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Sigma FSP Servo System Catalog

1. HEATSINK N S AIR FLOW 2 FIERET B 3 MO DATAK A E gt s LO 2 e 9 5 FS m Cc B CHARGE gt 3 x c 22 E 15 H O m N 5 N 1 H C 2 QI ea 4 CN CO ND N CN N 2 T GROUND TERMINAL CO 2 4 SCREWS G v i T N CORINA 5 5 em 4 E M4 SCREV LO AIR 75 9 QR Sn FLOW 75222298 180 7 09 6 0 24 10240 20 100 5 94 5 0 20 110 4 55 9 84 0 5 ms of 250 APPROX MASS 3 8kg EM 9n
2. HH t FAN AIR TERMINALS COM c rr N efr SN 15 0 10 0 207 8 0 JV J N A X ei MOUNTING LOCATION GROUND TERMINAL 35 1 38 55 2 17 o 2 4 TAPS 2 4 SCREWS 7 9n 0 0709 160 6 30 149 5 5 89 0 5 I 2 20 fn an 5 0 2 9 lt c Rating 200 to 230V 10 5 101 100 200V FSP Servo System FSP 20ALILI 30ALHL 200V Three phase 2 0kW 3 0kW FSP 15ALILI S 200V Single phase 1 5 kW 2 0 24 6 holes Heat sink 9 84 250 Ground terminal 14 pin terminal DM flow M4 mounting screws 2 95 75 7 09 180 0 24
3. x MOUNTING LOCAT ON C ID LD ID Di IT Di D L 5 N LO Eff 0 5 M 0 A 2 UL b J 5 8 SN Cf 16 4 7 a ne o gt 149 400V FSP Servo Systems 20 1 3000 400V Three phase 2 0kW 3 0kW 2 96 0 24 MTG HOLES
4. pi fo j 9 E Dc 27 pa x Sm E LC m PR em CO CO gt CO 4 D 2 gt 3 s 100 100 200V FSP Servo Systems FSP 10ALILI 200V Three phase 1 0kW FSP 08ALIL1 S 200V Single phase 750W 30 200 25 20 20 MOUNTING HOLE AIR FLOW CN3 o Xe 39 1 54 94 4 3 72 160 50 106 4 17
5. o 20 Peripheral FSP Connector for Shaft Seal Signal Amplifier Encoder Signal D 5 Connector D B Encoderside Motor side Y 2CN Connector D 457 7 Connector D 222224 Encoder Cable Signal Motor Cable C Connector D Specify a technical manual if needed on your servo system purchase order FSP Series Servo System User s Manual YEA SIA FSP 3 Manual is provided at no charge with a purchase order Regenerative Unit E but it must be requested Model Number Designation SGMSH 10DCA6 1 Sigma Servomotor Type Accessories SGMSH 5000rpm 1 Standard SGMUH 6000rpm 24Vpc Brake Rated Output 5 Shaft Seal 10 1 0kW 1 3hp E ShaftSeal and Brake 15 1 5kW 2 0hp Shaft Specifications E qm s 6 Straight Shaft with Keyway 22 UND 40 4 0kW 5 4hp 50 5 0kW 6 7hp evision Leve Power Supply Encoder Specifications D 400V C 17 bitIncremental Encoder 2 17 bit Absolute Encoder is not available with absolute encoder 134 400V FSP Servo Systems Servomotor and Amplifier Selection Use the table below to select the appropriate SGMSH or SGMUH Sigma series servomotor and amplifier Refer to the motor model designation on the previous page specifying the available modification to motor construction features Description Three Phase 17 bit Incremental Encoder Straight Shaft with Keyway 50
6. 5 5 0 22 N 1 R D 5 1 s 2 O gt 150 400V FSP Servo Systems FSP 50D 400V Three phase 5 0kW 2H006 03ONY3 AONSNOTUINAINO D SS 0 33 01V33dW3l1 INalqWv NLYd dO C 2 ur 2 i J N N YX ANI ZR AN RY 25 lt CN S I 250 9 85 5 0 20 E 1 N wi 9 lt O e o 151 o 2 O P 400V FSP Servo Systems Control of
7. 2 O gt terminal specifications see the following page 154 400V FSP Servo Systems JUSP TA5OP Terminal Block Pin Numbers and Signal Names FSP Servo Amplifier JUSP TA50P Terminal Block Unit CN1 Pin Connector erminal Block MESE EE Lse an ELA 2 LsEN _ 4 Be VREF s i a BULS DE E PULS NN ES 8 i TREF j s j s k Lse s 39 SIGN a M LPL2 CE r Jar 8 EE ce S _ mm EE COME Le uar cp gt NN e PCO PEERS 19 A10 19 _ PCO gt Bo 20 BA ma s ias ss NCMP PO 26 TGON 2 L _ a oe er m R NE SEDI IOS e rr 78 RDY o pis A PALM M32 at T IPAO 34 ar 34 BPO 85 1 ats j ss PBO ee ES 37 Ca EE A02 rr mSS S s 7S ON PIO JP CON 1 an P OT PI2 I was 48 EM E a 5 7ALM RST PH poeh m s 2 22 25 IN CL PIG ae EX ar a ar so ae B4 as PSO 4g gt o Mm oa 5 o p Sonne GIO Case Cable Supplied with the terminal block fr Indicates twisted pair wires Preconfigured amplifier inputs and outputs are listed above as they are designated when the
8. 1 MTG Holes KB3 PhmeDienins Flange Dimensions Type SENE E KB2 KB3 KLL KL2 0008 4 47 Shaft End Dimension Allowable Allowable Approximate Macs Radial Thrust 5 5 N Ibe N TE E E 0 75 0 20 0 20 TE X 110 22 429 571 433 50 ra 047 65 m 19 157 0 98 5 5 3 490 98 88 178 132 109 145 110 130 12 165 w 25 9 6 185 112 202 156 3 46 G5 12 686 343 47 350 7 72 539 88 419 265 89 196 137 19 1176 453 874 642 551 787 45 7 09 013 071 906 053 138 299 236 0 39 i zx 518 110 115 222 163 140 200 1143 180 32 18 230 135 35 76 60 10 23 5 331 490 1470 149 056 196 Note 1 Ed 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 15 J apanese Industrial Standard B0401 Limits and Fits for Engineering Specified Tolerances Plug for Holding Brake MS3102A10SL 3P Tolerance 0 7480 0 8661 0 0000 0 0005 4 3307 10 0000 0 0014 1 3780 0 0004 0 0000 4 5000 0 0000 0 0010 19 000 22 000 10 000 0 013 110 000 0 000 0 035 35 000 10 010 0 000 114 300 Plug for Motor Connector Wiring on the Brake Motor Side Brake Terminal a Brake Ter
9. 2 i Sp RDV Alarm reset with 3Ry ON IP PO3 PT5 A5 3 gt limit ON Forward current limit ON with 6Ry C N cul j ALM Servo alarm output BY Es Reverse current PT6 gt F 32 OFF with an alarm Reverse current limit ON with amp ARy ON Q l 424 a limit ON ALN Connector shell FG Connect shield to connector shell lt a Q Photocoupler maximum output Operating voltage 30Vpc Operating current 50mApc PI1 PGMINP1 time constant for the primary filter is 47us Indicates twisted wire pairs PO1 PGMOUT1 107 D lt gt s o a 100 200V FSP Servo System Connection Diagram Three phase 108 Three phase 200 to 230V 50 60Hz IMccB Alarm processing Power Power OFF ON a MC z aS z O k Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor and relay 1MC B1 B2 B3 ud A 1 Servomotor L1 vL B 2 9 L2 up O L3 1 e Q L2C FSP Servo Amplifier Optical O 091 encoder de mi e oo Be sure to p pec quee idee det terga ground Be sure to properly prepare the end of the shielded wire Reference speed V REF4 2 LPF 2 to 10V rated motor speed set
10. JZSP CMP02 XX B Built in battery is JZSP BAO01 0 2 meter length 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 35mm DIN rail mountable the cable length is 0 5 meters 35mm DIN Rail mountable D50 0 5 meters standard 01 1 meter standard 02 2 meters 03 3 meters Cable Description C Input Output 1CN Cable with Pigtail Leads Input Output 1CN Cable Cable with Female D Sub output Connector Input Output 1CN 5 4000 to FSP Interface Cable Input Output 1CN 5 4000 to FSP Interface Cable with prepared alarm and reset inputs requires jumper in SMC4000 Input Output 1CN 5 4000 to Interface Cable with flying leads for additional amplifier Input Output 1CN MP2000 series controller to FSP Interface Cable 400V FSP Servo Systems Part Number JZSP CKIO1 DI A JZSP CKIOD LILI SMCCBL2LILI SMCCBLHLILI OO SMCCBLBLILI All JEPMC W2040 Item Comments Class Use the following key to specify needed cable length last digit of part number 1 1m standard 2 2m 3 3m o o9 ne Q Use the following key to specify required cable length last two digits of the part number D50 0 5m 1m standard Stock 2m 3m Use the following key to determine the desired length specification 02 2 Fe
11. gt Reverse run Tou 1 T GON ON at levels above the setting u 43 K prohibited PO2 Reverse run prohibited with J ALM RS 29 Lis RDY S Si LSOPEN Ry PL I rog rvor 2 amy aja Aamreset 03 ON when ready O O 31 m0 T y Alarm reset with 3Ry ON TE P CL ND ses S RDY m PI5 145 pede K limit ON 34 POS Forward current limit ON with 6Ry ON N CL lll i n ALM Servo alarm output JRY Gig bep everse current i Reverse current limit ON with amp ARy ON Q an z SET ION Seg ALN Connector shell FG Connect shield to connector shell The time constant for the primary filter is 47us Photocoupler maximum output Operating voltage 30Vpc Operating current 50mApc Indicates twisted wire pairs 153 T gt 400V FSP Servo Systems Connector Terminal Block Converter Unit JUSP TA50P CN1 10 Length of cable supplied 19 69 500 ne 50 pin connector plug MR 50RMD2 50 terminal block M3 5 screws Connector Terminal Block Converter Unit JUSP TAS50P cable included Mounting Hole Diagram 10 01 254 2 0 14 3 5 0 14 3 5 LO o Z s s LO o LO S i NE 5 19 a S ee ee ee ee 0 27 7 0 0 27 7 0 10 28 261 2
12. L LR 5 uem 0 0006 0 08 5 0 33 8 9 LG kp00016 0 04 A 5 6 0 12 3 0 0016 0 04 A 4 47 m gt x mE Serial encoder absolute or incremental Voltage Output Torque Rated Approx Allowable Allowable inelb V Nem 97 67 48 1 118 0 31 3 15 3 54 028 0 551 2 76 0 63 0 12 0 20 0 20 200 0 27 0 637 Continu 3000 14 55 1 30 8 80 90 7 14 70 16 3 5 5 ous 245 117 87 68 1 0 53 127 2 1 Note The quoted allowable radial load is the value at position 0 98in 25 from the mounting surface Some motor dimensions vary for motors with the optional shaft seal See p 34 for details Specified Tolerances Unit Diameter Tolerance Diameter Tolerance d 0 5512 30 0000 0 0004 2 1559 30 0000 0 0012 14 000 30 000 0 011 70 000 30 000 0 030 Interconnectron Connector Specifications See p 26 27 100 200V FSP Servo Systems 1 13 Bit Incremental or 16 Bit Absolute Encoder w o Brake e 750W 1 01hp Encoder cable UL20276 F0 24 6 11 81 300 1 18 30 Encoder plug SRUC 17GMRCN087 MOTOR CABLE Motor plug SRUC 06 MSCN236 WF i Cross section Y Y d 11 81 300 1 18 30 Hexagonal nut 0 0016 0 04 SIOJOWOAIIS HdINSS A
13. Speed and Torque Control Modes Circuit Time Constant Rotation Direction With P control signal Selection With forward reverse current limit signal speed 1 to 3 Speed Selection selection servomotor stops or another control method is About 47us Torque Reference Input Input Signals used when both are OFF Contact Speed Reference Bias Setting 0 to 450rpm setting resolution 1rpm Feed Forward TEE 0 to 100 setting resolution 1 Positioning Completed Width Setting Sign pulse train 90 phase difference 2 phase pulse A yp phase B phase or CCW CW pulse train Performance 0 to 250 reference units setting resolution 1 reference unit D 2 gt 3 9 gt O E E CL 5 o E Line driver 5V level open collector 5V or 12V level O x Frequency 500 200kpps maximum line driver open collector a Control Signal Clear Signal input pulse form identical to reference pulse Bulltin Open Collector 12V 1kbuilt in resistor Power Supply 94 100 200V FSP Servo Systems Ratings and Specifications cont d 5 01 02 04 08 10 15 20 30 A B C phase line driver S phase line driver only with an absolute encoder Frequency Dividing Ratio ny Servo ON P control or Control Mode switching forward reverse motor rotation by internal s
14. 11 81 300 1 18 30 Encoder plug SRUC 17GMRCN087 Encoder cable eee Motor plug SRUC 06 MSCN236 Cross section Y Y Hexagonal nut Opposite side width 0 55 14 0 0016 0 04 A Es 1 5 38 s o TSE o 0 2 3 lt o U 8 7 Serial encoder Magnetic brake oe Operation 7 0 0008 0 002 Absolute or Incremental DC power supply 2 EN _ Vota output Torque Rated Approx Allowable Allowable Type SGMPH PLZ 5 DLB 4 ih 3 P Nm oe T TE un ae T um T 0 12 0 20 0 20 750 Contin 126 ET Erga aen E EIER EASIER ES SEE EE Note The AE E P IS m a 1 m Eom Im the motor mounting surface Some motor dimensions vary for motors with the optional shaft seal See p 34 for details 5 Tolerances Unit Diameter Tolerance Diameter Tolerance 721 0 6299 30 0000 0 0004 4 3307 30 0000 0 0014 oq mm 16 000 30 000 0 011 110 000 30 000 0 035 Interconnectron Connector Specifications See p 29 32 100 200V FSP Servo Systems 2 13 Bit Incremental or 16 Bit Absolute Encoder with Brake 1500W 2 0hp Encoder cable UL20276 024 6 11 81 300 1 18 30 Encoder plug U SRUC 17GMRCN067 5 Motor plug T Motor cable SRUC 06 5 020 Cross section Y Y AIC 11 81 300 1 18 30 Hexagonal nut Opposite sid
15. Encoder Cable with Interconnectron Connector incremental or absolute IP67 AFPHCE A Connects these full length encoder feedback cables to the FSP amplifier Encoder feedback adapter Encoder feedback cables cable for incremental and AFAD P2 A for SGDH amp absolute JZSP CMP00 XX A JZSP CMP02 XX B 0 2 meter length Connects these full length encoder feedback cables to the FSP amplifier Encoder feedback cables for SGDH amp JZSP CMP00 XX A JZSP CMP02 XX B Encoder feedback adapter cable for absolute encoders Cable has built in absolute encoder battery and case AFADABS P2 A G 3 O o I m o Built in battery is JZSP BAO01 Stock 0 2 meter length Encoder Cable for applications up to 20m Only for Solder Connections These cables are available FR RMCT SB in any length For example to order one FR RMCT SB cable 16m long specify quantity 16 part no FR RMCT SB Encoder Cable for applications from gt 20 to lt 50m Only for Solder Connections UL20276 SB 35mm DIN rail mountable the cable length is 0 5 meters JUSP TA50P Input Output 1CN Cable amp Transition Terminal Block 35mm DIN Rail mountable D50 0 5 meters standard 01 1 meter standard 02 2 meters 03 3 meters JUSP WASOP LILI Table continued on next page 48 100 2
16. Wide input voltage Range 380 480 VAC FSP Ratings amp Specifications 143 146 FSP Dimensions 149 153 Peripherals 156 158 SGMGH Sigma Servo System 115 126 Design 1 Flexible Servo Architecture Traditional torque speed and pulse input modes SGDH modes Additional programmable position mode for simple indexing applications e Flectronic gearing indexing superimposed on gear ratio e Electronic Cam table with shift and offset while in motion Dynamic Positioning change target speed or position while in motion 2 Improved Performance e Patented Non linear Control Technology reduces tracking error 90 in some applications e Adaptive feed forward dramatically reduces settling time and overshoot High speed input and output for integrating motion 125 usec Registration input CN1 46 for latching position in hardware 62 5 usec 3 Easy Operation e FlexWorks set up software provides a project setup Wizard Choose amplifier mode Define user units Get default motion profile values Define end of motion parameters Define digital I O e In addition Flexworks provides Programming by pull down menu Digital Oscilloscope tuning Advanced FFT mechanical analysis e Sigma FSP automatically recognizes Yaskawa Sigma ll motors e RMS torque monitor of front panel 4 CN10 side port for future expanded capabilities MECHATROLINK 5 Certified International Standards e UL cUL listed CE compliance Contact Yaskawa Rep
17. JUSP TA50P Terminal Block Pin Numbers and Signal Names FSP Servo Amplifier JUSP TA50P Terminal Block Unit CN1 Pin Connector erminal Block p gt TL S HILL SEN p _ B2 a V REF se l e j FE BUS E E oe PULS NEZ CEN EXE CEN TRER Lse l 5 B8 e 5 SIGN nr E ne Ar ee s CLR 14 87 4 CR 36 s r s fr LE 1 L fs Po io PCO o H PB OY 7 EL p E EE MEE E E AMOD e 1 TGON PO2 TS ter ACON ee ee 7S RDY E np S RDY PO3 CALME ag Ts 1 S MENT E am s k sz IPAO ey P RUN RAT E 7PBO L 36 a e 4 gui L P 36 NEN e LE EST D E REOS L 5 A20 T 8 E 7S ON PIO TB20 4 7P CON P17 I MEME P OT PI2 REO IPIS a22 T j ELS 2 P CL PIS 5 amm o a AVIN 47 7 E _ __ t 48 4 824 48 PSO 45 a as Cable Supplied with the terminal block Indicates twisted pair wires Preconfigured amplifier inputs and outputs are listed above as they are designated when the unit is shipped from the factory
18. L type connector CE02 6A20 29NSW and Connector for 1 CE20BA S plug and back shell Encoder Cable di incremental or or absolute encoder Cable clamp O 2 for diameters 0 265 to 0 394 Choose the connector and the associated cable clamp for a complete assembly The connectors listed in the table are suitable for 67 environments Connectors are manufactured by DDK and listed here with the largest standard cable clamp available 126 400V FSP 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 Page s SGMSH UH Ratings amp Specifications 128 SGMSH UH Speed Torque Curves 129 SGMSH Dimensions 130 131 SGMUH Dimensions 132 133 SGMSH UH Selection Ordering Information 134 139 SGMSH UH Optional CE Selection 140 FSP Ratings amp Specifications 142 e FSP Dimensions 144 148 I O Design Features 1 Compact e Small sized motor e Eight frame sizes up to 422in lb peak torque Higher Speed e Rated Speed 3000rpm e Maximum Speed Up to 6000rpm SGMUH only Encoders e 17 bit 32 768 ppr x 4 incremental encoder standard e 1 bit absolute encoder option Enclosure e Totally enclosed self cooled IP67 excluding shaft e P67 with shaft seal option Application Emphasis
19. Large torque required at low inertia Flat Series Short L length Good for installation in compact Capacity Chip Mounters PCB Drilling Machines High speed rotation required without load High Speed Series High torque required at low inertia Material Handling Equipment Machine Tool Feeds Packaging Machines Medium Capacity I9 High torque at 6000rpm Chip Mounters 6000rpm max PCB Drilling Machines Product Overview Servomotor Servo Amplifier Type FSP Peak lorque Capacity Single phase Single phase Three phase Three phase 100W 01BMC MAC 2 up to 5 89 2 027oz in up to aw mw 2 sw 2 422in Ib 3 0kW 190in Ib 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 Connector Signal Amplifier Cable E B Encoder side Motor side able E Connector D onnector D 1CN x Encoder Cable C I O Signal Connector Motor Cable C D Regenerative Unit E 1 First select the Sigma servomotor suited for your application using the Yaskawa Servomotor Sizing
20. Note Incremental Terminal pins number 1 and 2 are Mating Connector SPNAOGKFSDN169 nectors used for 16 bit absolute encoder option only Interconnectron Mating Connector SPNA17HFRON16900E3 Interconnectron 33 SIOJOWOAIIS HdWOS 100 200V FSP Servo Systems 0 55 14 Dimension Modifications for Motors with Optional Shaft Seal 0 31 o9 09 2900 osan 020 T 87 22 is emen 4990010 orst R efer to the following table for tolerances for diameters LB and S Specified Tolerances 0 3150 0 0000 0 0004 1 9685 0 0000 0 0010 2 0 5512 0 0000 0 0004 2 7559 0 0000 0 0014 0 6299 0 0000 0 0004 4 3307 0 0000 0 0014 0 7480 0 0000 0 0005 J mm 8 000 0 000 0 009 50 000 0 000 0 025 14 000 0 000 0 011 0 000 0 035 16 000 0 000 0 011 0 000 0 035 19 000 0 000 0 013 Torque Reduction Factor for SGMPH motors equipped with a shaft seal 34 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 100 200V FSP Servo Systems Selecting SGMPH FSP Sigma ll Servo System First select the Sigma servomotor suited for your application using SigmaSize the Yaskawa servomotor sizing software available at www yaskawa com You may also request SigmaSize software via e mail at
21. PULS s 4d SIGN SIGNL11 dz 33 ccw 7K d Le 5 34J B HN Y mm 1 pG dividing ratio output Position reference CLR gt Applicable line receiver d 4 56 SN75175 or MC3486 manufac a PBO tured by the equivalent Open collector 1kO 12V PL1L P a AAT ecc PL3 18 48 Amount of S phase rotation Used only with 191 PSO Serial data output Backup battery 2 8 to 4 5V SENS 1 an absolute encoder pues Applicable ine receiver P or manufac When using an absolute encoder L t BAT 0402 SGI tured by or the equivalent 5V SEN SEN signal input 4 P When using an absolute encoder ov SGL 2 24V 24V J47 3 IV CMP Speed coincidence detection 15 0 D F 7 COIN ON when speed coincides Eo 3 o0 PTO Servo ON 16 GMP Positioning completed y 2RY TP Ern 7 6 Proportional control P control N when positioning is P control with 2Ry ON O O e TOP SHORE ON control 2 completed is 7 7 Forward run 27 T GON I O PT2 42 eg E 234 prohibited PO2 T GON output Forward prohibited with N Ls N OT Le 7 GONE ON at levels above the setting Reverse run prohibited with ak 2 3Ry ALM RST m 29 L S RDY N LS OPEN 4 K Alarm reset 151
22. 249 5 6 70 90 120 108 16 10 0315 0197 8 5 SGIASA PEDADIA 6 024 10 551 0 315 3 819 4 724 6102 1 575 5 512 M10 0 787 3228 2756 0 236 0 472 9 153 268 0 8 97 120 155 40 140 15 20 82 70 6 12 5 100 200V FSP Servo Systems Tolerances for Standard SG Gearmotors 0 472 0 630 0 00047 0 00004 1 378 0 00000 0 00063 0 158 0 197 0 236 0 00000 0 00118 in 0 866 0 00059 0 00008 2 047 2 677 0 00000 0 00075 0 39370 0 00000 0 00142 1 25984 1 57480 0 00071 0 00008 3 5433 4 724 0 00000 0 00087 0 47244 0 00000 0 00169 m 12 0 012 0 001 35 0 000 0 016 0 000 0 030 0 015 0 002 52 68 0 000 0 019 0 000 0 036 p 0 018 0 002 90 120 0 000 0 022 32 4 0 000 0 043 45 SGMPH 7 x le le em G Q G O e O m HdINSS 100 200V FSP Servo Systems Selecting SGMPH Gearmotor System First select the Sigma servomotor suited for your application using SigmaSize the Yaskawa servomotor sizing software available at www yaskawa com You may also 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 oystem Configuration
23. 6 8mm for CN2 Ground terminal 14 AWG HIV 0 003 2 0 FSP Wire Size AWG in External Terminal Name Terminal Symbol OS8ALILI S 15ALILI S L1 L2 Main circuit power input terminals Singl BR e 14 AWG 0 003 2 0 12 AWG 0 0054 3 5 Control power supply terminals L1 LC 16 AWG HIV 0 002 1 25 14 AWG 0 003 2 0 200V Servomotor connection terminals Control I O signal connector I O signal connector Control VO signal connector 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 Finished cable dimensions maximum 0 63 16mm for CN1 and 0 27 6 8mm for CN2 Servo Amplifiers Ground terminal 14 AWG HIV 0 003 2 0 111 100 200V FSP Servo System Cable Specifications cont d FSP Terminal Wire Size AWG in mm External Terminal Name symbol 10A00 20A00 30A00 Main powerinputteminas circuit power Main powerinputteminas terminals Thre Ee 14 AWG HIV 0 003 2 0 Servomotor connection terminals Control power supply terminals L1C L2C 16 AWG HIV 0 002 1 25 200V Control I O signal connector Twisted pair or shielded twisted pair wires Core wire at least 28 AWG 0 0002 0 12 tinned annealed copper twisted wires See page 113 for details Finished cable dimensions maximum 0 63in 16mm for CN1 and 0 27 6 8mm for CN2 Ground
24. HN IE F na LL LC LL3 CMT threaded J LR MD deep fn Bg Es LE NT i GD OLA E T C O UP E a E 6055 08 1 3 150 7 815 0 197 1811 2 677 3 543 0 866 3 150 M6 0 472 1417 1 260 0 079 0 236 0 236 0 138 105 08 80 198 5 5 46 68 90 22 80 x1 0 12 36 32 2 6 6 3 5 5 295 9 803 0 236 2 756 3 543 4 724 1260 4 724 4252 0 630 2 284 or 0 394 G25ATEOSUA 4345 249 6 70 90 120 32 120 108 16 58 10 SG5OSA PEOBDIA 6 024 10 532 0 315 3 819 4724 6102 1 575 5 512 M10 0 787 3 228 2 756 0 472 153 267 5 8 907 120 155 40 140 x1 5 20 82 70 0 12 0197 055 150 8 5 3543 4724 1260 4 252 0 630 1 2 284 1 969 uw 6105 150 90 120 32 108 155 16 58 50 255 A PETSLIA 6 024 11 634 0 315 3 819 4 724 6 012 1 575 5 512 M10 0 787 3 228 2 756 0 472 G50SA PETBETA 153 295 5 8 07 120 155 40 140 x1 5
25. L m LR 5 041 10 5 og M _ T 8 fO 900016 0 04 A 3 F EB S 0 35 rau LC Serial encoder Magnetic brake Non excitation operation 0 0008 0 002 Absolute or Incremental DC power supply 24V oe RES Allowable Allowable d Voltage Output RME SU Lt Radial Thrust Type SGMPH L LL LM LR LG LC LZ 5 V W h lom b akj u pwr em bin bi 4 57 3 58 1 67 0 98 0 24 2 36 2 76 0 22 0 315 1 968 0 55 0 071 0 12 0 12 100 2 81 Contin 15 17 5 Note The quoted allowable radial load is the value at a position 0 79in 20mm from the motor mounting surface Some motor dimensions vary for motors with the optional shaft seal See p 34 for details Specified Tolerances Unit Diameter Tolerance Tolerance 0 3150 30 0000 0 0004 30 0000 0 0010 Interconnection Connector Specifications Mo Incremental Terminal S pecifications OO PhaseU_ Red 5 75 10 77 SRUC 176 087 Red SRUC 06 MSCN236 Interconnectron 8 5V PowerSuppl 9 0OV PowerSuppy Black Interconnectron Mating Connector SPNAO6KFSDN169 V Connector Case 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
26. Shaft w Keyway For Monitor D SGMPH Gearmotor 3 Connector for FSP Servo Encoder Signal D Peripheral 2 Signal Amplifier Encoder side E Motor side Connector D Connector D 1CN x Encoder Cable C Motor Cable C onnector D Specify a technical manual if it is needed on your servo system purchase order FSP Series Servo System User s Manual YEA SIA FSP 3 Manual is provided at no charge with a purchase order Regenerative Unit E but it must be requested Model Number Designation SG 05 S A PE02AA C Sigma Il Gearmotor Accessories 24Vpc Brake G Standard 10 arc min Blank Standard YEA stock motor Reduction Ratio 05 5 1 options 10 10 1 Encoder Specifications 25 25 1 A 13 BitIncremental Encoder 50 50 1 16 BItAbsolute Encoder 1A 100 1 Power Supply Construction A 200V S Standard B 100V 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 46 100 200 FSP Servo Systems Gearmotor amp Amplifier Selection Use the table below to select the appropriate SGMPH Sigma II gearmotor and amplifier Refer to the motor model designation on the previous page specifying the available modification to motor construction features Gearmotor A Gearhead only Amplifier Amplifier Rated Peak Maximum farts dm
27. unt Demer Tolerance Diameter Tolerance 4 3307 0 0005 0 00035 0 9449 1 1024 0 0000 0 0005 70 00055 0 00043 _ 110 000 0 013 0 009 a AN ANA 0 014 0011 Connector Wiring on the Incremental Encoders Encoder Plug ES 3X 3 Motor Plug C Data M ID Daa PN Sone S E E P RE B VPhase MS3102A20 29P Battery Note Battery Note FG Frame Note Used with an absolute Ground encoder only Non Environmental Mating Connector MS3108B20 29S L Type MS3106B20 295 Straight Type Cable Clamp MS3057 12A 132 400V FSP Servo Systems 2 17 bit Incremental or Absolute Encoder with Brake LL F 0 0016 TORE MI O24 8 6 EX g 2 i E se E 0008 4 417 1 MTG Holes KB3 i Flange Dimensions Saas DEN SGMUH L LL LM LR LT KB1 KB2 KL1 KL2 Load ped I Ld ES SGMUH Servomotors 9 37 1 6 5 79 299 677 4 72 ONE iei 000 amaf Eg 10 39 8 62 6 81 1 81 402 7 80 5 75 3 46 n 30015 6 11 81 9 33 7 52 2 36 4 80 8 50 6 69 4 49 3 86 650 5 12 6 10 0 24 0 47 7 48 0 43 1 1 2 17 1 96 30 154 44 300 237 191 60 122 216 170 114 98 165 130 155 6 12
28. 1 bit even number parity 1 bit start stop synchronization 1 bit mplifier Address o units 1 F address in hexadecimal rotocol Protocol see FlexWorks User s Manual YEA SIA FSP 4 Master Message roadcast polling program immediate and sequential mode commands Send programming commands configure ECAM profile clear program or sequential buffer read or write to the array read and write parameters read system variables read version number poll for amplifier status read or write user variables hecksum Enabled or disabled by Pn2C6 Bit Structure 400V FSP Servo Systems Dimensions in inches mm FSP Servo Amplifier e FSP 05DLILI 10DU0 15DLILI 400V Three phase 0 5kW to 1 5kW 1 AIR FLOW CN3 2 006 0 DNY AON3 1O32 LNdLNO ND CO U O 99 0 33 valadW3l IN I8WY SONILV33dO 60 TERMINALS SROUN F R M N MAA M4 DU Se c cam
29. 750 T3 P lease see the following table for dimension tolerances Some motor dimensions vary for motors with the optional shaft seal See p 16 for details Specified Tolerances 40 000 0030 100 200V FSP Servo Systems 2 13 Bit Incremental or 16 Bit Absolute Encoder with Brake 30W 0 04hp 50W 0 07hp 100W 0 13hp o D lt o Encoder cable 0 24 6 11 85 300 1 18 30 NT Encoder plug 9 o UL20276 55100 0600 U le gt En T Motor cable 0 28 7 gt S UL1828 or U Motor plug T o 350779 1 Cross section Y Y E 1 18 30 2 39 0 0016 0 04 e0 0016 0 04 0 79 20 lt 0 60 15 2 1 57 40 1 81 46 Holding brake de energized operation DC Power supply 24V Brake holding torque Motor rated torque 0 0008 0 02 Serial encoder Type Output Approximate Allowable Allowable coman t U T L LL LM 5 QK W Mass Radial Load ThrustLoad j hp Ib kg Ib N Ib N A3LILIF2C 4 96 3 98 1 44 30 1 32 1 2 6 1 18 14 30 ABLILIF2C 2 5 20 4 2 1 13 50 1 54 68 ABLILIFAC 133 5 108 5 44 0 0 07 0 7 007 012 012 63 531 22 031 0 55 100 1 76 18 O1LILIF4C 1 8 3 3 160 135 61 5 8 14 0 13 0 8 78 Some motor dimensions vary for motors with the optional shaft seal See p 15 for details Specified Tolerances Dimension Diameter Tol
30. CONTINUOUS iE DUTY ZONE uI B INTERMITTENT i DUTY ZONE 00 05 1 15 2 TORQUE N m 0 100 200 300 TORQUE oz in 100 200V FSP Servo Systems Dimensions in inches mm 1 13 Bit Incremental or 16 Bit Absolute Encoder without Brake 30W 0 04hp 50W 0 07hp 100W 0 13hp 11 81 300 1 18 30 Encoder plu LL pg Him 55100 0600 LTT ENCODER CABLE 0 24 o6 UL20276 G gt MOTOR CABLE 40 28 ITA or 1 38 35 Motor Plug j EUN 350779 1 z E J 11 81 306 1 18 30 L 11 lt e o L 0 0016 0 04 A EU Cross section 50 0016 04 A 1 57 40 0 85 21 5 lt STI e j lt EZ War J L dj 37 9 5 1 57 40 1 81 046 Approximate Allowable Allowable Mass Radial Load Thrust Load Ib kg lb Ib 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 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 15 for details Connector Specifications Specified Tolerances Tolerance Diameter Tolerance 0 0000 0 0003 m 00000 0000 mm 10 000 0 008 30 000 0 009 30 000 1
31. Model Number Designation FSP 08 AMC L FSP Servo Amplifier EE Rated Output Options A3 0 03kW No options A5 0 05kW C Electronic Cam ECAM 01 0 10kW 5 Single Phase Amplifier 02 0 20kW 08 and 15 only x rh Control Type See Table Below 10 1 00kW 15 1 50kW Power Supply 20 2 00kW A 200V 30 3 00kW B 100V Control Type MC Flexible ServoPack with standard Yaskawa serial encoder feedback for use with Sigma motors Flexible ServoPack with A B quadrature encoder feedback with Hall effect commutation No Yaskawa serial encoder feedback Servo Amplifier Motor combinations supported by Yaskawa can be found at www Yaskawa com under the FSP product section opecial Purpose Motors IMPORTANT Parameter settings for motor combinations that are not in this catalog can only be set at the factory For further information see the Special Purpose Motor Program at www yaskawa com under the FSP product section Sigma FSP Combinations Rotary SPM Special Purpose Motor Servomotors SGMAH SGMPH SGMGH SGMSH SGMUH Requires FSP xxxMH model and Supported NO SGMCS One size up Motor Data File or down by Linear power SGLGW SGLFW SGLTW Sigma Trac NO Yaskawa Serial Encoder with Serial Converter NS115 Mechatrolink Il Planned for Mid 2007 NS115 Mechatrolink Il Planned for Mid 2007 Opti Expanded 8in 8out Planned for Mid Expanded 8in 8out Planned for Mid sped 2007 2007
32. Modules No 5300 5500 5600 MP940 5300 5500 5600 940 Software FlexWorks only FlexWorks only Consult www yaskawa com for recent updates 91 Servo Amplifiers 100 200V FSP Servo System FSP Amplifier Ratings and Specifications SGMGH DA 1500rpm Applicable Servomotor Maximum Applicable Servomotor Capacity kW Output Current 0 95 2 4 3 0 A msl EI Output Current Arms Eg Output Current Armsl Maximum Output Current Arms Basic Specifications D 2 gt 3 s 92 100 200V FSP Servo Systems Ratings and Specifications cont d os oe 5 35 20 ou Single phase 100 to 115VAC 10 to 15 50 60Hz Single Three phase 200 to 230VAC 10 to 15 50 60Hz Single phase 100 to 115VAC 10 to 15 50 60Hz 200V Single phase 200 to 230 5VAC 10 to 15 50 60Hz Control Method Single or three phase full wave rectification IGBT PWM sine wave driven For Yaskawa servomotors Serial encoder 13 incremental only 16 or 17 bit Feedback incremental absolute For Special Purpose Motors A B quadrature max frequency 800 kHz post quadrature Ambient Storage 0 to 55 C 20 to 85 C When enclosed internal temperatures must not exceed Temperature this range 90 relative humidity less with no condensation Humidity Vibration Shock
33. Plug for Holding Brake Connector Wiring on the Brake Motor Side Motor Plug A BekeTemma B Brake Termina EN LA UPhsse Non Environmental Mating Connector MS 31038105 L 3P MS3108A10SL 3S L D GreumdTemnal 5 3106 1051 35 Straight Type Cable Clamp MS3057 4A 131 400V FSP Servo Systems SGMUH Dimensions in inches mm 1 17 bit Incremental or Absolute Encoder LL LR LT LM 0 0016 A O 0 0016 8 L j 5 9 FH 3 sss KB1 KB2 Type Flange Dimensions ShaftEnd IApproximate Allowable Allowable SGMUH L LL LM LR LT KB1 KB2 KL1 Dimension Mass Radial Load Thrust Load ma oT ic te Tie noz o oc 69 mm mm EET 3 WIN 194 149 103 1 77 76 128 3 78 5 12 4 33 4 57 0 39 5 91 0 35 0 94 1 57 1 26 nis S 110 22 8 66 45 1 81 96 3 46 130 110 116 0 14 10 150 9 24 40 32 490 98 220 175 129 46 102 154 88 3 5 Me 11 Note 1 Dimensions are the same when using either incremental or absolute encoders with or without optional shaft seal 2 Tolerances the dimensions of flange type LB and shaft extensions S are based on J IS J apanese Industrial Standard B0401 Limits and Fits for Engineering Specified Tolerances Dmesm 9 E
34. Rated Output 0 45kW 0 85kW 1 3kW 1 8kW 2 9kW For Additional Information Page s SGMGH Gearmotor Ratings amp Specifications SGMGH Gearmotor Dimensions SGMGH Gearmotor Selection Ordering FSP Ratings amp Specifications FSP Dimensions SGMGH 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 1 Bit 32 768 ppr x 4 incremental encoder standard e 1 Bit absolute encoder option 4 Enhanced Environmental Resistance e Totally enclosed self cooled IP67 not including shaft 5 Application Emphasis Machine tools woodworking machines and thermoforming machines Roll feeders Press automation Gantry robots PCB drilling machines Packaging machines 6 Certified International Standards e cUL recognized File E165827 CE compliance 65 200V FSP Servo Systems Gearmotor Ratings and Specifications Rated Peak Torque Torque in Ib in Standard SGMGH Gearmotors SG058A GA05AC 122 383 30 60 40 244 67 150 30 220 1194 3540 30 GEARMOTOR Part Number 1133 44 97 63 30 300 1753 3540 6 120 10 877 33 494 1232 300 600 560 24 1052 SG05SA GA30AC 798 1936 30 60 50 39 1361 2 5 4 3 9 5 Q D Q o Speed Rated Spee
35. e High torque to inertia ratio Chip mounters PCB drilling machines Robots Conveyors e Packaging Certified International Standards e UL cUL recognized File E165827 CE compliance 127 20 os o C g T 400V FSP Servo Systems Servomotor Ratings and Specifications Time Rating Continuous Enclosure Totally enclosed self cooled Maximum Rotational Speed Insulation Class F 67 except for shaft opening 5000 6000rpm Vibration 15um or less Ambient Temperature 0 to 409C Excitation Permanent magnet Withstand Voltage 1500Vac 1800V Ambient Humidity 20 to 80 Drive Method Direct drive Insulation Resistance 10M Q minimum non condensing Mounting Flange mounted at 500Vpc Rated Speed 3000rpm 6000rpm Painting Color Muncell notation N1 5 SGMUH models only emm wm e mor nu xe 15DLIA 1 5 2 0 NM 43 4 5 14 7 20DLIA 2 0 2 7 536 19 1 Instantaneous Maximum Current Instantaneous Rated Rated Teque Peak Torque Current Voltage Ib in KG cm N m Ib KG cm Amplifier Systems 28 2 32 4 9 54 84 4 97 2 130 150 169 195 EE m 112 129 37 8 336 387 140 161 47 6 422 486 57 6 66 18 1 97 5 112 190 218 3 30D OA 3 0 4 0 x 43 5 50 21 5 Only the Sigma II SGMUH models are available with a maximum speed of 6000rpm Moment of Inertia Torque IE ELS IESU
36. o 76 200V FSP Servo Systems Super High Power Rate Series SGMSH Servomotors with incremental Absolute Encoder Rated Output 1 0kW 1 5kW 2 0kW 3 0kW For Additional Information SGMSH Ratings amp Specifications SGMSH Speed Torque Curves SGMSH Dimensions SGMSH Selection Ordering Information FSP Ratings amp Specifications FSP Dimensions Design Features 1 Compact e Small sized motor Six frame sizes up to 422in Ib peak torque 2 High Speed e Rated Speed 3000rpm e Maximum Speed 5000rpm 3 Encoders e X 17 bit 32 768 ppr x 4 incremental encoder standard e 1 bit absolute encoder option 4 Enclosure e Totally enclosed self cooled IP67 excluding shaft e IP67 with shaft seal option 5 Application Emphasis e High torque to inertia ratio e Chip mounters e PCB drilling machines e Robots e Conveyors o C o O o Packaging ertified International Standards UL cUL recognized File E165827 CE compliance 77 200V FSP Servo Systems Servomotor Ratings and Specifications Time Rating Continuous Enclosure Totally enclosed self cooled Maximum Rotational Speed Insulation Class F 67 except for shaft opening 5000rpm Vibration 15um orless Ambient Temperature 0 to 402C Excitation Permanent magnet Withstand Voltage 1500V Ambient Humidity 20 to 80 Drive Method Direct drive Insulation Resistance 1OMQ minimum non conden
37. oigma FSP Servo System Catalog y YASKAWA The Drive for Quality oigma FSP Servo System Catalog oigma Amplifier Sigma Servomotor Table of Contents Product 22 00100000000000 case rara 2 4 100 200V FSP Servo System FSP SGMAH Sigma ll Servo 59 22 FSP SGMPH Sigma ll Servo 23 40 FSP SGMPH Sigma 11 Gearmotor 41 51 FOP 89 114 200V FSP Servo System FSP SGMGH Sigma ll Servo System 03 64 FSP SGMGH Sigma Gearmotor System 65 75 FSP SGMSH Sigma Servo System 77 88 FSP SeNOAMOINe 89 114 400V FSP Servo System FSP SGMGH Sigma ll Servo System 115 126 FSP SGMSH UH Sigma ll Servo System 127 140 FOP SENOAMDINe NT 141 158 Product Overview Yaskawa has a full lineup of servomotors and amplifiers Choose the best drives for your needs and specifications Servomotor Series Description Applications Ig 3000rpm 5000rpm max
38. z Base mounted Rack mounted optional ESSEN MEE SEN 1 1 For 100V 1 76 0 8 14 17 28 38 WI AUN 1 76 2 43 3 75 6 17 8 38 Input Power Supply O Q 9 Conditions 9 lt O e o 93 100 200V FSP Servo System Ratings and Specifications cont d 1 5000 The lowest speed of the speed control range is the e contio iste point just before the motor stops under full load condition Load n 4 x Regulation 0 to 100 load 0 0196 maximum at rated speed gt 8 8 MS Rated Voltage 10 0 at rated speed e eo Regulation ge FIV o 9 0 p 3 93 tempera emperature VN 4 Regulation 25 25 C 0 1 max at rated speed A Frequency Characteristics 400Hz at J Jy Torque Control Tolerance 29 Repeatability MOM Soft Start Time Setting 0 to 10s Can be set individually for acceleration and deceleration 6Vpc Variable setting range 2 to 10Vpc at rated torque positive torque reference with positive reference input Reference Voltage voltage 12V maximum Input Impedance About 14k Circuit Time Constant Speed Reference Input 3Vpc Variable setting range 1 to 10Vpc at rated R f Do m adios torque positive torque reference with positive reference input voltage 12V maximum Input Impedance About 14k Voltage
39. 141 70 i lt O gt o X ETT T Ce V v 400V FSP Servo Systems Model Number Designation FSP 15 DMC L FSP Servo Amplifier Rated Output Duns 05 0 50kW 10 1 00kW No options 15 1 50kW C Electronic Cam ECAM 20 2 00kW 30 3 00kW 50 5 00kW Control Type See Table Below Power Supply D 400V Control Type MC Flexible ServoPack with standard Yaskawa serial encoder feedback for use with Sigma motors Flexible ServoPack with A B quadrature encoder feedback with Hall effect commutation No Yaskawa serial encoder feedback Servo Amplifier Motor combinations supported by Yaskawa can be found at www Yaskawa com under the FSP product section opecial Purpose Motors IMPORTANT Parameter settings for motor combinations that are not in this catalog can only be set at the factory For further information see the Special Purpose Motor Program at www yaskawa com under the FSP product section Sigma FSP Combinations Rotary SPM Special Purpose Motor Servomotors SGMAH SGMPH SGMGH SGMSH SGMUH Requires FSP xxxMH model and Supported One size up NO SGMCS Motor Data File or down by Linear power SGLGW SGLFW SGLTW Sigma Trac NO Yaskawa Serial Encoder with Serial Converter NS115 Mechatrolink Il Planned for Mid 2007 NS115 Mechatrolink Il Planned for Mid 2007 Expanded 8in 8out Planned for Mid Expanded 8in 8ou
40. 144 Performance Bias Setting 0 to 450 rpm setting resolution 1rpm Feed Forward Compensation 0 to 100 setting resolution 1 Positioning Completed Width Setting 0 to 250 reference units setting resolution 1rpm Input Signals Type Sign pulse train 90 phase difference 2 phase pulse A phase phase or CCW CW pulse train A Form Line Driver 5V level open collector 5V or 12V level Frequency 500 200 kpps maximum line driver open collector Control Signal Clear Signal input pulse form identical to reference pulse Built in Open Collector Power Supply 12V 1kQ built in resistor 400V FSP Servo Systems Ratings and Specifications cont d I O Signals Output Form B C phase line driver S phase line driver only with an absolute encoder Position Output Frequency Dividing Ratio Any Signal allocation can be modified Servo ON P control or Control Mode switching forward reverse motor rotation by internal speed setting zero clamping reference pulse prohibited forward run prohibited P OT reverse run prohibited N OT alarm reset forward current limit and reverse current limit or internal speed selection Fixed Output Servo alarm 3 bit alarm codes Signal allocation can be modified Sequence Output Positioning completed speed coincidence during servomotor rotation serv
41. 1470 Specified Tolerances 0 7480 0 8661 0 0000 0 0005 4 3307 0 0000 0 0014 1 3780 0 0004 0 0000 1 6535 10 0000 0 0006 4 5000 0 0000 0 0010 2 1700 0 0012 0 0004 7 8700 0 0000 0 0018 19 000 22 000 0 000 0 013 110 000 0 000 0 035 35 000 0 010 0 000 42 000 10 000 20 016 114 300 0 000 0 025 55 000 0 030 0 011 200 000 0 0000 0 046 Connector Wiring on the Motor Side U Phase 8 VWPmse D GoundTemmal MS3102A20 29 FG Frame Ground Note Used with an absolute encoder only Non Environmental Mating Connector 53108 20 295 L Type 53106 20 295 Straight Type Cable Clamp 5 3057 12A 56 200V FSP Servo Systems 2 17 Bit Incremental Absolute Encoder with Brake 0 5 to 3 0kW 0 7 to 2 9hp LL LR LT SGMGH Servomotors TU KL 1 a MTG Holes Type Flange Dimensions Flange Dimensions Shaft End Dimension Approximate aie L LL LM LR LT KL1 KL2 Mass ee Pe SGMGH LC LE LG Lz ws QK b kg Ibe N Ib N E 22 61 EN Viste 56 155 075 020 020 ox US m 2 09 6 DT 78 535 us 3 11 7 01 4 72 5 71 4 33 5 12 0 24 047 6 5 0 35 19 1 57 0 98 490 98 20 199 152 79 178 120 145 110 130 6 12 165 9 40 25 88 1 06 8 78 0 8 an 105 0
42. 20 82 70 6 12 4 4 56055A PEOILIA 1 988 5 177 0 158 0 965 1 378 1 969 0 472 2 362 1 732 M4 0 315 0 709 0 551 0 158 0 158 0 098 SG10SA PEOILIA 50 131 5 4 24 5 35 50 12 60 44 x0 7 8 18 14 4 4 2 5 56255A PEO1LIA 3 465 6 858 1417 2 047 2 756 0 630 2 756 2 441 0 394 1 102 0 984 o 0 197 0 118 SG50SA PEOILIA 88 36 52 70 16 70 62 n 10 28 25 5 3 4 193 7 500 n 120 m m m m a K D EJ SG05SA PEO2LIA 267 6 p SG10SA PEO2LIA 68 157 1 417 2 047 2 756 0 630 3 150 2 441 M5 0 394 1 102 0 984 0 197 0 197 0 118 3455 6569 36 52 70 16 80 62 x0 8 10 28 25 5 5 3 SG25SA PE020A 26 88 177 4 193 7 697 1 811 2 677 m mn m E 1200 T TE P ot SG 1ASA PEO2UA 5 295 2 d 2 756 3 543 4 724 1260 4724 4252 0 630 2 284 1 969 0 158 0 394 0 315 0 197 134 5 229 5 70 90 120 32 120 108 155 16 58 50 4 10 8 5 56055 A PEOALTA 2 677 6 9 1417 2 047 2 756 DEI LJ 0 197 0 197 0 118 SG10SA PE04LA 68 ps 36 52 70 E LJ 0 079 5 5 3 2 4 193 1 811 2 677 3 543 E m 2 D 0236 0236 0 138 5 295 9 823 0 236 2 756 3 543 4 724 1200 4 252 0 630 oa 0 394 SGS0SA PEOSCIA 14345
43. 5 3 25 24 024 0 14 21 2 154 77 2 6 6 35 9 6 686 343 3 60 10 5 Note 1 SGMGH 05DLIA to 44DLIA do not contain eyebolts 30 9 265 2 36 0 39 0 31 020 110 8 18 331 490 03 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 J IS apanese Industrial Standard B0401 Limits and Fits for Engineering Specified Tolerances Diameter Tolerance Diameter Tolerance 0 7480 0 8661 0 0000 0 0005 4 3307 0 0000 0 0014 1 3780 0 0004 0 0000 1 6535 0 0000 0 0006 2 1700 0 0012 0 0004 7 8700 0 0000 0 0018 19 000 22 000 0 000 0 013 110 000 0 000 0 035 35 000 0 010 0 000 42 000 0 000 0 016 114 300 40 000 0 025 200 000 30 0000 0 046 Connector Wi ng on the Encoders Connector Wiring on the Motor Side U Phase D Ground Terminal Battery Note Battery Note Mat nvironmental Mating Connector MS3108B20 29S L Type MS3106B20 29S Straight Type Cable Clamp MS3057 12A on 118 400V FSP Servo Systems 2 17 Incremental Absolute Encoder With Brake 9 0 5 to 4 4kW 0 7 to 5 9hp L LL LR LT LM TI004 K LG LE O04 W 8 l 3 zi gt soca fam fam E 13DDA6C oF E 20D A6C 28 30DCIA6C Md a
44. D lt O em O o Q L 200V FSP Servo Systems Connector Selection Use the table below to select mating connectors for your SGMSH Sigma servomotor Connector Description D without Brake 53106 18 105 0 53108 18 105 53057 10 53106 22 225 53108 22 225 53057 12 MS Connector for 0 Motor Power Cable Part Number tem Comments with Brake Class MS3057 16A Cable clamp MS Connector for Encoder Cable incremental or absolute encoder 1 0 1 5 2 EN m EN 3CN Peripheral Mating Connector 5CN Connector and 1m Cable with Pigtails YSC 1 DE9404559 Choose either a straight or L type connector and the associated cable clamp for a complete assembly MS3106B20 29S Straight type connector MS3108B20 29S L type connector MS3057 12A Cable clamp Stock 2CN Encoder Mating Connector 96 200V FSP Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for your SGMSH Sigma ll servomotor Component E Part Number Item Class Pre wired 2 0m cable with Software Interface Cable YS 12 9 pin connector 3 6V 1000mAh lithium battery JZSP BA01 1 with 5cm leads for wiring to 1CN replacement battery for use in RAO absolute adapter cable AFAD ABS P2 A FSPGUI1 or download at www yaskawa com Stock Flexworks These
45. KB1 KB2 Shaft End FangeDimensions i KL1 li Dimension otajots tc LE re os 2 64 16 77 137 67 172 6 0 3 06 7 8 3 94 4 53 3 74 3 94 o 0 39 5 12 a 0 94 1 57 1 26 ES 154 44 1 81 93 198 100 3 43 115 95 100 10 130 24 40 32 686 196 87 46 4 57 8 7 116 221 4 45 8 5 4 69 71 4 33 a lt 6 5 1 1 2 17 1 9 69 220 113 216 119 5 110 030 9 165 28 55 50 14 980 1 a are same when using either incremental or absolute encoders with or 0 optional 7 2 Tolerances on the dimensions of flange type LB and of shaft extensions S are based on J IS J apanese Industrial Standard B0401 Limits and Fits for Engineering I Servomotors Specified Tolerances n Diameter Tolerance Diameter Tolerance 0 9449 1 1024 E area 4 3307 e 0 0014 Motor Plug Brake Terminal Brake Terminal 81 9 lt e o Q 200V Servo Systems Selecting SGMSH Sigma ll Servo System First select the Sigma servomotor suited for your application using SigmaSize the Yaskawa servomotor sizing software available at www yaskawa com You may also 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 l
46. Software available at www yaskawa com Using the tab indicators in this catalog locate the section describing the type of servomotor you selected 2 hen select a compatible amplifier using the FSP Servo Amplifier Selection Table in the appropriate servomotor section of this catalog 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 Specify technical product manual YEA SIA FSP 3 on your FSP 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
47. Use these power cables where it is important to meet CE requirements 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 Sine 20 51039 and many others For systems using the absolute encoder and this part number the absolute encoder battery must be connected at the amplifier 1CN connector o 59 E o Input Output 1CN 20 100 200 FSP Servo Systems Connector Selection Use the table below to select mating connectors or kits for your SGMAH Sigma ll servomotor Connector Description D dcr Part Number Motor Power Mating Connector JZSP CMM9 1 without Brake These connector kits include pin and socket Requires use of Amp Stock Crimp Tool 90548 1 lt See below Motor Power x Mating Connector JZSP CMM9 2 with Brake Crimp tool for Motor mated Amp Crimp Tool 90548 1 Power Connector Stock 2CN Amplifier Mating Connector PASSEN suf Motor Encoder Mating Connector SOME Stock 1CN Mating for FSP I O Connector JZSP CKI9 50 pin 3CN Peripheral Mating Connector YSC 1 5CN Analog Monitor Connector DE9404559 3 Alternative part number is DTCR 6973 m lt 21 100 200V FSP Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for your SGMAH Sigma ll servomoto
48. 000 009 38 1 05 05 Dimensions include a field installed SGM N23 adapter flange on the listed motor 100 200V FSP Servo Systems Dimension Modifications for Motors with Optional Shaft Seal 30W 0 04hp 50W 0 07hp 100W 0 13hp 7 I lt 5 5 LR LE LD QK r Z AA y CL m v e e e ns Shaft seal M SGMAH B 0 55 14 1 18 30 0 10 2 5 0 98 25 0 30 7 5 1 14 28 Ed for diameters LB and S are the same as those for motors without shaft seals 15 100 200V FSP Servo Systems 200W 0 27hp 400W 0 53hp 750W 1 01hp o 5 9 E o PPP RR PPP PN NN NN Shaft seal 04 0 12 3 08 098605 276 70 026306 XTolerances for diameters LB and S are the same as those for motors without shaft seals Torque Reduction Factor SOMAH molor pees with a sal seai seal Servo Motor Model 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 16 100 200V FSP Servo Systems Selecting SGMAH FSP Sigma ll Servo System First select the Sigma servomotor suited
49. 16 16 170 70 1 P 20 20 1 Rs Construction Motor Output S Standard 05 2 1 09 0 85kW 1 14hp Orientation 13 1 3kW 1 7hp For SG Standard 20 1 8kW 2 4hp 30 2 9kW 3 9hp Motor Series Desian Revisi G SGMGH esign Revision SGMGH 1500rpm 69 200V FSP Servo Systems Gearmotor amp Amplifier Selection Use this table below to select the appropriate SGMGH Sigma Il gearmotor and amplifier Maximum CORTE Amplifier Motor and Description Speed MODEL Amplifier rpm uic hlc F FSP B Class Standard SGMGH Gearmotors 122 385 30 60 51 SGOSSAGAOBAC 200V phase 597 1770 60 120 254 SG25SA GAO5AC 1194 3840 30 60 501 SGS0SA GAOSAC MM 92 300 600 51 SGOSSA GADSAC tiie Encoder 2901 60 120 251 SG258A GAOSAC Straight Shaft 2266 3940 L 39 60 501 SG50SA GA09AC with Keyway 1000 300 600 51 SG05SA GAT3AC Amplifier 1593 SG10SA GA13AC 15AMC S Stock MS connectors 4753 3540 60 120 251 SG25SA GA3AC i232 300 600 51 SGOSSA GA20AC 987 2464 300 SG10SA GA20AC 1936 300 600 51 SGO5SA GA30AC 30AMC Notes 1 These performance ratings apply when duty cycles are 60 or less and when the gearmotor runs for 1 000 cycles per hour or less Contact your Yaskawa representative when duty cycles exceed 6096 and when the gearmotor runs for more than 1 000 cycles per ho
50. 190 11 28 55 50 14 686 196 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 5 are based J IS J apanese Industrial Standard B0401 Limits and Fits for Engineering Specified Tolerances 4 3307 30 0005 0 00035 I TRU 10 00055 0 00043 110 000 0 013 0 009 ib ds Ns 0014 0011 Plug for Holding Brake Connector Wiring on the Motor Plug Brake Motor Side Connector Wiring on the Motor Side U Phase Brake Terminal Brake Terminal FH Non Environmental Mating Connector SE Ground Terminal 5 3108 1051 35 L Type MS3106A105L 35 Straight Type Cable Clamp MS3057 4A MS 3102 1051 3 V Phase EN C W Phase 133 400V FSP Servo Systems Selecting SGMSH UH Sigma Il Servo System First select the Sigma series servomotor suited for your application using SigmaSize the Yaskawa servomotor sizing software available at www yaskawa com You may also 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 oystem Configuration Digital Operator E Optional Holding Brake Shaft Keyway SGMSH UH For Monitor D Servomotor
51. 20 80 15 E 3 140 60 4 CO 556 N oO Sa cs NISN 2 OO Tocem TION o S S SISMISSISSISSIS8 P AS AS ASAI oO Qol Q gt No No OL rn EA o9 m 9 9 o SiS o Go so no So a oes Op S SAIL o O Alon OD Eu OD oo MEN o OIR pu N N NIAN tO IIT NO 5 mn lt NO io 106 100 200V FSP Servo Systems Connection Diagram Single phase Single phase 200 to 230V or Single phase 100 to 115V 50 60Hz 50 60Hz 1MCCB 5 5 Power Power Alarm 1 UN filter OFF processing IMC IMC SUP O AA B1 B2 B3 O L1 L1C d L2C FSP Servo Amplifier Bed 2 Qo Be sure to O ground Reference speed _V REF J gt 2 to 10V rated motor speed set by parameter 5 Me Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor and relay Servomotor 06 1 Y wy VO no Optical encoder m od sure to properly prepare the end of the shielded wire 371 Torque men UE Asa 4 2 1 to 10V rated motor speed set by parameter SG 10 Ec Y ALO3 Operating current 20mApc PULS PULSI 7 1500 2 E
52. 3 5 6 6 2 0 4 77 ous 6 6 490 147 Note The quoted allowable radial load is the value at a position 1 38in 35mm from the motor mounting surface Some motor dimensions vary for motors with the optional shaft seal See p 34 for details Specified Tolerances Dimension 5 0 7480 0 0000 0 0005 4 3307 0 0000 0 0014 110 000 0 000 0 035 Motor Wiring Specifications Color 1 PhaseU Red 3 Blue 4 6 FG Frame Ground Green Yellow 7 SRUC 17GMRCN087 Wasa sassa SRUC 06 MSCN020 Mating Connector SPNAO6KFSDN169 Interconnectron Interconnectron Interconnectron Connector Case Note Incremental Terminal pins number 1 and 2 are connectors used for 16 bit absolute encoder option only Mating Connector SPNA17HFRON16900E3 Interconnectron 29 100 200V FSP Servo Systems 2 13 Bit Incremental or 16 Bit Absolute Encoder with Brake Note 1 keyway complies with J IS B1301 1976 precision A straight key is supplied 2 The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor 3 Conforms to the IP67 enclosure excluding the shaft optional shaft seal available 100W 0 13hp 11 81 300 1 18 30 Encoder cable M Encoder plug 0120276 50 24 6 SRUC 17GMRCN087 Motor plug SRUC 06 MSCN236 Cross section Y Y UN Hexagonal nut 11 81 300 1 18 30 Opposite side width 0 67 17
53. 400W amp 800W B 100V Only without holding brake Encoder Specifications 13 bit 2048 x 4 Incremental Encoder 1 16 bit 16384 x 4 Absolute Encoder Keyways shaft seals and holding brakes not available on motors with NEMA flanges revision level 2 N 17 11 lt e o G gt 100 200V FSP Servo Systems Servomotor amp Amplifier Selection Use the table below to select the recommended SGMAH Sigma ll servomotor and amplifier Refer to the motor model designation on the previous page specifying the available modification to motor construction features Motors Used with 13 bit Incremental Encoders 5000rpm Maximum Amplifier Amplifier MODEL 7 Motor Inertia Motor NUMBER B Amplifier Description Item Class oz in s x10 MODEL NUMBER A Single Phase FSP 0 235 SGMAH A3AAF 21 200V 0 355 SGMAH A3AAF2C pone pn Single Phase 0 312 SGMAH ASAAF 21 ABAMC Straight Shaft 45 432 SGMAH ASAAF2C without Keyway 515 SGMAH 01AAF21 0 685 SGMAH O1AAF2C 515 01AAF41 200 1 150 SGMAH 02AAF41 02AMC Single Phase 2 2 321 SGMAH 02AAF4C 02AAF4C Straight Shaft with EE 245 04AAF41 04AMC Keyway wo 271 SGMAH 04AAF4C 52 08AAF41 200 Am 515 oe 01AAF21 Single Phase EAE 0 635 SGMAH 01AAF2C DAMES Straight Shaft 02AMG without Keyway NEMA fla
54. 6 4 33 110 Mounting Hole Diagram js 4 x M5 screw holes h 8 E 8 is 100 TREN ie ds DR ale NN S e p i o i i 2 gt l E 2 fh Approximate mass 8 3810 3 8kg PP 0 20 3 94 100 0 20 0 020 0 5 5 Mounting pitch Rating 200 to 230V 10 5 102 100 200V FSP Servo Systems Regenerative Resistor Units JUSP RAO04 Type JUSP RA04 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 8 66 220 M4 Ground terminal M5 Mai I Use Yaskawa s SigmaSize software available at Current resistance 220W 250 configurable x4 www yaskawa com and the FSP Series Servo System User s Manual YEA SIA FSP 3 Regenerative Resistor Internal Mounted in a Regeneration Servo Amplifier Power Amplifier Resistance Resistance W
55. B INTERMITTENT DUTY ZONE 5 2000 a LLI LLI 1000 10 20 30 40 0 10 20 30 40 50 TORQUE N m TORQUE m 0 100 200 300 0 100 200 300 400 TORQUE Ib in TORQUE Ib in 55 200V FSP Servo Systems Dimensions in inches mm 1 17 Bit Incremental Absolute Encoder o L 2 LL O LT LM 3 lt 1 0 0016 A gt LG LE LC 8 a see UC OH 5 _ pem m es ae EE TR imu e lt gt 8 D i Holes Approximate Radial Thrust SGMGH L LL LM LR LT KB1 KB2 IE Mass pu vom FLA FLB LC LE LG FLH FLZ FS b kg bi N Ibe N 7 72 5 43 3 62 2 56 4 61 12 075 020 0 20 0 12 2 09A A61 2 62 6 34 4 53 228 1 81 3 46 5 51 4 29 5 71 4 33 5 12 0 24 0 47 65 0 35 09 1 57 0 98 5 5 3 16 490 98 219 161 115 58 46 88 140 109 145 110 130 6 12 165 9 40 25 7 4 41 6 46 0 87 0 24 0 24 0 14 21 154 77 1 85 89 145 5 51 7 87 45 7 09 0 13 0 71 9 06 0 53 1 38 2 99 2 36 0 39 0 31 0 20 14 1176 110 47 4 53 6 73 140 200 114 3 180 3 2 18 230 13 5 35 76 60 10 8 5 39 7 331 490 115 171 18
56. Pre wired Cable Selection Cable Description C Power Cable with Connectors IP67 Power Cable for Holding Brake IP67 Encoder Cable incremental or absolute IP67 Encoder feedback adapter cable for incremental and absolute Encoder feedback adapter cable for absolute encoders Cable has built in absolute encoder battery and case 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 122 Use the table below to select pre wired cables for your SGMGH Sigma ll servomotor Part Number Comments Lan Class 0 5 09 13 BAE A 2 0 80 44 B7BCE A 93 AFGHCE A AFAD P2 A AFADABS P2 A FR RMCT SB UL20276 SB JUSP TA50P JUSP WASOP LILI Use the following key to specify needed cable length last two digits of the part number am om 10m standard 15m 20m Connects these full length encoder feedback cables to the FSP amplifier Encoder feedback cables for SGDH amp JZSP CMPO00 XX A JZSP CMP02 XX B 0 2 meter length Connects these full length encoder feedback cables to the FSP amplifier Stock Encoder feedback cables for SGDH amp JZSP CMPO00 XX A
57. Sigma mS 1 Standard Rated Output 05 500W 0 7hp C 24Vpc Brake 09 850W 1 14hp 5 ShaftSeal 13 1 3kW 1 7hp E Brake and Shaft Seal 20 2 0KW 2 7hp Shaft S pecifications 30 30KW 4 0hp 6 Straight Shaft with Keyway 44 4 4KW 6 0hp Rated Speed A 1500rpm pus Encoder S pecifications C 17 BitIncremental Encoder 2 17 BitAbsolute Encoder 120 400V FSP Servo Systems Servomotor amp Amplifier Selection Use the table below to select the appropriate SGMGH Sigma ll servomotor and amplifier Refer to the motor model designation on the previous page specifying the available modification to motor construction features 70 5 o9 ne Amplifier Motor Inertia Motor MODEL in Ib 52 x 1073 MODEL Number A Analog Digital Input FSP 400V 12 30 SGMGH 09DCA61 Three Phase 14 15 SGMGH 09DCA6C 17 bit Incremental SGMGH 13DCA61 Encoder Straight Shaft with SGMGH 20DCA61 Keyway 3000rpm Pis im SGMGH 30DCA61 MS Connectors SGMGH 30DCA6C Note 24Vpc brakes for SGMGH Sigma II servomotors are standard Contact a local source for 24Vpc power supplies For technical information request Yaskawa manual number Y EA SIA FSP 3 Motor and Amplifier Item Class Description For more detailed FSP amplifier specifications and dimensions refer to page 143 148 121 lt e m o G lt G 400V FSP Servo Systems
58. accel jerk smoothing time Sega ange me Target position speed and accel programmable while in motion Phase shift position speed and acceleration programmable while Phase Shift synchronized to the master by electronic gear Soft Gear Engagement for synchronizing motion to master encoder by electronic ustom Profiles Custom profile based on table with ECAM engaged to virtual master Integer math operators MOD AND XOR OR asic Program Flow ondition Branching ubroutines EXT INT INT INT RETURN WAIT VAR uto Run Run program at power up at specified label Pn2CC ESTE ALARM RESET FAULT MANAGER FAULT MANAGER RETURN FAULT_MESSAGE_CLEAR rofiles aster yclic egments Configurable segment resolution up to 256 table points with table Resolution interpolation nterpolation esign ynchronization scaling e Master and motor ECAM profile shifting with ECAM engaged profile shifting C m 9 lt O e o 147 X ESTE T Ce EV v 400V FSP Servo Systems 148 ser Variables rays ystem Variables unctionality Programming System Properties Program line maximum execution time Time between motion commands stored in the Motion Command Buffer 100 lines if ECAM is Total number of programming lines installed Prog 9 180 lines if ECAM is not installed erial Communication aud Rate 19200 autodetect otart 1 bit data 7 bit ASCII code stop
59. are general purpose regenerative units TURNUM Order the Motion document External Regenerative Unit d 99004 for setup instructions for Optional JUSP RA04 this unit Caution Proper setup is mci necessary to avoid equipment 288 M damage FSP 10 5061 DC Reactor x T FSP 15AMC S Limited addi the power supply FSP 20AMC Stock FSP 30AMC X5059 For an alternate solution specify the individual resistor part number RH500N25 in necessary series or parallel connection Refer to the FSP servo amplifier section of this catalog for additional specifications and the FSP Series Servo System User s Manual YEA SIA FSP 3 for proper resistor sizing guidelines 87 SGMSH Servomotors 200V FSP Servo Systems CE Pre wired Cable Selection Use the table below to select shielded pre wired cables for your SGMSH Sigma II servomotor These are suitable for IP67 environments Part Numbers Number Cable Description C i When Comments with Brake 0 Use the following key to 520 PICE HHA B1BCE HH A specify required cable Power Cable with length last digit of part Connectors r y iss 2 0 Bm ius 3 0 10m standard 15m 20m 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
60. at 40 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 c Standard polyvinyl chloride cable EM IM 600V PVC cable 0 Temperature resistant vinyl cable 156 400V FSP 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 Cable Use twisted pair or shielded twisted pair wire Control I O Sig nal Connector a wire AWG 24 26 28 Finished cable Dimension cable Dimension 0 63 16 0 maximum 63 16 0 maximum PG Signal Con Cable eed cable encoder cable manufactured by Yaskawa when OM E V with nector Yaskawa motors Peripheral Device Types and Capacities Recommended Amplifier Model Power Supply Ne ie Circuit Power Maxi MCCB Power Required Capacity per ad Magnetic aparo Servo Amplifier Specifications Contactor kW W Current Capacity Arms mg 05DMC LT Th
61. by parameter SG Torque reference T RE V A D 37 ALO1 Alarm code maximum output y i P Operating voltage 30V 1 to 10V rated motor speed set by parameter 10 B ALO3 Operating 20 PULS gt PULS 7 1500 a SV ce pusa 3 ti phase ali SIGN gt SIGNL11 33 ccw 7k hoy S 341 B gl Y m at pG dividing ratio output Position reference CLR ex Applicable line receiver CLRI1 a 4d PBO SN75175 MC3486 manufac a X PBO tured by or the equivalent Open collector 12V reference K power supply PL lige PCO PL Le Amount of S phase rotation Used only with S PSO Serial data output Backup battery 2 8 to 4 5V an absolute encoder 79 Applicable line receiver Wh soiit d PBAT SG 9N 5175 or MC3486 manufac When using an absolute encoder 22 tured by or the equivalent SEN signal input 5V SENI 4 When using an absolute encoder ov SG 2 24V 24VI47 3 3kQ IV CMP Speed coincidence detection 1Ry 75 0 PE svanita a 25 ON when speed coincides Servo ON with 2Ry PIO71L40 ZK 7 Servo ON ae 26 Positioning completed 7P CO m PEE FR EM 11 K Proportional control P control COIN ee I P control with 2Ry ON DRNEA j f P LS P OT Forward run 27 E ard hibited with 12 42 sk 2 prohibit
62. cable length last two digits of the part number 03 3m Stock 05 om 10 10m standard 15 15m 20 20m Connects these full length encoder feedback cables to the FSP amplifier Encoder feedback cables for SGDH amp JZSP CMPO00 XX A JZSP CMP02 XX B 0 2 meter length Connects these full length encoder feedback cables to the FSP amplifier Encoder feedback cables for SGDH amp JZSP CMPO00 XX A JZSP CMP02 XX B Built in battery is JZSP BAO1 0 2 meter length These cables are available in any length For example to order one FR RMCT SB cable 16m long specify quantity 16 part no FR RMCT SB Stock 35mm DIN rail mountable the cable length is 0 5 meters 35mm DIN Rail mountable D50 0 5 meters standard 01 1 meter standard 02 2 meters 03 3 meters Table continued on next page 22 OG 71 Q D Q 3 o 5 200V Servo Systems Cable Description C Input Output 1CN Cable with Pigtail Leads Input Output 1CN Cable Cable with Female D Sub output Connector Input Output 1CN 5 4000 to FSP Interface Cable Input Output 1CN SMC4000 to FSP Interface Cable with prepared alarm and reset inputs requires jumper in SMC4000 Input Output 1CN SMC4000 to FSP Interface Cable with flying leads for additional amplifier Input Output 1CN MP2000 series con
63. for your application using SigmaSize the Yaskawa servomotor sizing software available at www yaskawa com You may also 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 SGMAH Servomotors Digital Operator E System Configuration Optional Holding Brake Shaft Keyway For Monitor D oervomotor Connector FSP Servo Encoder D Shaft Seal Peripheral Signal Amplifier EUR Cable E B Encoder side Motor side able E Connector D Connector D 1CN I O Signal Motor Cable C opecify a technical manual if it is needed on your b servo system purchase order FSP Series Servo System User s Manual YEA SIA FSP 3 Manual is provided at no charge with a purchase order Regenerative Unit E but it must be requested Model Number Designation SGMAH 01AAF4 1 Accessories Sigma Il Servomotor Type Standard Rated Output C Standard with 24Vpc Brake 30W 0 04hp S Standard with Shaft Seal AS 50W 0 07hp E Standard with Brake amp Shaft Seal 01 100W 0 13hp Shaft Specifications 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 200V N NEMA fange 200W
64. lange mounted Values when the servomotor is combined with an FSP servo amplifier Instanta Rated Rated Instantaneous Peak Rated neous MOTORS Output Torque Torque Current Maximum SGMGH Current 217 br in 4 53 252 090 630 725 Values when the servomotor is combined with an FSP servo amplifier Holding Brake at 20 Allow 10 Torque able Moment of Inertia Coil Rated Time Constant 0 ate Load MOTORS SGMGH Ib in beines KG m 5 E x1 rad s Amplifier System Voltage Values when the servomotor is combined with an FSP servo amplifier at an armature winding temperature of 20 These characteristics can be obtained when the following heat sinks steel plates are used for cooling purposes Type 05D OA to 13DLIA 15 75 x 15 75 x 0 79 in 400 x 400 x 20 mm Type 20DLIA to 44DL 1A 21 65 x 21 65 x 1 18 in 550 x 550 x 30 mm 116 400V FSP Servo Systems Speed Torque Curves SPEED rpm SPEED rpm 400V SGMGH 05D A 0 20 40 60 80 TORQUE Ib in SGMGH 20DL A 0 0 10 20 30 TORQUE N m 0 100 200 TORQUE Ib in SPEED rpm SPEED rpm SGMGH 09D A 0 5 10 15 20 TORQUE N m 0 50 100 150 TORQUE lb in SGMGH 30DL A 0 0 10 20 30 40 50 TORQUE N m 0 100 200 300 400 SPEED rpm 7 SGMGH 13DLIA Qoo TORQUE N m 0 50 100 150 200 250 TORQUE Ib in SGMGH
65. parameters Setting Status display parameter setting monitor display alarm trace Functions back display JOG and auto tuning operations speed torque reference signal and other graphing functions Reverse rotation connection home position search automatic Others servomotor ID DC reactor connection terminal for high power supply frequency control Notes The power voltage must not exceed 230V 10 253V If itis likely that it will exceed this limit use step down transformer For types FSP 08AMC S and FSP 15AMC 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 Output Form Position Signal allocation can be modified I O Signals Sequence Sequence Dynamic Brake Protection Internal Functions Communications D lt c Speed regulation no load motor speed full load motor speed 100 rated motor speed Forward is clockwise viewed from the non load side of the servomotor counterclockwise viewed from the load and shaft end The built in open collector power supply is not electrically isolated from the control circuit in the servo amplifier 95 100 200V FSP Servo System Programmable Mode Specifications The FSP series is equipped with four control modes Torque Speed Pos
66. position search automatic servomotor ID DC reactor connection terminal for high power supply frequency control 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 regulatio n no load motor speed full load motor speed 100 rated motor speed Forward is clockwise viewed from the non load side of the servomotor counterclockwise viewed from the load and shaft end The built in open collector power supply is not electrically isolated from the control circuit in the servo amplifier 145 T gt 400V FSP Servo Systems Programmable Mode Specifications The FSP series is equipped with four control modes Torque Speed Position and Programmable For details on the Torque Speed and Position modes see the FSP User s Manual Programmable Mode Functions In this mode the FSP Amp controls sequence and motion profiles Sequence timing can be controlled by a host through digital I O Functions programmable in user program or set by serial communication commands in programmable mode The 7 sequence inputs are programmable in this mode unless configured Inputs for an embedded function UIS The 3 sequence outputs are programmable in this mode unless configured for an embedded function Homing to exter
67. to select mating connectors for your SGMSH Sigma servomotor Part Number It Connector Description D i Comments vA Class without Brake with Brake CE05 8A18 10SD B BAS CE05 8A20 15SD B BAS L type connector Connector for CE3057 10A 1 D265 CE3057 12A 1 D265 clamp Motor Power Cable T CE05 8A22 22SD B BAS CE05 8A24 10SD B BAS L type SIOJOWOAIIS HSINDS connector CE3057 12A 1 D265 CE3057 16A 1 D265 Cable clamp eee CE02 6A20 29NSW L type connector PUE Connector for 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 Connectors are manufactured by DDK and listed here with the largest standard cable clamp available us Choose the connector and the associated cable clamp for a complete assembly The connectors listed in the table are suitable for IP67 environments 98 100 200V FSP Servo Systems Sigma FSP Series Amplifier For Speed Torque amp Position Control with Incremental or Absolute Encoder For Additional Information FSP Ratings amp Specifications FSP Dimensions Connection Diagram Single Phase Connection Diagram Three Phase Connector Terminal Block Unit Terminal Block Pin Numbers Cable Specs and Peripherals SGMAH Sigma II Servo System SGMPH Sigma II Servo System SGMPH Gearmotor SGMGH Sigma Servo System SGMGH Gearmotor SGMSH Sigma II Ser
68. unit is shipped from the factory Use the connection diagrams on the previous pages for more functional details 155 2 gt 2 400V FSP 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 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 e Maximum of 9 84ft 300cm for reference input lines Maximum of 65 6ft 20m for PG feedback lines Cable Specifications The following table provides wire size specifications Symbo Main circuit power input termi L1 L2 L3 400V Servomotor connection terminals Control power supply terminals L1C L2C 16 AWG HIV 0 0019 1 25 Control NO signal connector Twisted pair or shielded twisted pair wires Core wire at least 28 AWG 0 0002 0 12 tinned annealed copper twisted wires See page 157 for details PG signal connector Finished cable dimensions maximum 0 63in 16mm for CN1 and 27 6 8mm for CN2 Ground terminal 14 AWG HIV 0 003 2 0 Notes 1 Wire sizes were selected for three cables per bundle
69. 0 TORQUE Ib in TORQUE lb in TORQUE lb in A CONTINUOUS DUTY ZONE B INTERMITTENT DUTY ZONE 129 400V FSP Servo Systems SGMSH Dimensions in inches mm 1 17 bit Incremental or Absolute Encoder LL LR 0 0016 A Ole 0 0016 3 94 100 E MTG Holes KB1 Flange Dimensions Shaft End Approximate Allowable Allowable LR LT KB1 KB2 KL1 Dimension Mass Radial Load Thrust Load oA LC LE 16 0 Peg 45 10 1 4 6 bet 15 4 7 0 63 11487 005 dio laso 6 2 ael Qy 0 6 G0 3294 59 ydp SIOJOWOAIIS HSINDS 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 J IS J apanese Industrial Standard B0401 Limits and Fits for Engineering Specified Tolerances Diameter in 0 9449 1 1024 0 0000 0 0005 3 7402 4 3307 0 0000 0 0014 24 000 28 000 0 000 0 013 95 000 110 000 0 000 0 035 Encoder Plug Connector Wiring on the Incremental Encoders i ES Moto Plug Data O Connector Wiring on the Motor Side D baa INI EN B vPhse ms3102A20 29P F R 2 Battery Note Ground Terminal Battery Note F
70. 0 000 0 021 Motor Connection E Pin Output Output Wire Color 3 6 Phase U Red Phase V White 3 4 Phase W Blue FG Frame Ground Green Yellow 1 2 Plug 350779 1 AMP Nom Pi ji I Pin 350561 3 or 350690 3 Nos 1 to 3 ote FINS Number 5 an are connectors TM i used for 16 bit absolute encoder option only AAING Plug 55100 0600 Molex Mating connector Cap 350780 1 Mating connector Socket 54280 0600 Socket 350570 3 or 350689 3 100 200 FSP Servo Systems 1 13 Bit Incremental or 16 Bit Absolute Encoder without Brake 200W 0 27hp 400W 0 53hp 750W 1 01hp 9 s Encoder cable 0 24 UL20276 11 85 300 1 18 30 Ln Encoder plug leo 55100 0600 U_ Motor cable EE St UL1818 UL3534 or UL3535 Motor plug T L m FA 350779 1 Cross section Y Y L 0 0016 0 04 0 0016 0 04 o_0 51 13 L EE jj i PEE NK 04 26 5 LM 0 12 3 0 79 20 LG 5 m F LA E d 0 RE QK Y ig T EE Ez Serial encoder A 0 0008 0 02 Allowable Allowable Type SWR Approximate L LL LM LR LG LC GLA 7 5 OK U W Mass SGMAH 10 ie ko 4 98 3 8 2 46 200 cr sos ym 6 08 4 3 56 400 iO 7 28 5 71 437 157 031 315 3 54 0 28 0 63 2 76 1 18 1012 0 2 0 2
71. 0 0008 0 002 Serial encoder or incremental kg We oupa Rated Approx Allowable Allowable Type SGMPH PLZ 5 1 W ho Rating MEE Fo e A 2 m T ur n m um 0 12 0 20 0 a Contin m m enaE 148 00 Note The EE T IS T Tm TT 1 san ET I T motor mounting surface 1Some motor dimensions vary for motors with the optional shaft seal See p 34 for details Tolerances Unit Diameter Tolerance Diameter Tolerance i 0 6299 30 0000 0 0004 1 3307 30 0000 0 0014 mm 16 000 10 000 0 011 110 000 30 000 0 035 Interconnectron Connector Specifications See p 26 28 100 200 FSP Servo Systems 1 13 Bit Incremental or 16 Bit Absolute Encoder w o Brake 1500W 2 0hp Encoder cable UL20276 40 24 6 11 81 300 1 18 30 Encoder plug SRUC 17GMRCN087 Motor plug 1 SRUC 06 MSCN020 2 Cross section Y Y Z la 11 81 300 1 18 30 Hexagonal nut 0 0016 0 04 I2 ne 4 Serial encoder 0 0008 0 002 absolute or incremental TypeSGMPH L LL LM LR LG LC LZ 5 ww s Output Time Approx 15 E41D 6 08 4 51 3 73 1 57 0 38 4 72 5 71 0 38 0 75 4 33 0 87 0 14 0 24 0 24 200 1500 421 Continu 3000 1455 110 33 0 154 5 114 5 94 7 40 10 120 145 10 19 110 22
72. 00 1600 2400 TORQUE oz in TORQUE oz in 3 3 T T LLI 0 0 025 05 075 1 0 0 05 15 2 TORQUE Nem TORQUE N m 0 50 100 150 0 100 200 300 TORQUE oz in TORQUE oz in A CONTINUOUS DUTY ZONE B INTERMITTENT DUTY ZONE 25 100 200V FSP Servo Systems Dimensions in inches mm 1 13 Bit Incremental or 16 Bit Absolute Encoder w o Brake Note 1 keyway complies with IS B1301 1976 precision A straight key is supplied 2 Conforms to the IP67 enclosure excluding the shaft optional shaft seal available 3 The quoted allowable radial load is the value ata position 5mm 0 2in from the shaft end 100W 0 13hp Encoder cable 0120276 0 24 6 11 81 300 1 18 30 EH Encoder plug SRUc TIGNA 8 54 SRUC 17GMRCN087 u NZ l LJ Motor plug Motor cable Em RUE 06 Cs AT i Il Cross section Y Y Hexagonal nut Opposite Side width 0 55 14 o 0 2 lt o U 8 7 0 35 9 0 Serial encoder absolute or incremental Torque Rated Approx Allowable Allowable Type SGMPH L LL LM LR LG LC PLZ 5 inelb QK U W T Nm 01HLHE41D 343 244 167 0 98 0 24 2 36 2 76 0 21 0 315 1 7 0 55 0 071 0 12 0 12 100 2 01 Continu 3000 1 54 17 5 11 0 01 HE41D 87 62 42 5 25 6 60 70 5 3 8 50 14 18 3 3 0 13
73. 00V FSP Servo Systems Use the following key to specify required cable Input Output 1CN Cable with JZSP CKI01 DI A sided digit of part Pigtail Leads 1 1m standard 2 2m 3m Use the following key to specify required cable length last two digits of Input Output 1CN Cable the part number Cable with Female JZSP CKIOD OO D Sub output Connector 0 5m 1m standard 2m om Stock Input Output 1CN SMC4000 to FSP Interface Cable SMCCBL2LILI Input Output 1CN SMC4000 to FSP Interface Cable with Use the following key to SMCCBLHOO determine the desired length specification 02 2 Feet 05 5 Feet 10 10 Feet 15 15 Feet SMCCBLBLILI prepared alarm and reset Limited Use the following key to Stock determine the desired length specification JEPMC W2040 LID A5 0 5 meters 01 1 meter 03 3 meters inputs requires jumper in SMC4000 Input Output 1CN SMC4000 to FSP Interface Cable with flying leads for additional amplifier I O Input Output 1CN MP2000 series controller to FSP Interface Cable s The A at the end of the cable part number indicates the revision level Revision level may be subject to change prior to this catalog reprinting 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 228364
74. 00rpm maximum MS Connectors 400V Three Phase 17 bit Incremental Encoder Straight Shaft with Keyway 6000rpm maximum MS Connectors Amplifier Peak Torque Rated Torque Motor Inertia Motor MODEL B in Ib s X 10 MODEL A Analog Digital Input FSP GMSH 10DCA61 GMSH 10DCA6C GMSH 15DCA61 GMSH 15DCA6C OMe GMSH 20DCA61 GMSH 20DCA6C 20DMC GMSH 30DCA61 GMSH 30DCA6C SUD GMSH 40DCA61 GMSH 40DCA6C GMSH 50DCA61 SIC GMSH 50DCA6C SGMUH 10DCA61 10DMC SGMUH 15DCA61 15DMC SGMUH 30DCA61 30DMC Motor and Amplifier Item Class 1 54 N NI FB N O o i 9 N Note 24Vpc brakes for SGMUH SGMSH Sigma series servomotors are standard Contacta local source for 24Vpc power supplies For technical information request Yaskawa manual number YEA SIA FSP 3 For more detailed FSP amplifier specifications and dimensions refer to pages 143 to 148 135 SGMSH UH Servomotors 400V FSP Servo Systems Pre wired Cable Selection Use the table below to select pre wired cables for your SGMSH UH Series Sigma series servomotor Power Cable with BAE LILI A Use the following key to specify L type Connectors needed cable length last two IBS 30 digits of the part number 40 50 BBE DD A 03 3m Cable with Holding standard Brake B7BCE A IP67 These cables are available in five anode
75. 0318 ous 0 7 78 49 Note The quoted allowable radial load is the value at a position 0 79in 20mm from the mounting surface 15 motor dimensions vary for motors with the optional shaft seal See p 34 for details Specified Tolerances Unit Diameter Tolerance Diameter Tolerance 721 0 3150 30 0000 0 0004 1 9685 30 0000 0 0010 8 000 30 000 0 009 50 000 30 000 0 025 Encoder Plug Incremental Terminal S pecifications Motor Plug Motor Wiring Specifications Cor Red 1 2 Battery 3 6V 3 4 3 EM M Phase W Blue 6 FG Frame Ground Green Yellow Mating Connector SPNAO6KFSDN169 Interconnectron SRUC 17GMRCN087 8 1V Power Supply SRUC 06 MSCN236 Interconnectron r L 9 OV Power Supply 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 Interconnectron 26 100 200 FSP Servo Systems 1 13 Bit Incremental or 16 Bit Absolute Encoder w o Brake 200W 0 27hp 400W 0 53hp Encoder cable UL20276 40 24 6 11 81 300 1 18 30 Encoder plug lt SRUC 17GMRCNO87 x Vax z x Go Motor cable Motor SRUC 06 MSCN236 T gt lt s E Cross section Y Y Hexagonal nut 11 81 300 1 18 30 Jena Tie Opposite side width 0 55 14
76. 1 15AMC Keyway 20 1 SGMGH 13ACA6C 3000rpm maximum 20AMC MS Connectors 30AMC Note 24Vpc brakes for SGMGH Sigma II servomotors are standard Contact a local source for 24Vpc power supplies For technical information request Yaskawa manual number Y EA SIA FSP 3 Motor amp Amplifier Item Class Description For more detailed FSP amplifier specifications and dimensions refer to pages 89 to 105 59 9 9 DS ne Q 200V FSP Servo Systems Pre wired Cable Selection Use the table below to select pre wired cables for your SGMGH Sigma II servomotor n PatNumbet Number m Cable Description C Comments with Brake Class Power Cable with Use the following key to Connectors M s B1E UA BTBE LIH A specify needed cable mE ai length last two digits of the IP67 2 2 B2E A B2BE A part number 3 0 KKK 3m Stock Encoder Cable 5m 10m standard 15m 20m Connects these full length encoder feedback cables to the FSP amplifier o oo 59 E o 7 incremental or 7 7 TN absolute AFGHCE LIEI A IP67 Encoder feedback Encoder feedback cables adapter cable for AFAD P2 A for SGDH amp incremental and JZSP CMPO00 XX A absolute JZSP CMP02 XX B 0 2 meter length Connects these full length encoder feedback cables Encoder to
77. 165827 CE compliance SGMPH 7 O 41 100 200V FSP Servo Systems Gearmotor Ratings and Specifications Rated Maxi Se T T Amplifier Model GEARMOTOR ate aximum a ne Number Part Number in Ib in Ib ji GO5SA PE01 1000 900 859 3494 01 MC 9 45 N 45 5 2 G50SA PEO1LILI 133 89 283 00 5 1000 1000 600 17 17 81 8 36 2 5 500 300 34 34 163 7 72 4 O2LIMC 4 5 3 5 E e e GO5SA PE02 G10SA PE02 C2 0 2 G1ASA PEO1LILI 637 00 30 2 200 120 100 100 60 168 16 708 354 7 26 G10SA PE04 0 G25SA PE04 2 00 00 0 00 00 8 1000 34 34 77 27 00 68 68 154 53 200 168 16 378 36 04 MC G50SA PEOALIL 536 75 1610 25 52 6 00 72 80 2 4 2 GO5SA PE08 1000 G10SA PE08 0 128 4 2 C2 e O O O 6 3 4 33632 G1ASA PEO4LILI 2832 00 20 2 6 3 G25SA PE08 104 192 128 G50SA PE08 40 504 48 504 48 058 1500 205 16 614 50 52 103 02 103 02 G10SA PE15LIL 410 31 1228 99 260 4 206 04 206 04 gs G25SA PE15 144 G50SA PE15LILI 3540 00 40 1008 97 Values for 100V Gearmotor 7 Note 1 These performance ratings apply when duty cycles are 60 or less and when the gearmotor runs for 1 000 d o cycles
78. 2 24 0 24 0 14 lao 343 me em E 79 196 5 75 7 87 d 3 7 09 0 13 9 06 0 53 1 38 2 99 2 36 0 39 1 2 19 1176 110 d 79 SE 146 200 180 3 2 i8 230 13 5 35 76 60 10 51 8 331 490 Note DR are the same mS m un 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 apanese Industrial Standard B0401 Limits and Fits for Engineering Specified Tolerances mem s sm rues 19 000 22 000 0 000 0 013 110 000 0 000 0 035 35 000 0 010 0 000 114 300 0 000 0 025 Motor Plug Brake Terminal Brake Terminal 57 o oo 59 o T 200V FSP Servo Systems Selecting SGMGH Sigma ll Servo System First select the Sigma servomotor suited for your application using SigmaSize the Yaskawa servomotor sizing software available at www yaskawa com You may also 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 Shaft Keyway For Monitor D FSP Peripheral E Connecto
79. 200V FSP Servo Systems 2 13 Bit Incremental or 16 Bit Absolute Encoder with Brake 200W 0 27hp 400W 0 53hp Encoder cable UL20276 0 24 6 11 81 300 1 18 30 Encoder plug SRUC 17GMRCN067 Motor cable HEXAGONAL NUT 11 81 300 1 18 30 Opposite side width 0 67 17 Motor plug SRUC 06 MSCN236 Cross section Y Y I2 ne Serial encoder Magnetic brake Non excitation operation Absolute or Incremental DC power supply 24V TypeSGMPH L LL LM LR LG LC GLZ 5 1 nb OKlUulwlr hp 5 06 3 88 1 89 200 5 64 2 TIERCE 128 5 98 5 48 1 118 0 31 3 15 3 54 0 28 0 551 2 756 0 63 0 12 0 20 MES 0 27 0 637 Contin 3000 04 E4CD 585 467 268 30 8 80 90 7 14 70 16 3 5 5 400 400 112 uous 148 5 118 5 68 1 0 53 1 27 Note The quoted allowable radial load is the value at a position 0 98in 25mm from the motor mounting surface Some motor dimensions vary for motors with the optional shaft seal See p 34 for details Specified Tolerances Lm 0 5512 0 0000 0 0004 30 0000 0 0012 14 000 30 000 0 011 70 000 30 000 0 030 Interconnectron Connector Specifications See p 29 31 100 200V FSP Servo Systems 2 13 Bit Incremental or 16 Bit Absolute Encoder with Brake e 750W 1 01hp
80. 25 OHMK in necessary series or parallel connection Refer to the FSP servo amplifier section of this catalog for additional specifications and the FSP Series Servo System User s Manual Y EA SIA FSP 3 for proper resistor sizing guidelines Absolute Encoder Battery JZSP BAO1 40 100 200V FSP Servo Systems SGMPH Gearmotors with incremental Absolute Encoder Rated Output 100W 200W 400W 750W 1500W SGMPH Gearmotor Ratings amp Specifications SGMPH Gearmotor Dimensions SGMPH Gearmotor Selection Ordering Information FSP Ratings amp Specifications FSP 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 e 40 9 to 3540in Ib peak torque e Cost effective solution for low speed and high torque applications e Gear ratios 5 1 to 100 1 in some sizes e High torsional stiffness and low backlash e 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 drilling machines e Robots e Conveyors e Packaging machines 6 Certified International Standards e UL cUL recognized File E
81. 44D A a LLI LLI DL 0 20 40 60 80 TORQUE N m 0 200 400 600 800 TORQUE Ib in A CONTINUOUS DUTY ZONE INTERMITTENT DUTY ZONE 117 400V FSP Servo Systems Dimensions in inches mm 1 17 Bit Incremental Absolute Encoder o L 5 LL LR G 170 0016 A x 9 d i a EEE Cig ee ee O 3 5 7 _ pon ei HE i Bl Em wass LH LLJSP Holes KB2 Flange Dimensions Shaft End Dimension Allowable Allowable Type Radial Thrust SGMGH L LL LM LR LT KBI KB2 IE KL DLB LC LE LG LZ 1 QK T U Load Load N li N 543 3 256 461 121 05D A61 65 117 0 75 20 0 20 012 5 5 110 22 09D A61 6 34 4 228 181 346 551 429 571 433 5 12 024 047 6 5 0 35 157 0 98 5 16 8 490 08 1 61 115 58 46 88 140 109 145 110 130 6 12 165 7 6 I 441 646 130 A61 112 79 S 0 19 9 00 0 87 0 2 6 6 54 35 5 71 200 0 61 4 166 1 89 145 30D A61 756 571 311 185 453 6 73 5 51 7 87 45 7 09 0 13 0 71 906 053 138 2 99 192 145 47 115 171 140 200 114 3 180 32 18 230 135 35 76 1201 89 7 05 587 8 07 305 226 179 149 205 W
82. 6V 1000mAh lithium battery with JZSP BAO1 1 leads for wiring to 1CN 3 6V 1000mAh Lithium Battery Absolute Encoder Battery pope iysp paoi replacement battery Baoan absolute adapter cable AFADABS P2 A Stock FSPGUI1 or Flexworks download at www yaskawa com For These are general purpose Individual External FSP 04AMC RH12050ohmJ regenerative units Regenerative Unit FSP 08AMC S Caution Proper set up is necessary For FSP 15AMC S RH500N25 ohmk 9 avoid equipment damage For 200V FSP 01AMC FSP 02AMC DC Reactor FSP 04AMC Limited for suppressing harmonics FSP 08AMC S A in the power supply FSP 15AMC S For 100V FSP 01BMC X5063 FSP 02BMC X5062 Specify the individual resistor part number RH500N25 OHMK in necessary series or parallel connection Refer to the FSP servo amplifier section of this catalog page 103 for additional specifications and the FSP Series Servo System User s Manual YEA SIA FSP 3 for proper resistor sizing guidelines 51 SGMPH O O im G 100 200V FSP Servo Systems NOTES HdINSS G O e O 52 200V FSP Servo Systems General Purpose SGMGH Servomotors with incremental Absolute Encoder Rated Output 0 45kW 0 85kW 1 3kW 1 8kW 2 9kW 9 9 DS ne Q SGMGH Ratings amp Specifications SGMGH Speed Torque Curves SGMGH Dimensions SGMGH Selection O
83. 7 Amphenol Sine 20 51039 and many others For systems using the absolute encoder and this part number the absolute encoder battery must be connected at the amplifier 1CN connector 49 SGMPH 7 x le le x Q 100 200V FSP Servo Systems Connector Selection Use the table below to select mating connectors or kits for your SGMPH Sigma ll gearmotor Connector Description D Part Number M Interconnectron LL Connector for Motor E IP67 Mated Power Cable with or FINO S B2 Solder Cup without Brake 2CN Amplifier 4 0 Mating Connector DE9406973 Stock Interconnectron Connector for Encoder a 8 dud 2 18 FIN17C A2 Requires Crimp Tool B150 and positioner EN D Interconnectron m Stock 2550 550 Ro lt RX Cable 2 incremental or 3 absolute encoder 1CN Amplifier Mating Connector 3CN Peripheral Mating Connector YSC 1 Can use 5CN for Stock SCN Connector DE9404559 analog speed and torque monitor service checks and 1m Cable with Pigtails 1 5 Alternative Part is DTCR6973 50 100 200V FSP Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for your SGMPH Sigma ll gearmotor Component Description E Part Number Item Class Pre wired 2 0m cable with Software Interface Cable YS 12 9 pin connector 3
84. 9 0 19 DE 250 equivalent EN FS5827 25 07 25A ie Three phase 20A or 10AMC 2 3 ne a 480V equivalent 2 0 20AMC 43 12 0 16A 13 56 Three phase 35A or 30AMC 9 17 0 17 IFn258L 30707 460V equivalent 30A Size per local code requirements Typical fuse interrupting characteristics at 25 C 200 for 25 minimum 700 for 0 01s minimum The FnH noise filter is manufactured by Schaffner Corporation Specifications are available at www schaffner com 1 5 15 5 I I Cc gt I lt C I c D 2 gt 3 s 114 Peripheral Device Manufacturers J S T Corporation 1957 South Lakeside Drive Waukegan Illinois 60085 Phone 847 473 1957 http www jst com 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 Table of Contents 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 115 Table of Contents 116 400V FSP Servo Systems General Purpose SGMGH Servomotors with incremental Absolute Encoder Rated Output 0 45kW 0 85kW 1 3kW 1 8kW 2 9kW 4 4kW For Additional In
85. 9370 0 00000 0 00142 68 200V FSP Servo Systems Selecting SGMGH Gearmotor System First select the Sigma servomotor suited for your application using SigmaSize the Yaskawa servomotor sizing software available at www yaskawa com You may also 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 Shaft Keyway SGMGH For Monitor D Gearmotor FSP Amplifier B Connector for Encoder Signal D Seal Encoder side Motor side Connector D Connector D Peripheral Signal Connector D I O Signal Connector D Specify a technical manual if it is needed on your servo system purchase order FSP Series Servo System User s Manual YEA SIA FSP 3 Manual is provided at no charge with a purchase order but it must be requested I 9 22 2CN Motor Cable C Regenerative Unit E Model Number Designation SG05 SA GA05A2 C Sigma Il Gearmotor o E 56 Standard 10 arc minute Accessories 24V Brake Blank Standard YEA motor stock Reduction Ratio 4 1 25 25 1 Encoder Specifications D ri C 17 Bit Incremental Encoder Ind i E 2 17 Bit Absolute Encoder
86. A Ols 0 0016 A 3 94 100 KL1 O 28 7 MTG Holes Shaft End Allowable Allowable LL LM LR LT la Flange Dimensions Flange Dimensions Dr PLAIPLB LC LE LG 2 oS Q QK 10 1 4 6 3 78 3 43 4 53 3 74 3 94 0 12 0 39 5 12 0 94 11 57 1 26 12868 5 8 154 44 67 115 95 100 3 10 130 24 40 1362 8 6 8 686 196 15 4 15404 4 8 4 49 13 4315 71 4 3 6 5 1 1 2 1711 9 220 88 22 114 87 145 i2 165 26 85 80 980 392 1 15 same when using a a encoders with or aoe 2 Tolerances on dimensions of flange type LB and shaft extensions S are based J IS apanese Industrial Standard B0401 Limits and Fits for Engineering Specified Tolerances 0 9449 1 1024 0 0000 0 0005 are mae 24 000 28 000 40 000 0 013 Connector Wiring on the Motor Side SIOJOWOAIIS HSINDS 8 Vhme MS 3102A22 22P 5 3102A20 29P Battery Note Battery Note FG Frame Ground Note Used with an absolute encoder only Non Environmental Mating Connector MS3108B20 295 L Type MS3106B20 29S Straight Type Cable Clamp MS 305 7 12 80 200V FSP Servo Systems 2 17 bit Incremental or Absolute Encoder with Brake LL m L 00016 LM LG LE 0 3 94 100 LC s MTG Holes
87. AD ABS P2 A FSPGUI1 or Flexworks download at www yaskawa com Pre wired 2 0m cable with Software Interface Cable 9 pin connector These are general purpose regenerative units Order the Motion document External Regenerative Unit 512 99004 for setup instructions Optional JUSH RAOG for this unit Caution Proper setup is necessary to avoid equipment damage FSP 10DMC FSP 15DMC X5075 DC Reactor for suppressing harmonics in sq 5076 gib the power supply Check factory for Large Capacity Amplifiers availability For an alternate solution specify the individual resistor part number RH500N25 in necessary series or parallel connection Refer to the FSP servo amplifier section of this catalog for additional specifications and the FSP Series Servo System User s Manual YEA SIA FSP 3 for proper resistor sizing guidelines 139 2 55 ne OE 400V FSP Servo Systems CE Pre wired Cable Selection Use the table below to select shielded pre wired cables for your SGMSH UH Sigma II servomotor These are suitable for IP67 environments Use the standard encoder cable listed on page 148 Cable Description C ions Part Number Item Class 1 0 1 5 2 0 BACE Use the following key to specify BACEDDU cable length last two 3 0 4 0 digits of the part number 5m KEE E
88. Allowable Inductive Load Angular Time Time Coil Rated Additional dnt Capacty Torque na s client Ineifia Inertia Acceleration Constant Constant KG m bein 2x 10 ibi DM 16 0 127 E 61 5 202 These items and torque speed characteristics quoted in combination with an FSP servo amplifier at an armature winding temperature of 20 co Note These characteristics obtained when the following heat sinks steel plates are used for cooling purposes Type 10DLIA to 20DL1A 11 81 x 11 81 x 0 47 in 300 x 300 x 12 mm 30DHA to 500 15 75 x 15 75 x 0 79 in 400 x 400 x 20 mm 128 400V FSP Servo Systems Speed Torque Curves 400V SGMSH 10D A SGMSH 15DLIA SGMSH 20DLIA a a C i i TORQUE N m TORQUE N TORQUE N m 0 20 40 60 80 0 50 100 150 0 50 100 150 r TORQUE lb in TORQUE Ib gt re dud T SGMSH 30DL A SGMSH 40DLI A SGMSH 50D 0A O o Q 8 E E C u u 7 7 0 0 0 10 20 30 40 0 10 20 30 40 50 TORQUE N m TORQUE N m TORQUE N 0 100 200 0 100 200 300 400 0 100 200 300 400 500 TORQUE Ib in TORQUE Ib in TORQUE Ib in SGMUH 10DL A SGMUH 15D A SGMUH 30DL A 6000 5000 _ 4000 E amp 3000 e C 2 Lu 000 1000 0 0 5 10 15 TORQUE N m TORQUE N m TORQUE N m 0 40 80 0 50 1 0 100 200 30
89. B7BCE OD A 15m 20m 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 20 os 3 ox P o c g T Use the table below to select mating connectors for your SGMSH UH Sigma series servomotor Connector Description D Part Number Item Class o 4529 CE05 8A18 10SD B BAS YPS CONNECT SSE Cable clamp Connector for Motor sis 2 for diameters 0 413 to 0 555in Power Cable CE05 8A22 22SD B BAS EY De CORFIG eror Cable clamp CE3057 12A 1 D265 for diameters 0 492 to 0 630in L type connector for holding Limited Connector for CE05 8A1 brake Stock Holding Brake CE3057 4A 1 D265 Cable clamp for diameters 0 142 to 0 220in CE02 6A20 29NSW L type connector Connector for and ae eave x CE20BA S plug and back shell incremental or absolute encoder CE3057 12A 3 D265 Cable clamp 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 IP67 environments i Connectors are manufactured by DDK and listed here with the largest standard cable clamp available 140 400V FSP Servo Systems FSP Servo Amplifier For Speed Torque amp Position Control With Incremental or Absolute Encoder
90. D 2 O 3 e G lt Q 200V FSP Servo Systems Connector Selection Use the table below to select mating connectors for each SGMGH Sigma ll servomotor Part Number Connector Description D Size kW without Brake with Brake Class MS Connector for Motor Power Cable eo i 2 0 3 0 MS3057 12A MS3057 16A Cable clamp MS3106B20 29S Straight type connector MS Connector for gt MS3108B20 29S L type connector Encoder Cable incremental or 2 absolute encoder MS3057 12A Cable clamp 1CN Mating Connector All 2CN Encoder Mating Connector DE9406973 3CN Peripheral Mating Connector JZSP CKI9 YSC 1 Can use 5CN for analog DE9404559 speed and torque monitor Pigtails service checks Choose either a straight or L type connector and the associated cable clamp for a complete assembly For example L type connector MS 3108B18 10S is compatible with cable clamp MS3057 10A MS connectors listed in the table are non environmental i Alternate part number DTCR6973 62 200V FSP Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for each SGMGH Sigma ll servomotor Component E Part Number Item Class Pre wired 2 0m cable with 9 pin Software Interface Cable YS 12 3 6V 1000mAh lithium battery JZSP BAO1 1 with 5cm leads for wir
91. EMA 34 Flange Pilot 11 85 300 1 18 30 Encoder cable 0 24 6 0120276 6 Encoder plug pe eee HHE 55100 0600 Motor cable 0 27 7 x 8 35 SGMAH Servomotors 13 bit serial incremental encoder Allowable Allowable Type a xx Output Radial Thrust SGMAH LL LM LR LG He LZ 5 W hp Tes i Ib N lb L Specified Tolerances Unit 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 40 000 0 030 66 000 For servo application torques shaft diameter is 0 625in 15 875mm rather than 0 375 9 525mm as is in typical NEMA 34 13 100 200V FSP Servo Systems 4 2 27 57 7 o G gt 0 73 18 6 8 32 xs 2 places pcm 1 5 lt O 3 O 9 2 27 57 7 LB 085 0 206 5 2 4 places L M 0 19 4 8 Dimensions Inch mm Motor Type SGMAH A3 3 72 94 5 0 2362 000 0003 1 500 002 002 2 625 66 7 w NEMA 23 Adaptor 6 0 000 006 38 1 05 05 SGMAH A5 4 02 102 0 2362 000 0003 1 500 002 002 2 625 66 7 w NEMA 23 Adaptor 6 0 000 006 38 1 05 05 SGMAH 01 4 70 119 5 0 3150 000 0004 1 500 002 002 2 625 66 7 w NEMA 23 Adaptor 8 0
92. G Frame Note Used with an absolute Ground encoder only Non Environmental Mating Connector MS3108B20 29S L Type MS3106B20 29S Straight Type Cable Clamp MS 3057 12 130 400V FSP Servo Systems 2 17 bit Incremental or Absolute Encoder with Brake W 0 31 8 LT LM d i LG LE 0 0016 010 04 P 2 q il KL1 0008 4 47 2 VA 1 MTG Holes E KB3 ESI Shaft End Flange Dimensions Ap L LL LM LR TIKB1 Ke2 KL1 2 n 837 75 579 177 79 67 17 IA 39 862 681 L77 4 02 7 80 5 75 m EB enl m faae oz op om sw on EDA CL S 5 198 146 gg 85 115 100 10 130 E E awaka an E 933 752 ma 351 5 us sorse 1350 3 090 m 433 5112 024 EM 110 130 10 79 98 2 48 qn 63 dE 55 ia Rn Note 1 Dimensions are the same when using either incremental or encoders with or without optional shaft seal 2 Tolerances on the dimensions of flange type LB and of shaft extensions S are based J IS J apanese Industrial Standard B0401 Limits and Fits for Engineering I Servomotors Specified Tolerances Unit Diameter Tolerance Diameter Tolerance 0944911024 30 0000 0 0005 347402 4 3307 30 0000 0 0014 mm 2400028000 0 000 0 013 95 000 110 000 30 000 0 035
93. GAOBAC 6 02 13 35 0 32 3 82 4 72 6 10 1 58 5 5 10 0 79 323 2 76 0 24 0 47 8 5 153 339 8 97 120 155 40 140 15 20 82 70 6 12 1 0 20 1 81 an 90 29 aor M6 x o oa 0 08 0 24 0 24 0 14 ssossacaooac fon 6j us 160 22 cl Yr a a 6 t6 s 6 34 ig za 0 24 A E im E i M8 x 2 19 0 16 0 39 aon iom a20 e TEC 56255A GA09AC x E E 1 3 s MION i i 1 2 SG505A GA09AC 153 362 97 120 155 40 140 15 20 82 70 12 SG05SA GA13AC 4 02 13 19 7 2 16 3 54 4 72 1 26 4 25 M8 x 0 63 228 1 97 0 39 SG10SA GA13AC a 102 335 70 90 120 32 108 125 16 58 50 4 10 0 32 0 20 m 1520 8 6G25SA GA13AC 6GO5SA GA20AC 654 d 0 32 382 4 72 610 158 551 M10x 0 79 323 2 76 024 047 SGIOSA GA20AC 166 482 353 5 97 120 155 40 148 040 15 20 82 70 6 12 m 122 5 190 SG05SA GA30AC Note For SEES SG Gearmotors only 4 x threaded holes to a depth of dimension MD set 90 apart Specified Tolerances for Standard SG Gearmotor Models w War 0 472 0 630 0 00047 0 00004 1 378 0 00000 0 00063 0 158 0 197 0 236 0 00000 0 00118 in 0 866 0 00059 0 21025 oe 047 2 si 0 00000 0 00075 0 3
94. 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 2 on 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 FSP 10DMC 33 FSP 15DMC x E FSP 20DMC 2 2 5076 141 FSP 30DMC di X507 FSP 50DMC Dimensions Approximate Reactor in mm Macs Model tw X5074 1 18 1 85 2 16 3 35 1 10 1 50 1 77 0 661 30 47 70 05 28 38 45 0 16 X5075 1 57 2 32 3 94 4 72 1 57 1 97 2 17 4 40 59 100 120 40 50 55 X5076 1 97 2 91 4 92 9 51 1 38 1 77 2 36 0 20 50 74 125 140 35 45 60 5 X507 Consult factory 152 400V 500W to 5kW Models Three phase 380 to 480V 50 60Hz 76 75 1MCCB Noise filter Power Power 400V FSP Servo Systems Alarm processing OFF ON Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor and relay i A 1 Servomotor 1 L L 24Vpc 15 e 9 L2C FSP Servo Amplifier Optical B 1 jo mm C CG oO S Be sure to O N M ee RD U 5 G Reference speed REFI 2 2 to 10V rated motor speed set by parameter T REF V A D ALO1 Alar
95. MAH WMP pk 9 654 535 246 200 353 02LILIF4C 166 136 62 5 118 n B S 0 27 16 ub d 0 12 764 646 356 30 6 60 70 5 5 14 50 20 400 485 245 74 04AHF4C 3 020 194 164 90 5 053 22 33 TSome motor dimensions vary for motors with the optional shaft seal See p 16 for details Specified Tolerances in m o 11 D a lt e m G gt 100 200V FSP Servo Systems 3 13 Bit Incremental or 16 Bit Absolute Encode 200W 0 27hp 400W 0 54hp with NEMA 23 Flange Pilot Encoder cable 50 24 6 UL20276 11 85 300 1 18 30 pu Encoder plug 55100 0600 Motor cable UL1818 UL3534 or UL3535 Motor plug 350779 1 Serial encoder A 00008 0 02 Approximate US n AE r Brake Allowable Allowable Radial Thrust Load Load JAM Ib N Ib N Mass E 256 207 02 AN21 1185 gis G9 075 024 236 263 0 18 15 diss 57 n v 20 60 66 7 4 5 38 1 am s DNE 35 17 Specified Tolerances d 0 5000 10 000043 1 5000 30 0011 Tolerance 10 0000 0 00098 10 000 0 025 F or servo application torques shaft diameter is 0 5in 12 7mm rather than 0 25 6 35mm as is in typical NEMA 23 12 100 200V FSP Servo Systems 3 13 Bit Incremental or 16 Bit Absolute Encoder w o Brake 750W 1 01hp with N
96. P TASOP the cable length is 0 5 meters Input Output 1CN Cable amp Transition 35mm DIN Rail mountable Terminal Block D50 0 5 meters standard JUSP WASOP LIEI 01 1 meter standard 02 2 meters o d 03 3 meters Use the following key to ify required cable length Input Output 1CN specify r Cable with Pigtail JZSP CKI01 A Loads standard 2 2m 3 3m Use the following key to specify required cable length Input Output 1CN last two digits of the part number ia JZSP CKI0D A 0 5m Connector 1m standard SMC4000 to FSP 2m SMCCBL2LILI Interface Cable am Input Output 1CN 4 4 Use the Following key to Stock nte d ME SMCCBLH determine the desired length nus m an requires jumper in 02 2 Feet 5 4000 05 5 Input Output 1CN 10 10 Feet SMC4000 to FSP 15 15 Feet Interface Cable with I flying leads for i 14 SMCCBLBLILI additional amplifier JT Limited Stock E Use the Following key to 3 determine the desired length Wade der N specification JEPMC W2040 TILI controller to FSP eH dg Interface Cable lx A5 0 5 meters wee 01 1 meter E 03 3 meters A at the end of the cable part number is the revision level Revision level may be changed prior to this catalog reprinting id Standard cable lengths are Stock items non standard cable lengths are Limited Stock items
97. P05 50 T TI 4 Speed and Torque Control Modes Performance Speed Control Range 1 5000 The lowest speed of the speed control range is the point just before the motor stops under full load condition Load Regulation 0 to 100 load 0 01 maximum at rated speed Voltage Regulation Rated Voltage 10 0 at rated speed Speed Regulation Temperature Regulation 25 25 0 1 max at rated speed Frequency Characteristics 400Hz at JL Jy Torque Control Tolerance Repeatability 2 Soft Start Time Setting 0 to 10 sec Can be set individually for acceleration and deceleration Input Signals Reference Voltage 6Vpc Variable setting range 2 to 10Vpc at rated torque positive torque reference with positive reference input voltage 12V maximum Input Impedance About 14kQ Reference Circuit Time Constant Reference Voltage 3Vpc Variable setting range 1 to 10Vpc at rated torque positive torque reference with positive reference input voltage 12V maximum Input Impedance About 14kQ O uc c Circuit Time Constant About 47us Rotation Direction Selection With P control signal Reference Speed Selection With forward reverse current limit signal speed 1 to 3 selection servomotor stops or another control method is used when both are OFF Position Control Mode
98. Q AR with ten times the rated power applied for five seconds 2 0 05Q D lt O gt 2 D 104 100 200V FSP 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 2 on the servo amplifier s main circuit Use the following table as a guide for selection of the appropriate reactor Reactor Reactor Specifications Applicable Servo Amplifier Rated NN Reactor Model mH A E 100V FSP ABBMC ABBMC FSP D2BMC ee s FSPASAMC s lt O gt 105 D 2 gt 3 s 100 200V FSP Servo System DC Reactor Dimensional Drawings Dimensions Approximate in mm Mass 127197 ET Paa 7 40 32 xm 72 x TU 216 ao 7204 2 100 120 40 50 55 4 3 45 E 1 38 1 77 216 0 17 1402 80 95 35 45 50 4 3 0 5 192 ud 2 36 2 56 216 0 17 2 21 125 45 60 65 4 3 1 0 SE 38 1 77 2 36 020 0 21 E 140 35 45 60 5 3 61 209 26 E 220 x 155 53 66 6 4 492 177 2 36 2 515 0 21 125 45 60 65 4 472 138 177 197 0 16 2 120 35 45 50 4 4 3 1 1 18 1 57 1 77 0 16 0 1 30 40 45 4 4 3 3 0
99. Resolution interpolation nterpolation esign ynchronization caling Master motor ECAM profile shifting with ECAM engaged profile Shifting C m 2 lt c 97 SJ9JIIdUUV OAJ9S 100 200V FSP Servo System 98 ariables ser Variables ystem Variables unctionality Programming System Properties Program line maximum execution time Time between motion commands stored in the Motion Command Buffer 100 lines if ECAM is Total number of programming lines en prog g 180 lines if ECAM is not installed erial Communication Baud Rate 7 19200 autodetect otart 1 bit data 7 bit ASCII code stop 1 bit even number parity 1 bit Bit Structure dia start stop synchronization 1 bit mplifier Address o units 1 F address in hexadecimal Protocol see FlexWorks User s Manual YEA SIA FSP 4 Master Message roadcast polling program immediate and sequential mode commands Send programming commands configure ECAM profile clear program or sequential buffer read or write to the array read and write parameters read system variables read version number poll for amplifier status read or write user variables Checksum Enabled or disabled by Pn2C6 Functions 100 200V FSP Servo Systems Dimensions in inches mm FSP Servo Amplifier Standard FSP A3ALILI to 02A 200V Single phase 30 to 200W and e FSP ASBLILI to 01B 100V Si
100. Use the connection diagrams on the previous pages for more functional details 110 100 200V FSP 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 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 e Maximum of 9 84ft 300cm for reference input lines e Maximum of 65 6ft 20m for PG feedback lines e Use a cable with 164 ft 50m specifications for distances over 65 6ft 20m Cable Specifications The following tables provide wire size specifications PemaremaNene Terminal Name FSP Wire Size AWG in mm Symbol A5A 01A 02A 04A Main circuit power input terminals 16 AWG HIV 0 002 1 25 0 003 2 0 Servomotor connection terminals 16 AWG HIV 0 002 1 25 Control power supply terminals LC L2C Control I O signal connector CM 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 Finished cable dimensions maximum 0 63in 16mm for CN1 and 271
101. able D50 0 5 meters standard 01 1 meter standard 02 2 meters 03 3 meters Use the following key to specify needed cable length last digit of part number 1 1m standard 2 2m am Use the following key to br specify required cable Stock length last two digits of the part number D50 0 5m 01 1m standard 02 2m 03 3m Use the following key to determine the desired length specification 02 2 Feet 05 5 Feet 10 10 Feet 15 15 Feet 0 DS Limited Use the following key to Stock Input Output determine the desired 1CN MP2000 length specification series controller JEPMC W2040 TILI to FSP Interface A5 0 5 meters Cable 01 1 meter 03 3 meters A at the end of the cable number is the revision level The revision level may be changed prior to this catalog s reprinting E When ordering these cables for motors with brakes order the standard power cable and the additional cable for the brake Me Standard cable lengths are Stock items non standard cable lengths are Limited Stock items 919658 Phoenix 2283647 Amphenol Sine 20 51039 and many others KKK 1CN connector 50 Pin Female D Sub output connector mates to customer supplied third party terminal block e g Wago 289 449 Weidmuller For systems using the absolute encoder and this part number the absolute encoder battery must be connected at the amplifier 61
102. attage Capacity Q Q W W FSP A3AMC FSPABAMC FSP 04AMC 04AMC IFSP08AMC S 50 60 12 200V Three phase FSP A3BMC FSP 02BMC 02BMC Se prior to derating If regeneration power requirements exceed internal capacity of the amp install an external 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 8 30 Minimum Allowable re Applicabl rv Approximate mass 8 8216 4kg pplicable Servo s lt O gt 103 100 200V FSP Servo System oingle Regeneration Resistance Units Consult Appendix E of the FSP Series Servo System User s Manual No YEA SIA FSP 3 for a more detailed description of the selection procedure Part RH500N25 OHMK Part RH120 50OHM J 3 15 80 0 18 4 5 DOLCE 5 91 150 0 63 16 0 12 3 0 79 20 0 14 3 7 17 182 E 6 77 ii y 2 36 60 8 58 218 2 0 18 4 5 tee 5 9 21 234 1 57 40 5 0 18 4 5 1 65 42 Lead wire L 17 72 450 Lead wire L 11 81 300 Rated power 300W Rated power 70W Resistance value 25Q Resistance value 50Q Regenerative Resistor Specifications AR at 2000V applied for one minute 0 1 0 05
103. ble below to select the appropriate SGMPH Sigma ll servomotor and amplifier Refer to the motor model designation on the previous page specifying the available modification to motor construction features Amplifier MODEL B Motor MODEL A 200V 1 Phase Amplifier Item Class Motor Inertia oz 52 103 200V 13 Bit Incremental 0 917 45 1 SGMPH 02AAE4CD Encoder Straight Shaft with GOII RII SGMPH 04AAE 41D Keyway 181 1 2 4 4 6 SGMPH 04AAE4CD 2 3 5 6 1 2 Description SGMPH 01AAE41D 01AMC SGMPH 01AAE4CD SGMPH 02AAE41D 90 1 02AMC o 0 2 lt o U 8 7 04AMC 5000rpm Pre wired with SGMPH 08AAE 41D Heavy Duty Connectors 338 08AMC S Stock HIT SGMPH 15AAE41D 676 EN SGMPH 15AAE4CD 0 917 SGMPH 01BAE41D 13 Bit Incremental Encoder 135 451 Straight Shaft with SGMPH OLBAE ACD Keyway 9 5 SGMPH 08AAEA4CD 15 5 1 01BMC 5000rpm SGMPH 02BAE41D 46 196 35 92 31 9 7 al 8 46 96 02 35 me 1 Pre wired with 210 90 1 e SGMPH 02BAE4CD Notes 24Vpc brakes for SGMPH Sigma Il 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 F
104. block e g Wago 289 440 Weidmuller 919658 Phoenix 2283647 Amphenol Sine 20 51039 and many others Forsystems using the absolute encoder and this part number the absolute encoder battery must be connected at the amplifier 1CN connector T s 4 OE 137 SIOJOWOAIIS HN HSINDS 400V FSP Servo Systems Connector Selection Use the table below to select mating connectors for your SGMSH UH Sigma series servomotor Connector Description D MS Connector for Motor Power Cable MS Connector for Brake Power Cable MS Connector for Encoder Cable incremental or absolute encoder MS3108A 10SL 3S MS3057 4A MS3106B20 29S MS3108B20 29S L type connector Cable clamp traight type connector type connector All MS3057 12A Cable clamp Stock 1CN Mating Connector JZSP CKI9 Mating Connector DE9406973 3CN Peripheral Mating Connector 5CN Connector and 1m Cable with Pigtails YSC 1 JZSP CAO01 gt x Alternative P art Number DTCR 6973 138 400V FSP Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for your SGMSH UH Sigma series servomotor Component E Part Number Item Class 3 6V 1000mAh Lithium Battery Sau with 5cm leads for wiring to 1CN 3 6V 1000mAh Lithium Battery JZSP BA01 replacement battery for use in absolute adapter cable AF
105. 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 of three cables per bundle at an ambient temperature of 40 at the rated current level Control lO Sianal Cabe se twisted pair or shielded twisted pair wire Mus wire AWG 24 262286 0 e S Finished cable Dimension cable Dimension b0 63 UK 0 maximum PG Signal Cable E RUE encoder cable manufactured by Yaskawa when interfacing with Y askawa Connector motors e lt e Q 113 100 200V FSP Servo System Peripheral Device Types and Capacities Power Suppl Recommended ic Control un Noise Filter Circuit Power SG Maximum MCCB or Power i Required Inrush F Capacity Servo Amplifier SEES Model 5 pecifications 0 Ge ss Amplifier Model Motor Magnetic Contactor RBM owes Sgephase ASBMC 200607 206 10 018 Single phase 020 02BMC 5 2 Fn2070 10 07 250V 10A or 10A equivalent ANWC 13 m 005 A5AMC 4 Fn2070 607 2500 erFS5827407 220086 02AMC 7 is M Fn2070 10 07 gie phase or FS5827 7 07 k 10A 7A 20A or 0 75 08AMC S 11 0 Fn2070 16 07 equivalent 07 55827 15 07 1 Single phase 35A or Fn350 30 33 4 0 1
106. d N1 Maximum Speed 66 200V FSP Servo Systems Gearmotor Mechanical Ratings Gearhead Gearhead Gearhead Gearhead Gearmotor Backlash Maximum Radial Load Maximum Axial Load Inertia Weight arc min 160 by Iben s Ib Standard SGMGH Gearmotors 540 428 0 0016 21 14 GEARMOTOR Part Number SG05SA GA05AC SG10SA GA05AC SG25SA GA05AC 1055 90 00 3680 25 84 155 90 0008 3665 10 1687 1350 0 0047 63 00 SG05SA GA13AC SG10SA GA13AC 1035 0 0048 41 05 SG25SA GA13AC 5 5055 2 SG05SA GA30AC 78 29 I 9 Oo CONVENTIONAL GEARMOTOR TORSIONAL ANGLE YASKAWA SIGMA Il GEARMOTOR Ak Radial Force 2 OF RATED TORQUE Fa Axial Force 67 200V FSP Servo Systems Dimensions in inches mm Standard SGMGH Gearmotors Gearworor ur us u te is ms eco as ic s sx wr w o Toc TW T v 56055A GA05AC 3 15 10 83 0 20 1 81 2 68 3 54 0 87 315 Mox 0 47 142 1 26 ia 0 14 56 105 80 275 5 46 68 90 22 80 10 12 36 32 3 5 5 43 138 2 12 130 5 Q D Q o SG25SA GA05AC 5 30 12 62 0 24 2 76 3 54 4 72 1 26 4 25 M x 0 63 228 1 97 T ix 134 5 320 5 6 70 90 120 32 108 1 25 16 58 50 4 10 10 32 0 20 SG50SA
107. delines Stock 125 5 09 400V FSP Servo Systems CE Pre wired Cable Selection Use the table below to select shielded pre wired power cables for your SGMGH Sigma ll servomotor Cable Description Motor Size Item Power Cable with 0 5 0 9 1 3 BACE LILI A Use the following key to Connectors specify needed cable length Limited 2 0 3 0 4 4 BBCE A last two digits of the part Stock IP67 number Power Cable for 5m Holding Brake All B7BCE LILI A 10m standard IP67 15m 20m o S0 35 lt SI 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 Connector Selection Use the table below to select mating connectors for your SGMGH Sigma ll servomotor Connector Motor Size ms Item CE05 8A18 10SD B BAS L type connector 0 5 0 3 1 3 CE3057 10A 1 D265 Cable clamp for diameters 0 413 to 0 555in Connector for Motor Power Cable CE05 8A22 22SD B BAS connector 2 0 3 0 4 4 CE3057 12A 1 D265 clamp for diameters 0 492 to 0 630in Limited Stock CE05 8A10SL 3SC B BAS connector for holding brake Connector for and and Holding Brake CE3057 4A 1 D265 Cable clamp for diameters 0 142 to 0 220in
108. e Rated Torque Motor Inertia Motor MODEL B gn in Ib in lb ineIb s2 X 10 MODEL amp A Analog Digital Input Amplifier in 9 rs Item Class 200V SGMSH 10ACA61 Three Phase SGMSH IOACA6C 2 19 SGMSH 15ACA61 Incremental Encoder MEI a s L REN Straight S haft with SGMSH 20ACA6C 20AMC Stock Keyway SGMSH 30ACA61 5000rom maximum 81 SGMSH 30ACA6C MS Connectors Note 24Vpc brakes for SGMSH Sigma II servomotors are standard Contacta local source for 24Vpc power supplies For technical information request Yaskawa manual number Y EA SIA FSP 3 For more detailed FSP amplifier specifications and dimensions refer to pages 99 112 93 I Servomotors D lt O O o Q L 200V FSP Servo Systems Pre wired Cable Selection Use the table below to select pre wired cables for your SGMSH Sigma ll servomotor Cable Description C Power Cable with L type Connectors IP67 Encoder Cable incremental or absolute B1E LILI A B1BE LILI A B2E LILI A B2BE LILI A 03 IP67 Encoder feedback adapter cable for incremental and absolute Encoder feedback adapter cable for absolute encoders Cable has built in absolute encoder battery and case Encoder Cable for applications up to 20m Only for Solder Connections Encoder Cable for application
109. e width 0 55 14 SGMPH LB Serial encoder Magnetic brake Non excitation operation Absolute or Incremental DC power supply 24V Torque Rated Approx Allowable Allowable TypeSGMPH L LL LM LR LG 1 ola GLZ 5 rs M nb P Nm 15 E4CD 740 5 83 3 73 157 0 39 472 5 71 0 39 0 75 4 33 0 87 0 14 0 24 0 24 200 1500 421 Contin 3000 17 9 110 33 0 188 148 94 7 40 10 120 145 10 19 110 22 3 5 6 6 2 02 4 77 uous 8 1 490 147 Note The quoted allowable radial load is the value at a position 1 38in 35mm from the motor mounting surface Some motor dimensions vary for motors with the optional shaft seal See p 34 for details Specified Tolerances Unit Diameter Tolerance Diameter Tolerance C 08 000000005 2759 30090 0101 mm rnw nom 7077 7007 07 Interconnection Connector Specifications Encoder Plug Incremental Terminal 5 pecifications Motor Plug Motor Wiring Specifications Pin Number Description Color Pin Description Color Battery Batey 6 White Blue Holding Brake Black _ SRUC 17GMRCNO87 Se e SRUC 06 MSCN020 Black Interconnectron Power Supply nterconnectron FG F Ground Green Yell Frame Ground Shield wire
110. ed 4 PO2 T GON output orward run prohibited wi P_LS OPEN p NS ag ipe s Reverse run ON at levels above the setting Reverse run prohibited with Air 29 N LS OPEN 3Ry ALM AE Alarm reset ue Servo ready output Alarm reset with 3Ry ON d dnt 4 S RDY SN Mihm s y 6R P CL Forward current PO3 pisas limit ON Forward current limit ON with 6Ry ON Q i Servo alarm output TRY 7 7 Reverse curren PI6 Poss i gt K limit ON 4009 barm OFF with an alarm Reverse current limit ON with amp ARy ON Connector shell FG Connect shield to connector shell time constant for the primary filter is 47us Photocoupler maximum output Operating voltage 30Vpc Operating current 50mApc Indicates twisted wire pairs 100 200V FSP Servo Systems Connector Terminal Block Converter Unit JUSP TA50P CN1 10 Length of cable supplied 19 69 500 0 50 pin connector plug MR 50RMD2 50 terminal block M3 5 screws Connector Terminal Block Converter Unit JUSP TAS50P cable included Mounting Hole Diagram 10 01 254 2 110 14 3 5 0 14 3 5 iq G che Jes 0 27 7 0 0 27 7 0 10 28 261 2 Terminal specifications See the following page 109 9 lt c 100 200V FSP Servo System
111. edback adapter cable for incremental and absolute All Encoder feedback adapter cable for absolute encoders Cable has built in absolute encoder battery and case Encoder Cable for applications up to 20m Only for Solder Connections Encoder for applications from gt 20 to 50m maximum Only for Solder Connections JZSP CMM00 A JZSP CMM10 A BAHCE A BAHBCE A AFAHCE A AFAD P2 A AFADABS P2 A FR RMCT SB UL20276 SB SGMAH Servomotors Stock Limited Stock Stock Use the following key to specify required cable length last two digits of the part 3m om 10m standard 15m 20m Connects these full length encoder feedback cables to the FSP amplifier Encoder feedback cables for SGDH amp JZSP CMP00 XX A A1ICE XX A JZSP CMP02 XX B 0 2 meter length Connects these full length encoder feedback cables to the FSP amplifier Encoder feedback cables for SGDH amp JZSP CMP00 XX A A1ICE XX A JZSP CMP02 XX B Built in battery is JZSP BA01 0 2 meter length These cables are available in any length For example to order one FR RMCT SB cable 16m Limited Stock Table continued on next page long specify quantity 16 part no FR RMCT SB 19 100 200V FSP Servo Systems Cable Description C Part Number Carmen ae 35mm DIN rail mountable JUS
112. ement battery for use in absolute adapter cable AFADABS P2 A FSPGUI1 or Flexworks download at www yaskawa com These are general purpose regenerative units Order the Motion document External Regenerative Unit M 99004 for setup instructions for Optional JUSP RA04 this unit o Q 3 Q o I Caution Proper setup is necessary to avoid equipment damage For 200V FSP 08AMC S DC Reactor FSP 10AMC for suppressing harmonics in X5060 the power supply FSP 20AMC FSP 30AMC For an alternate solution specify the individual resistor part number RH500N25 OHMK in necessary series or parallel connection Refer to the FSP servo amplifier section of this catalog for additional specifications and the FSP Series Servo System User s Manual Y EA SIA FSP 3 for proper resistor sizing guidelines 74 200V FSP Servo Systems CE Pre wired Cable Selection Use the table below to select shielded pre wired power cables for your SGMGH Sigma gearmotor Cable Description C Power Cable with Connectors IP67 Part Number with Brake Brake 09 09 B1CE_ A without Brake Brake 2 0 3 0 B2CE A B3BCE A 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
113. ength h Dinta last digit of part number Cable with Pigtail JZSP CKI01 A 6 MM A 1m standard 2m 3m Use the following key to specify required cable length last two digits of the part number D50 0 5m Input Output 1CN 01 1m standard Cable with Female D Sub output JZSP CKIOD LILI 02 2m Connector 03 3m Not all terminals used YEA SO recommends 1CN with pigtail JZSP CKFO01 LI A See page 89 for wiring details Input Output 1CN SMCAO000 to FSP SMCCBL2LILI Interface Cable Input Output 1CN SMC4000 to FSP Use the following key to determine dde 4 SMCCBLH ure desired length specification reset inputs requires jumper in SMC4000 Input Output 1CN 10 10 Feet SMC4000 to FSP 15 15 Feet Interface Cable with asl flying leads for addi SMCCBLBOO tional amplifier I O pes All Limited me Use the following key to determine Stock Input Output 1CN the desired length specification MP2000 series con HI je troller to FSP Inter 4M JEPMC W2040 LILI 0 5 meters face Cable 19 UNL 01 1 meter a e 03 3 meters A at the end of the cable number is the revision level The revision level may be changed prior to this catalog s reprinting i 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
114. erance Diameter Tolerance in I 0 0000 0 0003 m 30 0000 0 0004 nae 30 0000 0 0008 30 000 0 008 10 000 0 008 30 000 10 000 0 021 Connector Specifications Motor Plug Motor Connection Encoder Plug Encoder Connection l PhaseU Red 5 PG 5V 2 PhaseV wie Black 3 Phasew Orange White Orange 5 BrakeTerminal Red 1 2 Light Blue 6 BrakeTerminal Back L pais White Light Blue Plug 350715 1 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 P lug 55100 0600 Molex Mating connector Mating connector Cap 350781 1 Socket 54280 0600 Socket 350570 3 or 350689 3 10 100 200 FSP Servo Systems 2 13 Bit Incremental or 16 Bit Absolute Encoder with Brake 200W 0 27hp 400W 0 53hp 750W 1 01hp 11 85 300 1 18 30 Encoder cable 0 24 6 SGMAH Servomotors e 38 35 Motor Flug 350715 1 Cross Section Y Y 0 51 13 0 79 20 L 0001610013 LR LC 1 04 26 5 0 85 21 5 fe 9 V gt N Holding brake de energized operation 10 0008 0 02 DC Power supply 24V Brake holding torque Motor rated torque Serial encoder A a Allowable Allowable is te Output 1 7 TS OLB OK Mass SG
115. et 05 5 Feet 10 10 Feet 15 15 Feet Limited Use the following key to Stock determine the desired length specification A5 0 5 meters 01 1 meter 03 3 meters A atthe end ofthe cable number Is the revision level The revision level may be changed prior to this catalog s reprinting M Standard cable lengths are Stock items non standard cable lengths are Limited Stock items ERE 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 Sine 20 51039 and many others Forsystems using the absolute encoder and this part number the absolute encoder battery must be connected at the amplifier 1CN connector 123 400V FSP Servo Systems Connector Selection Use the table below to select mating connectors for each SGMGH Sigma ll servomotor Connector espi Motor Size kW Part Number Comments D Class 05 09 1 3 MS Connector for MotorPowerCabe eL 20 30 44 o S 35 lt SI MS Connector for Brake Power Cable MS3108A10SL 3S L type connector MS3057 4A Cable clamp MS3106B20 29S MS3108B20 29S Straight type connector MS Connector for L type connector Encoder Cable incremental or absolute encoder MS3057 12A Cable clamp Stock 1CN Mating Connector 2CN Amplifier Mating Connector D DE9406973 JZSP CKI9 3CN Peripheral YSC 1 Mat
116. etter coded and cross referenced in the option tables on the following pages system Configuration Digital Operator E Optional Holding Brake Shaft Keyway For Monitor D Peripheral FSP Connector for Shaft Seal Signal Encoder Signal D Connector D Encoder side PE i3 Motor side IGN 2CN Connector D Ncc 7 Connector D pec x Encoder Cable C I O Signal Motor Cable C Connector ERUIT D opecify a technical manual if it is needed on your servo system purchase order FSP Series Servo System User s Manual YEA SIA FSP 3 Manual is provided at no charge with a purchase order Regenerative Unit E but it must be requested Model Number Designation SGMSH 10ACA6 1 Sigma Servomotor Type Accessories Rated Output ig EN 10 1 0kW 1 3hp DC 15 1 5kW 2 0hp S ShaftSeal 20 2 0kW 2 7hp E ShaftSeal and Brake 30 3 0kW 4 0hp Shaft S pecifications 6 Straight Shaft with Keyway Rated Speed Power Supply A 3000rpm d Encoder Specifications C 17 bit Incremental Encoder 2 17 bit Absolute Encoder 4 OkW and 5 0kW motor available at 400 volts 82 200V FSP Servo Systems Servomotor amp Amplifier Selection Use the table below to select the appropriate SGMSH Sigma ll servomotor and amplifier Refer to the motor model designation on the previous page specifying the available modification to motor construction features Amplifier Motor amp m Peak Torqu
117. following key to specify stock Input Output 1CN cable length last two digits of Cable Cable with the part number Female JZSP CKIOD LILI 0 5m D Sub output 1m standard Connector 2 Input Output 1CN 5 4000 to FSP SMCCBL2LILI Interface Cable Input Output 1CN SMC4000 to FSP Interface Cable Use the Following key to i determine the desired length pi DA SMCCBLHLILI specification alarm and reset inputs requires 02 2 Feet 05 5 Feet 10 10 Feet Input Output 1CN 15 15 Feet 5 4000 to Interface Cable _ with flying leads for to SMCCBLBOO additional amplifier I Servomotors Limited Use the Following key to Stock determine the desired length specification JEPMC W2040 LILI A5 0 5 meters 01 1 meter 03 3 meters Interface Cable A at the end of the cable number is the revision level The revision level may be changed prior to this catalog s reprinting i Standard cable lengths are Stock items non standard cable lengths are Limited Stock items iiis 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 Sine 20 51039 and many others Forsystems using the absolute encoder and this part number the absolute encoder battery must be connected at the amplifier 1CN connector 85
118. formation Page s SGMGH Ratings amp Specifications SGMGH Speed Torque Curves SGMGH Dimensions SGMGH Selection Ordering Information FSP 400V Ratings amp Specifications FSP 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 lb 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 1 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 115 0 5 9 400V FSP Servo Systems Servomotor Ratings and Specifications Time Rating Continuous Enclosure Totally enclosed self cooled Speer Q Insulation Class F IP67 except for shaft opening E AM m 3 Vibration 15umorless Ambient Temperature 0 to 402C Exc duos DHIS id S QO Withstand Voltage 1500V Ambient Humidity 20 to 80 maanet 3 Insulation Resistance s aai T Drive Method Dec ue at 500Vpc ated S peed Mounting F
119. gs amp Specifications FSP Dimensions 7 ne Design Features 1 Compact he length is about 1 2 of conventional motors e Enhanced withstand load since motor output shaft bearing size is upgraded e Up to 5000rpm maximum speed 2 Enhanced Environmental Resistance Water resistance not including the shaft IP67 standard Optional shaft seals available Reinforced lead out cable access 3 Encoders reduced wiring serial encoder e 13 bit 2 048ppr x 4 incremental encoder standard e 16 bit 16 384ppr x 4 absolute encoder option 4 Application Emphasis Chip mounters e PCB drilling machines e Robots e Conveyor e Packaging 5 Certified International Standards UL cUL recognized File E165827 CE compliance 23 100 200V FSP Servo Systems Servomotor Ratings and Specifications Time Rating Continuous Enclosure Totally enclosed self cooled Excitation Permanent magnet Insulation Class B Ambient Temperature 0 to 40 Drive Method Direct drive Vibration 15m or less Ambient Humidity 20 to 80 Mounting F lange mounted Withstand Voltage 1500V non condensing Applicable Encoder Insulation Resistance 500Vp Rated Rotation Speed 3000rpm 13 bit Incremental and 10M or more Maximum Rotation S peed 5000rpm 16 bit Absolute encoder Continuous Maximum Rated Rated Instantaneous Peak Rated Rated Rated Peak Angular MOTORS Output Torque Torque Power Rate SGMPH C
120. ice Item EM som 0 9 uw 120 DIAMO SGNSAPEUIM 13389 230 w 56055APEO2AA 2734 60 100 _ ee 120 DAMO SGNSAPEUAA 26778 60 100 oom 50 EM 9 jus 120 MAMO SGNSAPEMAR 53875 9 9 o 9 ws ame 34 5 104 5 5 s 5 ju x 9 26 56255ApESA 100463 3613 9 1M 00 21 _ SGUSAPEDIBA 1367 4093 60 199 120 BMC SGSAPEDIBA 13389 2300 6 w 0002 ScsSAPEQBA 10 ooe so _ Notes 24Vpc Brakes for SGMPH Sigma gearmotors are standard Contact a 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 more detailed 100 200V FSP amplifier specifications and dimensions refer to pages 91 101 47 100 200V FSP Servo Systems Pre wired Cable Selection Use the table below to select pre wired cables for your SGMPH Sigma ll gearmotor Power Cable with 0 1 0 2 BAICE LILI A Interconnectron Connectors A These UL and CE 0 without Brake B5ICE A compliant cables are available in five Power Cable with BAIBCE LILI A lengths Use the following key to specify needed cable length last two digits of the part number 3m om 10m standard 15m 20m Interconnectron Connectors with Brake B5IBCE A Stock
121. ing Connector Can use 5CN for analog speed and torque monitor 5CN Connector and 1m Cable with Pigtails DE9404559 service checks 1 Alternative part number is DTCR 6973 124 400V FSP Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for each SGMGH Sigma II servomotor Component E Part Number Item Class Pre wired 2 0m cable with Software Interface Cable YS 12 9 pin connector 3 6V 1000 lithium battery n with 5cm leads for wiring to 1CN Absolute Encoder Batte 3 6V 1000mAh Lithium Battery M JZSP BAO1 replacement battery for use in absolute adapter cable AFADABS P2 A FSPGUI1 or Flexworks download at www yaskawa com These are general purpose regenerative units Order the Motion document External Regenerative Unit nuka 99004 for setup instructions for Optional JUSP RA04 this unit A Caution Proper setup is To necessary to avoid equipment Si damage For Y X5074 for suppressing FSP 15DMC Limited harmonics in the power For 400V FSP 20DMC X5076 Stock supply FSP 30DMC For 400V FSP 50DMC 5077 For an alternate solution specify the individual resistor part number RH500N25 0HMK in necessary series or parallel connection Refer to the FSP servo amplifier section of this catalog for additional specifications and the FSP Series Servo System User s Manual Y EA S A FSP 3 for proper resistor sizing gui
122. ing to 1CN Absolute Encoder Batte 3 6V 1000mAh Lithium Battery i JZSP BAO1 replacement battery for use in absolute adapter cable AFADABS P2 A FSPGUI1 or Flexworks download at www yaskawa com Stock These are general purpose regenerative units 7 58 DS ne o Order the Motion document External Regenerative Unit 22 99004 for setup instructions for Optional JUSP RA04 this unit Caution Proper setup is necessary to avoid equipment damage For 200V FSP 08AMC S X5079 or suppressing harmonics imited Stoc f ing h FSP 15AMC S X5060 Limited Stock in the power supply FSP 20AMC FSP 30AMC X5059 For an alternate solution specify the individual resistor part number RH500N25 0HMK in necessary series or parallel connection Refer to the FSP servo amplifier section of this catalog for additional specifications and the FSP Series Servo System User s Manual Y EA SIA FSP 3 for proper resistor sizing guidelines 63 D 2 e o Q G 200V FSP Servo Systems CE Pre wired Cable Selection Use the table below to select shielded pre wired power cables for your SGMGH Sigma ll servomotor SN Motor Part Number Item Cable Description C Size kW Comments Class 0 5 0 9 Use the following key B1CE LILI A B1BCE OO A Power Cable cable length last two with dig
123. ition and Programmable For details on the Torque Speed and Position modes see the FSP User s Manual YEA SIA FSP 3 Programmable Mode Functions In this mode the FSP Amp controls sequence and motion profiles Sequence timing can be controlled by a host through digital I O Functions programmable in user program or set by serial communication commands in programmable mode The 7 sequence inputs are programmable in this mode unless configured Inputs for an embedded function Outputs The 3 sequence outputs are programmable in this mode unless configured for an embedded function Homing to external switch encoder index pulse external switch and Homing encoder index pulse home to a hard stop and set motor position to zero PTP Motion Point to point motion based on programmable motion profile Electronic Gear Motion synchronized to master encoder by electronic gear ratio Phase Shift to Electronic Cer Motion superimposed on gear ratio using programmable motion profile High speed latch of motor encoder and master encoder with Position Latch U programmable registration distance 62 5 microseconds Registration Programmable registration distance from latched motor encoder position Motion synchronized to master encoder or virtual axis by electronic cam Electronic CAM profile Torque Mode Motor torque set by analog input or program command 125 microsecond torque loop update Speed Mode Motor speed set by analog i
124. its of the part Connectors i L o number 2 0 3 0 B2CE A B3BCE OO A 093 3m A IP67 05 5m 10 10m standard 15 15m 20 20m at the 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 Part Number Connector Description D Comments x without Brake with Brake ass Connector for 0 5 0 9 CE05 8A18 10SD B BAS CE05 8A20 15SD B BAS L type connector 1 3 CE3057 10A 1 D265 CE3057 12A 1 D265 Cable clamp Motor Power Cable CE05 8A22 22SD B BAS CE05 8A24 10SD B BAS L type connector CE3057 12A 1 D265 CE3057 16A 1 D265 Cable clamp Limited L type connector for Stock holding brake and Connectortor TR CE05 8A10SL 3SC B BAS I i and I con ESO OD 2 142 to 0 220in 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 NE Connectors are manufactured by DDK and listed here with the largest standard cable clamp available 64 200V FSP Servo Systems SGMGH Gearmotors 1500rpm With Incremental Absolute Encoder
125. les for SGDH amp JZSP CMP00 XX A A1ICE XX A JZSP CMP02 XX B 0 2 meter length Connects these full length encoder feedback cables to the FSP amplifier Encoder feedback cables for SGDH amp JZSP CMP00 XX A Stock A1ICE XX A di JZSP CMP02 XX B Built in battery is JZSP BAO01 0 2 meter length 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 Table continued on next page 7 ne 3 SIOJOWOAIIS HdINSS 100 200V FSP Servo Systems Cable Description C 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 Input Output 1CN 5 4000 to FSP Interface Cable Input Output 1CN 5 4000 to Interface Cable with prepared alarm and reset inputs requires jumper in SMC4000 Input Output 1CN 5 4000 to Interface Cable with flying leads for additional amplifier Input Output 1CN MP2000 series controller to FSP Interface Cable Part Number JUSP TA50P JUSP WASOP JZSP CKIO1 DI A JZSP CKIOD LILI SMCCBL2LILI SMCCBLHLILI SMCCBLBLILI JEPMC W2040 D Comments Lan Class 35mm DIN rail mountable the cable length is 0 5 meters 35mm DIN Rail mountable D50 0 5 meters standard 01 1 meter standard 02 2
126. 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 P SERE Shaft Keyway For Monitor D m d Servomotor 3CN Connector E Peripheral FSP Servo Encoder D Shaft Seal Device Amplifier Encoder side Motor side Connector D Connector D 1CN x I O Signal Motor Cable C Connector D opecify a technical manual if itis needed on your servo system purchase order FSP Series Servo System User s Manual YEA SIA FSP 3 Regenerative Unit E Manual is provided at no charge with a purchase order but it must be requested Model Number Designation SGMPH 01 AAE 44D Sigma Senomator 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 Straight Shaft 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 35 100 200V FSP Servo Systems Servomotor amp Amplifier Selection Use the ta
127. m code maximum output Torque reference NES sclio ALO3 Operating voltage 30Vpc 1 to 10V rated torque set by parameter l ES Operating current 20 PULS 7 SIGN sien 11 22 33 CCW p 12 34 B AI o f P O pG dividing ratio output Position reference Applicable line receiver AT di 4 36 SN75175 or MC3486 manufac X PBO tured or the equivalent Open collector 412V reference i P aeo PCO power supply 48 Amount of S phase rotation Used only with gt 94 PSO Serial data output Backup battery 2 8 to 4 5V Peele an absolute encoder pres Applicable line receiver Nh Be tit d PBAT 15 sa SN75175 or MC3486 manufac When using an absolute encoder 422 tured by or the equivalent SEN signal input 5 SEN 4 When using an absolute encoder SG 2 24V 24v az 23k V CMP Speed coincidence detection Servo ON with 2Ry ON ss got Servo ON d 5 0 0 0 Serv 1 2RY DET PO1 oV el T 3 Proportional control P control Fons COIN ON when speed coincides 26 V CMP Positioning completed ON when positioning is P control with 2Ry ON pi E ie BH pies completed P LS Tl TT orward run PI2 142 SE prohibited T GON output Forward run prohibited with 2 i 4 28 2 ON at levels ab th tti P LS OPEN N Ls
128. many Waukegan Illinois 60085 49 6196 569 300 1 800 YASKAWA http www yaskawa com http www yaskawa de Yaskawa Electric America Inc December 2006 YASKAWA The Drive for Quality Yaskawa Electric Corporation New Pier Takeshiba south Tower 1 16 1 Kaigan Minatoku Tokyo 105 Japan 81 3 5402 4511 http www yaskawa co jp YEA KAA FSP 6 Printed In U S A
129. meters 03 3 meters Use the following key to specify required 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 01 02 03 0 5m 1m standard 2m 3m Use the Following key to determine the desired length specification 1 02 2 Feet 05 5 Feet 10 10 Feet 15 15 Feet Use the Following key to determine the desired length specification A5 0 5 meters 01 1 meter 03 3 meters Limited Stock The A atthe end of the cable part number is the revision level Revision level may be changed prior to catalog reprinting m Standard cable lengths are Stock items non standard cable lengths are Limited Stock items Weidmuller 919658 Phoenix 2283647 Amphenol S ine 20 51039 and many others 1CN connector 38 50 Pin Female D Sub output connector mates to customer supplied third party terminal block e g Wago 289 449 For systems using the absolute encoder and this part number the absolute encoder battery must be connected at the amplifier 100 200V FSP Servo Systems Connector Selection Use the table below to select mating connectors or kits for your SGMPH Sigma ll servomotor Se Motor Size Item Connector Description D kW Part Number Interconnectron Connector for Motor Power Cable with or x FIN07S B2 Solder Cu
130. minal a J Non Environmental Mating Connector MS3108A105L 35 L Type Cable Clamp 5 3057 4A 10 000 0 025 Connector Wiring on the Motor Side B VPhase FG Frame Ground 119 im 54 o9 im lt e m o Q Q 400V Servo Systems Selecting SGMGH Sigma ll Servo System First select the Sigma servomotor suited for your application using SigmaSize The Yaskawa servomotor sizing software available at www yaskawa com You may also 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 Shaft Keyway For Monitor D Peripheral FSP Connector for Shaft Signal Amplifier Encoder Signal D Seal Connector D B Encoder side m mE Motor side Connector D Connector D 2CN 1CN I O Signal Motor Cable C Connector D Specify a technical manual if it is needed on your servo system purchase order FSP Series Servo System User s Manual YEA SIA FSP 3 Manual is provided at no charge with a purchase order Regenerative Unit E g IV it E but it must be requested Model Number Designation SGMGH 09DCA6 C
131. ms Rated Rated Instantaneous Peak Rated Jie neus SGMGH Current EN Mm pa 2 cm Ibs in KG OSADA 0 45 06 osea am 25 29 M 79 91 09 08514 0 8 55 13 8 122 141 ee 1 3 1 7 d 85 207 238 20ALIA 1 8 2 4 102 q 7 254 252 9 Torque Holding Brake at 20 C Allowable Rated Rated Inertia Inductive rena Moment of Inertia Coil Rated Additional Load Power Angular Time Time Capacity Torque Resistance Current Inertia Inertia Rate Acceleration Constant Constant MOTORS SGMGH Ib in KG m eine KG m eet 7 24 726 05 0 89 3930 735 743 mos z 185 43 1 311 077 775 Values when the servomotor is combined with an FSP servo amplifier at an armature winding temperature of 20 These characteristics can be obtained when the following heat sinks steel plates are used for cooling purposes Type 05AHA to 13AL A 15 75 x 15 75 x 0 79 in 400 x 400 x 20 mm Type 20AL A to 30AL1A 21 65 x 21 65 x 1 18 in 550 x 550 x 30 mm o4 200V FSP Servo Systems Speed Torque Curves 200V SGMGH 05AL A SGMGH 09ALIA SGMGH 13ALIA Qoo P 7 gt s 5 T T T B 0 5 10 15 20 0 10 20 30 TORQUE N m TORQUE m TORQUE N 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 20ALI A SGMGH 30ALI A CONTINUOUS DUTY ZONE 3000
132. nal switch encoder index pulse external switch and Homing encoder index pulse home to a hard stop and set motor position to zero PTP Motion Point to point motion based on programmable motion profile Electronic Gear Motion synchronized to master encoder by electronic gear ratio Phase Shift to Electronic M Motion superimposed on gear ratio using programmable motion profile m High speed latch of motor encoder and master encoder with Position Latch programmable registration distance 62 5 microseconds Registration Programmable registration distance from latched motor encoder position i Motion synchronized to master encoder or virtual axis by electronic cam Electronic CAM profile Torque Mode Motor torque set by analog input or program command 125 microsecond torque loop update COSES Motor speed set by analog input pulse reference input or program P command with and without position loop closed infinite jog Multiple axes start of motion synchronized by serial or serial Multi Axis Synch communication Fast input for synchronizing motion to external events new move enable Input Synch 125 usec Fast output for synchronizing external events to motion Output Synch fast output setting 125 usec Svstem Properties Torque limits and Global Gain Factor Pn1AO o 2 O gt 146 400V FSP Servo Systems rogrammable motion profile functions asic PTP motion Target position speed
133. nge s Smet CS Single Phase GOSS mnm Straight Shat 677 2 135 454 100V Single Phase SGMAH 01BAF4C Straight Shaft Single Phase Straight Shaft without Keyway SGMAH 02BAN21 02BMC 5 flange Notes 24Vpc brakes for SGMAH Sigma servomotors are standard Contacta local source for 24Vpc power supplies Motor power and encoder cables are factory pre wired with approximately 13 lead length with amplifier mating connectors Use the tables on the following pages to specify mating connectors or pre wired cables available in various lengths For technical information request Yaskawa manual number Y EA SIA FSP 3 For more detailed FSP amplifier specifications and dimensions refer to pages 89 to 105 NEMA 23 adapter flange see Peripheral Device Selection NEMA 23 flange and pilot See p 8 NEMA 34 flange and pilot See p 8 Servomotors are stock FSP MC amplifier status is shown 18 Pre wired Cable Selection 100 200V FSP Servo Systems Use the table below to select pre wired cables for your SGMAH Sigma II servomotor Part Number Comments ent Class Cable Description C Power Cable without Brake m r Power Cable with 9 Shielded Power Cable without Brake Shielded Power Cable with Brake Encoder Cable incremental and absolute Encoder fe
134. ngle phase 30 to 100W a et yazo oly TI C J T J C T CIO CC i C I J C T C I CC 1 J F C 1 1 I J I J 160 6 30 GROUND TERINA 9 0 X2 95 150 0 5 12 2 M4 SCREWS 6 0 0 24 10 0 0 39 55 0 2 17 8 0 31 MOUNTING LOCATION S 2 MA TAPS 7 0 0 28 91 5 3 60 9 al 3 i x c APPROX MASS 0 8kg 5 ZEE E x lt Y e LL 2 5 0 0 020 gt 21 Q 99 100 200V FSP Servo System FSP 04ALILI 200V Single phase 400W and FSP 02BLILI 100V Single phase 200W A DA MATO e 0 2 A L3 F Zz MAY V Jj V V e AF N TERMINALS vezo 3 dU OIO 6p 5 Ilp GROUN N V N AU I NL TERMINAL o 106 4 1 TS
135. nput pulse reference input or program P command with and without position loop closed infinite jog Multiple axes start of motion synchronized by serial or serial Multi Axis Synch communication Fast input for synchronizing motion to external events new move enable Input Synch 125 usec Fast output for synchronizing external events to motion Output Synch fast output setting 125 usec Svstem Properties Torque limits and Global Gain Factor Pn1AO 96 100 200V FSP Servo Systems Programmable motion profile functions asic PTP Motion Target position speed accel jerk smoothing time E S anos NS Target position speed and accel programmable while in motion Phase shift position speed and acceleration programmable while Phase Shift synchronized to the master by electronic gear Soft Gear Engagement for synchronizing motion to master encoder by electronic Custom Profiles Custom profile based on table with ECAM engaged to virtual master Integer Math Operators MOD AND XOR OR Interupts 8 user prioritized Interrupts based on external events or logical conditions EXT INT INT INT RETURN Timing WAIT EXACT WAIT FOR START WAIT INPUT WAIT STOP WAIT VAR uto Run Run program at power up at specified label Pn2CC Eal Manademeni ALARM RESET FAULT MANAGER FAULT MANAGER RETURN 5 FAULT MESSAGE CLEAR rofiles aster yclic egments Configurable segment resolution up to 256 table points with table
136. o ready during current limiting during speed limiting brake released warning selecting three of the NEAR signals Internal Functions Dynamic Brake Operated at main power OFF servo alarm servo OFF or overtravel Regeneration External regenerative resistor Built in Overtravel Stop Dynamic brake stops at P OT or N OT deceleration to a stop or free run to a stop Electronic Gear 0 01 S A B amp 100 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 Charge Power five 7 segment LEDs built in digital operator functions CN5 Analog Monitoring 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 unit or 0 05V 100 reference units Connected Devices RS 422A port such as for a personal computer RS 232C ports under certain conditions 1 N Communications Up to N 14 for RS 422A ports Axis Address Setting Set with parameters Functions Communications Status display parameter setting monitor display alarm trace back display JOG and auto tuning operations speed torque reference signal and other graphing functions Others Reverse rotation connection home
137. 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 order demand Stock increases For critical lead times or requirements for larger quantity shipments check with your Yaskawa inside sales representative Non Normal delivery 12 to 16 weeks Stock 100 200 FSP Servo Systems Super High Power Rate Series SGMAH Servomotors with incremental Absolute Encoder Rated Output 30W SOW 100W 200W 400W 750W SGMAH Servomotors SGMAH Ratings amp Specifications SGMAH Dimensions SGMAH Selection Ordering Information FSP Ratings amp Specifications FSP Dimensions Design Features 1 Compact Small sized motor Five frame sizes including NEMA 23 and 34 flanges up to 1 0100z in peak torque Smaller installation space for more compact machine designs 2 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 3 Encoders reduced wiring serial encoder e 13 bit 2048 ppr x 4 incremental encoder standard e 16 bit 16384 absolute encoder option 4 Enclosure e Totally enclosed
138. or technical information request Yaskawa manual number YEA SIA FSP 3 For more detailed FSP amplifier specifications and dimensions refer to pages 89 to 105 Servomotors are stock FSP MC stock status is shown 36 100 200V FSP Servo Systems Pre wired Cable Selection Use the table below to select pre wired cables for your SGMPH Sigma II servomotor Cable Description C Power Cable with Interconnectron Connectors without Brake 0 1 0 2 no Part Number Comments Class These UL Stock compliant cables are U available in five lengths Power Cable with 0 1 0 2 nite i Interconnectron Connectors 0 4 0 8 BAIBCE HIDI A a 1 Limited with Brake Stock IP67 1 5 B5IBCE A Encoder Cable with Interconnectron Connector incremental or absolute IP67 Encoder feedback adapter cable for incremental and absolute Encoder feedback adapter cable for absolute encoders Cable has built in absolute encoder battery and case 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 AFPHCE A AFAD P2 A AFADABS P2 A FR RMCT SB UL20276 SB 10m standard 15m 20m Stock Connects these full length encoder feedback cables to the FSP amplifier Encoder feedback cab
139. p without Brake a x P67 LR 2CN Amplifier 4 0 Mating Connector DE9406973 Stock Interconnectron UM for Encoder 2 E Gauge 24 18AWG x FIN17C A2 Requires Crimp Tool incremental or absolute encoder B150 and positioner 67 2CN Amplifier m All Interconnectron Crimp Tool 150 Positioner BOSBIA Alternative Part is DTCR6973 SGMPH Servomotors Limited Stock 39 o 0 2 3 lt o U 8 7 100 200V FSP Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for your SGMPH Sigma ll servomotor 3 6V 1000 lithium battery with JZSP BA01 1 5cm leads for wiring to 1CN 3 6V 1000mAh Lithium Battery replacement battery for use in absolute adapter cable AFADABS P2 A Pre wired 2 0m cable with Software Interface Cable YS 12 9 pin connector FSPGUI1 or vines Flexworks download at www yaskawa com FSP O1ALILI FSP 02ALILI These are general purpose Individual External FSP 04A00 L ONN regenerative units Regenerative Unit FSP 08ALILI S Caution Proper set up is necessary For FSP 15DLILI to avoid equipment damage FSP 15ALILI S RH500N25 ohmK For 200V FSP 01AMC FSP 02AMC DC Reactor FSP 04AMC Limited for suppressing harmonics FSP 08AMC S St d in the power supply FSP 15AMC S a For 100V FSP 01BMC X5063 FSP 02BMC X5062 For an alternate solution specify the individual resistor part number RH500N
140. peed setting zero clamping reference pulse prohibited forward run prohibited P OT reverse run prohibited N OT alarm reset forward current limit and reverse current limit or internal speed selection Fixed Output Servo alarm 3 bit alarm codes Si Positioning completed speed coincidence during servomotor ignal tati do dui duri d rotation servo ready during current limiting during spee un limiting brake released warning selecting three of the NEAR be modified signals Operated at main power OFF servo alarm servo OFF or overtravel Regeneration External regenerative resistor Built in Dynamic brake stops at P OT or N OT deceleration to a stop or free run to a stop Electronic Gear 0 01 S AB lt 100 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 Charge Power five 7 segment LEDs built in digital operator SED DISPISY functions i Built in analog monitor connector to observe speed torque and other reference signals CN5 Analog Speed 1V 1000rpm Monitoring Torque 1V rated torque Pulses remaining 0 05V reference unit or 0 05V 100 reference units Connected RS 422A port such as for a personal computer RS 232C ports Devices under certain conditions TA Up to N 14 for RS 422A ports Communications Axis Set with
141. per hour or less Contact your Yaskawa representative when duty cycles exceed 60 and when the 3 gearmotor runs for more than 1 000 cycles per hour 2 Rated Speed is at 20 C ambient temperature Reduce Rated Speed by 20 at 40 C ambient temperature 3 For right angle gearmotors please consult the factory for availability m TOrdue A Continuous Duty Peak Torque B Intermittent Duty T2 Rated Torque T1 opeed Rated Speed N1 i Maximum Speed 42 100 200V FSP Servo Systems Gearmotor Mechanical Ratings Gearhead Gearhead Gearhead Gearhead Gearmotor Backlash Maximum Radial Maximum Axial Inertia Weight arc min Load Ibs Load 16 in Ib s2 Ib SG05SA PEOTLILI 9G25SA PE0100 lt 10 SG1ASA PEO100 SG05SA PEO2LILI 7 SG10SA PEO2LILI 326 349 0 00025 SG25SA PE02 lt 10 GEARMOTOR Part Number SG50SAPE02 SG1ASA_PE02 foss soo 0049 279 SG05SA PEOALILI SG26SA PE04 lt 10 SG50SA PE04 1085 90 90049 zes5 _ SG1ASA PE04 SGO5SA PEOS8LILI SG25SA PEOBLIL 85 90 0049 348 SG50SA PE08 SGOBSA PE15LIL SG25SA PE15LIL gt o CONVENTIONAL GEARMOTOR TORSIONAL ANGLE YASKAWA Sigma ll GEARMOTOR 2 OF RATED TORQUE 43 100 200V FSP Servo Systems Dimensions in inches mm K Motor leads extend 11 81in 300mm from motor ZE 5 HR LZ Lr
142. r Component Description E Part Number Item Class 3 6V 1000mAh lithium battery JZSP BAO1 1 With 5cm leads for wiring to 1CN 3 6V 1000 Lithium Battery ADRO UIE ENCORE BANEN JZSP BA01 replacement battery for use in absolute adapter cable AFADABS P2 A Pre wired 2 0m cable with Software Interface Cable om 5 12 9 pin connector Stock FSPGUIT or Flexworks download at www yaskawa com For200V FSP A5AMC FSP 01AMC FSP 02AMC for 124 harmonics EE 52 the power supply Stock o 50 lt gt FSP A3BMC FSP A5BMC FSP 01BMC FSP 02BMC This is a general purpose regenerative unit Individual External 50 70W for 5 01 02 Regenerative Unit 04 AND 08 AMPS RH120 S0ohmJ caution Proper set up is necessary to avoid equipment Stock damage For 30 50 and 100W SGMAH NEMA Flange Adapter SGM N23 motors only Complies to NEMA 23 mounting standard Refer to the FSP servo amplifier section page 102 of this catalog for additional specifications and the FSP Series Servo Sys tem User s Manual Y EA S A FSP 3 for proper resistor sizing guidelines 22 100 200 FSP Servo Systems Flat Series SGMPH Servomotors with incremental Absolute Encoder Rated Output 100W 200W 400W 750 1500W SGMPH Ratings amp Specifications SGMPH Speed Torque Curves SGMPH Dimensions SGMPH Selection Ordering Information FSP Ratin
143. r IE i tae A two digits of the part incremental or 03 absolute 7 05 IP67 x n n standard 20 20m Connects these full length encoder feedback cables to the FSP ampli fier 5 Encoder feedback cables for ine omental and abso L AGS 1 XX A lute A1ICE XX A JZSP CMP02 XX B 0 2 meter length Connects these full length encoder ees cables to the FSP ampli Stock Encoder feedback adapter cable for Al cables for absolute encoders AFADABS P2 A JZSP CMP00 XX A Cable has built in A1ICE XX A absolute encoder Dat JZSP CMP02 XX B tery and case Built in battery is JZSP BAO01 0 2 meter length SIOJOWOAIIS HN HSINDS Encoder Cable for applications These cables are available in an y up to 20m FR RMCT SB length For example to order one FR RMCT SB cable 16m long UL20276 SB specify quantity 16 part no FR RMCT SB 35mm DIN rail mountable the JUSP TASOP cable length is 0 5 meters Only for Solder 35mm DIN Rail mountable D50 0 5 meters standard JUSP WASOP TLIL 01 1 meter standard 02 2 meters 03 3 meters Connections Table continued on next page Encoder Cable for applications from gt 20 to 50m Only for Solder Connections Input Output 1CN Cable amp Transition Terminal Block 136 400V FSP Servo Systems Use the following key to Input Output 1CN specify required cable l
144. r for Shaft Signal Amplifier Encoder Signal D Seal Connector D B Encoder side mdi E Motor side Connector D Connector D 2CN 1CN I O Signal Motor Cable C Connector D opecify a technical manual if it is needed on your servo system purchase order Sigma Series Servo System User s Manual YEA SIA FSP 3 Manual is provided at no charge with a purchase order but it must be requested Regenerative Unit E Model Number Designation SGMGH 09ACA6 C Sigma Servomotor Type J pum 1 Standard Rated Output 05 500W 0 7hp 09 850W 1 14hp 13 1 3kW hp E Brake and Shaft Seal 20 2 0kW 2 7hp Shaft Specifications 30 3 0kW 4 0hp 6 Straight Shaft with Keyway Rated Speed Power Supply A 200V A 1500rpm Encoder Specifications C 17 BitIncremental Encoder 2 17 BitAbsolute Encoder 4 4kW motor available in 400 volt 58 200V FSP Servo Systems amp Amplifier Selection Use the table below to select the appropriate SGMGH Sigma ll servomotor and amplifier Refer to the motor model designation on the previous page specifying the available modification to motor construction features Amplifier Motor Inertia Motor MODEL B in Ib s x 103 MODEL A Analog Digital Input FSP 08AMC S Ph 230 O 12 30 SGMGH 09ACA61 Three Phase 10AMC 17 bit 14 15 SGMGH 09ACA6C Incremental Encoder SGMGH 13ACA6
145. rdering Information FSP Ratings amp Specifications FSP Dimensions Design Features 1 Compact e Small sized motor Compatible with previous generation G series motors Five types of rated outputs ranging from 79 to 400in b 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 1 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 53 200V FSP Servo Systems Servomotor Ratings and Specifications Time Rating Continuous Enclosure Totally enclosed self cooled Maximum Rotational Speed Insulation Class F IP67 except for shaft opening 0 45 to 7 5kW 3000rpm A Vibration 15Lm or less Ambient Temperature 0 to 40 C 1 and 15kW 2000rpm 0 Withstand Voltage 1500V Ambient Humidity 20 to 80 Excitation Permanent magnet 3 Insulation Resistance 10 minimum non condensing Drive Method Direct drive 5 at 500Vpc Rated Speed 1500rpm Mounting Flange mounted Values when the servomotor is combined with an FSP servo amplifier r
146. ree phase Fn258L 7 07 480V ac 10A or equivalent 10DMC mcum s 15DNC 6 200 IM MEE ay Ta 20 or 30 30DMC 98 essere 10 07 ps LM Three phase F 5559 35 33 or 40A or 50DMC 4801 tii lancon AG Size per local code requirements Typical fuse interrupting characteristics at 25 20096 for 2s minimum 700 for 0 01s minimum The Fn noise filter is manufactured by Schaffner Corporation Specifications are available at www schaffner com 157 4 9 lt O e o 2 O gt 400V FSP Servo Systems Peripheral Device Manufacturers 158 J S T Corporation 1957 South Lakeside Drive Waukegan Illinois 60085 Phone 847 473 1957 http www jst com 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 oigma FSP Servo System Catalog Yaskawa World of Automation Solutions Yaskawa Electric America Inc Yaskawa Electric Europe Chicago Corporate Headquarters Am Kronberger Hang 2 65824 2121 Norman Drive South Schwalbach Ger
147. s from gt 20 to lt 50m Only for Solder Connections 84 Part Number without AFGHCE 8 AFAD P2 A All AFADABS P2 A FR RMCT SB UL20276 SB Use the following key to specify needed cable length last two digits of the part number 3m om 10m standard 15m 20m Connects these full length encoder feedback cables to the FSP amplifier Encoder feedback cables for SGDH amp JZSP CMPO00 XX A JZSP CMP02 XX B 0 2 meter length Connects these full length encoder feedback cables to the FSP amplifier Encoder feedback cables for SGDH amp JZSP CMPO00 XX A JZSP CMP02 XX B Built in battery is JZSP BAO01 0 2 meter length 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 Item Stock 200V FSP Servo Systems PatNumbrt Number Cable Description C i HR Comments Brake with Brake 35mm DIN rail mountable the Jar Moss cable length is 0 5 meters Input Output 1CN Cable amp Transition 35mm DIN Rail mountable Terminal Block D50 0 5 meters standard JUSP WASOP TLILI 01 1 meter standard 02 2 meters 03 3 meters Use the following key to specify Input Output 1CN required cable length last digit i of part number Cable with Pigtail JZSP CKIO1 L1 A 1 1m standard Leads 2 2m 3 3m Use the
148. s reprinting CE Connector Selection Comments Class Use the following key to specify needed cable length last two digits of the part number Limited Stock 10m standard 15m 20m 8 22 OG Use the table below to select mating connectors for your SGMGH Sigma ll gearmotor Connector Description D Connector for Motor Power Cable Connector for Holding Brake Connector for Encoder Cable incremental or absolute encoder Part Number without Brake with Brake CE05 8A20 15SD B BAS CE3057 12A 1 D265 CE05 8A18 10SD B BAS CE3057 10A 1 D265 CE05 8A24 10SD B BAS CE3057 16A 1 D265 CE05 8A22 22SD B BAS CE3057 12A 1 D265 CE05 8A10SL 3SC B BAS and CE3057 4A 1 D265 CE02 6A20 29NSW and CE20BA S and CE3057 12A 3 D265 Item Comments Class L type connector Cable clamp L type connector Cable clamp Limited L type connector for holding brake and Cable clamp diameters 0 142 to 0 220in L type connector plug and back shell and 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 M Connectors are manufactured by DDK and listed here with the largest standard cable clamp available 75 200V FSP Servo Systems NOTES 5 Q D Q
149. self cooled IP55 not including shaft e Optional shaft seals are available 5 Application Emphasis e Compact high torque to inertia ratio Chip mounters PCB drilling machines Robots Conveyors e Packaging 6 Low Noise e Adopting the IGBT power element eliminates irritating metallic sounds 7 Certified International Standards e UL cUL recognized File E165827 CE compliance 100 200V FSP Servo Systems Servomotor Ratings and Specifications Time Rating Continuous Enclosure Totally enclosed self cooled Excitation Permanent magnet Insulation Class B Ambient Temperature 0 to 409C Drive Method Direct drive Vibration 15m or less Ambient Humidity 20 to 80 Mounting Flange mounted 0 Withstand Voltage 1500V non condensing Applicable Encoder 13 bit incremental Insulation Resistance 10M minimum at Rated Rotation Speed 3000rpm or 16 bit absolute 5 I 500V pc Maximum Rotation Speed 5000rpm encoder Specifications are the same for either absolute or incremental encoders Instantaneous Continuous Maximum Rated Rated Rated Rated Power MOTORS EC Torque 1 Rated Peak Angular R ate SGMAH FT Current Current T F 0 04 REEL gs 0286 20 57500 om 2000027 oer zm 191 so 90 oto eee ae 00955 0 286 57500 902 oss zm ie 21 ss em ssz oosg wo 127 se ss 28 ss re wr 239 104 76 44 ts4 3590 8 Values when the
150. servomotor is combined with an FSP servo amplifier 750 01 Moment of Inertia Holding Brake at 20 C Allowable Coil Rated Load System 5 Voltage 0 63 0 78 1 20 3 69 3 82 13 4 200V ac t Values apply to motors without brake J allowable load inertia shows the range requiring no exterior regenerative unit When these values are exceeded application may be restricted or a regenerative unit may be required 100 200V FSP Servo Systems Speed Torque Curves 200V SGMAH A3A SGMAH A5A SGMAH 01A 9 lt O 5 E S _ LLI LLI LLI A A A 0 0 0 0 0 1 0 2 0 3 0 4 0 0 15 0 3 0 45 0 6 0 025 05 075 1 TORQUE N TORQUE N TORQUE N m C 4 8 70 46 66 56 oc polt y 0 20 40 60 100 0 50 100 150 TORQUE oz X in TORQUE oz in TORQUE oz in gt E Q Q gt lt d a m 0 05 1 15 2 1 8 TORQUE N m TORQUE N m TORQUE N t m Laai 1 l X S tc gc cc 21 0 100 200 300 0 200 400 600 0 400 800 1200 TORQUE oz X in TORQUE oz X in TORQUE oz X in 100V SGMAH A3B SGMAH A5B SGMAH 01B e Q a 0 0 0 01 02 03 0 4 0 0 15 0 3 045 0 6 0 025 05 075 1 TORQUE N m TORQUE N m TORQUE N X m 0 20 40 60 100 0 50 100 150 TORQUE oz X in TORQUE oz X in TORQUE oz X in SGMAH 02B A
151. sing Mounting Flange mounted at 500Vpc Rated Speed 3000rpm Painting Color Muncell notation N1 5 Rated Rated Instantaneous Peak Rated MOTORS Output Torque Torque Current Cinet SGMSH kW To Nom hp Ib Ib in Arms Arms ja mr s Pao pn 8 08 OOo TOW LOIR i Holding Brake at 20 Torque Allowable Rated Inertia Inductive Moment of Inertia Load Angular Time Time Constant HN Inertia Acceleration Constant Constant 2 14000 These items and torque speed characteristics quoted in combination with FSP servo amplifier at an armature winding temperature of 20 2 3 o ox Note These characteristics can be obtained when the following heat sinks steel plates are used for cooling purposes Type 10ALIA to 20ALIA 11 81 x 11 81 x 0 47 in 300 x 300 x 12 mm Type 15 75 x 15 75 x 0 79 in 400 x 400 x 20 mm 78 200V FSP Servo Systems Speed Torque Curves 200V SGMSH 10ALIA SGMSH 15ALIA SPEED rpm 5 1 TORQUE N m 0 50 1 TORQUE Ib in SGMSH 30ALIA SPEED rpm SPEED rpm 0 0 10 20 30 TORQUE N m 0 100 200 TORQUE lb in SS 0 50 100 150 A CONTINUOUS DUTY ZONE B INTERMITTENT DUTY ZONE 5 79 200V FSP Servo Systems Dimensions in inches mm 1 17 bit Incremental or Absolute Encoder LL LR 0 0016
152. t Planned for Mid Option 2007 2007 Modules NS300 5500 5600 MP940 NS300 5500 5600 MP940 Software FlexWorks only FlexWorks only Consult www yaskawa com for recent updates 142 400V FSP Servo Systems FSP Amplifier Ratings and Specifications SGMGH LID SGMSH LID 05 05 Applicable Servomotor Maximum Applicable Servomotor Capacity kW Continuous Output Current Arms Maximum Output Current Arms Main Circuit Single phase 380 to 480VAC 10 to 15 50 60Hz 2 9 8 4 8 5 20 Control Circuit 24VDC 15 0 7A Control Method Single or three phase full wave rectification IGBT PWM sine wave driven For Yaskawa servomotors Serial encoder 17 bit incremental absolute For Special Purpose Motors A B quadrature max frequency 800 kHz post quadrature Ambient Storage 0 55 C 20 to 85 C When enclosed internal temperatures must not exceed this Temperature range Ambient Storage Humidity Vibration Shock Resistance Feedback Basic Specifications 90 relative humidity or less with no condensation Conditions 4 9 m s 19 6 m s Configuration Base mounted Rack mounted optional FSP Approx Mass kg Ib 9 lt O e o 143 2 O gt 400V FSP Servo Systems Ratings and Specifications cont d F
153. terminal 14 AWG HIV 0 003 2 0 12 AWG HIV 0 005 3 5 PG signal connector External Terminal Name FSP Terminal Wire Size AWG mm Symbol A3BO0 A5BHH 01BLILI o2B00 Side Phan 16 AWG HIV 0 002 1 25 14 14 AWG 0 008 207 14 AWG 0 008 207 003 2 0 Servomotor connection terminals 16 AWG HIV 0 002 1 25 Control power supply terminals Lc L2C Control I O signal connector CM Twisted pair or shielded twisted pair wires Core wire at least 28 AWG 0 0002 0 12 tinned annealed copper twisted wires See page 113 for details PG signal connector 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 Wire sizes were selected for three cables per bundle at 40 ambient temperature with the rated current Use cables with a minimum withstand voltage of 600V for main circuits If cables are bundled in PVC or metal ducts consider the reduction ratio of the allowable current Use heat resistant cable under high ambient or panel temperatures where normal vinyl cable will rapidly deteriorate Main circuit power input terminals Notes F purs D lt O gt 3 D 112 100 200V FSP Servo Systems The following table shows types of cables It is used in conjunction with the preceding tables Cable Type Temperature Rating of Conductor 16 Name Composition Standard polyvinyl chloride
154. the FSP amplifier feedback All adapter cable for absolute Encoder feedback cables for SGDH amp encoders Cable AFADABS P2 A JZSP CMP00 XX A Stock has bullt in absolute encoder battery and case JZSP CMP02 XX B Built in battery is JZSP BAO1 0 2 meter length Encoder Cable for applications up to 20m for FR RMCT SB These cables are available solder in any length connections For example to order one Encoder Cable FR RMCT SB cable 16m for applications long specify from gt 20 to UL20276 SB quantity 16 part no FR RMCT SB lt 50 for solder connections Table continued on next page 60 200V FSP Servo Systems Cable Description C 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 Input Output 1CN 5 4000 to FSP Interface Cable Input Output 1CN SMC4000 to FSP Interface Cable with prepared alarm and reset inputs requires jumper in SMC4000 Input Output 1CN 5 4000 to FSP Interface Cable with flying leads for additional amplifier I O Part Number without Brake with Brake JUSP TA50P JUSP WASOP LILI JZSP CKIO1 DI A JZSP CKIOD LILI Al SMCCBL2LILI SMCCBLHLILI SMCCBLBLILI Comments Item Class 35mm DIN rail mountable the cable length is 0 5 meters 35mm DIN Rail mount
155. tor Selection Use the table below to select mating connectors for your SGMGH Sigma II gearmotor A Motor Part Number Item Connector Description D Size KUN Comments Class 53106 18 105 53106 20 155 jStraight type connector 05 0 2 63108818 105 IMS3108B20 15S L type connector MS Connector for 1 MS3057 10A IMS3057 12A 7 Cable clamp Motor Power Cable 4 2 0 3 0 IMS3108B22 22S MS3108B24 108 L type connector 53057 16 Stock 53108 20 295 L type connector MS Connector for o MS3057 12A Cable clamp SGMGH Gearmotors E Mating Connector 3CN Peripheral Mating Connector YSC 1 5CN Connector and 1m Cable with Can use 5CN for analog speed and torque monitor 9404559 service checks Choose either a straight or L type connector and the associated cable clamp for a complete assembly For example L type connector MS3108B18 10S is compatible with cable clamp MS 3057 104 i Alternate P art Number DTCR6973 73 200V FSP Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for your SGMGH Sigma ll gearmotor Component E Part Number Item Class Pre wired 2 0m cable with Software Interface Cable YS 12 9 pin connector 3 6V 1000mAh lithium battery JZSP BAO1 1 With leads for wiring to 1CN 3 6V 1000mAh Lithium Battery Absolute Encoder Battery PEA replac
156. troller to FSP Interface Cable Part Number with Brake JZSP CKIO1 DI A without Brake JZSP CKIOD LILI SMCCBL2LILI SMCCBLHLILI OO SMCCBLBLILI JEPMC W2040 LILI OO Comments He Class 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 cable length last two digits of the part number D50 0 5m 01 1m standard 02 2m 03 3m Use the Following key to determine the desired length specification 02 2 Feet 05 5 Feet 10 10 Feet 15 15 Feet Use the Following key to determine the desired length specification A5 0 5 meters 01 1 meter 03 3 meters T at the end of the cable number indicates the revision level The revision level may be changed prior to this catalog s reprinting When ordering these cables for motors with brakes order the standard B5E power cable and the additional cable for the brake M 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 Sine 20 51039 and many others 9 9994 1 connector 72 For systems using the absolute encoder and this part number the absolute encoder battery must be connected at the amplifier 200V FSP Servo Systems Connec
157. ur Rated Speed is at 20 ambient temperature Reduce Rated Speed by 20 at 40 ambient temperature For right angle gearmotors please consult the factory for availability 24Vpc brakes for SGMGH Sigma II gearmotors are standard Contact a local source for 24Vpc power supplies For technical information request Yaskawa manual number Y EA S A F SP 3 For more detailed FSP amplifier specifications and dimensions refer to pages 89 to 105 HOWOS SIOJOULIB 9 W N 70 200V FSP Servo Systems Use the table below to select pre wired cables for your SGMGH Sigma ll gearmotor Pre wired Cable Selection Cable Description C Power Cable with Connectors IP67 Encoder Cable incremental or absolute Encoder feedback adapter cable for incremental and absolute Encoder feedback adapter cable for absolute encoders Cable has built in absolute encoder battery and case 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 Part Number without B1E B1BE LILI A B2E B2BE A A AFAD P2 AFADABS P2 A FR RMCT SB UL20276 SB JUSP TA50P JUSP WASOP LILI A Comments Class Use the following key to specify needed
158. urrent Current Acceleration rr dL IAM Eu XE HE 02A 20002 902 063 20 iM 20 60 3X9 210 044 0054 10 127 sa 3 amp 26 80 359 40 isa emm es pam ms me um 7 100013 61 03 15 095 Dm mem pm m RR om Values are calculated when the servomotor is combined with an FSP servo amplifier Moment of Inertia ud Brake at 20 C Allowable Load MOTORS Motor without Brake Motor with Brake Inertia SGMPH AN OE Allowable load inertia shows the range requiring no exterior regenerative unit When these values exceeded application may be or a regenerative unit may be required Values are calculated when the servomotor is combined with an FSP servo amplifier MOTORS AU aging Brake SGMPH Holding Torque 0 318 o 0 3 U NES m a 0 637 24 100 200V FSP Servo Systems Speed Torque Curves 200V SGMPH 01A SGMPH 02A SGMPH 04A 2 e e e 0 0 0 0 0 25 0 5 0 75 1 0 0 0 5 1 15 2 0 1 2 3 4 TORQUE Nem TORQUE TORQUE L 4 4 3 0 50 100 150 0 100 200 300 0 200 400 600 TORQUE oz in TORQUE oz in TORQUE oz in Sa SGMPH 08A SGMPH 15A T E 25 3 E f n A A 0 0 2 4 6 8 0 4 8 12 16 TORQUE Nem TORQUE Nem 0 400 800 1200 0 8
159. vo System Design Features 1 Flexible Servo Architecture e Traditional torque speed and pulse input modes SGDH modes Additional Programmable position mode for simple indexing applications e Flectronic gearing indexing superimposed on gear ratio Electronic am table with shift and offset while in motion Dynamic positioning change target speed or position while in motion 2 Improved Performance e Patented Non linear Control Technology reduces tracking error 90 in some applications Adaptive feed forward dramatically reduces settling time and overshoot High speed input and output for integrating motion 125 usec Registration input CN1 46 for latching position in hardware 62 5 usec 3 Easy Operation e FlexWorks set up software provides a project setup Wizard Choose amplifier mode Define user units Get default motion profile values Define end of motion parameters Define digital I O e In addition Flexworks provides Programming by pull down menu Digital oscilloscope tuning Advanced FFT mechanical analysis e Sigma FSP automatically recognizes Yaskawa Sigma ll motors e RMS torque monitor of front panel 4 CN10 side port for future expanded capabilities MECHATROLINK 5 Certified International Standards e UL cUL listed CE compliance Contact Yaskawa Rep V s O m E lt O gt o 89 100 200V FSP Servo System D 2 gt 3 s 90 100 200V FSP Servo Systems

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