places
117. 6 0 04 A p 21 0 0016 0 04 59 0135 1 9 0 o a h e Y A Serial encoder 7 0 0008 0 02 absolute or incremental Output Torque Rated Approx Allowable Allowable Type SGMPH LZ 5 W hp N m ian ie 118 0 31 3 15 354 0 28 0 551 2 76 0 63 0 12 0 20 0 20 200 0 27 0 637 erin 3000 14 55 1 154 4 62 3 46 2 68 30 8 80 90 m 14 70 119 3 5 9 245 68 117 87 68 1 0 53 1 27 ote The quoted allowable radial load is the value ata position 0 98in 25mm from the mounting surface 15 motor dimensions vary for motors with the optional shaft seal See p 38 for details Specified Tolerances Dimension 5 Unit Diameter Tolerance Diameter Tolerance 05512 30 0000 0 0004 2 7559 30 0000 0 0012 14 000 30 000 0 011 70 000 30 000 0 030 Interconnection Connector Specifications See p 30 31 100 200V Single phase Sigma II Servo Systems 750W 1 01 Encoder cable U UL20276 0 24 6 N 1181 300 1 18 30 RP gt Encoder plug SRUC 17GMRCN087 z 1 2 i MOTOR CABLE Motor Plug T T SRUC 06 MSCN236 IR Cross section Y Y 11 81 300 1 18 30 Ld gt Hexago
118. 7 SG10SA GA20AC 1687 1687 1687 1687 Precision SGMGH Gearmotors SH04SA GA05AC 0 000558 SH05SA GA05AC 0 000487 SH07SA GA05AC 0 000434 SH10SA GA05AC 0 000407 SH16SA GA05AC 0 000522 SH20SA GA05AC 0 00159 SH28SA GA05AC 0 00159 SH40SA GA05AC SH50SA GA05AC 09 00106 SH70SA GA05AC 0 00239 SH04SA GA09AC 0 000558 SH05SA GA09AC 0 000487 SH07SA GA09AC 0 000434 SH10SA GA09AC 0 00115 SH16SA GA09AC SH20SA GA09AC 0 00159 0 00239 0 00239 0 00212 0 00186 0 00177 0 00221 0 004514 0 003098 0 007257 0 006461 0 005753 0 00531 0 006726 0 00531 200V Three phase Sigma ll Servo Systems Gearhead Gearhead Gearhead Gearhead Approx Gearmotor Backlash Maximum Radial Load Maximum Axial Load Inertia Weight arc min lb lb lb in s 6 Precision Gearmotors 0 00726 0 00646 0 00575 0 00531 0 006726 0 00708 0 0069 0 00531 GEARMOTOR Part Number 0 00708 0 03204 0 02699 0 02266 SGMGH Gearmotors 0 03204 0 02699 0 02266 0 02036 CONVENTIONAL GEARMOTOR TORSIONAL ANGLE YASKAWA SIGMA II GEARMOTOR a REDUCER S BACKLASH
119. 75 0001 Minimum Recommended System Requirements Pentuim 200 MHz 64MB RAM 200MB hard drive CDROM Drive RS 232 or RS 422 port Screen rsolution 800x600 w 256 colors and Windows 95 98 NT4 0 2000 ME Windows XP planned Regenerative Unit for 6 0kW amplifier 880W Regenerative Unit for 7 5 11 and 15kW amplifiers 1760W JUSP RA04 USP RA05 These are general purpose regenerative units Order the Motion document PI 99004 for setup instructions for this unit Caution Proper set up is necessary to avoid equipment damage DC Reactor for suppressing harmonics in the power supply For an alternate so For 200V SGDH 05AE SGDH 08AE SGDH 10AE SGDH 15AE SGDH 20AE SGDH 30AE SGDH 50AE Limited Stock ution specify the individual resistor part number RH500N25 OHMK in necessary series or parallel connec tion Refer to the SGDH servo amplifier section of this catalog for additional specifications and the Sigma II Series Servo Sys tem User s Manual Y EA SIA S800 32 2 for proper resistor sizing guidelines 65 2 o 200V Three phase Sigma Servo Systems CE Pre wired Cable Selection Cable Description C o So 50 3 0 9 o Power Cable with Connec tors IP67 Part Number Motor Size kW
120. 8 SH16SLI GA05AC Incremental 150 SH20SLI GA05AG Encoder E 107 SH28SLI GA05AC 75 SH40SLI GA05AC Straight Shaft 60 SH50SLI GAO05AC with Keyway 43 SH70SLI GA05AC 750 600 SH05SLI GA09AC 429 SH07SLI GA09AC 300 SH10SLI GA09AC 188 SH16SLI GA09AC 150 SH20SLI GA09AC 107 SH28SLI GA09AC 75 5 405 09 Amplifier 60 SH50SLI GAO09AC Stock 750 HO4SLI GA13A 600 SH05SLI GA13AC 429 SH07SLI GA13AC 300 SH10SLI GAT3AC 188 5 1650 150 5 2050 107 5 2850 75 SHA40SLI GA13AC 750 HO4SET GA20A 600 SH05SLI GA20AC 429 SH07SLI GA20AC 300 5 1050 20 188 5 1650 20 150 SH20SLI GA20AC Siolouup 9S H NSS MS connectors 76 200V Three phase Sigma ll Servo Systems Rated Peak Maximum Cearmotor Motor and Description Torque Torque Speed Model Number A Amplifier in Ib in Ib Item Class 2679 4425 SH28SLI GA20AC 3827 9550 38 75 40 1 SH40SLI GA20AC 4783 9735 30 60 50 1 SH50SLI GA20AC 395 986 375 750 41 SHO4SLI GA20AC 494 1232 300 600 5 SHO5SLI GA20AC 691 1725 214 429 7 1 SHO7SLI GA20AC 987 2464 150 300 10 1 SH10SLI GA20AC 1531 3820 94 188 16 1 SH16SLI GA20AC 1913 4425 75 150 20 1 SH20SLI GA
121. B2BE O0 A B3BE LILI A B5E LILT A B7BCE DILI A B6E LILT A B7BCE DILI A Comments Use the following key to specify needed cable length last two digits of the part number 10m standard 15m 20m Encoder Cable incremental or absolute IP67 Encoder Cable for applications up to 20m for solder connec tions JZSP CMP02 010 B These cables are avail able in five lengths Use two digits in the part num ber s last place 3m 5m 10m standard FR RMCT SB Encoder Cable for applications from gt 20 to lt 50m for solder connections Input Output 1CN Cable amp Transition Terminal Block UL20276 SB These cables are avail able in any length For example to order one FR RMCT SB cable 16m long specify quantity 16 part no FR RMCT SB Input Output 1CN Cable with Pigtail Leads Input Output 1CN Cable Cable with Female D Sub output Connector A at the end of the cable number is the revision level The revision level may be changed prior to this catalog s reprinting 5 When ordering these cables for motors with brakes order the standard power cable and the additional cable for the brake JUSP TA50P 35 mm DIN rail mount able the cable length is 0 5m JZSP CKI01 L A JZSP CKIOD LILI Use the following key to specify needed cable length last digit of part number 1 1m standa
122. Connector D B Encoder side Motor side a 2 Connector D Connector D LL exi Encoder Cable C Signal Motor Cable Connector i 7 TET D Specify a technical manual if it is needed on your servo system purchase order Sigma II Series Servo System User s Manual YEA SIA S800 32 2 f Manual is provided at no charge with a purchase order Regenerative Unit E but it must be requested Model Number Designation SGMSH 10A CA6 1 Sigma Servomotor Type Accessories 1 Standard Rated Output 10 1 0kW 1 3hp d 2 15 1 5kW 2 0hp 20 2 0kW 27h E ShaftSeal and Brake 30 3 0kW 4 0hp Shaft Specifications 40 4 0kW 5 4hp 6 Straight Shaft with Keyway 50 5 0kW 6 7hp Rated Speed Power Supply A 3000rpm Encoder S pecifications C 17 bit Incremental Encoder 2 17 bit Absolute Encoder 200V Three phase Sigma ll Servo Systems Servomotor amp Amplifier Selection Use the table below to select the appropriate SGMSH Sigma servomotor and amplifier Refer to the motor model designation on the previous page specifying the available modification to motor construction features Description 200V Three Phase 17 bit Incremental Encoder Straight Shaft with Keyway 5000rpm maximum MS Connectors Note 24Vpc brakes for SGMSH Sigma servomotors are standard Contact a local source for 24Vpc power supplies
123. E ith SGMGH 44DCA6C SGMGH 55DCA61 60DE 3000rpm Requires maximum SGMGH 55DCA6C ae Unit MS Connectors SGMGH 75DCA61 75DE Requires SGMGH 75DCA6C Regenergtive Unit SGMGH 1ADCA61 1ADE Requires SGMGH 1ADCA6C Regence Unit Limited Stock SGMGH 1EDCA61 1EDE Stock Requires SGMGH 1EDCA6C Regenergtive Unit Limited Stock Note 24Vp brakes for SGMGH Sigma Il servomotors are standard Contact a local source for 24V p power supplies For technical information request Yaskawa manual number Y EA SIA S800 32 2 For more detailed SGDH amplifier specifications and dimensions refer to pages 167 188 2000rpm maximum for 11 and 15KW systems only 132 400V Three phase Sigma ll Servo Systems Pre wired Cable Selection Use the table below to select pre wired cables for your SGMGH Sigma ll servomotor Cable Description C Power Cable with Connectors IP67 Power Cable for Hold ing Brake IP67 Encoder Cable incremental or absolute IP67 Encoder Cable for applications up to 20m Only for Solder Connections Encoder Cable for applications from gt 20 to lt 50m Only for Sol der Connections Input Output 1CN Cable amp Transition Terminal lock Input Output 1CN Cable with Pigtail Leads Input Output 1CN Cable Cable with Female D Sub output Con nector 3e Part Number
124. I 1 7 9 i 5 gt 2 1 1 30 A Approximate mass 8 38lb 3 8kg 0 0 5 7 c 3 94 100 020 20 020 0 5 5 i Mouniing pishi ating connectors See page 167 168 400V Sigma II Servo Systems e SGDH 50DE 400V Three phase 5 0kW 2 00 24 6 hole Heatsink 0 31 8 A 5 5 Od No gt o NB Approximate mass 12 12lb 5 5k 81020 4 92 125 0 20 PP 5 5kg 5 5 Mounting pitch 5 Mounting pitch Mating connectors See page 167 169 400V Sigma II Servo Systems e SGDH 60DE SGDH 75DE 400V Three phase 6 0kW 7 5kW 0 31 Cooling fan Air flow girouit i 1113 282 6 Main circuit Control circuit Terminal ig geleek 1 11 28 3 Ground terminal Ground terminal Mounting Hole Diagram R18 ol 13 19 335 ss GENE uuu 4 09 104 o Q Approximate mass 29 8lb 13 5kg Mating connectors See page 167 o lt gt 3 bpd O 170 400V Sigma II Servo Systems e SGDH 1ADE SGDH 1EDE 400V Three phase 11 0kW 15 0kW SERVOPACK 200V SGDH Ver WY YASKAWA 5 51 140 17 72 450 17 13 435 i Ground terminal 000000000 an 17 13 435 000000000 5 Od No gt 2 Approximate mass
125. L p Gate drive isolator V Lic Current sensor T 45V DC DC 12V L2C converter ASIC For batiery 7V PWM control etc o connection 15V x 4 circuits i p PG output p 25V Reference Open during pulse input Power Power servo alarm 1RY OFF ON 1MC Speed and torque ee Min 0 5 5 ov RE fo 1MC Surge Monitor display POWER position speed suppressor calculation etc Analog voltage VO Sequence I O converter q CN10 CNS CN3 Connector Analog monitor Digital operator for output output for personal computer unit supervision 187 7 A Oa No gt o o lt gt 3 5 2 400V Sigma II Servo Systems 400V 6 0W to 7 5kW Models Three phas
126. Mode Three phase full wave rectification IGBT PWM sinusoidal commutation Feedback Serial incremental encoder absolute encoder Ambient Storage Temperature 0 to 55 C 20 to 85 Ambient Storage Humidity 90 or less no condensing Vibration Shock Resistance 1 4 9m s 19 6m s for 500W to 15kW units 2 9 8m s 1G 49m s 5G for 22 to 55kW units Cyclic shock resistance is 29m s 3G Structure Base mounted duct ventilation available as option and flat mount type Speed Torque Control Mode Performance Speed Control Range 1 5000 The lowest speed of the speed control range is the speed at which the servomotor will not stop with a rated torque load Speed s o tc Load Regulation 096 to 100 0 0196 max at rated speed Voltage Regulation Rated voltage 10 0 at rated speed Temperature Regulation 25 25 C 0 1 maximum at rated speed Frequency Characteristics 400Hz at JL Note 100 Hz J for 22 to 55kW systems Accel Decel Time Setting 0 to 10s Can be set individually for acceleration and deceleration Input Signal Speed Reference Reference Voltage id 6Vpc variable setting range 2 to 10 at rated speed forward rotation with positive reference input voltage 12V maximum Input Impedance Approximately 14kQ Circuit Time Constant Torque
127. OHMK in necessary series or parallel connection Refer to the SGDH servo amplifier section of this catalog for additional specifications and the Sigma Series Servo System User s Manual Y EA SIA S 800 32 2 for proper resistor sizing guidelines 43 100 200V Single phase Sigma II Servo Systems NOTES o S o 5 3 0 7 44 100 200V Single phase Sigma II Servo Systems SGMPH Gearmotors with incremental Absolute Encoder Rated Output 100W 200W 400W 750W 1500W For Additional Information SGMPH Gearmotor Ratings amp Specifications SGMPH Gearmotor Dimensions SGMPH Gearmotor Selection Ordering Information SGDH Ratings amp Specifications SGDH Dimensions Design Features 1 Compact Construction e Easy to install pre engineered and pre assembled e Ideal for cyclic and reversing applications e Fits in limited mounting space e Planetary gear geometry allowing high output torques in a compact package 2 Torque 40 9 to 3540in Ib peak torque Cost effective solution for low speed and high torque applications Gear ratios 5 1 to 100 1 in some sizes High torsional stiffness and low backlash Lubrication is self replenishing to ensure long life 3 Encoders e 13 Bit 2 048ppr x 4 incremental encoder standard e 16 Bit 16 384ppr x 4 absolute encoder option 4 Enclosure e Motor is totally enclosed self cooled IP67 not including shaft 5 Application Emphasis e PCB drilling machi
128. Q I Amplifier Motor Inertia Motor MODEL in Ib s x 103 MODEL A Analog Digital Input SGDH Motor amp Amplifier Item Class o lt S 3 e s 7 Rated Description L Torque in Ib SGMGH 05ACA61 SGMGH 05ACA6C SGMGH 09ACA61 SGMGH 09ACA6C SGMGH 13ACA61 SGMGH 13ACA6C SGMGH 20ACA61 200V SGMGH 20ACA6C Three P hase SGMGH 30ACA61 Incremental Encoder SGMGH 30ACA6C Straight Shaft with Keyway SGMGH 44ACA61 50AE 3000rpm maximum SGMGH 44ACA6C MS Connectors SGMGH 55ACA61 60AE Requires SGMGH 55ACA6C Regenerative Un SGMGH 75ACA61 15 Requi SGMGH 75ACA6C Regenerati SGMGH 1AACA61 1A Limited Stock Requi SGMGH 1AACA6C Regenerati i Non stock SGMGH 1EACA61 1E Limited Stock Requ SGMGH 1EACA6C Regenerati i Non stock Note 24Vpc brakes forSGMGH Sigma II servomotors are standard Contact a local source for 24V pc power supplies For technical information request request Yaskawa manual number Y EA SIA S 800 32 2 For more detailed SGDH amplifier specifications and dimensions refer to pages 99 to 112 2000rpm maximum for 11 and 15KW systems only 62 Use the table below to select pre wired cables for your SGMGH Sigma II servomotor Cable Description C Power Cable with Connectors IP67 Part Number without Brake with Brake B1BE O0 A
129. S Connector for Encoder Cable incremental or absolute encoder 9 2288888881 po 1CN Mating Connector 2CN Encoder Mating Connector I I 3CN Peripheral Mating Connector Connector and 1m Cable with Pig tails MS3106B20 29S Straight type connector MS3108B20 29S L type connector MS3057 12A Cable clamp JZSP CKI9 All JZSP CMP9 1 DE9404559 Can use 5CN for analog speed and torque monitor service checks Item Class Stock Choose either a straight or L type connector and the associated cable clamp for a complete assembly For example L type connector 5 3108 18 105 is compatible with cable clamp MS3057 10A MS connectors listed in the table are non environ mental 64 Hand held Digital Operator Panel 200V Three phase Sigma Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for each SGMGH Sigma ll servomotor Description Item Class SERVOPACK OWE ND YASKAWA JUSP OP02A 1 and JZSP CMS00 1 Portable unit with 1m adapter cable for Sigma II Software Interface Cable YS 12 Pre wired 2 0m cable with 9 pin connector Absolute Encoder Battery JZSP BA01 3 6V 1000mAh Lithium Battery JZSP BA01 1 For SGDH 60 and above same as JZSP BAO 1 with longer lead SigmaWin Software
130. W ds Erase PULS Position reference SION gt SIGN 1 Ease B 4 CLR I5 CLR gt 3 Open collector reference power supply Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor um and relay 9 2 A 1 Servomotor Thermal pT BY w T Protector Optical 1 encoder cen 72 bus Be sure to properl prepare the end o he shielded wire O DV O DWo ol Dynamic rake 24V oV ALO 1 Alarm code maximum output ALO3L Operating voltage 30Vpc aol ALOS Operating current 20mApc a ividing rati Backup battery 2 8 to 4 5V BAT PG dividing ratio output When using an absolute encoder TLP BAT 2 PB Applicable line receiver is 45V SEN 36 pBO SN75175 or MC3486 manufac SEN signal input tured by or the equivalent When using an absolute encoder ov PCO Y 7 4 Amount of S phase rotation Used only with gt Serial data output an absolute encoder T Applicable line receiver 24Vpc 1596 24V sa 5 75175 or MC3486 manufac 5 E Servo tured by or the equivalent Servo ON with 1Ry ON OV ERY L X 3E gt Proportional P control P control with 2Ry ON aee TRY are K gt limit ON Reverse current limit ON with 7Ry ON G Connect shield t T
131. age kW hp T A jte gt gt gt gt gt gt gt gt a Values when the servomotor is combined with an SGDH servo amplifier a 216 Rated Inertia Inductive Torque Addi able Angular Constant UU Capacity Torque 24 tona Acre C MOTORS SGMGH Arms Ib eines KG em beines KG em x10 x104 x 103 x10 0900 13D0A 20D0A 44 7500 1ADLIA 1bEDLIA Values when the servomotor is combined with an SGDH servo amplifier at an armature winding temperature of 20 C These characteristics can be obtained when the following heat sinks steel plates are used for cooling purposes Type 05DLJA to 130 0 15 75 x 15 75 x 0 79 in 400 x 400 x 20 mm Type 20DLJA to 75DDA 21 65 21 65 x 1 18 in 550 x 550 x 30 mm Type to 1 25 59 25 59 x 1 38 in 650 x 650 x 35 mm 126 400V Three phase Sigma II Servo Systems Speed Torque Curves 400V SGMGH 05D 1A SGMGH 09D A SGMGH 13DL A 5 3000 oo SE b E E o2 amp 2000 a amp
132. amp 6 811 2 PL1 Cable Supplied with the terminal block tr Indicates twisted pair wires Preconfigured amplifier inputs and outputs are listed above as they designated when the unit is shipped from the factory Use the connection diagrams on the previous pages for more functional details 193 7 A 5 Oa No gt 400V Sigma II Servo Systems Amplifier to Encoder Connection Diagram Connection Example The following diagrams show the procedure for wiring a servo amplifier to an encoder Connecting an encoder CN2 and output signals from the servo amplifier CN1 Incremental Encoders Servo amplifier Incremental encoder Output line driver Applicable line SN751LS194 manufactured receiver SN75175 manufactured by or the equivalent ov Shield wires Connector Absolute Encoders Absolute encoder Servo amplifier PBO IP p119 j PCO 1 20 IP gt 119 Pso 73 1 20 FPSO TP Output line driver SN751LS194NS manufactured by or the equivalent o o gt 30 oT o Shield wires Indicates twisted wire pairs Ei 194 400V Sigma II Servo Systems Overload Characteristics Servo amplifiers have a built in overload protection function that protects the servo amplifi ers and servo motors from overload Allowable power for the servo amplifiers is limited by the overload protective function
133. and position control e PC monitoring function available including graphical tuning and file storage e Adaptive tuning function Online auto tuning e Multi axis communication provided as standard One PC can communicate with up to 14 SGDH units by parameter setting e Built in parameter setting device e On board storage of alarm history e Automatic determination of motor settings at connection 3 Additional functionality with ready to install application modules e Configurable single axis controls including serial networking capability e Fieldbus connectivity Devicenet Profibus etc e Full closed loop optional position feedback e Yaskawa MP940 single axis motion controller 4 Certified International Standards e UL cUL listed File E147823 CE compliance 7 5 QE Oc No gt 2 95 100 200V Sigma II Servo System Model Number Designation SGDH O00 AE O Sigma Series L Options SGDH Servo Amplifier S Single Phase Rated Output Model E Speed Torque and 7 Position Control B 100V F 100V for SGM OH 04A motors only Only required for single phase sizes 08 and 15 Amplifier Capacity AC Supply Phases 5 gt Q 30 Cr 96 100 200V Sigma Servo Systems SGDH Amplifier Ratings and Specifications TOW Three
134. arallel connec tion Refer to the SGDH servo amplifier section of this catalog pages 97 to 126 for additional specifications and the Sigma II Series Servo System User s Manual YEA SIA S 800 32 2 for proper resistor sizing guidelines 54 200V Three phase Sigma ll Servo Systems General Purpose Servomotors with incremental Absolute Encoder Rated Output 0 45kW 0 85kW 1 3kW 1 8kW 2 9kW 4 4kW 5 5kW 7 5kW 11kW 15kW x 2 o For Additional Information Page s SGMGH Ratings amp Specifications SGMGH Speed Torque Curves SGMGH Dimensions SGMGH Selection Ordering Information SGDH Ratings amp Specifications SGDH Dimensions Design Features 1 Compact e Small sized motor Compatible with previous generation G series motors Ten types of rated outputs ranging from 0 79 to 1988in Ib of peak torque Optional built in holding brake available 2 Higher Speed and acceleration e Up to 3000rpm maximum e High torque to inertia ratio 3 Encoders e 17 bit 32 768 ppr x 4 incremental encoder standard e 17 bit absolute encoder optional 4 Enhanced Environmental Resistance e Totally enclosed self cooled IP67 excluding shaft e Shaft seal optional 5 Application Emphasis Machine tools and woodworking machines Packaging machines Gantry Robots Press Automation Thermoforming 6 Certified International Standards e UL cUL recognized File 4 E165827 CE com
135. ase 750W 2 0 20 5 holes Air flow gt 0 31 8 6 30 160 um dem T 0 3 terminal 0 59 15 2 4 Air flow 21705 SC WS 136 35 Mounting Hole Diagram IE 0 28 5 57 91 5 EUU BEI Air flow t Approximate mass 3 75lb 1 7kg 106 248103 Mating connectors See page 99 27 bee ee 0 67 17 5 89 149 5 0 020 0 5 Mounting pitch 5 QE Oc No gt 2 2 5 Rating 200 to 230V4 10 5 101 100 200V Sigma ll Servo System e SGDH 15AE 200V Three phase 1 5kW 2 0 20 5 holes Heat sink Air flow Ee 0 31 8 el 6 30 160 Terminal block 3 types 0 20 5 13 110 Mounting Hole Diagram 2 x 4 screw holes 0 28 7 5 57 141 5 0 22 i e Jmm TX MSA i Mounting pitch Cooling fan 0 20 5 89 149 5 40 020 0 5 20 2 94 100 0 020 0 5 0 20 5 Mounting pitch 5 Approximate mass 6 1716 2 8kg Mating connectors See page 99 o Q o lt gt 3 D o 102 100 200V Sigma Servo Systems e SGDH 20AE 30AE 200V Three phase 2 0kW 3 0kW e SGDH 15AE S 200V Single phase 1 5 kW 2 0 24 6 holes Heat sink E 0 315 8 9 84 250 ER c lE v 14 pin terminal M4 mounting screws 2 95 75 Groun
136. ase V Color Red White Phase W Blue Holding Brake Black Holding Brake Black SRUC 17GMRCN087 Interconnectron 34 8 5V Power Supply Red SRUC 06 MSCN236 9 OV Power Supply Black Interconnectron Connector Case FG Frame Ground Mating Connector Shield wire Note Incremental Terminal pins number 1 and 2 are connectors used for 16 bit absolute encoder option only SPNA17HFRON16900E3 Interconnectron FG Frame Ground Mating Connector SPNAOGKFSDN169 Interconnectron Green Yellow 100 200V Single phase Sigma II Servo Systems 200 0 27hp 400W 0 53hp Encoder cable UL20276 0 24 6 11 81 300 1 18 30 Encoder plug SRUC 17GMRCNO87 Motor Plug SRUC 06 MSCN236 Cross section Y Y HEXAGONAL NUT 11 81 300 1 18 30 Opposite side width V 0280 0 33 8 5 0 12 3 25 5 09 nz o Serial encoder Magnetic brake Non excitation operation Absolute or Incremental DC power supply 24V Rated Approx Allowable Allowable ERES Output Time Radial SGMPH LC LZ 5 oLB W hp Rating Posh N 200 564 48 1 118 g 0 551 2 756 0 63 0 12 0 20 0 20 0 27 0 637 Contin 3000 ES 55 1 15 29 g 14 70 16 3 5 5 400 112
137. ase consult the factory for availability 24Vpc brakes for SGMGH Sigma gearmotors are standard Contacta local source for 24Vpc power supplies For technical information request Yaskawa manual number YEA SIA S800 32 2 To complete the model number in type SH gearmotors please specify the shaft orientation as shown in the Model Number Designation on page 75 Formore detailed SGDH amplifier specifications and dimensions referto pages 99 112 Amplifier models SGDH 60AE and SGDH 75AE require a regenerative unit see Component E on page 80 77 200V Three phase Sigma Servo Systems Use the table below to select pre wired cables for your SGMGH Sigma gearmotor Pre wired Cable Selection Cable Description C Power Cable with Connectors IP67 Part Number with Brake without Brake BiBE B2BE B7BCE Comments Use the following key to specify needed cable length last two digits of the part number 5 10m standard 15m 20m Encoder Cable incremental or absolute Siolouup 9S H9IN9S Encoder Cable for applications up to 20m Only for Solder Connections Encoder Cable for applications from gt 20 to 50m Only for Solder Connections Input Output 1CN Cable amp Transition Terminal Block Input Output 1CN Cable with Pigtail Leads
138. at least 28 AWG 0 0002 0 12 tinned annealed copper twisted wires PG signal connector Finished cable dimensions maximum 40 63in 16mm for CN1 and 0 27 6 8mm for Ground terminal 14 AWG 0 003 2 0 08AE S 15AE S Main circuit power input terminals 7 Oc No gt 2 119 o lt gt 3 D o 100 200V Sigma ll Servo System o Q Cable Specifications cont d Notes 120 External Terminal Name Main circuit power input terminals SGDH Terminal Wire Size AWG in mm Symbol L1 L2 L3 Three phase Servomotor connection terminals U V W 08AE 10AE 15AE 12 AWG HIV 14 AWG HIV 0 003 2 0 0 005 3 5 Control power supply terminals L1C L2C 16 AWG HIV 0 002 1 25 Control NO signal connector PG signal connector CN2 Twisted pair or shielded twisted pair wires Core wire at least 28 AWG 0 0002 0 12 tinned annealed copper twisted wires See page 122 for details Finished cable dimensions maximum 0 63in 16mm for CN1 and 0 27in 6 8mm for CN2 Ground terminal External Terminal Name Main circuit power input terminals SGDH Terminal Symbol L1 L2 L3 Three phase 14 AWG HIV 0 003 2 0 Wire Size AWG in mm 50AE 60AE 10 AWG 8 AWG HIV 0 009 HIV 0 012
139. ata Blue White FG Frame Ground Green Yellow Free i SRUC 17GMRCN087 Mating Connector SPNAO6KFSDN169 SRUC 06 MSCN020 Interconnectron Power Suppi Bed Interconnectron OV Power Supply Black Connector Case FG Frame Ground Shield wire Note Incremental Terminal pins number 1 and 2 are connectors used for 16 bit absolute encoder option only Mating Connector SPNA17HFRON16900E3 Interconnectron 33 100 200V Single phase Sigma ll Servo Systems Vote 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 IP 67 enclosure excluding the shaft optional shaft seal available 100W 0 13hp 11 81 300 1 18 30 Encoder cable Encoder plug pan 120276 450 24 6 ZY SRUC 17GMRCN087 gt 2 a i X ze Motor Plug T MOTOR cable SRUC 06 MSCN236 Cross section Y Y 2 5 Hexagonal nut 11 81 300 1 18 30 gt Opposite side width 0 67 17 C gt dp lt LR gt
140. b of peak torque Optional built in holding brake available e Brushless Permanent Magnet PM design Smaller size Lower rotor inertia Neodynium Internal Permanent Magnet IPM construction Lower Maintenance Requirements e Clean energy efficient replacement for hydraulic power systems e Quieter cleaner operation no noisy pumps or leaky hoses Higher Speed and Acceleration e Up to 2000rpm maximum e High torque to inertia ratio Rugged Industrially Designed Feedback e 17 Bit 32 768 ppr x 4 incremental encoder standard e 17 Bit absolute encoder optional Enhanced Environmental Resistance e Totally enclosed self cooled IP44 including shaft e Shaft seal optional Application Emphasis Machine tools Packaging machines Press Automation Thermoforming All Electric Injection Molding Machines eUL cUL recognized File E165827 CE compliance 151 gt x lt e 400V Large Capacity Sigma II Servo System Servomotor Ratings and Specifications Time Rating Continuous Enclosure Totally enclosed self cooled Instantaneous Maximum Speed 2000rpm Insulation Class F IP 44 including shaft Excitation Permanent magnet Vibration 15 or less Ambient Temperature 0 to 402C Drive Method Direct drive Withstand Voltage 1500V c Ambient Humidity 20 to 80 Mounting Flange mounted Insulation Resistance 500V non condensing Foot Mount 55kW only 10MQormore Rated Speed 1500rpm T
141. b ul S RDY Servo ready output __30 ON when ready Forward current S RDY Servo alarm output OFF with an alarm x o R limit ON current Oc No gt p 2 Photocoupler maximum output Operating voltage 30Vpc Operating current 50mApc FG Indicates twisted wire pairs 113 100 200V Sigma II Servo System Connection Diagram Three phase Three phase 200 to 230V 50 60Hz RI SJ T 1MCCB 5 5 L Power Power Alarm ip Noise filter OFF ON processing Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor and relay o lt lt gt 3 17 o Q I 114 O 2 sure to O ground Reference speed SVREF 2 10V rated motor speed set by parameter SG Torque reference SURE 3 1 to 10V rated motor speed set by parameter P PULS gt PULS Mas a A phase SIGN CCW B Phase SIGN A Position reference Open collector 5 SUP o I 1MC L1 Uo Optical encoder Ne sure to properly prepare the end of the shielded wire Alarm code maximum output SAL Operating voltage 30Vpc Operating current 20mApc PG dividing ratio output 56015996 line receiver 5175 or MC3486 manufac tured by or the equivalent reference y PCO power supply PL
142. bles for your SGMSH Sigma l ll servomotor These are suitable for IP67 environments Use the standard encoder cable MS3057 12A listed on page 93 Motor Part Number Cable Description C Size Comments kW without Brake with Brake 15 20 B1CE LILI A B1BCE OD A Use the following key to Mes specify required cable Power Cable with length last digit of part Connectors 22 number Limited N 3 0 B2CE OD A IP67 0 10m standard 15m 20m oo f The A at the end of the cable number indicates the revision level The revision level may be subject to change prior to this catalog s reprinting CE IP67 Connector Selection Use the table below to select mating connectors for your SGMSH Sigma ll servomotor Mot Part Number Connector Description D Size kW Comments without Brake with Brake CE05 8A18 10SD B BAS CE05 8A20 15SD B BAS L type 1 4 E connector CE3057 10A 1 D265 CE3057 12A 1 D265 Cable clamp Connector for Motor Power m Cable CE05 8A22 22SD B BAS CE05 8A24 10SD B BAS L type 3 0 4 0 connector CE3057 12A 1 D265 CE3057 16A 1 D265 Cable clamp SGMSH Servomotors Limited CE02 6A20 29NSW L type connector Stock and plug and back Encoder Cable CE20BA S shell incremental or absolute CE3057 12A 3 D265 Cable clamp encoder for diameters 0 265 to 0 394in Connect
143. cceleration Constant Constant Torque Constant MOTORS SGMGH Ib in Arms Ib in s es Nem x103 ms o Q o o 2 lt S 3 m S 7 These items torque speed characteristics quoted in combination with SGDH servo amplifier at an armature winding temperature of 20 C Note These characteristics can be obtained when the following heat sinks steel plates are used for cooling purposes Type to 20ALIA 11 81 x 11 81 x 0 47 in 800 x 300 x 12 mm Type to 15 75 x 15 75 x 0 79 in 400 x 400 x 20 mm 84 200V Three phase Sigma ll Servo Systems Speed Torque Curves 200V SGMSH 10AL1A 5000 _ 4000 E amp 3000 a 2000 A B 6 1000 0 0 2 4 8 10 TORQUE N m 0 20 40 60 80 TORQUE lb in SGMSH 20ALIA 5000 _ 4000 E amp 3000 a A B 2000 1000 5 10 15 20 TORQUE m 0 50 100 150 SGMSH 40ALIA 5000 4000 e Y amp 3000 a A B 2000 1000 0 0 10 20 30 40 TORQUE 0 100 200 300 400 TORQUE lb in SPEED rpm SPEED rpm SPEED rpm 15 5000 4000 3000 2000 1000 5 10 TORQUE m 15 50 1 TORQUE Ib in 60 150 SGMSH 30A OA
144. ce 2 phase pulse phase A phase B or CCW CW pulse train Pulse Buffer Line driver 5V level open collector 5V or 12V level Reference Signal Pulse Frequency Maximum 500 200kpps line driver open collector Positioning Control Mode Control Signal CLEAR input pulse form identical to reference pulse Built in Open Collector Power Sup ply 12 With built in 1KW resistor Output Form Phases A B and C Line driver output Phase S Line driver output Only when absolute encoder is used Position Output Frequency Dividing Ratio Any Sequence Input Signals Servo ON P control or forward reverse rotation in contact input speed control mode forward rotation prohibited P OT reverse rotation prohibited N OT alarm reset forward rotation current limit and reverse rotation current limit or contact input speed control Servo alarm 3 bit alarm codes Configurable Any 3 of these sig nals Sequence Output Positioning complete speed coincidence servomotor rotating servo ready current limit brake release warning and near position signals Dynamic Brake DB Activated at main power OFF servo alarm servo OFF or overtravel Regenerative Processing Incorporated For 6 to 55 kW units external regenerative resistor must be mounted Overtravel OT Prevention Motor decelerates or coasts to a stop or is stopped by a dynamic
145. cm 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 SGDH Wire Size AWG in mm Terminal Symbol As3AE A5AE 01AE 02AE External Terminal Name 14 AWG Main circuit power input terminals L1 L2 16 AWG HIV 0 002 1 25 Single Phase 0 003 2 0 Servomotor connection terminals W 16 AWG HIV 0 002 1 25 Control power supply terminals L1C L2C Control NO signal connector CN1 Twisted pair or shielded twisted pair wires Core wire at least 28 AWG 0 0002 0 12 tinned annealed copper twisted wires PG signal connector CN2 Finished cable dimensions maximum 0 63in 16mm for CN1 and 0 27 6 8mm for CN2 Ground terminal 14 AWG HIV 0 003 2 0 SGDH Wire Size AWG in mm External Terminal Name Terminal Symbol L1 L2 Single Phase 14 AWG 0 003 2 0 12 AWG 0 0054 3 5 Servomotor connection terminals U V W Control power supply terminals L1C L2C 16 AWG HIV 0 002 1 25 14 AWG 0 003 2 0 Control signal connector CN1 Twisted pair or shielded twisted pair wires Core wire
146. coder with Brake LL W 0 31 8 aif ED LG LE a K CMS LM 5 i mre q d 0008 4 47 KB1 710 02 MTG Holes SGMUH Servomotors Shaft End Allowable Penge Diana Dimension Radial Load LC LE LG Q Qk N 4 57 5 91 116 150 6 10 1 48 155 190 1 Dimensions are the same when using either incremental or absolute encoders with or without optional shaft seal 2 Tolerances on the dimensions of flange type LB and of shaft extensions S are based on 15 J apanese Industrial Standard B0401 Limits and Fits for Engineering Specified Tolerances Dimension 5 eLB Unit Diameter Tolerance Diameter Tolerance 4 3307 40 0005 0 00035 0 9449 1 1024 40 0000 0 0005 5 17 30 00055 0 00043 110 000 40 013 0 009 2400028000 30000 0013 00 0013 0009 Connector Wiring on the Brake Terminal Motor Side Brake Terminal U Phase V Phase MS3102A10S L 3P W Phase Non Environmental Mating Connector Ground Terminal MS3108A10SL 3S L Type MS3106A10SL 3S Straight Type Cable Clamp MS3057 4A 143 400V Three phase Sigma ll Servo Systems Selecting Your SGMSH UH Sigma Servo System First select the Sigma Il servomotor suited for your application using SigmaSiz
147. d Shaft Seal Specifications 6 Flange straight shaft with key and tap Up to 45kW L Foot mount straight shaft with key and tap 55kW only Design A Standard Revision Servomotor amp Amplifier Selection 400V Large Capacity Sigma II Servo System Use the table below to select the appropriate SGMBH Sigma servomotor and amplifier Refer to the motor model designation on the previous page specifying the available modification to motor construction features Description 400V 3 Phase 17 Bit Incremental Encoder Straight Shaft with Keyway 2000rpm maximum MS Connectors Motor Inertia in Ib s x 1073 Motor MODEL A SGMBH 2BDCA61 SGMBH 2BDCA6C Amplifier MODEL B Analog Digital Input SGDH Regenerative Unit JUSP RA12 SGMBH 3ZDCA61 SGMBH 3ZDCA6C JUSP RA13 SGMBH 3GDCA61 JUSP RA14 SGMBH 4EDCA61 JUSP RA15 SGMBH 5EDCAL1 JUSP RA16 Note 24Vpc brakes for SGMBH Sigma servomotors are standard Contact a local source for 24Vp power supplies External regenerative units are required For detailed 5 GDH amplifier specifications and dimens Consult factory for availability of 37KW 45KW and 55KW motors with holding brakes Motor and Amplifier Item Class Non Stock ions refer to pages 165 188 159 o gt e 10 OUIOA19S 400V Large Capacity Sigma Il Servo System DE
148. d t Connector is inset into the amplifier so that it does not protrude past the outside edge I I s Mounting holes I io N 54 Approximate Mass 143 316 65kg I I Mating connectors See page 167 P S Pa 0 98 19 69 500 1 0 98 25 27 25 9 D SEN 7 175 400V Sigma II Servo Systems Regenerative Resistor Units JUSP RALILI Externally attach a regenerative resistor to the servopack This resistor is used for dissipating o lt gt 3 5 O o O regenerative energy Use one of the following regenerative resistor units according to the servopack model 176 Servopack Model SDGH 2BDE 3ZDE 3GDE 4EDE 5EDE Regenerative Resistor Unit JUSP RA12 RA13 RA14 RA15 RA16 Resistance 9 6 70 50 40 3 80 Resistance Capacity 3600W 3600W 4800W 6000W 7200W Allowable Load Moment of Inertia 5 times the load moment of inertia at motor shaft Allowable Duty 2 ED at maximum speed and torque deceleration 400V Sigma II Servo Systems e JUSP RA12 Front cover 19 69 500 4 Main circuit terminal
149. d terminal 2 x M4 screws Mounting Hole Diagram ie 4 x M5 screw holes AIN p mdr E h 0 28 5 57 141 5 P s 9 q i JE 9 1 1 1 3 o QE Oc No gt 2 Approximate mass 8 3816 3 8kg cl 020 394 100 020 Mating connectors See page 99 30 020 0 5 9 Mounting pitch Rating 200 to 230 10 5 103 100 200V Sigma II Servo System e SGDH 50AE 200V Three phase 5 0kW a o H gt 3 H B z E o Q o lt gt 3 17 m 14 Approximate mass 12 1210 5 5k 97 4 92 125 6 20 5 5kg Mounting pitch Mating connectors See page 99 104 100 200V Sigma Servo Systems e SGDH 60AE SGDH 75AE 200V Three phase 6 0kW 7 5kW SIS ih S eon oso 125 6 3 12 5 TE Mounting Hole Diagram 4 4 x M5 screw holes Ll d 5 71 aas H 13 19 335 7 o ra QE Oc No gt 2 4 4 Approximate Mass 31 55 14 3kg Mating connectors See page 99 E RED f A 18 7 09 180 0 ot Mounting pitch Mounting pitch 105 100 200V Sigma ll Servo System e
150. e 10 38010480V 15 si P 60 60 2 FAN2 DBI PM2 eT PM1 PM2 PM3 24V 0 24V 0 Ae Renmin Line filter LX 1 Bat T R 63 E T2 y 12 Ri 0 5 c2 ca L J P CHARGI u F li J i BA2 LA SCRI N Tk S S Base drive over current Re 2 protection isolator Voltage sensor ipower isolator m not provided DIU isolator V Lic Current x asv hi sensor 7 tt DC DC HV 12 converter ASIC For battery PWM control etc connection 15V x 4 circuits _ PG output qv Reference Open during bules Imut Power Power servo alarm OFF 1MC Ly m Speed and torque eS HM 606 o xm POWER 1MC Surge Monitor display position speed suppressor calculation etc Analog voltage j vo kr Sequence I O converter Y A CN10 CNS CNS Connector Analog monitor Digital operator for output output for personal computer unit supervision o Q 188 400V Sigma II Servo Systems 400V 500W to 15kW Models Three phase 380 to 480V 50 60Hz 1MCCB Power Power Alarm OFF ON processing Noise filter Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor and relay dis cm Qo 24Vpc 15 Dc 519 E I 4 L2C SGDH Servo Amplifier Optical 1 i encode
151. e the Yaskawa servomotor sizing software available at no charge Request SigmaSize software via e mail at literature yaskawa com 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 Digital Operator E Optional Holding Brake 5CN Shaft Keyway For Monitor D SGMSH UH Servomotor 3CN A s 20 Peripheral SGDH Connector for Shaft Seal s Signal Amplifier Encoder Signal D 3 I Connector D B Encoder side Motor side Connector D Connector D 1CN Encoder Cable C Signal A Motor Cable C Connector D Specify a technical manual if it is needed on your servo system purchase order Sigma II Series Servo System User s Manual YEA SIA S800 32 2 Manual is provided at no charge with a purchase order but it must be requested Model Number Designation SGMSH 10DCA 6 1 Sigma Servomotor Type V Accessories SGMSH 5000rpm 1 Standard SGMUH 6000rpm C 24Vp Brake 10 1 0kW 1 3hp E ShaftSeal and Brake 15 1 5kW 2 0hp Shaft Specifications 20 2 0kW 2 7hp 6 Straight Shaft with Keyway 30 3 0kW 4
152. e requested Regenerative Unit E Q 22 Model Number Designation SG 055 02 C i i Accessories Sigma Il Gearmotor Seres G Standard 10 arc min 24Vpc Brake Reduction Ratio Blank Standard YEA stock motor options 10 101 Encoder S pecifications 25 251 A 13 BitIncremental Encoder 50 50 1 1 16 BitAbsolute Encoder 1A 100 1 Power Supply Construction m S Standard Revision Level Motor Output Motor Series 01 100W 0 13hp PE SGMPH 02 200W 0 25hp 04 400W 0 5hp 08 750W 1hp 15 1 5kW 2hp 100 200V Single phase Sigma ll Servo Systems Gearmotor amp Amplifier Selection Use the table below to select the appropriate SGMPH Sigma Il gearmotor and amplifier Refer to the motor model designation on the previous page specifying the available modification to motor construc tion features Gearmotor A Gearhead only Amplifier Amplifier Inertia Gear Item in Ib s Ratio Class Rated Peak Maximum MODEL Torque Torque Speed in Ib Ib rpm SG05SA PEQ1AA 13 67 40 93 SG10SA PEO1AA 21 34 81 84 SG25SA PEQ1AA 66 95 200 39 SG50SA PEQ1AA 133 89 283 00 SG1ASA PEO1AA 267 78 637 00 0 0016 SG05S A PE02AA 27 34 81 84 SG10SA PE02AA 54 68 163 69 0 00025 SG25S A PE02AA 133 89 283 00 SG50S A PE02AA 267 78 708 00 0 0016 SG1ASA PE02AA 535 56 1593 00 0 0049 SG05SA PE04AA 54 81
153. er a straight or L type connector and the associated cable clamp for a complete assembly For example L type connector 5 3108 18 105 is compatible with cable clamp MS 3057 10A MS connectors listed in the table are non environ mental 147 400V Three phase Sigma Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for your SGMSH UH Sigma ll servomotor Component E Description Item Class 88988 Perm Hand held Digital VID JUSP OP02A 1 unit with adapter cable W YASKAWA Operator Panel for Sigma ll SJO0 OUIOAJ8S Hfl HSIW9S Absolute Encoder Battery JZSP BAO1 3 6V 1000mAh lithium battery Minimum Recommended Sys tem Requirements Pentuim 200 MHz 64MB RAM 200MB hard drive CDROM Drive RS 232 or JZSP WP0001 RS 422 port Screen rsolution 800x600 w 256 colors and Win dows 95 98 NT4 0 2000 ME Windows XP planned Pre wired 2 0m cable with 9 pin connector Software Interface Cable These are general purpose regenerative units Order the Motion document External Regenerative Unit JUSP RAO4 99004 for setup instructions Optional i Caution Proper set up is necessary to avoid equipment damage Ce SGDH 10DE SGDH 15DE SGDH 20DE SGDH 30DE Large Capacity Amplifiers for this unit
154. erminal Brake Terminal U Phase V Phase W Phase Non Environmental Mating Connector Ground Terminal MS3108A10SL 3S L Type MS3102A105 L 3P MS3106A10SL 3S Straight Type Cable Clamp MS3057 4A 130 400V Three phase Sigma Servo Systems Selecting Your SGMGH Sigma Servo System First select the Sigma servomotor suited for your application using SigmaSize the Yaskawa servomotor sizing software available at no charge Request SigmaSize software via e mail at literature yaskawa com Use the diagram below to locate and identify the components of your system Each item is let ter coded and cross referenced in the option tables on the following pages System Configuration Digital Operator E 3CN Peripheral Signal Connector D 1CN I O Signal 5CN For Monitor D SGDH Connector for Amplifier Encoder Signal D B Encoder side Connector D x oo 59 o Optional Holding Brake Shaft Keyway SGMGH Servomotor Shaft Seal 2CN Encoder Cable C Motor side 1 Connector D Connector D Regenerative Unit E Motor Cable C Specify a technical manual if it is needed on your servo system purchase order Sigma II Series Servo System User s Manual YEA
155. es on the dimensions of flange ther incremental or absolute encoders with or without optional shaft seal pe LB and of shaft extensions S are based on J Specified Tolerances S Japanese Industrial Standard B0401 Limits and Fits for Engineering Tolerance 0 7480 0 8661 0 0000 0 0005 0 0000 0 0014 1 3780 19 000 22 000 0 0004 0 0000 0 000 0 013 110 000 0 0000 0 0010 0 000 0 035 35 000 0 010 0 000 114 300 0 000 0 025 Connector Wiring on the Motor Side U Phase Brake Terminal V Phase Brake Terminal W Phase FG Frame Ground 59 SGMGH Servomotors 200V Three phase Sigma ll Servo Systems 5 5 to 15kW 7 4 to 20hp o So 50 3 0 0100 3 94 B KB3 4 417 0016 Holes 6 85 11 2 5 174 290 9 09 231 Flange Dimensions ft End Dimension Allowable Allowable LC 9 76 14 33 248 364 12 01 305 10 16 14 25 258 362 12 40 315 Radial Thrust Load Load lbe N Ibe N 13 50 19 57 343 497 16 34 415 1 Dimensions are the same when using either i 2 Tolerances on the dimensions of flange type Specified Tolerances Unit Diamete
156. esolution 1rpm Feed forward Compensation 0 to 10096 setting resolution 196 Performance Position Complete Width Setting 0 to 250 reference units setting resolution 1 reference unit Positioning Control Mode Sign pulse train 90 phase difference 2 phase pulse phase A B or CCW CW pulse train Pulse Buffer Line driver 5V level open collector 45V or 12V level Pulse Frequency Maximum 500 200kpps line driver open collector Input Signal Control Signal CLEAR input pulse form identical to reference pulse Built in Open Collector Power Supply 12V With built in 1kW resistor Output Form Phases A B and C Line driver output Phase S Line driver output Only when absolute encoder is used Frequency Dividing Ratio Any Sequence Input Servo ON P control or forward reverse rotation in contact input speed control mode forward rotation prohibited P OT reverse rotation prohibited N OT alarm reset forward rotation current limit and reverse rotation current limit or contact input speed control Signals p Servo alarm 3 bit alarm codes Configurable Any 3 of these signals Positioning complete speed coincidence servomotor rotating servo ready current limit brake release warning and near position signals Dynamic Brake DB Activated at main power OFF servo ala
157. g is Z gt 1 P control with 2Ry ON 1 Proportional control P control COIN completed 27 27 Forward run O O prohibited T GON output Forward run prohibited with Ty y RO 4 al ON at levels ab th tti P LS OPEN Nis Norl 55 n Reverse run T GON at levels above the setting T 4 t Reverse run prohibited with O_O M I ee ois 29 S dy output SY amasa E EE XC a SAO 05 Alarm reset with BRYON T e D E J S RDY y 65 m s 9 Forward current limit ON with 6Ry ON O O MEE SALM Servo alarm output 7RY Chea Reverse current i LI m E432 OFF with an alarm Reverse current limit ON with amp ARy t ET limit ON k o Photocoupler maximum output FG Operating voltage 30Vpc Connect shield to connector shell Operating current 50 The time constant for the primary filter is 4715 fP Indicates twisted wire pairs 189 o lt gt 3 o 400V Sigma II Servo Systems 400V 22kW to 30kW Models Three phase 380 480Vac 105 50 60Hz R S 1 5 Power Power Ii PP 1MC SUP 24V pc 10 maximum Reference speed 2V to 10V rated speed set by parameter Torque reference 1 to 10V rated torque set by parameter P O
158. g voltage 30Vpc Operating current 50 Indicates twisted wire pairs 100 200V Sigma Servo Systems Connector Terminal Block Converter Unit JUSP TA50P CN1 Length of cable supplied 19 69 500 10 50 pin connector plug MR 50RMD2 50 pin terminal block M3 5 screws Connector Terminal Block Converter Unit JUSP TA5OP cable included Mounting Hole Diagram 10 01 254 2 0 61 15 5 10 28 261 2 x o QE Oc No gt x 2 Terminal specifications See the following page 115 o lt lt gt 3 17 100 200V Sigma ll Servo System JUSP TA50P Terminal Block Pin Numbers and Signal Names Preconfigured amplifier inputs and outputs are listed above as they are designated when the unit is shipped from m N1 Pin nn r rminal Block ree RE oe 1 SEN z7 5 9 9 ae at s ee EN L3 e o a gt 4 4 e Css pope E LI j I 2 Jas a I 2 s meon 27 a k meon t a a 5 Baw 29 a 2 L S RDY 39 s s s a 1 1 31
159. he time constant for the primary filter is 47us 190 Reverse current ON coincidence detection 25 inci PIS porh y Sp i 5 lt 4 V CMP ON when speed coincides Forward run prohibited with ES Y cim 2 d A ME Positioning completed 3 OTH bi ON when positioning is Reverse run prohibited with 0 N LEES c prohibited COIN k Alarm reset 4 T GON T GON output o Alarm reset with 3Ry ON g T forward 4 ON at levels above the setting I Forward current limit ON with 6 ON FAP limit Servo ready output ON when ready Photocoupler maximum output Operating voltage 30Vpc o connector shell Operating current 50mApc Indicates twisted wire pairs 400V 37kW to 55kW Models 400V Sigma II Servo Systems Three phase 380 480Vac 0 96 50 60Hz R S 1MCCB Noise filter Power Power Be sure to attach a FF ON ime 1Ry surge suppressor to o the excitation coil of U A 25 Ur the magnetic contactor 1MC SUP and relay 9 Re 7 generative Resistor xi Ud A 1servomotor Thermal B 2 Protector m C 3 4 TIT Be sure to oa T J ground Q Li 1 2 4 Optical encoder 24 10 maximum DC24P O DC24N Pe i SGDH Servo Amplifier es d NEN Be sure to properl Refere
160. hermal Protection Built in Rated Instantaneous Peak Rated p Maxi 5 5 NOTONS Torque Torque Current se Ibr in KG Nem Ibe ein KG cm ine Arms 1240 1430 2480 2855 1690 1947 3380 3895 2400 4803 2920 5837 3570 7143 2530 2920 5060 5837 3100 3570 6120 7143 24VDC Holding Brake Allowable Rated Inertia Inductive Torque M oment of Inertia in Load Angular Time Time Gang Torque Watts Inertia Acceleration Constant Constant MOTORS SGMBH beines kgem s x kg m x 103 x 104 x10 103 104 rad s o lt 3 e mi These specifications and torque speed characteristics are quoted with the motor used in combination with SGDH servo amplifier at an armature winding temperature of 20 C Note These characteristics can be obtained when the following heat sinks steel plates are used for cooling purposes Type 2BDLJA to 3ZDDA 25 59 x 25 59 x 1 38 650 x 650 x 35 mm 3GDOA to 29 53 x 29 53 x 1 38 750 x 750 x 45 mm 152 400V Large Capacity Sigma II Servo System Speed Torque Curves SGMBH 400V Servomotors SGMBH 2BDOA SGMBH 3Z DOA Nc amp amp a 1000 1000 wn 65 0 0 0 100 2
161. hes mm SGDH Servo Amplifier e SGDH 05DE 10DE 15DE 400V Three phase 0 5kW 1 5kW 2 60 20 5 holes Heat sink Air flow as 0 31 8 e 5 m Terminal block 3 types 0 20 5 433 110 Mounting Hole Diagram 2 x M4 screw holes 028 557 ML5 ro zi RC o n ka SARS i li EE n 1 gle H ile Gy n S 1 1 ANSA I I 5 Cooling fan se 0 20 113 94 100 0 020 0 5 0 20 Appr xi oximate mass 6 1716 2 8k 5 Mounting pitch 5 pp 9 Connectors on the amplifier supplied Connector Symbol Servo Amplifier Receptacle Manufacturer 10250 52A2 L 3M Company CN2 53460 0611 Molex Co CN3 10214 52A2 L 3M Company User needs to obtain the following Connector Symbol Mating Connector Manufacturer 10150 3000VE connector 3M Company 10350 52A0 008 case 55100 0600 Molex Co RRE compan h 3 Od Yo gt o 167 400V Sigma II Servo Systems e SGDH 20DE 30DE 400V Three phase 2 0kW 3 0kW 2 60 24 6 holes 0 315 8 1 flow 9 84 250 14 pin terminal M4 mounting screws Ground terminal 2 x M4 screws 7 09 180 Mounting Hole Diagram 5 5 4 x M5 screw holes h 1 n I r I I G I S I 1 1 1 B 1 1 1 1 9
162. ies Servo System User s Manual YEA SIA S800 32 2 Regenerative Resistor Mounted in a Servo Amplifier Internal Regeneration Power Resistance Wattage Capacity Q W W Minimum Allowable Resistance Q Applicable Servo Amplifier SGDH A3AE SGDH A5AE SGDH 01AE SGDH 02AE SGDH 04AE SGDH 08AE S SGDH 15AE S SGDH 05AE SGDH 08AE SGDH 10AE SGDH 15AE SGDH 20AE SGDH 30AE SGDH 50AE SGDH 60AE SGDH 75AE SGDH 1AAE SGDH 1EAE SGDH A3BE SGDH A5BE SGDH 01BE SGDH 02BE Capacity prior to derating If regeneration power require ments exceed internal capacity of the amp install an exter nal regeneration resistor reference Minimum Allowable Resistance Be sure to derate wattage of external resistor to 20 or less natural convection and to 50 or less with forced air cooling Provided externally by JUSP RA04 Provided externally by JUSP RA05 7 o QE Oc No gt 2 107 100 200V Sigma II Servo System Single Regeneration Resistance Units Consult the Design and Maintenance section of the Sigma Series SGMLIH SGDH User s Manual No YEA SIA S800 32 2 for a more detailed description of the selection procedure Part RH500N25 OHMK Part RH120 50 OHMJ 3 15 80 O8 OS ben 5 91 150 0 63 16 9 21 234 0 12 3 0 79 20 0 14 3 5 7 17 182 0 18 4 5 inh 6 77 172 6
163. in open collector power supply is not electrically isolated from the control circuit in the servo amplifier Dimensions in inches mm 100 200V Sigma Servo Systems SGDH Servo Amplifier Standard Terminal block 3 types 6 30 160 Ground terminal Connectors on the amplifier supplied Connector Symbol 1 Servo Amplifier Receptacle 10250 52A2JL SGDH A3AE to 02AE 200V Single phase 30 to 200W and SGDH A3BE to 01BE 100V Single phase 30 to 100W 0 67 17 Approximate mass 1 76lb 0 8kg Manufacturer 3M Company CN2 53460 0611 Molex Co CN3 10214 52A2JL User needs to obtain the following Connector Symbol Mating Connector 10150 3000VE connector 10350 52A0 008 case 3M Company Manufacturer 3M Company 55100 0600 Molex Co JEZ 9S connector J C9 2C case ST Company 99 7 5 QE Oc No gt 2 100 200V Sigma ll Servo System e SGDH 04AE 200V Single phase 400W and e SGDH 02BE 100V Single phase 200W and e SGDH 04FE 100V Single phase 400W 2 0 20 455 holes 6 30 160 Ground terminal 2x M4 screws Mounting Hole Diagram Mating connectors See page 99 Approximate mass 2 43lb 1 1kg o lt gt 3 17 100 100 200V Sigma II Servo Systems SGDH 05AE to 10AE 200V Three phase 0 5 to 1 0kW SGDH 08AE S 200V Single ph
164. is DB unit is used for dissipating motor EMF energy The DB unit does not need to be installed if the dynamic brake function is not required e Specifications Use one of the following DB units according to the servopack model Servopack Model SDGH 2BDE 3ZDE 3GDE 4EDE 5EDE Regenerative DB Unit JUSP 0804 0805 0806 DB contactor and surge Built into servopack Built into DB unit absorption unit Resistance 0 80 Resistance Capacity 180W 300W Allowable Load Moment of 5 times the load moment of inertia at motor shaft Inertia Allowable Duty Less than 1 time H at maximum speed DB operation 183 2 3 Od Yo gt o o lt gt 3 o 400V Sigma II Servo Systems e JUSP DBO03 Dynamic Brake Unit 259 10 2 Power line insertion hole 933 1 30 with rubber bushing e JUSP DB04 Dynamic Brake Unit 187 7 36 o Q 259 10 2 Power line insertion hole 33 1 30 with rubber bushing 184 M4 main circuit terminals 75 2 95 lt M 7 5 0 30 124 4 88 Units mm inches 4 M5 mounting holes M3 5 control circuit terminals M4 main circuit terminals Units mm inches 400V Sigma II Servo Systems e JUSP DB05 Dynamic Brake Unit M3 5 control circuit terminals M4 main circuit
165. k Single axis motion controller 4 Certified International Standards UL cUL listed File E147823 CE compliance 163 h 3 Od Yo gt o o lt gt 3 5 O 400V Sigma II Servo Systems o O Model Number Designation SGDH O00 DE 164 Sigma Series SGDH Servo Rated Output Amplifier Capacity AC Supply Model kW HP Phases 05 0 5 67 10 1 0 1 3 15 1 5 2 0 20 2 0 2 7 30 3 0 4 0 50 5 0 6 7 60 6 0 8 0 75 7 5 10 3 1A 11 15 1E 15 20 2B 22 30 3Z 30 40 3G 37 50 4E 45 60 5E 55 74 Model E Speed Torque and Position Control Power Supply D 400V 400V Sigma II Servo Systems SGDH Amplifier Ratings and Specifications Basic Specifications Input Power Supply Main Circuit Three phase 380 to 480 10 to 15 50 60 Hz Control Circuit 1 24Vpg 10 to 15 maximum 2 24Vpc 510 40W for 22 to 55kw units Note For 22 to 55kW units only the power supply for the optional dynamic brake DB contactor is made from the control circuit power supply If DB operation is nec essary when the power interruption occurs maintain the DC24V while the DB oper ates If 5 times inertia is attached and a standard DB resistor is used DB operation time is approximately 2 to 5 seconds Control
166. ke LL LR W 0 31 8 LG 512004 ih 8 E a EMEND 9 9 __ 0 0008 4 47 710 02 MTG Holes QK Flange Dimensions edid Approximate imension Mass Ibs kg Allowable Radial Load LC LE LG LH LZ 6S Ib N 6 17 172 7 80 198 8 7 221 8 50 216 Note 1 Dimensions are the same when using either incremental or absolute encoders with or without optional shaft seal 2 Tolerances on the dimensions of flange type LB and of shaft extensions S are based 15 J apanese Industrial Standard B0401 Limits and Fits for Engineering Specified Tolerances 0 9449 1 1024 40 0000 0 0005 3 7402 4 3307 310 0000 0 0014 mm 24 000 28 000 30 000 0 013 95 000 110 000 30 000 0 035 Brake Terminal U Phase V Phase W Phase Ground Terminal Non Environmental Mating Connector MS3108A10SL 3S L Type MS3106A105 L 3S Straight Type Cable Clamp MS3057 4A MS3102A10SL 3P 141 SGMSH Servomotors 400V Three phase Sigma Servo Systems SGMUH Dimensions in inches mm 1 17 bit Incremental or Absolute Encoder ee MN 63016 LG 115 97 0 0016
167. la BAHBCE LILI A em Cable with Brake Encoder Cable incremental and JZSP CMP00 O0 A absolute Encoder Cable for applications up to 20m FR RMCT SB These are available Only for Solder in any length Connections r Encoder Cable or example to order one FR RMCT SB cable 16m for applications long specify to lt 50m UL20276 SB quantity 16 Only for Solder part no FR RMCT SB Connections All Input Output 1CN 35mm DIN rail mountable Cable amp Transition JUSP TA50P the cable length is 0 5 Terminal Block meters Stock Use the following key to Input Output 1CN specify required cable length que z 2 last digit of part number eed with Pigtail JZSP CKIO1 L1 A 1 1m standard 2 2m 3 3m Use the following key to specify required cable length Input Output 1CN last two digits of the part Cable Cable with number Female JZSP CKIOD 00 D Sub output Con D50 0 5m nector 01 1m standard 02 2m 03 3m A at the end of the cable part number is the revision level Revision level may be changed prior to this catalog reprinting Standard cable lengths are Stock items non standard cable lengths are Limited Stock items Use these power cables where itis important to meet CE EMC requirements 50PinFemale D Sub output connector mates to customer supplied third party terminal block e g Wago 289 449 Weidmuller 919658 Phoenix 2283647
168. le in any Only for Solder length Connections For example to order one FR RMCT Encoder Cable SB cable 16m long specify for applications quantity 16 nm gt 20 to lt 50m UL20276 SB part no FR RMCT SB nly for Solder ix Connections Stock Input Output 1CN Cable amp Transition 4 JUSP TA50P Meo mountable tha cable Terminal Block g SIOJOWOAI9S HSINDS Use the following key to specify Input Output 1CN required cable length last digit of part a ber Cable with Pigtail JZSP CKI01 D A A yi standard 2m 3 3m Use the following key to spec TENE ify cable length last two digits Cable with of the part number Female JZSP CKIOD LILI D50 0 5m 01 1m standard D Sub output Do 5m Connector 03 Am A at the end of the cable number is the revision level The revision level may be changed prior to this catalog s reprinting Standard cable lengths are Stock items non standard cable lengths Limited Stock items 50Pin Female D Sub output connector mates to customer supplied third party terminal block 0 Wago 289 449 Weidmuller 919658 Phoenix 2283647 Amphenol S ine 20 51039 and many others 90 Connector Description D MS Connector for Motor Motor Size KW 200V Three phase Sigma ll Servo Systems Connector Selection Use the table below to select mating connectors for your SGMSH Sigma
169. maSize software via e mail at literature yaskawa com 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 Digital Operator E 3CN Peripheral Signal Connector D 1CN SGDH Amplifier B 5CN For Monitor D Connector for Encoder Signal D Fan Cable 2CN Shaft Keyway SGMBH Servomotor A De lt Shaft Seal Encoder side Connector D Encoder Cable Signal Connector Regenerative Unit Dynamic Required Brake Optional Specify a technical manual if it is needed on your servo system purchase order Sigma Series SGMBH SGDH User s Manual SIEZ SXX Manual is provided at no charge with a purchase order but it must be requested Model Number Designation SGMBH 2B DCA6 1 Sigma Servomotor Type SGMBH Rated Output 2B 22 0KW 30hp 37 30 0kW 40 3G 37 0kW 50hp 4E 45 60hp 5E 55 0kW 74hp Power Supply D 400 VAC Series Encoder Specifications C 17 Bit Incremental Encoder 2 17 Bit Absolute Encoder Accessories 1 None C 24 Brake 22430 Kw Only S Shaft Seal E Brake an
170. mits and Fits for Engineering Specified Tolerances Dimension Diameter Tolerance Diameter Tolerance 0 7480 0 8661 30 0000 0 0005 30 0000 0 0014 1 3780 0 0004 0 0000 1 6535 40 0000 0 0006 0 001240 0004 40 0000 0 0018 19 000 22 000 30 000 0 013 110 000 30 000 0 035 35 000 30 010 0 000 12000 114 300 40 000 0 025 30 030 40 011 200 000 0 0000 0 046 Connector Wiring on the Motor Side U Phase V Phase W Phase Ground Terminal OV Battery Note T5Vac Battery Note FG Frame Ground Note Used with an absolute encoder only Non Environmental Mating Connector MS 3108B20 29S L Type 53106820 295 Straight Type Dinaan MOINET ANA oO gt MS3102A20 29P 58 200V Three phase Sigma Servo Systems 2 17 Bit Incremental Absolute Encoder with Brake e 0 5 to 4 4kW 0 7 to 5 9hp LU S LR rr mtm 0 0016 A JT C 4 0016 4 T L EFE 171 0 0008 Flange Dimensions JE o p A l qi QK d 32 4 CL Y ft End Dimension l Qk W T Allowable Radial Load N Allowable Thrust Load lbs N Dimensions are the same when using ei 2 Toleranc
171. n T 331 FU1 P Noise filter P 2 AC servomotor t CHARGE 1MC noue ZN u L1 Es m Dea i 27 cce tuo v s L3 st w T H w N m Gate drive over K Lt PG Control power 4 2 24 not provided Voltage Relay drive Gate drive Vp Voltage sensor 1 Interface gt lt gt
172. n resistor sizing and amplifier set up will be important for proper operation Use Yaskawa s SigmaSize and the Sigma II Series Approximate mass 8820 9 Servo System User s Manual YEA SIA S800 32 2 Regenerative Resistor Internal Type JUSP RA19 Mounted in a Regenerati Minimum Applicable Servo Servo Amplifier on Allowable Amplifier Power Resistance Resistance Wattage Capacity Q Q W SGDH 05DE GDH 10DE SGDH 20DE 400V SGDH 30DE hree phals GDH 50DE se SGDH 60DE SGDH 75DE SGDH 1ADE SGDH 1EDE UE i BIG ILL Ae 9 84 250 11 8 300 3 74 95 7 Capacity prior to derating If regeneration power require M5 Main M4 Ground terminal ments exceed internal capacity of the amp install an exter ForSGDH lAto 1 circuitterminal Current resistance nal regeneration resistor reference Minimum allowable 220W 25 80 x 8 configurable resistance Be sure to derate wattage of external resistor to 2096 or less natural convection and of 5096 less with 94 forced air cooling lim m m mii 1 Provided externally by JUSP RA18 Provided externally by JUSP RA19 Approximate mass 15 4lb 7kg o s gt 0 3o Oo I 7 182 400V Sigma II Servo Systems DB Units For large capacity servo systems xternally attach a DB unit to the servopack Th
173. nal nut Opposite side width 0 67 17 L Le 2 18 1 10 0016 0 04 0 41 10 5 ra LG 0 28 7 ximum 0 14 0 0016 0 04 x o 3 5 20 5 9 035 5 K lt Y 9 d gt Serial encoder absolute or incremental SGMPH L LL LM LR LG LC o as B H iw B hp 0 0008 0 002 es a 28 a 15 41 51 06 hm n a 020 ES Contin 126 an Note The mm m is m rm m TT L Em EET E T ae surface 16 motor dimensions vary for motors with the optional shaft seal See p 38 for details Specified Tolerances Dimension 5 Unit Diameter Tolerance Diameter Tolerance 0 6299 30 0000 0 0004 13307 30 0000 0 0014 16 000 30 000 0 011 110 000 30 000 0 035 Interconnection Connector Specifications See p 30 32 100 200V Single phase Sigma II Servo Systems 1500W 2 0hp Encoder cable U 0120276 40 24 6 lt 11 81 300 1 18 30 E Encoder plug z f K SRUC 17GMRCN087 i Motor cable Motor Plug T SRUC 06 MSCN020 b gt Cross section Y Y 11 81 300 1 18 30 xi Hexagonal nut I huc 0 0016 0 04
174. nce speed V REF 5 repare the erid o 2V to 10V rated speed set by parameter he shielded wire Torque reference T REFJ DUO 1 to 10V rated torque set by parameter P DVO T DW Dynamic rake DB24 RUS PULS 5 abc Erase A 4 PULS 31 ALM Position reference SIGN SIGN 11 aca CW 12 Phase IP 1D Y Jd CLAYS ALM MP 4 ALO1 Alarm code maximum output ALO3 Operating voltage Operating current 20 Open collector PL1 reference PL2 power supply PLa 18 ERE Y PAO Backup battery 2 8 to 4 5V BAT 12 PG dividing ratio output When using an absolute encoder TLP BAT Applicable line receiver BENI PR 45V SEN 36JpBO SN75175 or MC3486 manufac Signa 1 1 tured by the equivalent When using an absolute encoder sal y u qu 4 Amount of S phase rotation Used only with gt e ESO Serial data output an absolute encoder T Applicable line receiver 24Vpc 15 24V 24V 7 amp TKO 4 SG SN75175 or MC3486 manufac 1Ry S ON 3 Servo tured by or the equivalent Servo ON with 1Ry ON OV Y ids K Proportional P control dot k P LS k toy ae 25 livomp ON whan speed cone de 2 3K Forwardrun J J T UC M Forward un prohibited with HS m k E prohibited d E Positioning completed
175. nes e Robots e Conveyors e Packaging machines 6 Certified International Standards e UL cUL recognized File 4 165827 CE compliance SGMPH 17 x b o o 45 100 200V Single phase Sigma II Servo Systems Gearmotor Ratings and Specifications Amplifier Model GEARMOTOR Rated Peak Maximum Number Part Number 19005 Houle 2 in lb in Ib rpm Analog Input SGDH 13 67 40 93 8 59 34 34 2734 8184 17 17 68 68 66 95 200 39 42 04 168 16 133 89 283 00 90 84 08 336 32 267 78 637 00 45 168 16 672 65 2734 8184 1000 600 17 17 81 8 36 2 5468 163 69 500 300 34 34 163 7 72 4 133 89 283 00 200 120 84 08 283 177 267 78 708 00 100 60 168 16 708 354 7 53556 1593 00 50 30 33632 1593 704 4 5055 4 0 5481 164 42 640 34 34 77 27 SG10SA PEO4LIH 109 61 283 00 320 68 68 154 53 SG25SA PEO4LIH 268 38 708 00 128 168 16 378 36 SG50SA PEO4LIH 53675 1610 25 64 336 32 756 73 400 1073 50 2832 00 32 672 65 1513 45 SGOSSA PEOSLIL 102 34 306 04 51 51 51 51 SG10SA PEOSLIL 20467 612 07 103 02 103 02 SG25SA PEOSLIH 50113 1498 63 252 24 252 24 SG50SA PEOSLIL 100225 2997 25 504 48 504 48 SGO5SA PE15O0 20516 614 50 103 02 103 02 SG10SA PE15LIH 41031 1228 99 206 04 206 04 SG25SA PE15LILH 1004 63 3009 13 504 48 504 48 SG50SA PE15LIL 2009 25 3540 00 1008 97 1008 97
176. ng brak 05 8 1051 35 and CE3057 4A 1 0265 Cable clamp E diameters 0 142 to 0 220in All CE02 6A20 29NSW and CE20BA S L type connector Connector for plug and back shell Encoder Cable and and incremental or Cable clamp absolute encoder CE3057 12A 3 D265 diameters 0 265 to 0 394in Choose the connector and the associated cable clamp for a complete assembly Connectors listed in this table are environmentally sealed ES Connectors are manufactured by DDK and listed here with the largest standard cable clamp available 66 200V Three phase Sigma ll Servo Systems SGMGH Gearmotors 1500rpm With Incremental Absolute Encoder Rated Output 0 45kW 0 85kW 1 3kW 1 8kW 2 9kW 4 4kW 5 5kW 7 5kW For Additional Information SGMGH Gearmotor Ratings amp Specifications SGMGH Gearmotor Dimensions SGMGH Gearmotor Selection Ordering Information SGMGH Gearmotors Design Features 1 Compact e Fits in limited mounting space e High torque to inertia ratio 2 Torque e 383 to 30 090in Ib peak torque e Uses time proven Sigma motor technology 3 Encoders e 17 Bit 32 768 ppr x 4 incremental encoder standard e 17 Bit absolute encoder option 4 Enhanced Environmental Resistance e Totally enclosed self cooled IP67 not including shaft 5 Application Emphasis e Machine tools woodworking machines and thermoforming machines Roll feeders Press automation Gantry rob
177. ntal Absolute Encoder With Brake e 0 5 to 4 4kW 0 7 to 5 9hp o 53 L LL LR LT LM 0 0016 gt 11004 A Os LG LE E NS 45 03 94 100 0 0008 4 0 02 MTG Holes Flange Dimensions Shaft End Dimension I Allowable Allowable Radial Thrust Load Load LC LE LG Q Qk W lbp N Ib N 5 12 65 130 165 9 06 230 Vote 1 Dimensions are the same when using other incremental encoders with or without optional shaft seal 2 Tolerances on the dimensions LB of flange type and S of shaft extensions are based IS J apanese Industrial Standard B0401 Limits and Fits for Engineering Specified Tolerances Diameter Tolerance Diameter Tolerance 0 7480 0 8661 30 0000 0 0005 4 3307 30 0000 0 0014 13780 30 0004 0 0000 45000 40 0000 0 0010 19 000 22 000 40 000 0 013 110 000 30 000 0 035 35 000 30 010 0 000 114 300 30 000 0 025 Connector Wiring on the Brake Motor Side Connector Wiring on the Motor Side Brake Terminal B Brake Terminal U Phase C V Phase B C W Phase Non Environmental Mating Connector D FG Frame Ground MS3108A10SL 35 L Type 53102 1051 3 Cable Clamp MS3057 4A 129 400V Three phase Sigma
178. o the SGDH servo amplifier section of this catalog for additional specifications and the Sigma Series Servo Sys tem User s Manual Y EA SIA S800 32 2 for proper resistor sizing guidelines 80 200V Three phase Sigma Servo Systems CE Pre wired Cable Selection Use the table below to select shielded pre wired power cables for your SGMGH Sigma ll gearmotor Part Number Cable Description C Comments without Brake with Brake 1 0 1 Use the following key to specify needed cable Cable B2CE OO A length last two digits of li the part number Limited Connectors B3BCE LILI A 4 imite B3CE LIDI A 3m Stock 5m 10m standard IP67 5 0 B5CE LIDI A B7BCE OL A 1 The A atthe end of the cable number indicates the revision 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 Sigma Il gearmotor 9 Oo SE 5 Number Connector Description D Comments without Brake with Brake 05 8418 1080 CE05 8A20 15SD B BAS L type connector CE3057 10A 1 D265 CE3057 12A 1 D265 Cable clamp pu CE05 8A24 10SD B BAS L type connector Connector for i LS CE3057 16A 1 D265 Cable clamp Motor Power a CE3057 12A 1 D265 Cable CE05 8A32 17SD B BAS L type
179. oad N Ib N AT Tolerance Tolerance Tolerance Tolerance in 2362 0 00118 0 00043 9 055 0 0000 0 00181 0 433 0 0000 0 00043 0 709 0 0000 0 00169 mm 6 40 030 0 011 40 000 0 046 30 000 0 1103 40 000 0 043 Dimensions are the same when using either incremental or absolute encoders with or without optional shaft seal Tolerances on the dimensions of flange type LB of shaft extensions S and of keyway width and depth are based J IS apanese Industrial Standard B0401 Limits and Fits for Engineering 10 OUIOA19S ES LU EIS Fan Connector U Phase V Phase W Phase Receptacle CE05 2A18 10P D B Battery Note Non environmental mating connector Battery Note MS3108B18 10S L Type FG Frame Ground Note Used with an absolute encoder only Cable Clamp MS3057 10A Non Environmental Mating Connector M53108B20 295 L Type Power Wiring Terminal Box 53106820 295 Straight Type one ps Cable Clamp 53057 12 Terminal Connection Screw Size gt U V W Motor M10 Ground 154 400V Large Capacity Sigma II Servo System 2 17 Bit Incremental Absolute Encoder with Brake LL LF Fan connector I LN EE bs Encoder connector Type Motor Body Dimensions Flange Dimensions
180. of flange type LB and of shaft extensions S are based IS J apanese Industrial Standard B0401 Limits and Fits for Engineering Specified Tolerances Dimension Unit Diameter Tolerance Diameter Tolerance s 0 9449 1 1024 30 0000 0 0005 3 1402 4 3307 30 0000 0 0014 24 000 28 000 30 000 0 013 95 000 110 000 30 000 0 035 Connector Wiring on the Motor Side U Phase Brake Terminal V Phase Brake Terminal W Phase FG Frame Ground MS3102A20 15P o o Servomotors 87 o lt 3 O 200V Three phase Sigma Servo Systems o o Selecting Your SGMSH Sigma ll Servo System First select the Sigma servomotor suited for your application using SigmaSize the Yaskawa servomotor sizing software available at no charge Request SigmaSize software via e mail at literature yaskawa com 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 Digital Operator E Optional Holding Brake 5CN x Shaft Keyway For Monitor D SGMSH ges Servomotor 3CN A Peripheral SGDH Connector for gt Shaft Seal Signal Amplifier Encoder Signal D
181. of three cables per bundle at an ambient temperature of 40 at the rated current level Connector Name Description Specification Cable Use twisted pair or shielded twisted pair wire Control Signal Applicable wire AWG 24 28 E Finished cable Dimension 0 63 4016 0 maximum Cable Use Yaskawa cable or shielded twisted pair wire AWG 22 24 26 Use 22 AWG 0 0005in 0 34mm for the encoder power supply and 26 AWG 0 0002 in 0 14mm2 for other signals These conditions permit wiring distances up to 65 6ft 20m Finished cable Dimension 0 27 6 8 maximum Applicable wire N ra QE Oc No gt 2 121 100 200V Sigma ll Servo System Peripheral Device Types and Capacities Recommended E Amplifier Model Ne Power Supply Noise Filter Circuit Power Applicable Rated Maximum MCCB or Power i Required Servomotor Capacity per Inrush Fuse W Servo Amplifier power Current Capacity Arms Arms Motor Magnetic Model Specifications Contactor Fn2070 6 07 Single phase 0 250 ac orFS5827 4 07 6A 4A Single phase Fn2070 10 07 250V ac 10A 10A or equivalent Fn2070 6 07 Single phase one 250V ac or 55827 4 07 6A 4A Fn2070 10 07 Single phase ac or FS5827 7 07 10A 7A 20A or Fn2070 16 07 single phase equivalent 15
182. or for 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 suitable for IP67 environments 93 200V Three phase Sigma Il Servo Systems NOTES o So 59 3 94 100 200V Sigma Servo Systems SGDH Servo Amplifier For Speed Torque amp Position Control With Incremental or Absolute Encoder For Additional Information Page s SGDH Ratings amp Specifications SGDH Dimensions SGDH Internal Connections Connection Diagram Single P hase Connection Diagram Three P hase Connector Terminal Block Unit Terminal Block Pin Numbers Amplifier E ncoder Connections Cable S pecs and Peripherals SGMAH Sigma II Servo System SGMPH Sigma ll Servo System SGMPH Gearmotor SGMGH Sigma II Servo System SGMGH Gearmotor Three phase SGMSH Sigma Servo System Single phase 99 100 101 112 113 114 115 116 117 118 119 1212 11 29 47 57 65 85 125 28 46 56 68 84 96 Design Features 1 Improved Performance e Higher bandwidth response 400Hz speed loop frequency response e Positioning settling time shortened to 1 2 to 1 3 e Smooth control at low rpm made possible by Sigma servomotors high resolution feedback 2 Easy Operation e All in one model speed torque
183. orporation 1957 South Lakeside Drive Waukegan lllinois 60085 Phone 847 473 1957 http www jst 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 Connector information is not available from Molex or Yaskawa 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 Schaffner EMC Inc 52 Mayfield Ave Edison New Jersey 08837 Phone 1 800 367 5566 732 225 9533 Fax 732 225 4789 http www shaffner com TDK Corporation of America 1600 Feehanville Dr Mount Prospect Illinois 60056 Phone 847 803 6100 Fax 847 803 6296 Tokin America 32950 Alvarado Niles Rd Suite 500 Union City California 94507 Phone 510 324 4110 Fax 510 324 1762 http www tokin com x E T nE Oc No gt x lt 0 199 400V Sigma II Servo Systems NOTES o Q o lt gt 3 5 2 200 Sigma 11 Servo System Product Catalog Supplement Yaskawa A World of Automation Solutions Yaskawa Electric America Inc Yaskawa Electric Europe Chicago Corporate Headquarters Am Kronberger Hang 2 65824 2121 Norman Drive South Schwalbach Germany Waukegan Illinois 60085 49 6196 569 300 1 800 YASKAWA http
184. ots PCB drilling machines e Packaging machines 6 Certified International Standards e cUL recognized File E165827 CE compliance 67 200V Three phase Sigma ll Servo Systems HOSS Gearmotor Ratings and Specifications GEARMOTOR Part Number SG05SA GA05AC Rated Torque in Ib Peak Torque in Ib Maximum Speed rpm Standard SGMGH Gearmotors SG10SA GA05AC SG25SA GA05ACG SG50SA GA05AC SG05SA GA09AC SG10SA GA09AC SG25SA GA09AC SG50SA GA09AC SG05SA GA13AC SG10SA GA13AC SG25SA GA13AC 494 1232 300 600 560 SGO05SA GA20AG 987 798 1219 1502 2464 1936 3052 3540 150 300 300 300 300 600 280 500 600 470 600 450 SG05SA GA55AC SG05SA GA75AC SH04SA GA05AC 2060 3540 300 600 Precision SGMGH Gearmotors SH05SA GA05AC 500 SH07SA GA05AC SH10SA GA05AC SH16SA GA05AC SH20SA GA05AC SH28SA GA05AC SH40SA GA05AC SH50SA GA05AC SH70SA GA05AC SH04SA GA09AC SH05SA GA09AC SH07SA GA09AC SH10SA GA09AC SH16SA GA09AC SH20SA GA09AC SH28SA GA09AC SH40SA GA09AC SH50SA GA09AC SH04SA GA13AC SH05SA GA13AC SH07SA GA13AC SH10SA GA13AC SH16SA GA13AC SH20SA GA13AC SH28SA GA13AC SH40SA GA13AC SH04SA GA20AC SH05SA GA20AC SH07SA GA20AC SH10SA GA20AC SH16SA GA20AC
185. p 4 LZ G lt MTG Holes E 3 22 E 7 Allowable Thrust Load Ibe Allowable Radial Load Ibe N Approximate Mass lor kg Shaft End Flange Dimensions Dimension LC LE LG LH Q QK Note 1 Dimensions are the same when using either incremental or absolute encoders with or without optional sha seal Tolerances on the dimensions o ange type LB and shaft extensions S are based on J IS J apanese Industrial Standard B0401 Limits and Fits for Engineering Specified Tolerances oS Dimension LB Diameter 0 9449 1 1024 Tolerance 0 0000 0 0005 Diameter 3 7402 4 3307 Tolerance 0 0000 0 0014 24 000 28 000 0 000 0 013 95 000 110 000 0 000 0 035 Connector Wiring on the Incremental Encoders K Connector Wiring on the Motor Side U Phase V Phase W Phase Ground Terminal MS3102A20 29P 0v 5Vac FG Frame Ground Non Environmental Mating Connector MS3108B20 295 L Type MS3106B20 295 Straight Type Cable Clamp 53057 12 Battery Note Battery Note Note Used with an absolute encoder only n m O gt 140 2 17 bit Incre 400V Three phase Sigma ll Servo Systems ntal or Absolute Encoder with Bra
186. phase or single phase 200 to 230V4 10 to 15 50 60 Hz Main Circuit or single phase 100 to 115 410 to 15 50 60 Hz Control Circuit Single phase 200 to 230 or 100 to 115 10 to 15 50 60 Hz Input Power Supply Control Mode Three phase full wave rectification IGBT P WM sinusoidal commutation Feedback Serial incremental encoder absolute encoder Ambient Storage Temperature 0 to 55 2010 85 Ambient Storage Humidity 90 or less no condensing Vibration Shock Resistance 4 9mjs 19 6mjs Structure Base mounted duct ventilation available as option and flat mount type 1 5000 The lowest speed of the speed control range is the speed at which the servomotor will not Stop with a rated torque load Load Regulation 0 to 100 0 01 max at rated speed Voltage Regulation Rated voltage 10 0 at rated speed Basic Specifications Location Speed Control Range Speed Regulation Temperature Regulation 25 25 0 1 maximum at rated speed Performance Frequency Characteristics 400 2 atJ Accel Decel Time Setting 0 to 10s Can be set individually for acceleration and deceleration 6Vpc variable setting range 2 to 10Vpc at rated speed forward rotation with positive reference input voltage 12V maximum Input Impedance Approximately 14kQ Reference Voltage Speed Reference ime Constant Em
187. pliance 55 200V Three phase Sigma ll Servo Systems Servomotor Ratings and Specifications Time Rating Continuous Enclosure Totally enclosed self cooled Maximum Rotational Speed n Insulation Class F IP67 except for shaft opening 0 45 to 7 5kW 3000rpm n Vibration I5umorless Ambient Temperature 0 to 40 C 11 and 15KW 2000rpm ES Withstand Voltage 1500 Ambient Humidity 20 to 80 Excitation Permanent magnet 3 Insulation Resistance 10MQ minimum non condensing Drive Method Direct drive 2 I at 500Vpc Rated Speed 1500rpm Mounting Flange mounted 7 Values when the servomotor is combined with an SGDH servo amplifier Rated Instantaneous P eak Rated us SGMGH Torque Current Current in KG cm Nem lb in KG 0 45 0 6 0 85 1 1 13 17 1 8 24 2 9 3 9 4 4 5 9 5 5 7 4 7 5 10 11 15 15 20 gt gt I gt gt gt gt gt Values when the servomotor is combined with an SGDH servo amplifier Holding Brake at 20 C Allowable Inductive Moment of Inertia Load Angular Time Capacity Torque col Re pu Inertia Acceleration Constant Torque Constant Resistance Current Inertia MOTORS SGMGH lb in lb in 5 x10 104 Row co unre Row io ele
188. ptional shaft seal See p 38 for details Specified Tolerances Dimension 5 Diameter Tolerance Diameter Tolerance 03150 30 0000 0 0004 13685 30 0000 0 0010 8 000 30 000 0 009 50 000 30 000 0 025 Incremental Terminal S pecifications Motor Plug Motor Wiring Specifications PinNo Description EG Pin Description Color Battery Data Blue Phase V White Data Blue White Phase W Blue Nr 5 7 d si Poner Suan ig FG Frame Ground Green Yellow Interconnectron 9 OV Power Supply Black Connector SPNAOGKFSDN169 ConnectorCase FG Frame Ground Shield wire Interconnectron Note Incremental Terminal pins number 1 and 2 are connectors used for 16 bit absolute encoder option only Mating Connector SPNA17HFRON16900E3 Interconnectron 30 100 200V Single phase Sigma II Servo Systems 200W 0 27hp 400W 0 53hp Encoder cable UL20276 40 24 6 11 81 300 1 18 30 Encoder plug SRUC 17GMRCN087 Y H xte Motor cable Motor Plug 4 IF SRUC 06 MSCN236 T x S Cross section Y Y 300 1 18 30 nut Opposite side width 0 55 14 t L LC LM 11 0 001
189. r je 77 Ye No Be sure to oQ N ESS ground Be sure to properly prepare the end of the shielded wire Reference speed REF i 2 to 10V rated motor speed set by parameter SG T RE V A D ALO1 Alarm code maximum output i P 5 Operating voltage 30Vpc 1 0 rated torque set by parameter A Operating current 20 V PULS oo Miass pusle 8 T SIGN SIGN e s 33 CCW lt gt 5 hasa M mew 34 E i5 PG dividing ratio output Position reference CLR CLR ae Applicable line receiver ey PBO 575175 or MC3486 manufac HaT S PBO tured by or the equivalent Open collector 12 19 reference PL1 3 Ike Per PCO power supply PL ar PL jis 48 Amount of S phase rotation Used only with L4 497 PSO Serial data output Backup battery 2 8 to 4 5V BAT an absolute encoder y PSOF Applicable line receiver Wh 2 bsolut d PBAT 1 sa SN75175 or MC3486 manufac When using an absolute encoder 522 tured by or the equivalent SEN signal input 5 5 SEN 4 When using an absolute encoder ov SG 2 24 24V 47 3 3kQ 25 Speed coincidence detection 1Ry PRU V CMP when speed coincides S ONJAO XE ON d 26 eO Positioning completed ON With ON ov 2RY m r Eu oe ON when positionin
190. r SGMGH Sigma ll gearmotor gt Motor Part Number C Size kW without Brake with Brake MS3106B18 10S 53106 20 155 Straight type connector MS3108B18 10S 53108 20 155 L type connector MS3057 10A MS3057 12A Cable clamp MS3106B24 10S Straight type connector MS3108B24 10S L type connector MS3057 16A Cable clamp E 53106832 175 MS3106B32 17S and MS3106A10SL 3S MS3108B32 17S and MS3108A10SL 3S MS3057 20A 5 057 20 MS3057 4A Cable clamp MS Connector for MS3106B20 29S Straight type connector Encoder oe b E MS3108B20 29S L type connector incremental or lute Encoder MS3057 12A Cable clamp Straight type connector MS3108B32 17S L type connector 5 SE 8 5 1CN Mating Connector JZSP CKI9 2CN Encoder Mating Connector JZSP CMP9 1 3CN Peripheral Mating Connector 5CN Connector and Can use 5CN for analog speed and torque monitor im Cable with DE9404559 Service checks Choose either a straight or L type connector and the associated cable clamp for a complete assembly For example L type connector 5 3108B18 10S is compatible with cable clamp MS 3057 104 79 200V Three phase Sigma Servo Systems Siolouupe 9S H9IN9S Peripheral Device Selection Use the table below to select peripheral devices for your SGMGH Sigma
191. r Tolerance 1 6535 0 0000 0 0006 incremental or absolute encoders with or without optional shaft seal LB and of shaft extensions S are based IS apanese Industrial Standard B0401 Limits and Fits for Engineering Diameter Tolerance 2 1700 30 001240 0004 30 0000 0 0018 42 000 30 000 0 016 30 000 0 025 55 000 30 030 40 011 Plugfor Holding Broke raw onthe Brake Motor Side Brake Terminal Brake Terminal MS3102A1056 3P Non Environmental Mating Connector MS 3108 1056 35 L Type MS 3106A1056 35S Straight Type Cable Clamp MS 3057 4A 60 0 0000 0 046 Connector Wiring on the Power Motor Side U Phase V Phase W Phase Ground Terminal 200V Three phase Sigma Servo Systems Selecting Your SGMGH Sigma Servo System First select the Sigma servomotor suited for your application using SigmaSize the Yaskawa servomotor sizing software available at no charge Request SigmaSize software via e mail at literature yaskawa com 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 i r9 2 o
192. radial load is the value at a position 1 38in 35mm from the motor surface Some motor dimensions vary for motors with the optional shaft seal See p 38 for details Specified Tolerances Dimension 5 Unit Diameter Tolerance Diameter Tolerance 0 6299 30 0000 0 0004 13307 30 0000 0 0014 16 000 30 000 0 011 110 000 30 000 0 035 Interconnection Connector Specifications See p 33 36 100 200V Single phase Sigma II Servo Systems 1500W 2 0 Encoder cable UL20276 40 24 6 11 81 300 1 18 30 Encoder plug J SRUC 17GMRCN087 IPS n C Motor Plug T Ire SRUC 06 5 020 Cross section Y Y P n 300 1 18 30 L 0 0016 0 04 028 13083 iM 0 41 105 16 e m 0 14 3 5 m HLT Hexagonal nut Opposite side width 0 55 14 7 5 5 09 i Q i a e o Serial encoder Magnetic brake Non excitation operation Absolute or Incremental DC power supply 24V Torque Rated Approx Allowable Allowable Type SGMPH ELZ 5 PLB inelb QK Nem somen 740 5 83 373 157 0 39 4 72 5 71 0 39 0 75 433 10 87 0 14 0 24 m 200 1500 421 Contin 3599 17 9 110 33 0 188 148 94 7 40 10 120 145 10 19 110 22 3 5 6 2 02 4 77 uous 8 1
193. rator Panel an 25 800 1 for Sigma II Absolute Encoder Battery JZSP BA01 3 6V 1000mAh lithium battery Minimum Recommended System Requirements Pentuim 200 MHz ROM 1 DROM Drive RS 232 or RS 422 SigmaWin Software JZSP WP0001 port Screen rsolution 800x600 w 256 colors and Windows 95 98 NT4 0 2000 ME Windows XP planned Pre wired 2 0m cable with Software Interface Cable 9 pin connector S1IOJOWOAI9S HSINDS These are general purpose regenerative units Order the Motion document External Hegenerative Unit TYPEN JUSP RA04 P1 99004 for setup instructions for Optional this unit Caution Proper set up is neces sary to avoid equipment damage SGDH 10AE DC Reactor SGDH 15AE Limited for suppressing harmonics in SGDH 20AE Stock the power supply SGDH 30AE SGDH 50AE For an alternate solution specify the individual resistor part number RH500N25 OHMK in necessary series or parallel connection Refer to the SGDH servo amplifier section of this catalog for additional specifications and the Sigma II Series Servo System User s Manual YEA SIA S800 32 2 for proper resistor sizing guidelines 92 200V Three phase Sigma Servo Systems CE Pre wired Cable Selection Use the table below to select shielded pre wired ca
194. rd 2 2m 3 Use the following key to specify required cable length last two digits of the part number 0 5m 01 1m standard 02 2m 03 3m X Standard cable lengths are Stock items non standard cable lengths are Limited Stock items 50PinFemale D Sub output connector mates to customer supplied third party terminal block e g Wago 289 449 Weidmuller 919658 Phoenix 2283647 Amphenol Sine 20 51039 and many others 200V Three phase Sigma Servo Systems Pre wired Cable Selection SGMGH Servomotors o lt 3 L 7 200V Three phase Sigma Servo Systems o Q Q I Connector Selection Use the table below to select mating connectors for each SGMGH Sigma ll servomotor Connector Description D MS Connector for Motor Power Cable Part Number ES Comments without Brake with Brake MS3106B18 10S MS3106B20 15S Straight type connector 0 5 0 9 MS3108B18 108 53108 20 155 _ L type connector MS3057 10A MS3057 12A Cable clamp 53106 22 225 53106 24 105 Straight type connector 53108 22 225 53108 24 105 L type connector MS3057 12A MS3057 16A Cable clamp MS3106B32 17S MS3106B32 17S and MS3106A10SL 3S Straight type connector 5 5 7 5 MS3108B32 17S 1 MS3108B32 17S and MS3108A10SL 3S L type connector MS3057 20A MS3057 20A MS3057 4A Cable clamp M
195. ree phase Sigma Servo Systems Pre wired Cable Selection Use the table below to select pre wired cables for your SGMSH UH Series Sigma servomotor Cable Description C Power Cable with L type Connectors IP67 Motor Size kW Part Number BAE LILI A Cable with Holding Brake IP67 BBE LILI A Encoder Cable incremental or absolute for applications up to 20m Only for Solder Connections Encoder Cable for applications Connections 7 Comments Use the following key to specify needed cable length last two digits of the part number 03 3m 5m 10m standard 15m 20m JZSP CMP02 010 B These cables are available in five lengths Use two digits in the part number last place 10m standard 15m 20m FR RMCT SB 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 Input Output 1CN Cable amp Transition Ter minal Block JUSP TA50P 35mm DIN rail mountable the cable length is 0 5m 975 1 Use the following key to specify required cable length last digit of part number 1 1m standard 2 2m 3 A atthe end of the cable number is the revision level The revision level may be changed prior to this catalog s repr Use the following key to specify
196. remental 3 Insulation Resistance 10MQ minimum at Rated Rotation Speed 3000rpm or 16 bit absolute 25 T 500Vpc Maximum Rotation Speed 5000rpm encoder 7 Specifications are the same for either absolute or incremental encoders Instantaneous Continuous Maximum Rated Peak Rated Cur Peak Angular Torque rent Current Acceleration Rated Power Rate 2 Nem Arms Arms rad s kW s 30 0 04 50 0 07 100 0 13 200 0 27 400 0 53 30 0 04 50 0 07 100 0 13 200 0 27 400 0 53 750 1 01 Values when the servomotor is combined with an SGDH servo amplifier When combined with SGDH 04FE servo amplifier Moment of Inertia Holding Brake at 20 C Allowable Coil Rated Load Resistance Current Inertia Motor without Brake Motor with Brake Capacity Torque oz 52105 kgem x10 52 103 kg 2 10 Nem Q A kg 10 Values apply to motors without brake allowable load inertia shows the range requiring no exterior regenerative unit When these values are exceeded appli cation may be restricted or a regenerative unit may be required 10 100 200V Single phase Sigma II Servo Systems Speed Torque Curves
197. rm servo OFF or overtravel Regenerative Processing Incorporated For 60 to 1A types external regenerative resistor must be mounted Overtravel OT Prevention Motor decelerates or coasts to a stop is stopped by a dynamic brake Protection Overcurrent overload regenerative error main circuit voltage error heat sink overheat power open phase overflow overspeed encoder error encoder disconnected overrun CPU error parameter error LED Display POWER CHARGE five 7 segment LEDs built in digital operator functions Analog Monitor 5CN Built in analog monitor connector to observe speed torque and other reference signals Speed 1V 1000rpm Torque1V rated torque Pulses remaining 0 05V reference units or 0 05V 100 reference units Built in Functions Interface Digital operator mount type or hand held port such as person computer RS 232 port can be used if some conditions met 1 N Communication N can be up to 14 when RS 422A portis used Axis Address Setting Set via user parameters Functions Status display user constant setting monitor display alarm traceback display jogging autotuning speed torque reference signals other graphing functions etc Note 98 Others Reverse rotation connection home position search automatic servomotor ID DC reactor connection terminal for high power supply frequency control The built
198. rrent 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 100 200V Sigma Servo Systems Cable Specifications cont d SGDH Terminal Wire Size AWG in mm External Terminal Name Symbol A3BE 5 01BE 02BE NN L1 L2 14 AWG 0 003 Main circuit power input terminals Single Phase 16 AWG HIV 0 002 1 25 2 0 Servomotor connection terminals U W 16 AWG HIV 0 002 1 25 Control power supply terminals L1C L2C Control IO signal connector CN1 Twisted pair or shielded twisted pair wires Tum Core wire at least 28 AWG 0 0002 0 12 tinned annealed copper twisted wires See page 122 for i details PG signal connector CN2 Finished cable dimensions maximum 0 63 16mm for CN1 and 0 27 6 8mm for CN2 Ground terminal e 14 AWG HIV 0 003 2 0 The following table shows types of cables It is used in conjunction with the preceding tables Cable Type Temperature Rating of Conductor C Composition Standard polyvinyl chloride cable 600V PVC cable Temperature resistant vinyl cable The following table specifies the appropriate cables for CN1 and CN2 servo amplifier connectors Wire sizes were selected with the expectation
199. sition 5mm 0 2in from the shaft end 100W 0 13hp Encoder cable UL20276 0 24 6 11 81 300 1 18 20 Encoder plug TE B SRUC 17GMRCN087 U 72 Motor Plug Motor cable SRUC 06 MSCN236 T M eu Cross section Y Y I Hexagonal nut 1181 300 1 18 30 Opposite Side width 0 55 14 L 51 10 0016 0 04 A S 9 m 20 0016 450 04 A 85 gei rll T 7 gt lt gt QK 13 15 13 M 103 4 3 i n 4 47 zl Serial encoder 0 0008 0 002 absolute or incremental Allowable Allowable es pee pe i i T MPH PLZ 5 1 JE41D 343 244 1 67 0 98 0 24 2 36 2 76 021 0 315 1 97 0 55 0 071 0 12 0 12 100 2 81 Continu 3000 154 17 5 11 0 011 41 87 62 42 5 25 6 60 70 5 3 8 50 14 18 3 3 0 13 0 318 ous 0 7 78 49 Note quoted allowable radial load is the value ata position 0 79in 20mm from the mounting surface Some motor dimensions vary for motors with the o
200. t 32 768 ppr x 4 incremental encoder standard e 17 bit absolute encoder option 4 Enclosure e Totally enclosed self cooled IP67 excluding shaft e P67 with shaft seal option 5 Application Emphasis High torque to inertia ratio e Chip mounters e PCB drilling machines e Robots e Conveyors e Packaging C e o o Servomotors ertified International Standards UL cUL recognized File E165827 CE compliance 83 200V Three phase Sigma Servo Systems Servomotor Ratings and Specifications Time Rating Continuous Enclosure Totally enclosed self cooled Maximum Rotational Speed Insulation Class F IP 67 except for shaft opening 5000rpm Vibration 15um orless Ambient Temperature 0 to 402C Excitation Permanent magnet Withstand Voltage 1500Va Ambient Humidity 20 to 80 Drive Method Direct drive Insulation Resistance 10 minimum non condensing Mounting Flange mounted at 500Vpc Rated Speed 3000rpm Painting Color Muncell notation N1 5 Instantaneous Peak Rated Instantaneous Torque Current MaximumC urrent MOTORS SGMSH KG cm KG cm Ib Ib in Arms Arms 32 4 28 2 50 43 4 65 56 4 100 87 129 112 161 140 Holding Brake at 20 C Allowable Rated Inertia Inductive Moment of Inertia Load Angular Time Time Coil Rated Additional i ion Capacity Torque PEE Inertia A
201. tage 43 4 50 65 00 SJ0 OUIOAJ8S Hfl HSIWN9S 51 6 66 18 190 218 3 Onlythe Sigma II SGMUH models are available with a maximum speed of 6000rpm Holding Brake at20 C 1 TQUE Allowable Rated Inertia Inductive MOTORS e Moment of Inertia Load Angular Time Time Capacity 5 A a Inertia Acceleration Constant Constant esistance nertia b in s Number S D Ibs ein 52103 KG m x10 F x10 10DLIA I i 6 These items and torque speed characteristics quoted in combination with SGDH servo amplifier at an armature winding tem perature of 20 Note These characteristics can be obtained when the following heat sinks steel plates are used for cooling purposes 10DLJA to 20DDA 11 81 x 11 81 x 0 47 in 300 x 300 x 12 mm Type 30DLJA to 500 15 75 x 15 75 x 0 79 400 x 400 x 20 mm 138 400V Three phase Sigma II Servo Systems Speed Torque Curves 400V 100 SPEED rpm 0 2 4 6 8 10 TORQUE N m 0 20 40 60 80 TORQUE lb in SGMSH 30D 1A 0 10 20 30 TORQUE m 0 100 200 TORQUE Ib in SGMUH 10D 1A 6000 5000 _ 4000 E 3000 A B Q 2000 o 1000 0 0 4 8
202. tor model designation on the previous page specifying the available modification to motor construction features Amplifier MODEL B Motor amp Motor MODEL A 1 Phase 3 Phase Amplifier SGDH SGDH Item Class Motor Inertia oz s2x103 Description SGMPH 01AAE41D SGMPH O1AAE4CD PH 02AAE41D 200V 13 Bit Incremental i PH 02AAE4CD Encoder o 5 0 oT 2 7 Straight Shaft with PH 04AAE 41D Keyway 5000rpm PH 04AAE4CD Pre wired with Heavy Duty PH 08AAE41D Connectors PH 08AAE4CD PH 15AAE41D PH 15AAE4CD PH 01BAE41D 100V 1 Phase 135 45 1 01 13 Bit Incremental 146 PH O1BAE4CD Encoder Straight Shaft with 2 96 PH 02BAE41D Keyway 270 90 1 5000rpm 02BE 4 35 PH 02BAE4CD Pre wired with H D 4 92 SGMPH 04AAE 41D 542 181 O4FE 6 31 SGMPH 04AAE4CD Notes 24Vp brakes for SGMPH Sigma servomotors are standard Contact a local source for 24Vpc power supplies Motor power and encoder cables 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 lengths For technical information request Yaskawa manual number Y EA SIA S 800 32 2 For more detailed SGDH amplifier specifications and dimensions refer to pages 99 to 112 40 100 200V Single
203. urrent KH ig Divider x processing A 12V Reference pulse gt PG output processing 45V P Power ower de Current kh Speed and torque IPEA reference Position reference input 25 2121 Ll o o o calculation control POWER A 1MC Monitor display E urge suppressor mi Analog voltage control Kj vo k Sequence a converter lt Soest CPU pen during serial por SRY servo alarm 6 1 Analog monitor Digital operator output for supervision personal computer 2 0kW to 5 0kW 200V Models 10 15 1 4 d d 55 L 2 Nose P AC servomotor 2 4 12V cHARGE N J 7 T 1 YY xxi R LF 22 Z v N s wh el s 1 J Wi Lo 3 1 Gate drive over Y Relay drive Gate drive current protection a 16 S PG Voltage l sensor 1 Interface ri Dl 9 A eR V Current Lic 45V PWM ASIC sensor For battery Lest generator CN8 connection 15V T DC DC M 2 converter Digital PG signal current M Divider No Mid processing Reference pulse h Lp PG output processing 45V 5 Power 1MC Lr Current AID E Speed and torque 56 YYY q reference Position reference input 221 Lol 9 9 o vow calculation control POWER 1MC Monitor display V 9 Speed lt Analog voltage Xi vo k Sequence o converter X
204. y Sigma II Servo System 17 Bit Incremental Absolute Encoder Fan connector LN LP L ay P n Power wiring 2 40 61 Type Motor Body Dimensions Flange Dimensions Shaft End Dimension SGMBH it ip tr LN LP 1 2 KG KN KS KT 1 2 Lc LE LG lonl ezes Q TH U 360 A6l 9 45 220 116 240 558 295 8 66 7 91 6 85 2 36 2 36 8 66 11 8 9 84 11 8 0 20 1 38 13 8 0 69 2 76 5 51 4 33 0 79 0 47 0 29 111 236 13 2 220 201 174 60 60 220 300 250 300 5 35 350 17 5 70 140 110 20 12 7 5 4ED 61 281 599 336 T i Allowable Specified Tolerances ype SGMBH Dimension 5 T 3GD A6l Unit Diameter Tolerance Diameter Tolerance Tolerance Tolerance i 276 400012 0 004 40 0000 0 0018 0 0000 0 00433 0 79 40 0000 0 00204 4ED A61 10 030 40 011 40 000 0 046 40 000 0 110 40 000 0 052 Vote 1 Dimensions are the same when using either incremental or absolute encoders with or without optional shaft seal 2 Tolerances on the dimensions of flange type LB of shaft extensions S and of keyway width and depth are based on J IS apanese Industrial Standard B0401 Limits and Fits for Engineering Encoder connector Fan Connector U
205. y required cable length last two digits of the Input Output 1CN Cable part number Cable with Female 4 JZSP CKIOD LILI D Sub output Connector D50 0 5m 01 1m standard 02 2m 03 3m The A at the end of the cable part number is the revision level Revision level may be changed prior to catalog reprinting ii Standard cable lengths are Stock items non standard cable lengths are Limited Stock items a 50 Pin Female D Sub output connector mates to customer supplied third party terminal block 0 Wago 289 449 Weidmuller 919658 Phoenix 2283647 Amphenol Sine 20 51039 and many others 41 100 200V Single phase Sigma ll Servo Systems Selection Use the table below to select mating connectors or kits for your SGMPH Sigma ll servomotor Motor Size kW Part Number Comments Connector Description D Interconnectron Connector for Motor 2 ae Power Cable with or _ FINO7S B2 Solder Cup without Brake 5 67 2CN Amplifier Mating Connector JZSP CMP9 1 o 9 v I o lt S 3 mp s Interconnectron Connector for Encoder Cable incremental or absolute encoder IP67 Gauge 24 18AWG FIN17C A2 Requires Crimp Tool B150 and positioner 1CN Mating Connector JZSP CKI9 Interconnectron Crimp Tool Limited Stock Positioner B055 A
206. ynamic Brake Resistor Unit for 55kW amplifiers JUSP DBO6 162 400V Sigma II Servo Systems SGDH Servo Amplifier For Speed Torque amp Position Control With Incremental or Absolute Encoder For Additional Information Page s SGDH Ratings amp Specifications 167 168 SGDH Dimensions 169 188 SGDH Connections 189 197 Peripherals 198 200 SGMGH Sigma ll Servo System 127 138 SGMSH UH Sigma Il Servo System 139 152 SGMBH sigma Il Servo System 153 164 Design Features 1 Improved Performance Higher bandwidth response up to 400Hz speed loop frequency response Positioning settling time shortened to 1 2 to 1 3 Smooth control at low rom made possible by Sigma servomotors high resolution feedback 2 Easy Operation All in one model speed torque and position control PC monitoring function available including graphical tuning and file storage Adaptive tuning function Online auto tuning Multi axis communication provided as standard One PC can communicate with up to 14 SGDH units by parameter setting Built in parameter setting device On board storage of alarm history Automatic determination of motor settings at connection 3 Additional functionality with ready to install application modules Configurable single axis controls including serial communication capability Fieldbus connectivity Devicenet Profibus etc Full closed loop optional position feedbac
207. zes including NEMA 23 and 34 flanges up to 1 0100z in peak torque Smaller installation space for more compact machine designs High Speed e High power rating High power is achieved by minimizing the inertia of the motor This increases the acceleration deceleration rate and reduces positioning time e Maximum rotation speed of 5000rpm Increases maximum rotation speed and shortens positioning time e Rated speed of 3 000rpm Encoders reduced wiring serial encoder e 13 bit 2048 ppr x 4 incremental encoder standard e 16 bit 16384 absolute encoder option Enclosure e Totally enclosed self cooled 1 55 not including shaft e Optional shaft seals are available 5 Emphasis e Compact high torque to inertia ratio Chip mounters PCB drilling machines Robots Conveyors e Packaging Low Noise e Adopting the IGBT power element eliminates irritating metallic sounds Certified International Standards e UL cUL recognized File E165827 CE compliance SGMAH Servomotors 100 200V Single phase Sigma II Servo Systems Servomotor Ratings and Specifications Time Rating Continuous Enclosure Totally enclosed self cooled Excitation Permanent magnet Insulation Class B Ambient Temperature 0 to 402C Drive Method Direct drive A Vibration 15um or less Ambient Humidity 20 to 80 Mounting Flange mounted 50 Withstand Voltage 1500V4 non condensing Applicable Encoder 13 bit inc

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