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AC SERVO DRIVES

SERIES
PRODUCT CATALOG

Field-Proven Performance: A Servo that Does What You Need!

Certified for ISO9001 and ISO14001

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TI FIED

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QUALITY SYSTEM

ENVIRONMENTAL SYSTEM

JQA-0422 JQA-EM0202 JQA-EM0924

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MA N

Build the machine youve dreamed of, today!


AC servo drive
Sigma Five

v
-V series is here with

You want maximum effect quickly and easily, as does every engineer in the field. And now the the practical answer to your dreams! How many times have you heard people say servos need adjustment to work well? Our new tuning-less function means it works as soon as you hook it up! And if you want more performance than ever before, the -V series advanced autotuning function lets you set up for it rapidly. Advanced technology makes possible a host of safety

standards compliance for the first time in Japan (as of April 2007),
compliance with key international standards, a diverse motor line-up, compact size, high speed and simple maintenance: everything you need to answer todays requirements.

International Standards

Safety Standards
Safety Stop-0 (Standard)

RoHS Directive
RoHS Directive Stands for the EU directive on the Restriction of the Use of Certain Hazardous Substances in Electrical and Electronic Equipment.

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Features

Features

Superlative Performance

Operate your machinery faster and with higher precision than ever!

The delivers the highest performance in the industry.


The best amplifier response in the industry slashes settling time
In-house comparison: 1/12th
0

Servo Adjustment Example: When the ball screw slider was run using a combination of the SGMJV-02ADA servomotor and SGDV-1R6A SERVOPACK.

Position Error

Outstanding frequency response

Reference Speed

1.6

* kHz

Positioning Completed

Representative value when using combination of the SGMAV-02ADA servomotor *: and SGDV-1R6A SERVOPACK ataone time of the moment of inertia ratio.

Settling Time 0 to 4 ms

Enhanced vibration suppression


Existing functions to minimize vibration have been enhanced, and new ones added, improving tracking and further improving settling time. Vibration and noise during driving have also been cut, along with vibration at machine edges when stopping.

Contributing to machine performance in conjunction with a medium-inertia motor


Small Capacity Medium Capacity

SGMJV Series
Low Heating Improved motor constants have reduced both losses and heating. Better Tact Time Instantaneous peak torque has been boosted from 300% to 350%, contributing to shorter tact times Ease of Use Moment of inertia ratio has been doubled in the same motor, reducing the moment of inertia ratio and boosting gain for faster settling

SGMGV Series
Compact Design Smaller package and about 20% lighter, but with the same rotor moment of inertia as the conventional model. A small encoder connector is applied. Improved Vibration Resistance New coupling delivers typical 5G vibration resistance

Encoder resolution 1,048,576 pulses/revolution

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Features

Simple Start-up
Unpacking

Making servo adjustment quick and simple

Let the series simplify your life!

Installation and Wiring

Basic Parameter Setting

Trial Operation

Gain and Filter Adjustment

Operation

Faster setup
Setup Wizard
Simple parameter set-up with wizard-aided input

SigmaWin+

Simple Tuning
Get up and running quickly after hooking up the motor

New Advanced Autotuning Window

Even without servo adjustment and with load changes, oscillation- and vibration-free drive is possible up to 20 times the load moment of inertia.

New Tuning-less Function


The SigmaWin+ wiring check function checks your wiring in a single operation

Wiring Check Function

Settling time: 100 to 150 ms level

Minimize settling time with less vibration

New Advanced Autotuning

The reference filter and feedback gain adjustment functions have a new automatic feed forward gain adjustment for optimal adjustment performance. The friction compensation function automatically cancels out the effect of friction on machine characteristics.

Settling time: 10 ms level

Fine-tuning is a must
USB1.1 Support
Trace Function
Realtime trace of adjustment state means you can check instantly.

Fine-tuning can tweak machine performance to the max.

New One-parameter Tuning

Settling time: 0 to 4 ms level

Full of handy functions for start-up and more effective operation!


Selection
Servomotor capacity selection software

Maintenance

Faster Troubleshooting
Engineering tool

SigmaJunmaSize+

Alarm

Optimal selection for your application: With consideration of moment of inertia, DB resistance, etc.

SigmaWin+

Diagnostic Information

Alarm diagnostic function: Presumes possible causes of the alarm and immediately displays suggested corrective actions.

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Outstanding Expandability

Use servos that really fit into your system

A rich selection of models and options to match your requirements


Extensive variety of motors to match any machine
Medium-inertia servomotors Improved control stability Low-inertia servomotors High-speed acceleration and deceleration

Selection of servo actuators


Support for direct drive servomotors, linear servomotors and linear sliders

Standard support for four different SERVOPACK types


Analog voltage/pulse train reference type MECHATROLINK-2 communications reference type MECHATROLINK-3 communications reference type INDEXER Module Type

Wide selection of option modules for various communication interfaces and feedback Compliant with applicable safety standards
Easy compliance with machine safety standards
SGDV SERVOPACKs have a safety function equivalent to the STO (Safe Torque Off) function as defined in the international standard IEC61800-5-2. (This was the first in the industry in Japan as of March 2007.) When used with the Safety Module, SGDV SERVOPACKs have safety functions equivalent to the STO (Safe Torque Off), SS1 (Safe Stop 1), SS2 (Safe Stop 2), and SLS (Safely-Limited Speed) functions as defined in IEC61800-5-2. (This was the first in the industry in Japan as of May 21, 2010.)

Option Module

The first in the industry in Japan!

Compliant with applicable SEMI F47 standards for 200-VAC SERVOPACKs


Easy use with applications for semiconductors and LCD manufacturing equipment
Note: SEMI F47 Standards: Specification for Semiconductor Processing Equipment Voltage Sag Immunity

Motor line-up to handle a wide range of markets and applications


SGMAV (20 bit) SGMSV (20 bit) Low Inertia
Resolution Semiconductors (Bonders)

SGMJV (20 bit) SGMPS (17 bit) SGMGV (20 bit) Medium Inertia
Machine tools, MC lathes/grinders

Semiconductors (Probes)

Linear (High resolution) Direct Drive

LCD coater/ dispensers Electronic Components LCD scribers Injection molding machines Metal processing Robot articulated/ scalar/extraction Food Packaging Material Handling Textiles

SGMJV (13 bit) Medium Inertia

Moment of Inertia Ratio

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Product Line-up

Product Line-up
Servomotors
Rotary Servomotors (Small Capacity)

SGMJV (Medium Inertia, Small Capacity) 50 W to 750 W

SGMAV (Low Inertia, Small Capacity) 50 W to 1 kW

SGMPS (Medium Inertia, Small Capacity, Flat Type) 100 W to 1.5 kW

Rotary Servomotors (Medium Capacity)

Direct Drive Servomotors

SGMGV (Medium Inertia, Medium Capacity) 300 W to 15 kW

SGMSV (Low Inertia, Medium Capacity) 1.0 kW to 7.0 kW

SGMCS (Small Capacity) 2 to 35 N m

SGMCS (Medium Capacity) 45 to 200 N m

Linear Servomotors Linear

Series

Cylinder Type Linear Servomotor -Stick Series

SGLGW (Coreless Type) 12.5 to 750 N

SGLFW (With F-type Iron Core) 25 to 1120 N

SGLTW (With T-type Iron Core) 130 to 1300 N

SGLC (Cylinder Type) 17 to 180 N

Linear Sliders

-Trac Series

SGT ( -Trac) 47 to 560 N

SGTMM ( -Trac- ) 3.5 to 7 N

SGTMF ( -Trac-MAG) 90 to 200 N

SERVOPACKs
Analog Voltage /Pulse Train Reference MECHATROLINK-2 Communications Reference
MECHATROLINK-3 With INDEXER Module

Communications Reference

SGDV-01/05 SERVOPACK

SGDV-11/15 SERVOPACK

SGDV-21/25 SERVOPACK

SGDVE 1 SERVOPACK

Note: Available for fully-closed loop control. (Custom orders only.)

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Rotary Servomotors and SERVOPACKs


Rotary Servomotor Model Capacity SERVOPACK Model SGDV- Single-phase 100 VAC Three-phase 200 VAC Three-phase 400 VAC R70F R90F R70A*1 R90A*1 1R6A*1 2R8A*1 5R5A*1 R70A*1 R90A*1

SGMJV
(Medium Inertia, Small Capacity) 3000 min-1

SGMJV-A5A SGMJV-01A SGMJV-02A SGMJV-04A SGMJV-08A SGMAV-A5A SGMAV-01A

SGMAV
Low Inertia,

SGMAV-C2A SGMAV-02A SGMAV-04A SGMAV-06A SGMAV-08A SGMAV-10A

Small Capacity) 3000 min-1

SGMPS
(Medium Inertia, Small Capacity, Flat Type) 3000 min-1

SGMPS-01A SGMPS-02A SGMPS-04A SGMPS-08A SGMPS-15A SGMSV-10A SGMSV-15A SGMSV-20A SGMSV-25A SGMSV-30A SGMSV-40A

SGMSV
(Low Inertia, Medium Capacity) 3000 min-1

SGMSV-50A SGMSV-70A SGMSV-10D SGMSV-15D SGMSV-20D SGMSV-25D SGMSV-30D SGMSV-40D SGMSV-50D SGMGV-03A SGMGV-05A SGMGV-09A SGMGV-13A SGMGV-20A SGMGV-30A SGMGV-44A SGMGV-55A SGMGV-75A

SGMGV
(Medium Inertia, Medium Capacity) 1500 min-1

SGMGV-1AA SGMGV-1EA SGMGV-03D SGMGV-05D SGMGV-09D SGMGV-13D SGMGV-20D SGMGV-30D SGMGV-44D SGMGV-55D SGMGV-75D SGMGV-1AD SGMGV-1ED

50 W 100 W 200 W 400 W 750 W 50 W 100 W 150 W 200 W 400 W 550 W 750 W 1 kW 100 W 200 W 400 W 750 W 1.5 kW 1.0 kW 1.5 kW 2.0 kW 2.5 kW 3.0 kW 4.0 kW 5.0 kW 7.0 kW 1.0 kW 1.5 kW 2.0 kW 2.5 kW 3.0 kW 4.0 kW 5.0 kW 300 W 450 W 850 W 1.3 kW 1.8 kW 2.9 kW 4.4 kW 5.5 kW 7.5 kW 11 kW 15 kW 300 W 450 W 850 W 1.3 kW 1.8 kW 2.9 kW 4.4 kW 5.5 kW 7.5 kW 11 kW 15 kW

2R 1F 2R 8F

R70F R90F

2R 1F 2R 8F

1R6A*1 2R8A*1 5R5A*1 120A*2


R90A*1

R90F

2R 1F 2R 8F

2R8A*1 5R5A*1 120A*2 7R6A 120A 180A 200A 330A 550A

3R5D 5R4D 8R4D


120D 170D

3R8A 7R6A 120A 180A 330A/200A*3 330A 470A 550A 590A 780A

1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D 370D

powered with single or three-phase. *1:: These-amplifiers can beSERVOPACKs are also available (Model: SGDV-120AA008000). VAC *2: Single phase 200of the SGDV-200A SERVOPACK and the SGMGV-30A The combination SERVOPACK Model SGDV-200A *3 servomotor must be used at the following reduction ratings. Rated Current Arms Rated Torque Nm Allowable Load Moment of Inertia

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Reduction Ratings 19.6 15.1 3 times

Ratings 23.8 18.6 5 times

Product Line-up

Linear Servomotors and SERVOPACKs


Linear Servomotor Model SGLGW-30A050C SGLGW-30A080C SGLGW-40A140C Rated Force N Peak Force N SERVOPACK Model SGDV- Single-phase 100 VAC Three-phase 200 VAC Three-phase 400 VAC R70F R90F R70A* R90A*

SGLGW
(Coreless Type, With standard magnetic way)

SGLGW-40A253C SGLGW-60A140C SGLGW-40A365C SGLGW-60A253C SGLGW-60A365C SGLGW-90A200C SGLGW-90A370C SGLGW-90A535C

SGLGW
(Coreless Type, With high-efficiency magnetic way)

SGLGW-40A140C SGLGW-60A140C SGLGW-40A253C SGLGW-40A365C SGLGW-60A253C SGLGW-60A365C SGLFW-20A090A SGLFW-20A120A SGLFW-35A120A SGLFW-35A230A SGLFW-50A200B SGLFW-50A380B

SGLFW
(With F-type Iron Core)

SGLFW-1ZA200B SGLFW-1ZA380B SGLFW-35D120A SGLFW-35D230A SGLFW-50D200B SGLFW-50D380B SGLFW-1ZD200B SGLFW-1ZD380B SGLTW-20A170A SGLTW-35A170A SGLTW-35A170H SGLTW-50A170H SGLTW-20A320A SGLTW-20A460A SGLTW-35A320A SGLTW-35A320H SGLTW-50A320H

SGLTW
(With T-type Iron Core)

SGLTW-35A460A SGLTW-40A400B SGLTW-40A600B SGLTW-80A400B SGLTW-80A600B SGLTW-35D170H SGLTW-50D170H SGLTW-35D320H SGLTW-50D320H SGLTW-40D400B SGLTW-40D600B SGLTW-80D400B SGLTW-80D600B

12.5 25 47 93 70 140 140 210 325 550 750 57 85 114 171 170 255 25 40 80 160 280 560 560 1120 80 160 280 560 560 1120 130 220 300 450 250 380 440 600 900 670 670 1000 1300 2000 300 450 600 900 670 1000 1300 2000

40 80 140 280 220 420 440 660 1300 2200 3000 230 360 460 690 720 1080 86 125 220 440 600 1200 1200 2400 220 440 600 1200 1200 2400 380 660 600 900 760 1140 1320 1200 1800 2000 2600 4000 5000 7500 600 900 1200 1800 2600 4000 5000 7500

2R1F 2R8F

1R6A* 2R8A* 5R5A* 120A 180A 200A 1R6A* 2R8A* 3R8A 7R6A

2R1F 2R8F

2R1F

1R6A* 3R8A 5R5A* 120A 200A

1R9D

3R5D 5R4D 120D

3R8A 5R5A* 7R6A

120A

180A

330A 550A 3R5D 8R4D

120D 170D 260D

*: These amplifiers can be powered with single or three-phase.

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Cylinder Type Servomotors ( -Stick) and SERVOPACKs


Linear Servomotor Model SGLC-D16A085 SGLC-D16A115 SGLC-D16A145 SGLC-D20A100 Rated Force N Peak Force N Single-phase 100 VAC R70F R90F SERVOPACK Model SGDV- Three-phase 200 VAC R70A* R90A*

SGLC
Cylinder Type

SGLC-D20A135 SGLC-D20A170 SGLC-D25A125 SGLC-D25A170 SGLC-D32A165 SGLC-D25A215 SGLC-D32A225 SGLC-D32A285

17 25 34 30 45 60 70 105 90 140 135 180

60 90 120 150 225 300 280 420 420 560 630 840

1R6A* 2R1F 2R8A* 1R6A* 2R8A* 5R5A*

2R8F

*: These amplifiers can be powered with single or three-phase.


Linear Sliders ( -Trac) and SERVOPACKs
Linear Slider Model SGTGD SGT GE SGTGG SGT GF Rated Force N Peak Force N SERVOPACK Model SGDV- Single-phase 100 VAC Three-phase 200 VAC R90F R90A

SGT
( -Trac)

SGTGH SGT G I SGT F 3 SGT F 4 SGT F 9 SGT FA

( -Trac- )

SGTMM

SGTMM01 SGTMM03 SGTMF4A SGTMF4B SGTMF5A SGTMF5B

SGTMF
( -Trac-MAG)

47 93 70 140 140 210 80 160 280 560 3. 5 7 90 120 150 200

140 280 220 420 440 660 220 440 600 1200 10 25 270 360 540 720

2R1F 2R8F

1R 6A 2R 8A 5R 5A 1R 6A 3R 8A 5 R 5A 120A R70A R90A 1R 6A 5R 5A

2R1F

R70F R90F

2R1F

Direct Drive Servomotors and SERVOPACKs


Direct Drive Servomotor Model SGMCS-02B SGMCS-05B SGMCS-07B SGMCS-04C SGMCS-10C SGMCS-14C SGMCS-08D SGMCS-17D SGMCS-25D SGMCS-16E SGMCS-35E SGMCS-45M Rated Torque N m Peak Torque N m Single-phase 100 VAC SERVOPACK Model SGDV- Three-phase 200 VAC

SGMCS
(Small Capacity)

SGMCS
(Medium Capacity)

SGMCS-80M SGMCS-80N SGMCS-1AM SGMCS-1EN SGMCS-2ZN

2 5 7 4 10 14 8 17 25 16 35 45 80 80 110 150 200

6 15 21 12 30 42 24 51 75 48 105 135 240 240 330 450 600

2R1F

2R 8A 2R8F

5R 5A 7R 6A 120A

180A 200A

Product Line-up

Recommended Linear Scales


Incremental Linear Scales
Output Signal Manufacturer Scale Type Model Scale Sensor Interpolator (serial Head converter unit) (JZDP-D003/-D006) (JZDP-G003/-G006) (JZDP-D003/-D006) (JZDP-G003/-G006) (JZDP-D003/-D006) (JZDP-G003/-G006) (JZDP-D005/-D008) (JZDP-G005/-G008) MJ620-T13

Scale Pitch m

Resolution Maximum Hall Speed*4 Sensor nm m/s Input

Linear Motor

Fully-closed Loop Control


LIDA48

20 40 4 20 800 80 80 80 80

1Vp-p Analog Voltage*2

HEIDENHAIN Corporation

Open Type

LIDA18 LIF48

Renishaw plc*5 Applicable for Yaskawa s Serial Interface*3

Open Type Open Type

RGS20 RGH22B SL70

78.1 4.9 156.3 9.8 15.6 1.0 78.1 4.9 97.7 9.8 78.1 9.8 78.1

5 2 5 4 1 0.4 5 2 5 3.33 3.33 3.33 3.33

PL101-RY PL101

Magnescale Co., Ltd.

SR75-LF Sealed SR75-MF Type SR85-LF SR85-MF

Absolute Linear Scale


Output Signal Manufacturer Scale Type Model Scale Sensor Interpolator (serial Head converter unit)

Scale Pitch m

Resolution Maximum Hall Speed*4 Sensor nm m/s Input

Linear Motor

Fully-closed Loop Control


SR77-LF Applicable for Yaskawa s Serial Interface*3 Magnescale Co., Ltd. Sealed SR77-MF Type SR87-LF SR87-MF ST781A Mitutoyo Corporation Open Type ST782A ST783A ST784A

80 80 80 80 256 256 51.2 51.2

9.8 78.1 9.8 78.1 500 500 100 100

3.33 3.33 3.33 3.33 5 5 5 5

Absolute Rotary Scale


Output Signal Applicable for Yaskawa s Serial Interface Manufacturer Scale Type Sealed Type Model Scale Sensor Interpolator (serial Head converter unit) RU77-4096ADF RU77-4096AFFT01 Scale Pitch m

Resolution Maximum Fully-closed Linear Speed*4 Loop Motor bit/rev min-1 Control

Magnescale Co., Ltd.

20 22

2000 2000

Before using the linear *1: operating conditions. scales, contact the manufacturer of the scale for specifications including accuracy, dimensions, and recommended The use of Yaskawa *2: converter units. serial converter units is required. Output signals are divided into 256 (8-bits multiplier) or 4096 (12-bits multiplier) in the serial linear scale has a different multiplier (number of divisions). Before *3:: Eachmaximum speed shown is for the linear scale when combined with use, write the parameters of the linear servomotors into the linear scales. a Yaskawa *4 The the maximum speed of the linear servomotor or that of the linear scale in thisSERVOPACK. maximum speed. Either table limits the If the zero-point signal accuracy might be affected, and the zero point might be detected as being at a *5: different position. If so,is used with the Renishawtolinear scale, thepoint in one direction. use BID and DIR signals send the zero *6: Contact your Yaskawa representative.

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AC SERVO DRIVES

Servomotors

Rotary Servomotors
SGMJV SGMAV SGMPS SGMGV SGMSV (Medium inertia, small capacity) (Low inertia, small capacity) (Medium inertia, small capacity, flat type) (Medium inertia, medium capacity) (Low inertia, medium capacity)

1
1 23 47 71 93 111

Rotary Servomotor General Instructions

Direct Drive Servomotors


SGMCS (Small capacity, medium capacity)

121
121

Linear Servomotors
SGLGW SGLFW SGLTW SGLC (Coreless type) (With F-type iron core) (With T-type iron core) (Cylinder type

139
139 159 179 207 221

-Stick)

Linear Servomotor General Instructions

Linear Sliders
SGT SGTMM SGTMF

229
-Trac -Trac- -Trac-MAG 229 241 249

SERVOPACKs

Analog Voltage/Pulse Train Reference Type SERVOPACKs


SGDV- 01/05

257 269

MECHATROLINK-2 Communications Reference Type SERVOPACKs


SGDV- 11/15

MECHATROLINK-3 Communications Reference Type SERVOPACKs 279


SGDV- 21/25

INDEXER Module Type SERVOPACK


SGDV E 1 Description of Components Command Option Attachable Type SERVOPACK (SGDV- E1/E5
INDEXER Module SGDV-OCA03A

289
289 301

SERVOPACK External Dimensions Wiring Main Circuit and Peripheral Devices


SERVOPACK Options

303 333 353

Fully-closed Module
SGDV 1 1Model number for SERVOPACK and module set SGDV-OFA01AModel number for module only

Safety Module
SGDV 1 (Model number for SERVOPACK and module set) SGDV-OSA01A (Model number for module only)

361

Others

Selecting Servomotor Capacity and Regenerative Capacity 367 Connection to Host Controller Read Before Ordering
383 391

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Detailed Contents
Servomotors

Linear Servomotors
SGLGW (Coreless Type)
Model Designations

139 139 141 145 156 159 159 161 163 174 179 179 181 184 202 207 207 209 211 219 221 221 228

Rotary Servomotors
SGMJV
Model Designations Ratings and Specifications External Dimensions Units: mm Selecting Cables With Low-backlash Gears Ratings and Specifications With Low-backlash Gears External Dimensions Units: mm

1 1 3 6 8 15 17 23 23 25 28 30 39 41 47 47 49 52 54 63 65 67 69 71 71 73 76 83 85 89 93 93 95 98 102 111 111 113 114 115 115 116 117 118 119 120

Ratings and Specifications External Dimensions Units: mm Selecting Cables

SGLFW (With F-type iron core)


Model Designations Ratings and Specifications External Dimensions Units: mm Selecting Cables

SGMAV
Model Designations Ratings and Specifications External Dimensions Units: mm Selecting Cables With Low-backlash Gears Ratings and Specifications With Low-backlash Gears External Dimensions Units: mm

SGLTW (With T-type iron core)


Model Designations Ratings and Specifications External Dimensions Units: mm Selecting Cables

SGMPS
Model Designations Ratings and Specifications External Dimensions Units: mm Selecting Cables With Low-backlash Gears Ratings and Specifications With Low-backlash Gears External Dimensions Units: mm Flange-type With Low-backlash Gears Ratings and Specifications Flange-type With Low-backlash Gears External Dimensions Units: mm

SGLC (Cylinder Type)


Model Designations Ratings and Specifications External Dimensions Units: mm Selecting Cables

Linear Servomotor General Instructions


Serial Converter Unit (Model: JZDP- 00 - -E) Flexible Cables

SGMGV
Model Designations Ratings and Specifications External Dimensions Units: mm Selecting Cables (SGMGV-03/-05) Selecting Cables (SGMGV-09 to -1E) Selecting Cables

Linear Sliders
-Trac
Model Designations SGT1F3 and SGT1F4 Linear Sliders SGT1F9 and SGT1FA Linear Sliders SGT1GD , SGT1GE , and SGT1GF Linear Sliders SGT1GG , SGT1GH , and SGT1GI Linear Sliders Selecting Cables and Connectors

229 229 231 233 235 237 239 241 241 243 247 249 249 251 253 255

SGMSV
Model Designations Ratings and Specifications External Dimensions Units: mm Selecting Cables

-Trac-
Model Designations SGTMM Linear Sliders Selecting Cables and Connectors

Rotary Servomotor General Instructions


Precautions on Servomotor Installation Cable Connections to SGMJV, SGMAV and SGMPS Servomotors Cable Connections to SGMGV-03/-05 Servomotors Mechanical Specifications Rotor Moment of Inertia Servomotor Heating Conditions Holding Brake Delay Time Terms for Servomotors with Gears Cables Battery Case

-Trac-MAG
Model Designations SGTMF4 Linear Sliders SGTMF5 Linear Sliders Selecting Cables and Connectors

SERVOPACKs

Analog Voltage/Pulse Train Reference Type SERVOPACKs


SGDV- 01 (For Rotary Servomotors) SGDV- 05 (For Linear Servomotors)
257 257 258 259 262 263

Direct Drive Servomotors


SGMCS
Model Designations Ratings and Specifications Mechanical Specifications External Dimensions Units: mm

121 121 123 126 127 133

Model Designations Ratings Specifications Power Supply Capacities and Power Losses Selecting Cables

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Selecting Cables

AC SERVO DRIVES

MECHATROLINK-2 Communications Reference Type SERVOPACKs


SGDV- 11 (For Rotary Servomotors) SGDV- 15 (For Linear Servomotors)
Model Designations Ratings Specifications Power Supply Capacities and Power Losses Selecting Cables

SERVOPACK Options

269 269 270 271 273 274

Fully-closed Module
SGDV 1 1
Model number for SERVOPACK and module set SGDV-OFA01A Model number for module only 353
System Configuration Model Designations Nameplate External Dimensions Units: mm Serial Converter Units

MECHATROLINK-3 Communications Reference Type SERVOPACKs


SGDV- 21 (For Rotary Servomotors) SGDV- 25 (For Linear Servomotors)
Model Designations Ratings Specifications Power Supply Capacities and Power Losses Selecting Cables

353 355 356 356 357

279 279 280 281 283 284

Safety Module
SGDV 1 (Model number for SERVOPACK and module set) SGDV-OSA01A (Model number for module only)
Applicable Standards and Functions System Configurations Model Designations Nameplate External Dimensions Units: mm Specifications Selecting Cables

361 361 362 363 364 364 365 366

INDEXER Module Type SERVOPACK


SGDV E 1
Model Designations Nameplate Ratings Specifications Program Table Functions Power Supply Capacities and Power Losses Selecting Cables

289 289 290 291 291 293 294 295 301 301 302

Others

Description of Components
Command Option Attachable Type SERVOPACK (SGDV- E1/E5 INDEXER Module SGDV-OCA03A

Selecting Servomotor Capacity and Regenerative Capacity


Servomotor Capacity Selection Examples Selecting Regenerative Resistors

367 372

SERVOPACK External Dimensions


External Dimensions Units: mm (Without Option Module) External Dimensions Units: mm (With Option Module)

Connection to Host Controller


303 316
Example of Connection to Machine Controller MP2 Example of Connection to MP2200/MP2300 Motion Module SVA-01
Example of Connection to MP920 4-axes Analog Module SVA-01

Wiring Main Circuit and Peripheral Devices


Wiring Main Circuit SERVOPACK Main Circuit Wire Molded-case Circuit Breaker and Fuse Capacity Noise Filters Surge Absorber Magnetic Contactors AC/DC Reactors Holding Brake Power Supply Unit Regenerative Resistors

Example of Connection to OMRON s Motion Control Unit Example of Connection to OMRON s Position Control Unit Example of Connection to Mitsubishi s AD72 Positioning Unit (SERVOPACK in Speed Control) Example of Connection to Mitsubishi s AD75 Positioning Unit (SERVOPACK in Position Control) Example of Connection to Mitsubishi s QD75D Positioning Unit (SERVOPACK in Position Control)

383 384 385 386 387 388 389 390

333 337 339 340 343 344 347 348 349

Read Before Ordering

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Rotary Servomotors

SGMJV

Model Designations
2Without Gears

SGMJV - 01
Series Servomotor SGMJV

A
3rd digit

D
4th digit

A
5th digit

2
6th digit

1
7th digit

1st+2nd digits

1st+2nd digits Rated Output


Code A5 Specifications

5th digit Design Revision Order


Code A Specifications Standard

7th digit Options


Code Specifications Without options With holding brake (24 VDC) With oil seal and holding brake (24 VDC) With oil seal

01 02 04 08

50 W 100 W 200 W 400 W 750 W

1
C

6th digit Shaft End


Code

Specifications Straight without key (standard) Straight with key and tap (optional) With two flat seats (optional)

E S

3rd digit Power Supply Voltage


Code A Specifications

6
B

200 VAC

4th digit Serial Encoder


Code

3 D A

Specifications 20-bit absolute (standard) 20-bit incremental (standard) 13-bit incremental (standard)

Servomotors

SGMJV
Features
1Medium inertia 1Instantaneous peak torque

Rotary Motors

Application Examples
1Semiconductor equipment 1Chip mounters 1PCB drilling stations 1Robots 1Material handling machines 1Food processing equipment

(350% of rated torque)

1Mounted high-resolution serial encoder:

13, 20 bits
1Maximum speed: 6,000 min-1 1Wide Selection: 50 to 750 W capacity, holding

brake and gear options

1With Gears

SGMJV - 01
Series Servomotor SGMJV

A
3rd digit

D
4th digit

A
5th digit

H
6th digit

1
7th digit

2
8th digit

1
9th digit

1st+2nd digits

1st+2nd digits Rated Output


Code A5 Specifications

5th digit Design Revision Order


Code A Specifications Standard

8th digit Shaft End


Code Specifications Flange output Straight without key Straight with key and tap

01 02 04 08

50 W 100 W 200 W 400 W 750 W

6th digit Gear Type


Code H Specifications HDS planetary low-backlash gear

0 2 6

9th digit Options


Code Specifications Without options With holding brake (24 VDC)

3rd digit Power Supply Voltage


Code A Specifications 200 VAC

7th digit Gear Ratio


Code B C Specifications 1/11 (Not available: 50 W) 1/21 1/5 1/9 (Only 50 W) 1/33

1 C

4th digit Serial Encoder


Code

3 D A

Specifications 20-bit absolute (standard) 20-bit incremental (standard)

1 2 7

13-bit incremental (standard)

Rotary Servomotors

Ratings and Specifications


Time Rating: Continuous Vibration Class: V15 Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C Excitation: Permanent magnet Mounting: Flange-mounted Thermal Class: B
Voltage Servomotor Model: SGMJV- Rated Output*1 Rated Torque*1, *2 Instantaneous Peak Torque*1 Rated Current*1 Instantaneous Max. Current*1 Rated Speed*1 Max. Speed*1 Torque Constant Rotor Moment of Inertia Rated Power Rate*1 Rated Angular Acceleration*1 Applicable SERVOPACK W Nm Nm Arms Arms min-1 min-1 N m/Arms A 5A

Withstand Voltage: 1500 VAC for one minute Enclosure: Totally enclosed, self-cooled, IP65 (except for shaft opening) Ambient Humidity: 20% to 80% (no condensation) Drive Method: Direct drive Rotation Direction: Counterclockwise (CCW) with forward run reference when viewed from the load side
01A 100 0.318 1.11 0.84 2.9 200 V 02A 200 0.637 2.23 1.6 5.8 3000 6000 0.435 0.259 (0.323) 15.7 24600 1R6A,2R1F 04A 400 1.27 4.46 2.7 9.3 08A 750 2.39 8.36 4. 7 16.9

50 0.159 0.557 0.61 2. 1

0.285 0.0414 (0.0561) 6.11 38400 R70

0.413 0.0665 (0.0812) 15.2 47800 R90

0.512 0.442 (0.506) 36.5 28800 2R8

0.544 1.57 (1.74) 36.3 15200 5R5A

10-4 kg m2
kW/s rad/s2 SGDV-

These items and torque-motor speed characteristics quoted in combination with an SGDV SERVOPACK are at an armature winding temperature of 100C. Other values quoted are at 20C. Rated torques are continuous allowable torque values at 40C with an aluminum heat sink of the following dimensions attached. SGMJV-A5A, -01A: 200 mm200 mm6 mm SGMJV-02A, -04A, -08A: 250 mm250 mm6 mm Note: The values in parentheses are for servomotors with holding brakes.

*1: *2:

1Torque-Motor Speed Characteristics


SGMJV-A5A
6000
Motor Speed (min-1) Motor Speed (min-1)

: Continuous Duty Zone


SGMJV-01A

: Intermittent Duty Zone


SGMJV-02A
6000

6000 5000 4000 3000


A B Motor Speed (min-1)

5000 4000 3000


A B

5000 4000 3000


A B

2000 1000 0 0 0.15 0.3 0.45 Torque (Nm) 0.6

2000 1000 0 0 0.25 0.5 0.75 Torque (Nm) 1

2000 1000 0 0 0.5 1 1.5 Torque (Nm) 2

SGMJV-04A
6000
Motor Speed (min-1)

SGMJV-08A
6000
Motor Speed (min-1)

5000 4000 3000


A B

5000 4000 3000


A B

2000 1000 0 0 1 2 3 Torque (Nm) 4

2000 1000 0 0 2 4 6 Torque (Nm) 8

Notes: 1 The characteristics of the intermittent duty zone differ depending on the supply voltages. The solid, dotted, and dashed-dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations: The solid line: With a three-phase 200 V or a single-phase 230 V SERVOPACK The dotted line: With a single-phase 200 V SERVOPACK The dashed-dotted line: With a single-phase 100 V SERVOPACK An SGMJV-A5A servomotor combined with a single-phase 200 V SERVOPACK has the same characteristics as one combined with threephase 200 V SERVOPACK. 2 When the effective torque is within the rated torque, the servomotor can be used within the intermittent duty zone. 3 When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops.

Servomotors

SGMJV

Rotary Motors

1Derating Rate for Servomotor Fitted with an Oil Seal When a motor is fitted with an oil seal, use the following derating rate because of the higher friction torque.
Servomotor Model SGMJVDerating Rate % A 5A

01A 90

02A

04A 95

08A

80

1Holding Brake Electrical Specifications


Holding Brake Rated Voltage Servomotor Model SGMJV-A5A SGMJV-01A Servomotor Rated Output W Holding Brake Specifications Capacity W Holding Torque N m Coil Resistance (at 20C) Rated Current A(at 20C) Brake Release Time ms Brake Operation Time ms

24 VDC +10% 0

SGMJV-02A SGMJV-04A SGMJV-08A

50 100 200 400 750

5.5 5.5 6 6 6.5

0.159 0.318 0.637 1.27 2.39

103 103 97.4 97.4 87.7

0.23 0.23 0.25 0.25 0.27

60 60 60 60 80

100 100 100 100 100

Notes:1 The holding brake is only used to hold the load and cannot be used to stop the servomotor. 2 The holding brake open time and holding brake operation time vary depending on which discharge circuit is used. Make sure holding brake open time and holding brake operation time are correct for your servomotor. 3 A 24-VDC power supply is provided by customers.

1Overload Characteristics The overload detection level is set under hot start conditions at a servomotor ambient temperature of 40C.
10000

1000

Detecting time (s)

100

10

1 100

150

200

250

300

350

Torque reference (percent of rated torque) (%)

Note: Overload characteristics shown above do not guarantee continuous duty of 100% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics.

Rotary Servomotors

Ratings and Specifications

Ratings and Specifications


1Allowable Load Moment of Inertia at the Motor Shaft The rotor moment of inertia ratio is the value for a servomotor without a gear and a holding brake.
Servomotor Model A5A, 01A SGMJVServomotor Rated Output Allowable Load Moment of Inertia (Rotor Moment of Inertia Ratio)

02A 04A, 08A

50, 100 W 200 W 400, 750 W

20 times 15 times 10 times

1Load Moment of Inertia The larger the load moment of inertia, the worse the movement response. The allowable load moment of inertia (JL) depends on the motor capacity, as shown above. This value is provided strictly as a guideline and results may vary depending on servomotor drive conditions. Use the AC servo drive capacity selection program SigmaJunmaSize+ to check the operation conditions. . The program can be downloaded for free from our web site (http://www.e-mechatronics.com/
An overvoltage alarm (A.400) is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia. SERVOPACKs with a built-in regenerative resistor may generate a regenerative overload alarm (A.320). Take one of the following steps if this occurs. Reduce the torque limit. Reduce the deceleration rate. Reduce the maximum speed. Install an external regenerative resistor if the alarm cannot be cleared using the steps above. Refer to Regenerative Resistors on page 349. Regenerative resistors are not built into SERVOPACKs for 400 W motors or less. External regenerative resistors are required when this condition is exceeded or if the allowable loss capacity (W) of the built-in regenerative resistor is exceeded due to regenerative drive conditions when a regenerative resistor is already built in.

1Allowable Radial and Thrust Loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table.
Servomotor Model A 5A Allowable Radial Load (Fr) N Allowable Thrust Load (Fs) N LF mm Reference Diagram
LF

78 01A
SGMJV-

54

20
Fr

02A 245 04A 08A 392 147 35 74 25

Fs

Servomotors

SGMJV

Rotary Motors

(1) 50, 100 W


0.04 A
L LL

25
LM

0.04 Dia. A
40

20.5 6.1 2 17 20

2.5 5

19 14
QK

12

30 0.021 Dia. 0

46

8 0.009 Dia. 0

Dia .

T Cross Section Y-Y

0.02

2-4.3 Dia.
Tap Depth

Shaft End With Key and Tap

Model SGMJVA5AA21 (A5AA2C) A5AA61 (A5AA6C)

LL

LM

Tap Depth No tap

Key Dimensions QK U W T

Approx. Mass kg

94 (139)

69 (114)

No key

37
M3 6L No tap

14

1.8

0.3 (0.6)

01AA21 (01AA2C) 01AA61 (01AA6C)

107.5 (152.5)

82.5 (127.5)

No key

50.5
M3 6L

14

1.8

0.4 (0.7)

Note: The models and values in parentheses are for servomotors with holding brakes.

<Shaft End and Other Options>


2With Two Flat Seats
QH 8 0.009 Dia. 0
1.5

2With an Oil Seal


7.5

H1

H2

Model SGMJVA5AAB

Dimensions of Servomotor with Two Flat Seats mm QH H1 H2


Oil Seal Cover

01AAB

15

7. 5

7.5
Notes: 1 The 7th digit of the model designation is S or E. 2 Key dimensions are the same as those in the table above.

29.8 Dia.

30 0.021 Dia. 0

Rotary Servomotors

External Dimensions

Units: mm

External Dimensions
(2) 200 to 750 W

Units: mm

L LL

0.04
LR LE LG

0.04 Dia. A
LC MW

20.5 MD 14

LM

1.5

17

21

QK LB Dia. W Y

MH

S Dia.

T Cross Section Y-Y Shaft End With Key and Tap


.

LA

Tap Depth

Dia

4-LZ Dia.

0.02

Model SGMJV-

LL

LM

Flange Face Dimensions LR LE LG LC LA LB LZ

Tap Depth No tap

Key Dimensions QK U W T

MD MW MH

Approx. Mass kg

02AA21 (02AA2C) 02AA61 (02AA6C) 04AA21 (04AA2C) 04AA61 (04AA6C) 08AA21 (08AA2C) 08AA61 (08AA6C)

110 (150)

80 (120)

No key

51

30

60 70 50 0.025 5.5 14 0.011 0 0


M58L No tap

8.3 14 3 5 5

21

13

0.9 (1.5)

128.5 98.5 69.5 30 (168.5) (138.5)

No key

60 70 50 0.025 5.5 14 0.011 0 0


M58L No tap

8.3 14 3 5 5

21

13

1.3 (1.9)

155 (200)

115 (160)

No key

85

40

80 90 70 0.030 0

19 0.013 0
M610L

13.8 22 3. 5 6 6

27

15

2.7 (3.6)

Note: The models and values in parentheses are for servomotors with holding brakes.

<Shaft End and Other Options> 2With Two Flat Seats


QH

2With an Oil Seal


LS2 LS1 LE

S Dia.

H1

E1 Dia.

H2

Model SGMJV-

Dimensions of Servomotor with Two Flat Seats mm QH S H1 H2


Oil Seal Cover

02AAB 04AAB 08AAB

15 22

14 19

0 0.011 0 0.013

13 18

13 18

Model SGMJV-

Dimensions of Servomotor with an Oil Seal E1 E2 LS1 LS2

02A, 04A 08A

36 49

48 66

E2 Dia.

4 6

10 11

Notes: 1 The 7th digit of the model designation is S or E. 2 Key dimensions are the same as those in the table above.

Servomotors

SGMJV

Rotary Motors

1Cables Connections 2Standard Wiring (Max. encoder cable length: 20 m)


SGDV SERVOPACK

2Encoder Cable Extension from 30 to 50 m


(See page 14.)
(Example) SGDV SERVOPACK Relay Encoder Cable (See page 14.)

e Cable with a Battery (Required when an absolute encoder is used.)

Encoder Cable (See page 12.) Battery Case (Required when an absolute encoder is used.) Servomotor Main Circuit Cable (See page 8 and 9.) SGMJV Servomotor Servomotor Main Circuit Cable (See page 8 and 9.)

w Cable with Connectors, or r Cable

q Encoder-end Cable

SGMJV Servomotor

CAUTION
Separate the servomotor main circuit cable wiring from the I/O signal cable and encoder cable at least 30 cm, and do not bundle or run them in the same duct. When the cable length exceeds 20 m, be sure to use a relay encoder cable. When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops.

1Servomotor Main Circuit Cable


Name Servomotor Rated Output Length Order No. Standard Type JZSP-CSM01-03-E JZSP-CSM01-05-E JZSP-CSM01-10-E JZSP-CSM01-15-E JZSP-CSM01-20-E JZSP-CSM01-30-E JZSP-CSM01-40-E JZSP-CSM01-50-E JZSP-CSM02-03-E JZSP-CSM02-05-E JZSP-CSM02-10-E JZSP-CSM02-15-E JZSP-CSM02-20-E JZSP-CSM02-30-E JZSP-CSM02-40-E JZSP-CSM02-50-E JZSP-CSM03-03-E JZSP-CSM03-05-E JZSP-CSM03-10-E JZSP-CSM03-15-E JZSP-CSM03-20-E JZSP-CSM03-30-E JZSP-CSM03-40-E JZSP-CSM03-50-E Flexible Type* JZSP-CSM21-03-E JZSP-CSM21-05-E JZSP-CSM21-10-E JZSP-CSM21-15-E JZSP-CSM21-20-E JZSP-CSM21-30-E JZSP-CSM21-40-E JZSP-CSM21-50-E JZSP-CSM22-03-E JZSP-CSM22-05-E JZSP-CSM22-10-E JZSP-CSM22-15-E JZSP-CSM22-20-E JZSP-CSM22-30-E JZSP-CSM22-40-E JZSP-CSM22-50-E JZSP-CSM23-03-E JZSP-CSM23-05-E JZSP-CSM23-10-E JZSP-CSM23-15-E JZSP-CSM23-20-E JZSP-CSM23-30-E JZSP-CSM23-40-E JZSP-CSM23-50-E
(Contd)
Wire Markers M4 Crimped Terminals SERVOPACK End Servomotor End 50 mm

Specifications

Details

50, 100 W

For Servomotor without Holding Brakes

200, 400 W

750 W

3m 5m 10 m 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 15 m 20 m 30 m 40 m 50 m

(1)

Rotary Servomotors

Selecting Cables

Selecting Cables
Name Servomotor Rated Output Length Order No. Standard Type JZSP-CSM11-03-E JZSP-CSM11-05-E JZSP-CSM11-10-E JZSP-CSM11-15-E JZSP-CSM11-20-E JZSP-CSM11-30-E JZSP-CSM11-40-E JZSP-CSM11-50-E JZSP-CSM12-03-E JZSP-CSM12-05-E JZSP-CSM12-10-E JZSP-CSM12-15-E JZSP-CSM12-20-E JZSP-CSM12-30-E JZSP-CSM12-40-E JZSP-CSM12-50-E JZSP-CSM13-03-E JZSP-CSM13-05-E JZSP-CSM13-10-E JZSP-CSM13-15-E JZSP-CSM13-20-E JZSP-CSM13-30-E JZSP-CSM13-40-E JZSP-CSM13-50-E Flexible Type* JZSP-CSM31-03-E JZSP-CSM31-05-E JZSP-CSM31-10-E JZSP-CSM31-15-E JZSP-CSM31-20-E JZSP-CSM31-30-E JZSP-CSM31-40-E JZSP-CSM31-50-E JZSP-CSM32-03-E JZSP-CSM32-05-E JZSP-CSM32-10-E JZSP-CSM32-15-E JZSP-CSM32-20-E JZSP-CSM32-30-E JZSP-CSM32-40-E JZSP-CSM32-50-E JZSP-CSM33-03-E JZSP-CSM33-05-E JZSP-CSM33-10-E JZSP-CSM33-15-E JZSP-CSM33-20-E JZSP-CSM33-30-E JZSP-CSM33-40-E JZSP-CSM33-50-E
Crimped Type (A crimp tool is required.)

Specifications

Details

50, 100 W

For Servomotor with Holding Brakes

200, 400 W

750 W

3m 5m 10 m 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 15 m 20 m 30 m 40 m 50 m

SERVOPACK End 50 mm

Servomotor End L

(2)
Wire Markers M4 Crimped Terminal

50, 100 W
Servomotorend Connector Kit

JZSP-CSM9-1-E JZSP-CSM9-2-E JZSP-CSM9-3-E

(3) (4) (5)

200, 400 W 750 W 5m 10 m 15 m 20 m 30 m 40 m 50 m 5m 10 m 15 m 20 m 30 m 40 m 50 m

JZSP-CSM90-05-E JZSP-CSM90-10-E JZSP-CSM90-15-E JZSP-CSM90-20-E JZSP-CSM90-30-E JZSP-CSM90-40-E JZSP-CSM90-50-E JZSP-CSM91-05-E JZSP-CSM91-10-E JZSP-CSM91-15-E JZSP-CSM91-20-E JZSP-CSM91-30-E JZSP-CSM91-40-E JZSP-CSM91-50-E

JZSP-CSM80-05-E JZSP-CSM80-10-E JZSP-CSM80-15-E JZSP-CSM80-20-E JZSP-CSM80-30-E JZSP-CSM80-40-E JZSP-CSM80-50-E JZSP-CSM81-05-E JZSP-CSM81-10-E JZSP-CSM81-15-E JZSP-CSM81-20-E JZSP-CSM81-30-E JZSP-CSM81-40-E JZSP-CSM81-50-E (7) (6)

50 to 400 W

Cables

750 W

*: Use flexible cables for movable sections such as robot arms.


(1) Wiring Specications for Servomotors without Holding Brakes (2) Wiring Specications for Servomotor with Holding Brakes
SERVOPACK-end Leads Wire Color Green/yellow Blue White Red Signal FG Phase W Phase V Phase U Servomotor-end Connector Signal FG Phase W Phase V Phase U

SERVOPACK-end Leads Wire Color Green/yellow Blue White Red Black Black Signal FG Phase W Phase V Phase U Brake Brake

Servomotor-end Connector Signal FG Phase W Phase V Phase U Brake Brake Pin No.

Pin No.

1 2 3 4 5 6

1 2 3 4 5 6

Note: No polarity for connection to a holding brake.

Servomotors

SGMJV

Rotary Motors

(3) Servomotor-end Connector Kit Specifications: For 50, 100 W Servomotors


Items Order No. Applicable Servomotors Manufacturer Receptacle Electrical Contact Applicable Wire Size Outer Diameter of Insulating Sheath Mounting Screw Applicable Cable Outer Diameter Specifications JZSP-CSM9-1-E (Cables are not included.) SGMJV-A5A, -01A J.S.T. Mfg. Co., Ltd. J17-06FMH-7KL-1-CF SJ1F-01GF-P0.8 AWG20 to 24
12

External Dimensions mm
20 19

654 321
Pin No.1

1.11 dia. to 1.53 dia. mm


M2 Pan-head screw

7 0.3 dia. mm

Pin No.6

Note: A crimp tool (Model no.: YRS-8841) is required. Contact the respective manufacturer for more information.

(4) Servomotor-end Connector Kit Specications: For 200, 400 W Servomotors


Items Order No. Applicable Servomotors Manufacturer Receptacle Electrical Contact Applicable Wire Size Outer Diameter of Insulating Sheath Mounting Screw Applicable Cable Outer Diameter Specifications JZSP-CSM9-2-E (Cables are not included.) SGMJV-02A, -04A J.S.T. Mfg. Co., Ltd. J27-06FMH-7KL-1-CF SJ2F-01GF-P1.0 AWG20 to 24
13

External Dimensions mm
21 21

654 321
Pin No.1

1.11 dia. to 1.53 dia. mm


M2 Pan-head screw
Pin No.6

7 0.3 dia. mm

Note: A crimp tool (Model no.: YRS-8861) is required. Contact the respective manufacturer for more information.

(5) Servomotor-end Connector Kit Specications: For 750 W Servomotors


Items Order No. Applicable Servomotors Manufacturer Receptacle Cable Type Electrical Contact Applicable Wire Size Outer Diameter of Insulating Sheath Mounting Screw Applicable Cable Outer Diameter Specifications JZSP-CSM9-3-E (Cables are not included.) SGMJV-08A J.S.T. Mfg. Co., Ltd. J37-06FMH-8KL-1-CF Standard SJ3F-41GF-P1.8 (For power terminals) AWG16 to 20 SJ3F-01GF-P1.8 (For brake terminals) AWG20 to 24
27 21

External Dimensions mm

15

654321
Pin No.1 Pin No.6

1.11 dia. to 1.53 dia. to 2.5 dia. mm 1.86 dia. mm M2.5 Pan-head screw 8 0.3 dia. mm

Note: The following crimp tools are required. For power terminals: Model no. YRF-880 For brake terminals: Model no. YRF-881 Contact the respective manufacturer for more information.

10

Rotary Servomotors

Selecting Cables

Selecting Cables
(6) Cable Specications: For 50 to 400 W Servomotors
Items Order No.* Standard Type JZSP-CSM90--E (50 m max.) UL2517 (Rating temperature: 105C) AWG20 6C For power line: AWG20 (0.52 mm2) Outer diameter of insulating sheath: 1.53 dia. mm For holding brake line: AWG20 (0.52 mm2) Outer diameter of insulating sheath: 1.53 dia. mm Flexible Type JZSP-CSM80--E (50 m max.) UL2517 (Rating temperature: 105C) AWG22 6C For power line: AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.37 dia. mm For holding brake line: AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.37 dia. mm

Specifications

Finished Dimensions

7 0.3 dia. mm

Black Green/ (yellow)

White

Internal Configuration and Lead Color

Blue
Black

Red

Yaskawa Standard Specifications (Standard Length)


Specify *: Examplethe cable length in 5of order no. : JZSP-CSM90-05-E ( m)

Cable length: 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m

(7) Cable Specications: For 750 W Servomotors


Items Order No.* Standard Type JZSP-CSM91--E (50 m max.) UL2517 (Rating temperature: 105C) AWG16 4C, AWG20 2C For power line: AWG16 (1.31 mm2) Outer diameter of insulating sheath: 2.15 dia. mm For holding brake line: AWG20 (0.52 mm2) Outer diameter of insulating sheath: 1.6 dia. mm Flexible Type JZSP-CSM81--E (50 m max.) UL2517 (Rating temperature: 105C) AWG16 4C, AWG22 2C For power line: AWG16 (1.31 mm2) Outer diameter of insulating sheath: 2.35 dia. mm For holding brake line: AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.37 dia. mm

Specifications

Finished Dimensions

8 0.3 dia. mm

Black Green/ (yellow)

Red

Internal Configuration and Lead Color

Blue
Black

White

Yaskawa Standard Specifications (Standard Length)


Specify *: Examplethe cable length in 5of order no. : JZSP-CSM91-05-E ( m)

Cable length: 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m

11

Servomotors

SGMJV

Rotary Motors

1Encoder Cables (Length: 20 m or less)


Name Cable with Connectors (For Incremental Encoder) Cable with Connectors*2 (For Absolute Encoder, with a Battery Case) SERVOPACK-end Connector Kit Encoder-end Connector Kit Length Order No. Standard Type JZSP-CSP01-03-E JZSP-CSP01-05-E JZSP-CSP01-10-E JZSP-CSP01-15-E JZSP-CSP01-20-E JZSP-CSP05-03-E JZSP-CSP05-05-E JZSP-CSP05-10-E JZSP-CSP05-15-E JZSP-CSP05-20-E Flexible Type*1 JZSP-CSP21-03-E JZSP-CSP21-05-E JZSP-CSP21-10-E JZSP-CSP21-15-E JZSP-CSP21-20-E JZSP-CSP25-03-E JZSP-CSP25-05-E JZSP-CSP25-10-E JZSP-CSP25-15-E JZSP-CSP25-20-E Specifications
SERVOPACK End L Encoder End

Details

3m 5m 10 m 15 m 20 m 3m 5m 10 m 15 m 20 m

(1)
Connector Plug Connector (Crimped) (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.) SERVOPACK End L Encoder End

(2)
Battery Case (Battery attached) Plug Connector Connector (Crimped)(Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.)

Soldered

JZSP-CMP9-1-E
Crimped Type (A crimp tool is required.)

(3)

JZSP-CSP9-2-E

Cables

3m 5m 10 m 15 m 20 m

JZSP-CMP09-03-E JZSP-CMP09-05-E JZSP-CMP09-10-E JZSP-CMP09-15-E JZSP-CMP09-20-E

JZSP-CSP39-03-E JZSP-CSP39-05-E JZSP-CSP39-10-E JZSP-CSP39-15-E JZSP-CSP39-20-E (4)

sections such as robot *1:: Use flexible cables for movableto the host controller, noarms. case is required. If so, use a cable for incremental encoders. battery *2 When the battery is connected

(1) Wiring Specications for Cable with Connectors (For incremental encoder) Standard Type
SERVOPACK End Pin No. Signal /PS PS BAT () BAT (+) PG 0V PG 5V FG
Shield Wire

Flexible Type
SERVOPACK End Pin No. Signal /PS PS BAT () BAT (+) PG 0V PG 5V FG
Shield Wire

Encoder (Servomotor) End Pin No. Wire Color Light blue/white Light blue Orange/white Orange Black Red FG

Encoder (Servomotor) End Pin No. Wire Color Black/pink Red/pink Black/light blue Red/light blue Green Orange FG

6 5 4 3 2 1
Shell

5 4 8 9 3 6
Shell

6 5 4 3 2 1
Shell

5 4 8 9 3 6
Shell

(2) Wiring Specications for Cable with Connectors (For absolute encoder, with a battery case) Standard Type
SERVOPACK End Pin No. Signal /PS PS BAT () BAT (+) PG 0V PG 5V FG
Shield Wire

Flexible Type
SERVOPACK End Pin No. Signal /PS PS BAT () BAT (+) PG 0V PG 5V FG
Shield Wire

Encoder (Servomotor) End Pin No. Wire Color Light blue/white Light blue Orange/white Orange Black Red FG

Encoder (Servomotor) End Pin No. Wire Color Black/pink Red/pink Black/light blue Red/light blue Green Orange FG

6 5 4 3 2 1
Shell

5 4 8 9 3 6
Shell

6 5 4 3 2 1
Shell

5 4 8 9 3 6
Shell

Battery Case Pin No. Signal BAT () BAT (+)

Battery Case Pin No. Signal BAT () BAT (+)

2 1

2 1

12

Rotary Servomotors

Selecting Cables

Selecting Cables
(3) SERVOPACK-end/Encoder-end Connector Kit Specifications
Items Order No. Manufacturer SERVOPACK-end Connector Kit JZSP-CMP9-1-E (Cables are not included.) Molex Japan Co., Ltd. 55100-0670 (soldered) Product Specification: PS-54280 Encoder-end Connector Kit JZSP-CSP9-2-E (Cables are not included.) Molex Japan Co., Ltd.

Specifications

54346-0070 (crimped)* Mounting screw: M2 pan-head screw ( 2) Applicable cable outer diameter of applicable cable: 6.3 dia. to 7.7 dia. mm Applicable wire size: AWG22 to 26 Outer diameter of insulating sheath: 1.05 dia. to 1.4 dia. mm Application Specification: AS-54992 Crimping Specification: CS-56161
(27)

20.5

17 2-M2 Pan-head Screws

External Dimensions (Units: mm)

5 6 3 4 1 2

(19)

11

7
(12) (33)

9 6
required. *: A crimp tool iscrimp tool is applicable for the cables provided by Yaskawa. When using other wire sizes, contact the respective manufacturer for The following crimp tools. Applicable crimp tool for Yaskawas wire size: Hand Tool Model No. 57175-5000

(4) Cable Specications


Items Order No.* Cable Length Standard Type JZSP-CMP09--E UL20276 (Rating temperature: 80C) Flexible Type JZSP-CSP39--E

Specifications

20 m max. UL20276 (Rating temperature: 80C) AWG222C+AWG242P AWG222C+AWG242P AWG22 (0.33 mm2) AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.15 dia. mm Outer diameter of insulating sheath: 1.35 dia. mm AWG24 (0.20 mm2) AWG24 (0.20 mm2) Outer diameter of insulating sheath: 1.09 dia. mm Outer diameter of insulating sheath: 1.21 dia. mm 6.5 dia. mm 6.8 dia. mm

Finished Dimensions

Light blue

Internal Configuration and Lead Color


Orange Orange/ white

Light blue/ white Red Black


Black/ pink Red/ pink Orange Green

Yaskawa Standards Specifications (Standard Length)


Specify *: Examplethe cable length in 5of order no. : JZSP-CMP09-05-E ( m)

Cable length: 5 m, 10 m, 15 m, 20 m

13

5
Black/ light blue Red/ light blue

Servomotors

SGMJV

Rotary Motors

1Relay Encoder Cables (For extending from 30 to 50 m)


Name Length Order No. Standard Type Specifications
SERVOPACK End Encoder End

Details

0.3 m

Encoder-end Cables (For incremental and absolute encoder)

0.3 m

JZSP-CSP11-E
Plug Connector (Crimped) Connector (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.)

(1)

30 m
w

JZSP-UCMP00-30-E JZSP-UCMP00-40-E JZSP-UCMP00-50-E

SERVOPACK End

Encoder End

Cable with Connectors (For incremental and absolute encoder)

40 m 50 m

(2)
Plug Connector (Crimped) Socket Connector (Soldered) (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.) SERVOPACK End

0.3 m

Encoder End

Cable with a Battery Case (Required when an absolute encoder is used*.)

0.3 m

JZSP-CSP12-E

Battery Case (Battery attached)


Plug Connector (Crimped) (Molex Japan Co., Ltd.) Socket Connector (Soldered) (Molex Japan Co., Ltd.)

(3)

30 m

JZSP-CMP19-30-E JZSP-CMP19-40-E JZSP-CMP19-50-E (4)

Cables

40 m 50 m

*: Not required when connecting a battery to the host controller.


(1) Wiring Specifications for Encoder-end Cable
SERVOPACK End Pin No. Signal /PS PS BAT () BAT (+) PG 0V PG 5V FG
Shield Wire

(2) Wiring Specifications for Cable with Connectors


SERVOPACK End Pin No. Signal /PS PS BAT () BAT (+) PG 0V PG 5V FG
Shield Wire

Encoder (Servomotor) End Pin No. Wire Color Light blue/white Light blue Orange/white Orange Black Red FG

Encoder (Servomotor) End Pin No. Wire Color Light blue/white Light blue Orange/white Orange Black Red FG

6 5 4 3 2 1
Shell

5 4 8 9 3 6
Shell

6 5 4 3 2 1
Shell

6 5 4 3 2 1
Shell

(3) Wiring Specications for Cable with a Battery Case


SERVOPACK End Pin No. Signal /PS PS BAT () BAT (+) PG 0V PG 5V FG
Shield Wire

(4) Cable Specications


Item Order No.* Cable Length Standard Type JZSP-CMP19--E

Encoder (Servomotor) End Pin No. Wire Color Light blue/white Light blue Orange/white Orange Black Red FG

50 m max.
UL20276 (Rating temperature: 80C) AWG162C+AWG262P AWG16 (1.31 mm2) Outer diameter of insulating sheath: 2.0 dia. mm AWG26 (0.13 mm2) Outer diameter of insulating sheath: 0.91 dia. mm

6 5 4 3 2 1
Shell

6 5 4 3 2 1
Shell

Specifications

Finished Dimensions

6.8 dia. mm

Battery Case Pin No. Signal BAT () BAT (+)

Black

2 1

Internal Configuration and Lead Colors

Orange Orange /white

Light Blue Light Blue /white

Red

Yaskawa Standard Specifications (Standard Length)

Cable length: 30 m, 40 m, 50 m

of order *: Specify the cable length in 30 m) no. Example: JZSP-CMP19-30-E (

14

Rotary Servomotors

Selecting Cables

With Low-backlash Gears

Ratings and Specifications


Withstand Voltage: 1500 VAC for one minute Enclosure: Totally enclosed, self-cooled, IP55 (except for shaft opening) Ambient Humidity: 20% to 80% (no condensation) Drive Method: Direct drive Rotation Direction: Counterclockwise (CCW) with forward run reference when viewed from the load side
Gear Rated Torque N m Instantaneous Peak Torque N m Gear Ratio Lost Motion arc-min Rated Torque / Efficiency*1 N m /% Instantaneous Peak Torque N m Rated Speed min-1 Max. Speed min-1

Time Rating: Continuous Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C Excitation: Permanent magnet Mounting: Flange-mounted Gear Mechanism: Planetary gear mechanism Thermal Class: B
Servomotor Servomotor Model SGMJVA5AAH1 A5AAH2 A5AAHC A5AAH7 Rated Output W Rated Speed min-1 Max. Speed min-1

50

3000

6000

0.159

0.557

01AAH1 01AAHB 01AAHC 01AAH7 02AAH1 02AAHB 02AAHC 02AAH7 04AAH1 04AAHB 04AAHC 04AAH7 08AAH1 08AAHB 08AAHC 08AAH7

100

3000

6000

0.318

1.11

200

3000

6000

0.637

2.23

400

3000

6000

1.27

4.46

750

3000

6000

2.39

8.36

1/5 1/9 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33

3 max.

3 max.

3 max.

3 max.

3 max.

0.433/64*2 1.12/78 2.84/85 3.68/70 1.06/78*2 2.52/72 5.35/80 7.35/70 2.39/75 5.74/82 10.2/76 17.0/81 5.35/84 11.5/82 23.0/86 34.0/81 10.0/84 23.1/88 42.1/84 69.3/88

2.37 3.78*3 10.6 15.8 4.96 10.7 20.8 32.7 9.80 22.1 42.1 67.6 20.1 45.1 87.0 135 38.4 86.4 163 259

600 333 143 91 600 273 143 91 600 273 143 91 600 273 143 91 600 273 143 91

1200 667 286 182 1200 545 286 182 1200 545 286 182 1200 545 286 182 1200 545 286 182

Gear output torque is expressed using the following equation. 1 (Gear output torque)= (Servomotor output torque) (efficiency) (gear ratio) Gear efficiency depends on operating conditions such as output torque, motor speed, and temperature etc. The values in the table are representative values with rated torque, rated speed, and an ambient temperature of 25C, and are not guaranteed values. 2: When using SGMJV-A5A, -01A servomotors with a gear ratio of 1/5, maintain an 85% max. effective load ratio. The values in the table are provided with consideration given to the effective load ratio. 3: Instantaneous Peak torque is 300% Notes: 1 The gear mounted to our servomotor has not been broken in. Break in the servomotor if necessary. First, run the motor at low speed with no load. If no problems arise, gradually increase the speed and load. 2 The no-load torque for a servomotor with a gear is high immediately after the servomotor starts, and it then decreases and becomes stable a few minutes later. This is a common phenomenon caused by grease being circulated in the gear and not by a faulty gear.

*1: * *

IMPORTANT The SERVOPACK speed control range is 5000:1. When using servomotors at extremely low speeds (0.02 min-1 at gear output shaft), when using servomotors with one pulse feed reference for extended periods and in some other situations, the gear bearing lubrication may be insufficient. That may cause deterioration of bearing or increase the load ratio. Contact your Yaskawa representative if you are using your servomotor under these conditions.

15

Servomotors

SGMJV

Rotary Motors

Moment of Inertia and Allowable Radial and Thrust Loads


Moment of Inertia10-4 kg m2 Servomotor Model SGMJVA5AAH1 A5AAH2 A5AAHC A5AAH7 Flange Output Motor Motor Servomotors with Low-backlash Gears Allowable Radial Load (Fr) N Allowable Thrust Load (Fs) N LF mm Reference Diagram

Gear

Gear

Gear

Gear

01AAH1 01AAHB 01AAHC 01AAH7 02AAH1 02AAHB 02AAHC 02AAH7 04AAH1 04AAHB 04AAHC 04AAH7 08AAH1 08AAHB 08AAHC 08AAH7

0.0474 0.0444 0.0454 0.0864 0.0725 0.127 0.117 0.132 0.466 0.452 0.749 0.709 0.649 1.01 0.932 1.06 2.27 2.17 4.57 4.37

0.006 0.003 0.004 0.045 0.006 0.060 0.050 0.065 0.207 0.193 0.490 0.450 0.207 0.570 0.490 0.620 0.700 0.600 3.00 2.80

0.0464 0.0444 0.0454 0.0864 0.0715 0.126 0.117 0.131 0.460 0.451 0.747 0.708 0.643 1.00 0.930 1.05 2.23 2.16 4.55 4.36

0.005 0.003 0.004 0.045 0.005 0.059 0.050 0.064 0.201 0.192 0.488 0.449 0.201 0.560 0.488 0.610 0.660 0.590 2.98 2.79

95 113 146 267 95 192 233 605 152 192 528 605 152 435 528 951 343 435 830 951

431 514 663 1246 431 895 1087 2581 707 895 2254 2581 707 1856 2254 4992 1465 1856 4359 4992

37 37 37 53 37 53 53 75 53 53 75 75 53 75 75 128 75 75 128 128

With shaft
LF

Fr Fs

With flange
LF

Fr

Fs

IMPORTANT The gear generates the loss at gear mechanism and oil seal. The loss varies with torque and motor speed conditions. The temperature rise depends on heating conditions. Always check the actual gear and motor temperature. If the temperature is high, take the measures shown below. Decrease the load ratio. Change the heating conditions. Cool the motor with a cooling fan etc.

Rated Output W

1/5

50 100 200 400 750

Heat Sink Size 1/9 or 1/11 1/21 A

1/33

B C

A : 250 mm 250 mm 6 mm, aluminum B : 300 mm 300 mm 12 mm, aluminum C : 350 mm 350 mm 12 mm, aluminum

16

Rotary Servomotors

With Low-backlash Gears

Ratings and Specifications

With Low-backlash Gears


(1) 50, 100 W

External Dimensions

Units: mm
W
U T

L LL LM LG

0.06 (0.05) A
LR L1 L3 LE L2 Q QK A Shaft End With Key and Tap 0.05 Dia. (0.04 Dia.) A LC
LA Di a.

0.04 (0.03)

2
14

17

20

12

Note: The geometric tolerance in parentheses indicates the value when LC=40.

Rotating Section (Shaded Section)

C Dia. B Dia. LD Dia. LB Dia.

S Dia.

4-LZ Dia.

Tap Depth

Model SGMJVA5AAH11 * (A5AAH1C) * A5AAH21 * (A5AAH2C) *

Gear Ratio

LL

LM

Flange Face Dimensions LR LE LG B LD LB LC LA LZ

1/5 1/9 1/21 1/33 1/5 1/11 1/21 1/33

150.5 (195.5) 159.5 (204.5) 191 (236) 164 (209) 204.5 (249.5) 229 (274)

108.5 (153.5) 117.5 (162.5) 133 (178) 122 (167) 146.5 (191.5) 149 (194)

76.5 42 85.5 101 90 58 42 2.5 2.2 8 5 40 29 55.5 39.5 56 0.030 0 40 0.025 0 60 40 70 46 5. 5 3. 4 2.2 5 29 39.5 40 0.025 0 40 46 3. 4

A5AAHC1 * (A5AAHCC) * A5AAH71 * (A5AAH7C) *

01AAHC1 * (01AAHCC) * 01AAH71 * (01AAH7C) *


Model SGMJVA5AAH11 * (A5AAH1C) * A5AAH21 * (A5AAH2C) *

01A AHB1 * (01AAHBC) *

01AAH11 * (01AAH1C) *

114.5

58

2.5

40

55.5

56 0.030 0

60

70

5. 5

117

80

7.5

10

59

84

85 0.035 0

90

105

9
Approx. Mass kg

Flange Face Dimensions L1 L2 L3

Tap Depth

Key Dimensions QK U W T

22

20

14.6

10

0 0.015

M3 6L

15

2.5

0.6 (0.9) 0.7 (1.0)

A5AAHC1 * (A5AAHCC) * A5AAH71 * (A5AAH7C) *

28 22

30 20

20 14.6

28

20

16 0.018 0 10 0.015 0

M4 8L M3 6L

25 15

3 2.5

5 4

5 4

1.3 (1.6) 0.7 (1.0) 1.4 (1.7) 2.8 (3.1)

01AAHC1 * (01AAHCC) * 01AAH71 * (01AAH7C) *

01AAHB1 * (01AAHBC) *

01AAH11 * (01AAH1C) *

28

30

20

28

20

16 0.018 0

M4 8L

25

36

44

26

42

32

25 0.021 0

M6 12L

36

The asterisk ( ) describes the 8th digit of *: order a servomotor with shaft values of the(without key the model designation, shaft end code 6 (straight with key and tap). If a key or tap is not necessary, * end code 2 and tap). Notes: 1 The models and values in parentheses are for servomotors with holding brakes. 2 Please note that gear dimensions are different from those of , , and series.

17

Servomotors

SGMJV

Rotary Motors

1Flange Output Face


L

0.06
LR L3 LE
0.05

0.02 0.04 0.03 A

0.05 Dia.

0.04 Dia.

A
LC

LA

Di

a.

F Dia. G Dia. LD Dia. LB Dia.

LJ D

ia.

Note: The geometric tolerance in parentheses indicates the value when LC=40.

LK

4-LZ Dia.

Tap Depth

Model SGMJVA5AAH101 (A5AAH10C) A5AAH201 (A5AAH20C) A5AAHC01 (A5AAHC0C) A5AAH701 (A5AAH70C)

Gear Ratio

LR

LJ

LK

No. of pcs Approx. Mass Tap Depth kg

1/5 1/9 1/21 1/33 1/5 1/11 1/21 1/33

123.5 (168.5) 123.5 (168.5) 132.5 (177.5) 154 (199) 137 (182) 167.5 (212.5) 167.5 (212.5) 176 (221) 21 15 30 18 14 5
+0.018 0

15

18

+0.012 0

24

3-M4 6L

0.6 (0.9)

40 24

5 3

6-M4 7L 3-M4 6L

1.2 (1.5) 0.7 (1.0) 1.3 (1.6) 2.4 (2.7)

01AAH101 (01AAH10C) 01AAHB01 (01AAHB0C) 01AAHC01 (01AAHC0C) 01AAH701 (01AAH70C)

+0.012 0

21

30

14

+0.018 0

40

3-M4 7L

27

45

24

+0.021 0

59

6-M6 10L

Notes: 1 The models and values in parentheses are for servomotors with holding brakes. 2 Dimensions not found in the table above are the same as those in the table on the previous page.

IMPORTANT Regarding the flange output type shaft end, when the flange "LC" is 40 mm, we recommend designing a servomotor with the dimensions shown in the diagram on the right, in order to secure the gap between the gear oil seal and the parts on the load side.

0.5 min.

Parts on the load side

24 Dia. max.

18

Rotary Servomotors

With Low-backlash Gears

External Dimensions

Units: mm

With Low-backlash Gears


(2) 200, 400 W

External Dimensions

Units: mm

W
U T
LC

L LL LM LG

0.06
LR L1 L3 LE

A Shaft End With Key and Tap

L2 Q QK

0.05 Dia. A 0.04


A
LA Di

1.5

17

21

a.

14

13

S Dia. C Dia. B Dia. LD Dia. LB Dia.

Rotating Section (Shaded Section)

4-LZ Dia.

Tap Depth

Model SGMJV-

Gear Ratio

LL

LM

LR

LE

LG

Flange Face Dimensions B LD LB

LC

LA

LZ

02AAHC1 * (02AAHCC) * 02AAH71 * (02AAH7C) * 04AAH11 * (04AAH1C) *

02AAH11 * (02AAH1C) * 02AAHB1 * (02AAHBC) *

1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33

202 (242)

144 (184)

115

58

2.5

40

55.5

56 0.030 0

60

70

5.5

231 (271) 220.5 (260.5) 249.5 (289.5) 335.5 (375.5)

151 (191) 162.5 (202.5) 169.5 (209.5) 202.5 (242.5)

122

80

7.5

10

59

84

85 0.035 0

90

105

133.5

58

2.5

40

55.5

56 0.030 0

60

70

5.5

04AAHC1 * (04AAHCC) * 04AAH71 * (04AAH7C) *


Model SGMJV-

04AAHB1 * (04AAHBC) *

140.5

80

7.5

10

59

84

85 0.035 0

90

105

173.5

133

12.5

13

84

114

115 0.035 0

120

135

11

Flange Face Dimensions L1 L2 L3

Tap Depth

Key Dimensions QK U W T

Approx. Mass kg

02AAHB1 * (02AAHBC) * 02AAHC1 * (02AAHCC) * 02AAH71 * (02AAH7C) * 04AAH11 * (04AAH1C) *

02AAH11 * (02AAH1C) *

28

30

20

28

20

16 0.018 0

M4 8L

25

1.9 (2.5) 2.0 (2.6) 3.8 (4.4) 2.3 (2.9) 4.2 (4.8) 8.8 (9.4)

36

44

26

42

32

25 0.021 0

M6 12L

36

28

30

20

28

20

16 0.018 0

M4 8L

25

04AAHC1 * (04AAHCC) * 04AAH71 * (04AAH7C) *

04AAHB1 * (04AAHBC) *

36

44

26

42

32

25 0.021 0

M6 12L

36

48

85

33

82

44

40 0.025 0

M10 20L

70

12

The asterisk ( ) describes the 8th digit of *: order a servomotor with shaft values of the(without key the model designation, shaft end code 6 (straight with key and tap). If a key or tap is not necessary, * end code 2 and tap). Notes: 1 The models and values in parentheses are for servomotors with holding brakes. 2 Please note that gear dimensions are different from those of , , and series.

19

Servomotors

SGMJV

Rotary Motors

1Flange Output Face


L LR L3 LE A

0.06 A 0.02 0.05 Dia. A 0.04


LC

a. Di LA

F Dia. G Dia. LD Dia. LB Dia.

LJ Dia .

5
Model SGMJVGear Ratio

4-LZ Dia.

Tap Depth

LR

LJ

No. of pcs Approx. Mass Tap Depth kg

02AAH101 (02AAH10C) 02AAHB01 (02AAHB0C) 02AAHC01 (02AAHC0C) 02AAH701 (02AAH70C) 04AAH101 (04AAH10C) 04AAHB01 (04AAHB0C) 04AAHC01 (04AAHC0C) 04AAH701 (04AAH70C)

1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33

165 (205)

21

30

14

+0.018 0

40

6-M4 7L

1.8 (2.4) 1.9 (2.5) 3.4 (4.0) 2.2 (2.8) 3.8 (4.4) 7.4 (8.0)

178 (218) 183.5 (223.5) 196.5 (236.5) 237.5 (277.5)

27

45

24

+0.021 0

59

6-M6 10L

21

30

14

+0.018 0

40

6-M4 7L

27

45

24

+0.021 0

59

6-M6 10L

35

60

32

+0.025 0

84

6-M8 12L

Notes: 1 The models and values in parentheses are for servomotors with holding brakes. 2 Dimensions not found in the table above are the same as those in the table on the previous page.

20

Rotary Servomotors

With Low-backlash Gears

External Dimensions

Units: mm

With Low-backlash Gears


(3) 750 W

External Dimensions

Units: mm
W U T

L LL LM LG

0.06
LR L1 L3 LE

L2 Q QK

0.04
A

1. 5 14

17

21 15

Shaft End With Key and Tap 0.05 Dia. A LC


LA Di a.

S Dia. C Dia. B Dia. LD Dia. LB Dia.

Rotating Section (Shaded Section)

4-LZ Dia.

Tap Depth

Model SGMJV-

Gear Ratio

LL

LM

LR

LE

LG

Flange Face Dimensions B LD LB

LC

LA

LZ

08AAH11 * (08AAH1C) * 08AAHB1 * (08AAHBC) * 08AAHC1 * (08AAHCC) * 08AAH71 * (08AAH7C) *


Model SGMJV-

1/5 1/11 1/21 1/33

273 (318)

193 (238)

163

80

7.5

10

59

84

85 0.035 0

90

105

352 (397)

219 (264)

189

133

12.5

13

84

114

115 0.035 0

120

135

11

Flange Face Dimensions L1 L2 L3

Tap Depth

Key Dimensions QK U W T

Approx. Mass kg

08AAH11 * (08AAH1C) * 08AAHB1 * (08AAHBC) * 08AAHC1 * (08AAHCC) * 08AAH71 * (08AAH7C) *

36

44

26

42

32

25

0 0.021

M6 12L

36

5.6 (6.5) 5.8 (6.7) 10.5 (11.4)

48

85

33

82

44

40 0.025 0

M10 20L

70

12

8th digit of The asterisk ( ) describes the *: order a servomotor with shaft values of the(without key the model designation, shaft end code 6 (straight with key and tap). If a key or tap is not necessary, * end code 2 and tap).
Notes: 1 The models and values in parentheses are for servomotors with holding brakes. 2 Please note that gear dimensions are different from those of , , and series.

21

Servomotors

SGMJV

Rotary Motors

2Flange Output Face


L LR L3 LE A
LA Di

0.06 A 0.02 0.05 Dia. A 0.04


LC

a.

F Dia. G Dia. LD Dia. LB Dia.

LJ Dia .

4-LZ Dia.

Tap Depth

Model SGMJV-

Gear Ratio

LR

LJ

No. of pcs Approx. Mass kg Tap Depth

08AAH101 (08AAH10C) 08AAHB01 (08AAHB0C) 08AAHC01 (08AAHC0C) 08AAH701 (08AAH70C)

1/5 1/11 1/21 1/33

220 (265)

27

45

24

+0.021 0

59

6-M6 10L

5.2 (6.1) 5.4 (6.3) 9.1 (10.0)

254 (299)

35

60

32

+0.025 0

84

6-M8 12L

Notes: 1 The models and values in parentheses are for servomotors with holding brakes. 2 Dimensions not found in the table above are the same as those in the table on the previous page.

22

Rotary Servomotors

With Low-backlash Gears

External Dimensions

Units: mm

Rotary Servomotors

SGMAV

Model Designations
2Without Gears

SGMAV - 01
Series Servomotor SGMAV

A
3rd digit

D
4th digit

A
5th digit

2
6th digit

1
7th digit

1st+2nd digits

1st+2nd digits Rated Output


Code A5 Specifications 50 W 100 W 150 W 200 W 400 W 550 W 750 W 1.0 kW

5th digit Design Revision Order


Code A Specifications Standard

7th digit Options


Code Specifications Without options With holding brake (24 VDC) With oil seal and holding brake (24 VDC) With oil seal

1
C

01
C2

02 04 06 08 10

6th digit Shaft End


Code

2 6
B

Specifications Straight without key (standard) Straight with key and tap (optional) With two flat seats (optional)

E S

3rd digit Power Supply Voltage


Code A Specifications 200 VAC

4th digit Serial Encoder


Code

3 D

Specifications 20-bit absolute (standard) 20-bit incremental (standard)

23

Servomotors

SGMAV
Features
1Super high power rate (Extremely low inertia) 1Instantaneous peak torque (300% of rated

Rotary Motors

Application Examples
1Semiconductor equipment 1Chip mounters 1PCB drilling stations 1Robots 1Material handling machines 1Food processing equipment

torque)

1Mounted high-resolution serial encoder:

20 bits
1Maximum speed: 6,000 min-1 1Wide selection: 50 W to 1.0 kW capacity,

holding brake and gear options

1With Gears

SGMAV - 01
Series Servomotor SGMAV

A
3rd digit

D
4th digit

A
5th digit

H
6th digit

1
7th digit

2
8th digit

1
9th digit

1st+2nd digits

1st+2nd digits Rated Output


Code A5 Specifications 50 W 100 W 150 W 200 W 400 W 550 W 750 W 1.0 kW

5th digit Design Revision Order


Code A Specifications Standard

8th digit Shaft End


Code Specifications Flange output Straight without key Straight with key and tap

01
C2

02 04 06 08 10

6th digit Gear Type


Code H Specifications HDS planetary low-backlash gear

0 2 6

9th digit Options


Code Specifications Without options With holding brake (24 VDC)

7th digit Gear Ratio


Code B C Specifications 1/11 (Not available: 50 W)

1 C

3rd digit Power Supply Voltage


Code A Specifications

200 VAC

4th digit Serial Encoder


Code

1 2 7

1/21 1/5 1/9 (Only 50 W) 1/33

3 D

Specifications 20-bit absolute (standard) 20-bit incremental (standard)

24

Rotary Servomotors

Ratings and Specifications


Time Rating: Continuous Vibration Class: V15 Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C Excitation: Permanent magnet Mounting: Flange-mounted Thermal Class: B
Voltage Servomotor Model: SGMAV- Rated Output*1 Rated Torque*1, *2 Instantaneous Peak Torque*1 Rated Current*1 Instantaneous Max. Current*1 Rated Speed*1 Max. Speed* Torque Constant
1

Withstand Voltage: 1500 VAC for one minute Enclosure: Totally enclosed, self-cooled, IP65 (except for shaft opening) Ambient Humidity: 20% to 80% (no condensation) Drive Method: Direct drive Rotation Direction: Counterclockwise (CCW) with forward run reference when viewed from the load side
01A 100 0.318 0.955 0.91 2.8
C2A

A 5A

W Nm Nm Arms Arms min-1 min-1 N m/Arms

50 0.159 0.477 0.66 2.1

150 0.477 1.43 1.3 4.2

0.265 0.0242 (0.0389) 10.4 65800 R70

0.375 0.0380 (0.0527) 26.6 83800 R90

0.381 0.0531 (0.0678)

200 V 02A 04A 200 400 0.637 1.27 1.91 3.82 1.5 2.6 5.3 8.5 3000 6000 0.450 0.539 0.116 (0.180) 0.190 (0.254) 84.9 67000 2R8

06A 550 1.75 5.25 3.8 12.2

08A 750 2.39 7.16 5.3 16.6

10A 1000 3.18 9.55 7.4 23.9

0.496 0.326 (0.403) 93.9 53700 5R5A

0.487 0.769 (0.940) 74.1 31000 5R5A

0.467 1.20 (1.41) 84.3 26500 120A

Rotor Moment of Inertia Rated Power Rate*1 Rated Angular Acceleration*1 Applicable SERVOPACK

10-4 kg m2
kW/s rad/s2 SGDV-

42.8 35.0 89900 54900 1R6A,2R1F

These items and torque-motor speed characteristics quoted in combination with an SGDV SERVOPACK are at an armature winding temperature of 100C. Other values quoted are at 20C. Rated torques are continuous allowable torque values at 40C with an aluminum heat sink of the following dimensions attached. SGMAV-A5A, -01A: 200 mm200 mm6 mm SGMAV-C2A, -02A, -04A, -06A, -08A: 250 mm250 mm6 mm SGMAV-10A: 300 mm300 mm12 mm Note: The values in parentheses are for servomotors with holding brakes.

*1: *2:

1Torque-Motor Speed Characteristics


SGMAV-A5A
Motor Speed (min-1) Motor Speed (min-1)

: Continuous Duty Zone


Motor Speed (min-1)

: Intermittent Duty Zone


SGMAV-02A
Motor Speed (min-1)

SGMAV-01A
6000 5000 4000 3000 2000 1000 0 0 0.25 0.5 0.75
Torque () A B

SGMAV-C2A
6000 5000 4000 3000 2000 1000 0 1 0 0.4 0.8 1.2
Torque () A B

6000 5000 4000 3000 2000 1000 0 0 0.15 0.3 0.45 0.6
Torque () A B

6000 5000 4000 3000 2000 1000 0 0 0.5 1 1.5 2


A B

1.6

Torque ()

SGMAV-04A
Motor Speed (min-1) Motor Speed (min-1)

SGMAV-06A
Motor Speed (min-1)

SGMAV-08A
Motor Speed (min-1)

SGMAV-10A
6000 5000 4000 3000 2000 1000 0 0 2.5 5 7.5 10
A B

6000 5000 4000 3000 2000 1000 0 0 1 2 3 4


Torque () A B

6000 5000 4000 3000 2000 1000 0 0 1.5 3 4.5 6


Torque () A B

6000 5000 4000 3000 2000 1000 0 0 2 4 6 8


Torque () A B

Torque ()

Notes: 1 The characteristics of the intermittent duty zone differ depending on the supply voltages. The solid, dotted, and dashed-dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations: The solid line: With a three-phase 200 V or a single-phase 230 V SERVOPACK The dotted line: With a single-phase 200 V SERVOPACK The dashed-dotted line: With a single-phase 100 V SERVOPACK An SGMAV-A5A servomotor combined with a single-phase 200 V SERVOPACK has the same characteristics as one combined with a three-phase 200 V SERVOPACK. 2 When the effective torque is within the rated torque, the servomotor can be used within the intermittent duty zone. 3 When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops.

25

Servomotors

SGMAV

Rotary Motors

1Derating Rate for Servomotor Fitted with an Oil Seal When a motor is fitted with an oil seal, use the following derating rate because of the higher friction torque.
Servomotor Model SGMAVDerating Rate % A 5A

01A

C2A

02A

04A

06A 95

08A

10A

80

90

1Holding Brake Electrical Specifications


Holding Brake Rated Voltage Servomotor Model SGMAV-A5A SGMAV-01A
+10%

Servomotor Rated Output W

Holding Brake Specifications Capacity W Coil Resistance Rated Current Holding (at 20C) Torque N m A(at 20C) Brake Release Time ms Brake Operation Time ms

24 VDC

SGMAV-C2A SGMAV-02A SGMAV-04A SGMAV-06A SGMAV-08A SGMAV-10A

50 100 150 200 400 550 750 1000

5.5 5.1 6 8 6.5 7

0.159 0.318 0.477 0.637 1.27 1.75 2.39 3.18

103 114 97.4 74.3 87.7 82.8

0.23 0.21 0.25 0.32 0.27 0.29

60 60 60 80 80 80

100 100 100 100 100 100

Notes: 1 The holding brake is only used to hold the load and cannot be used to stop the servomotor. 2 The holding brake open time and holding brake operation time vary depending on which discharge circuit is used. Make sure holding brake open time and holding brake operation time are correct for your servomotor. 3 A 24-VDC power supply is provided by customers.

1Overload Characteristics The overload detection level is set under hot start conditions at a servomotor ambient temperature of 40C.
10000

1000

Detecting time (s)

100

SGMAV-02A, 04A, 06A, 08A,10A

10
SGMAV-A5A, 01A, C2A

1 100

200
Torque reference (percent of rated torque) (%)

300

Note: Overload characteristics shown above do not guarantee continuous duty of 100% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics.

26

Rotary Servomotors

Ratings and Specifications

Ratings and Specifications


1Allowable Load Moment of Inertia at the Motor Shaft The rotor moment of inertia ratio is the value for a servomotor without a gear and a brake.
Servomotor Model A5A, 01A, C2A, 02A SGMAVServomotor Rated Output Allowable Load Moment of Inertia (Rotor Moment of Inertia Ratio)

04A, 06A, 08A 10A

50 to 200 W 400 to 750 W 1000 W

30 times 20 times 10 times

1Load Moment of Inertia The larger the load moment of inertia, the worse the movement response. The allowable load moment of inertia (JL) depends on the motor capacity, as shown above. This value is provided strictly as a guideline and results may vary depending on servomotor drive conditions. Use the AC servo drive capacity selection program SigmaJunmaSize+ to check the operation conditions. The program can be downloaded for free from our web site (http://www.e-mechatronics.com/).
An overvoltage alarm (A.400) is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia. SERVOPACKs with a built-in regenerative resistor may generate a regenerative overload alarm (A.320). Take one of the following steps if this occurs. Reduce the torque limit. Reduce the deceleration rate. Reduce the maximum speed. Install an external regenerative resistor if the alarm cannot be cleared using the steps above. Refer to Regenerative Resistors on page 349. Regenerative resistors are not built into SERVOPACKs for 400 W motors or less. External regenerative resistors are required when this condition is exceeded or if the allowable loss capacity (W) of the built-in regenerative resistor is exceeded due to regenerative drive conditions when a regenerative resistor is already built in.

1Allowable Radial and Thrust Loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table.
Servomotor Model A 5A Allowable Radial Load (Fr) N Allowable Thrust Load (Fs) N LF mm Reference Diagram

01A
C2A SGMAV-

78

54

20

LF

02A 04A 06A 08A 10A 392 147 35 245 74 25

Fr Fs

27

Servomotors

SGMAV

Rotary Motors

(1) 50 to 150 W
0.04 A
L LL

25
LM

0.04 Dia. A
40

20.5 6.1 2 17 20

2.5 5

19 14
QK

12

46 D

ia.

30 -0.021 Dia.

S Dia.

T Cross Section Y-Y

0.02

Tap Depth

2-4.3 Dia.

Shaft End With Key and Tap

Model SGMAVA5AA21 (A5AA2C) A5AA61 (A5AA6C)

LL

LM

Tap Depth No tap M3 6L No tap

Key Dimensions QK U W T

Approx. Mass kg

95.5 (140.5)

70.5 (115.5)

38.5

8 0.009* 0

No key

14

1. 8

0.3 (0.6)

01AA21 (01AA2C) 01AA61 (01AA6C) C2AA21 (C2AA2C)


C2AA61 (C2AA6C)

107.5 (152.5)

82.5 (127.5)

No key

50.5

8 0.009

M3 6L No tap

14

1. 8

0.4 (0.7)

119.5 (164.5)

94.5 (139.5)

No key

62.5

8 0.009

M3 6L

14

1. 8

0.5 (0.8)

Note: The models and values in parentheses are for servomotors with holding brakes. : When you need the same shaft diameter as the conventional servomotors, contact your Yaskawa representative.

Shaft End and Other Options 1With Two Flat Seats


QH
0 8 -0.009 Dia.

1With an Oil Seal


7.5 1.5

H1

H2

Model SGMAVA5AAB 01AAB C2AAB

Dimensions of Servomotor with Two Flat Seats QH H1 H2

15

7.5

7.5

Oil Seal Cover

Note: The 7th digit of the model designation is S or E. The key dimensions are the same as those in the table above.

30 -0.021 Dia.

29.8 Dia.

28

Rotary Servomotors

External Dimensions

Units: mm

External Dimensions
(2) 200 W to 1.0 kW

Units: mm

L LL

0.04
LM LR LE LG

0.04 Dia. A
LC

20.5 MD 14

1.5

17

21

MW MH QK LB Dia. W Y U

LA

S Dia.

T Cross Section Y-Y Shaft End With Key and Tap 4-LZ Dia.

Dia

Tap Depth

0.02
Model SGMAVL LL LM Flange Face Dimensions LE LG LC LA LB S Tap Depth No tap Key Dimensions U W T No key MD MW MH Approx. Mass kg

LR

LZ

QK

02AA21 (02AA2C) 02AA61 (02AA6C) 04AA21 (04AA2C) 04AA61 (04AA6C) 06AA21 (06AA2C) 06AA61 (06AA6C) 08AA21 (08AA2C) 08AA61 (08AA6C) 10AA21 (10AA2C) 10AA61 (10AA6C)

110 (150)

80 (120)

51

30

60

70

0 0 50 0.025 5.5 14 0.011

8.5
M5 8L No tap

21

13

14

0.9 (1.5)

128.5 98.5 (168.5) (138.5)

No key

69.5

30

60

70

0 0 50 0.025 5.5 14 0.011

8.5
M5 8L No tap

21

13

14

1.2 (1.8)

154.5 124.5 (200.5) (170.5)

No key

95.5

30

60

70

0 0 50 0.025 5.5 14 0.011

8.5
M5 8L

21

13

14

1.7 (2.4)

155 (200)

115 (160)

85

40

80

90

70 0.030

19 0.013

No tap M6 10L No tap M6 10L

No key

13.8 22 3.5 6 6

27

15

2.6 (3.2)

185 (235)

145 (195)

115

40

80

90

70 0.030

19 0.013

No key

13.8 22 3.5 6 6

27

15

3.6 (4.6)

Note: The models and values in parentheses are for servomotors with holding brakes. : When you need the same shaft diameter as the conventional servomotors, contact your Yaskawa representative.

Shaft End and Other Options 2With Two Flat Seats


QH

2With an Oil Seal


LS2 LS1 LE

S Dia.

H1

E1 Dia. Oil Seal Cover

H2
Model SGMAVDimensions of Servomotor with Two Flat Seats QH S H1 H2

02AAB 04AAB 06AAB 08AAB 10AAB

14

14 0.011
0

13

13

Model SGMAV-

22

19 0.013

18

18

02A, 04A, 06A 08A,10A

Dimensions of Servomotor with an Oil Seal E1 E2 LS1 LS2 36 48 4 10 49 66 6 11

Note: The 7th digit of the model designation is S or E. The key dimensions are the same as those in the table above.

29

E2 Dia.

Servomotors

SGMAV

Rotary Motors

1Cables Connections 2Standard Wiring (Max. encoder cable length: 20 m)


SGDV SERVOPACK

2Encoder Cable Extension from 30 to 50 m


(Example) SGDV SERVOPACK Relay Encoder Cable (See page 37.)
e Cable with a Battery (Required when an absolute encoder is used.) w Cable with Connectors, or r Cable

(See page 37.)

Encoder Cable (See page 35.) Battery Case (Required when an absolute encoder is used.) Servomotor Main Circuit Cable (See page 30.) SGMAV Servomotor Servomotor Main Circuit Cable (See page 30.)

q Encoder-end Cable

SGMAV Servomotor

CAUTION
Separate the servomotor main circuit cable wiring from the I/O signal cable and encoder cable at least 30 cm, and do not bundle or run them in the same duct. When the cable length exceeds 20 m, be sure to use a relay encoder cable. When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops.

1Servomotor Main Circuit Cable


Name Servomotor Rated Output Length Order No. Standard Type JZSP-CSM01-03-E JZSP-CSM01-05-E JZSP-CSM01-10-E JZSP-CSM01-15-E JZSP-CSM01-20-E JZSP-CSM01-30-E JZSP-CSM01-40-E JZSP-CSM01-50-E JZSP-CSM02-03-E JZSP-CSM02-05-E JZSP-CSM02-10-E JZSP-CSM02-15-E JZSP-CSM02-20-E JZSP-CSM02-30-E JZSP-CSM02-40-E JZSP-CSM02-50-E JZSP-CSM03-03-E JZSP-CSM03-05-E JZSP-CSM03-10-E JZSP-CSM03-15-E JZSP-CSM03-20-E JZSP-CSM03-30-E JZSP-CSM03-40-E JZSP-CSM03-50-E Flexible Type* JZSP-CSM21-03-E JZSP-CSM21-05-E JZSP-CSM21-10-E JZSP-CSM21-15-E JZSP-CSM21-20-E JZSP-CSM21-30-E JZSP-CSM21-40-E JZSP-CSM21-50-E JZSP-CSM22-03-E JZSP-CSM22-05-E JZSP-CSM22-10-E JZSP-CSM22-15-E JZSP-CSM22-20-E JZSP-CSM22-30-E JZSP-CSM22-40-E JZSP-CSM22-50-E JZSP-CSM23-03-E JZSP-CSM23-05-E JZSP-CSM23-10-E JZSP-CSM23-15-E JZSP-CSM23-20-E JZSP-CSM23-30-E JZSP-CSM23-40-E JZSP-CSM23-50-E
(Contd)
Wire Markers M4 Crimped Terminals SERVOPACK End Servomotor End 50 mm

Specifications

Details

For Servomotor without Holding Brakes

3m 5m 10 m 15 m 50 to 150 W 20 m 30 m 40 m 50 m 3m 5m 10 m 15 m 200 to 550 W 20 m 30 m 40 m 50 m 3m 5m 10 m 750 W, 15 m 1.0 kW 20 m 30 m 40 m 50 m

(1)

30

Rotary Servomotors

Selecting Cables

Selecting Cables
Name Servomotor Rated Output Length Order No. Standard Type JZSP-CSM11-03-E JZSP-CSM11-05-E JZSP-CSM11-10-E JZSP-CSM11-15-E JZSP-CSM11-20-E JZSP-CSM11-30-E JZSP-CSM11-40-E JZSP-CSM11-50-E JZSP-CSM12-03-E JZSP-CSM12-05-E JZSP-CSM12-10-E JZSP-CSM12-15-E JZSP-CSM12-20-E JZSP-CSM12-30-E JZSP-CSM12-40-E JZSP-CSM12-50-E JZSP-CSM13-03-E JZSP-CSM13-05-E JZSP-CSM13-10-E JZSP-CSM13-15-E JZSP-CSM13-20-E JZSP-CSM13-30-E JZSP-CSM13-40-E JZSP-CSM13-50-E Flexible Type* JZSP-CSM31-03-E JZSP-CSM31-05-E JZSP-CSM31-10-E JZSP-CSM31-15-E JZSP-CSM31-20-E JZSP-CSM31-30-E JZSP-CSM31-40-E JZSP-CSM31-50-E JZSP-CSM32-03-E JZSP-CSM32-05-E JZSP-CSM32-10-E JZSP-CSM32-15-E JZSP-CSM32-20-E JZSP-CSM32-30-E JZSP-CSM32-40-E JZSP-CSM32-50-E JZSP-CSM33-03-E JZSP-CSM33-05-E JZSP-CSM33-10-E JZSP-CSM33-15-E JZSP-CSM33-20-E JZSP-CSM33-30-E JZSP-CSM33-40-E JZSP-CSM33-50-E (3)
Crimped Type (A crimp tool is required.)
SERVOPACK End 50 mm Servomotor End L

Specifications

Details

3m 5m 10 m 15 m 50 to 150 W 20 m 30 m 40 m 50 m 3m 5m 10 m For 15 m Servomotor 200 to 550 W 20 m with Holding 30 m Brakes 40 m 50 m 3m 5m 10 m 750 W, 15 m 1.0 kW 20 m 30 m 40 m 50 m
Servomotorend Connector Kit

(2)
Wire Markers M4 Crimped Terminal

50 to 150 W 200 to 550 W 750 W, 1.0 kW 5m 10 m 15 m 20 m 30 m 40 m 50 m 5m 10 m 15 m 20 m 30 m 40 m 50 m

JZSP-CSM9-1-E JZSP-CSM9-2-E JZSP-CSM9-3-E JZSP-CSM90-05-E JZSP-CSM90-10-E JZSP-CSM90-15-E JZSP-CSM90-20-E JZSP-CSM90-30-E JZSP-CSM90-40-E JZSP-CSM90-50-E JZSP-CSM91-05-E JZSP-CSM91-10-E JZSP-CSM91-15-E JZSP-CSM91-20-E JZSP-CSM91-30-E JZSP-CSM91-40-E JZSP-CSM91-50-E JZSP-CSM80-05-E JZSP-CSM80-10-E JZSP-CSM80-15-E JZSP-CSM80-20-E JZSP-CSM80-30-E JZSP-CSM80-40-E JZSP-CSM80-50-E JZSP-CSM81-05-E JZSP-CSM81-10-E JZSP-CSM81-15-E JZSP-CSM81-20-E JZSP-CSM81-30-E JZSP-CSM81-40-E JZSP-CSM81-50-E

(4) (5)

50 to 550 W

(6)

Cables

750 W, 1.0kW

(7)

*: Use flexible cables for movable sections such as robot arms.

31

Servomotors

SGMAV

Rotary Motors

(1) Wiring Specications for Servomotors without Holding Brakes (2) Wiring Specications for Servomotor with Holding Brakes
SERVOPACK-end Leads Wire Color Green/yellow Blue White Red Signal FG Phase W Phase V Phase U Servomotor-end Connector Signal FG Phase W Phase V Phase U

SERVOPACK-end Leads Wire Color Green/yellow Blue White Red Black Black Signal FG Phase W Phase V Phase U Brake Brake

Servomotor-end Connector Signal FG Phase W Phase V Phase U Brake Brake Pin No.

Pin No.

1 2 3 4 5 6

1 2 3 4 5 6

Note: No polarity for connection to a holding brake.

(3) Servomotor-end Connector Kit Specifications: For 50 to 150 W Servomotors


Items Order No. Applicable Servomotors Manufacturer Receptacle Electrical Contact Applicable Wire Size Outer Diameter of Insulating Sheath Mounting Screw Applicable Cable Outer Diameter Specifications JZSP-CSM9-1-E (Cables are not included.) SGMAV-A5A, -01A, -C2A J.S.T. Mfg. Co., Ltd. J17-06FMH-7KL-1-CF SJ1F-01GF-P0.8 AWG20 to 24
Pin No.1

External Dimensions mm
20 19

12

654 321

1.11 dia. to 1.53 dia. mm


M2 Pan-head screw

7 0.3 dia. mm

Pin No.6

Note: A crimp tool (Model no.: YRS-8841) is required. Contact the respective manufacturer for more information.

32

Rotary Servomotors

Selecting Cables

Selecting Cables
(4) Servomotor-end Connector Kit Specications: For 200 to 550 W Servomotors
Items Order No. Applicable Servomotors Manufacturer Receptacle Electrical Contact Applicable Wire Size Outer Diameter of Insulating Sheath Mounting Screw Applicable Cable Outer Diameter Specifications JZSP-CSM9-2-E (Cables are not included.) SGMAV-02A, -04A, -06A J27-06FMH-7KL-1-CF SJ2F-01GF-P1.0 AWG20 to 24
13

External Dimensions mm
21 21

J.S.T. Mfg. Co., Ltd.

654 321
Pin No.1

1.11 dia. to 1.53 dia. mm


M2 Pan-head screw

7 0.3 dia. mm

Pin No.6

Note: A crimp tool (Model no.: YRS-8861) is required. Contact the respective manufacturer for more information.

(5) Servomotor-end Connector Kit Specications: For 750 W, 1.0 kW Servomotors


Items Order No. Applicable Servomotors Manufacturer Receptacle Cable Type Electrical Contact Applicable Wire Size Outer Diameter of Insulating Sheath Mounting Screw Applicable Cable Outer Diameter Specifications JZSP-CSM9-3-E (Cables are not included.) SGMAV-08A,-10A J.S.T. Mfg. Co., Ltd. J37-06FMH-8KL-1-CF Standard SJ3F-41GF-P1.8 (For power terminals) AWG16 to 20 SJ3F-01GF-P1.8 (For holding brake terminals) AWG20 to 24
15
27 21

External Dimensions mm

654321
Pin No.1 Pin No.6

1.53 dia. to 2.5 dia. mm

1.11 dia. to 1.86 dia. mm

M2.5 Pan-head screw

8 0.3 dia. mm

Note: The following crimp tools are required. For power terminals: Model no. YRF-880 For brake terminals: Model no. YRF-881 Contact the respective manufacturer for more information.

33

Servomotors

SGMAV

Rotary Motors

(6) Cable Specications: For 50 to 550 W Servomotors


Items Order No.* Standard Type JZSP-CSM90--E (50 m max.) UL2517 (Rating temperature: 105C) AWG20 6C For power line: AWG20 (0.52 mm2) Outer diameter of insulating sheath: 1.53 dia. mm For holding brake line: AWG20 (0.52 mm2) Outer diameter of insulating sheath: 1.53 dia. mm Flexible Type JZSP-CSM80--E (50 m max.) UL2517 (Rating temperature: 105C) AWG22 6C For power line: AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.37 dia. mm For holding brake line: AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.37 dia. mm

Specifications

Finished Dimensions

7 0.3 dia. mm

Black Green/ (yellow)

White

Internal Configuration and Lead Color

Blue
Black

Red

Yaskawa Standard Specifications (Standard Length)


Specify *: Examplethe cable length in 5of order no. : JZSP-CSM90-05-E ( m)

Cable length: 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m

(7) Cable Specications: For 750 W, 1.0 kW Servomotors


Items Order No.* Standard Type JZSP-CSM91--E (50 m max.) UL2517 (Rating temperature: 105C) AWG16 4C, AWG20 2C For power line: AWG16 (1.31 mm2) Outer diameter of insulating sheath: 2.15 dia. mm For holding brake line: AWG20 (0.52 mm2) Outer diameter of insulating sheath: 1.6 dia. mm Flexible Type JZSP-CSM81--E (50 m max.) UL2517 (Rating temperature: 105C) AWG16 4C, AWG22 2C For power line: AWG16 (1.31 mm2) Outer diameter of insulating sheath: 2.35 dia. mm For holding brake line: AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.37 dia. mm

Specifications

Finished Dimensions

8 0.3 dia. mm

Black Green (yellow)

Red

Internal Configuration and Lead Color

Blue
Black

White

Yaskawa Standard Specifications (Standard Length)


of order Specify *: Examplethe cable length in 15 m) no. : JZSP-CSM91-15-E (

Cable length: 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m

34

Rotary Servomotors

Selecting Cables

Selecting Cables
1Encoder Cables (Length: 20 m or less)
Name Cable with Connectors (For Incremental Encoder) Cable with Connectors*2 (For Absolute Encoder, with a Battery Case) SERVOPACK-end Connector Kit Encoder-end Connector Kit Length Order No. Standard Type JZSP-CSP01-03-E JZSP-CSP01-05-E JZSP-CSP01-10-E JZSP-CSP01-15-E JZSP-CSP01-20-E JZSP-CSP05-03-E JZSP-CSP05-05-E JZSP-CSP05-10-E JZSP-CSP05-15-E JZSP-CSP05-20-E Flexible Type*1 JZSP-CSP21-03-E JZSP-CSP21-05-E JZSP-CSP21-10-E JZSP-CSP21-15-E JZSP-CSP21-20-E JZSP-CSP25-03-E JZSP-CSP25-05-E JZSP-CSP25-10-E JZSP-CSP25-15-E JZSP-CSP25-20-E Specifications
SERVOPACK End L Encoder End

Details

3m 5m 10 m 15 m 20 m 3m 5m 10 m 15 m 20 m

(1)
Connector (Crimped) (Molex Japan Co., Ltd.)
SERVOPACK End L

Connector (Molex Japan Co., Ltd.)


Encoder End

Battery Case (Battery attached) Connector Connector (Crimped)(Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.)

(2)

Soldered

JZSP-CMP9-1-E
Crimped Type (A crimp tool is required.)

(3)

JZSP-CSP9-2-E

Cables

3m 5m 10 m 15 m 20 m

JZSP-CMP09-03-E JZSP-CMP09-05-E JZSP-CMP09-10-E JZSP-CMP09-15-E JZSP-CMP09-20-E

JZSP-CSP39-03-E JZSP-CSP39-05-E JZSP-CSP39-10-E JZSP-CSP39-15-E JZSP-CSP39-20-E (4)

* *

1: Use flexible cables for movable sections such as robot arms. 2: When the battery is connected to the host controller, no battery case is required. If so, use a cable for incremental encoders.

(1) Wiring Specications for Cable with Connectors (For incremental encoder) Standard Type
SERVOPACK End Pin No. Signal /PS PS BAT () BAT (+) PG 0V PG 5V FG
Shield Wire

Flexible Type
SERVOPACK End Pin No. Signal /PS PS BAT () BAT (+) PG 0V PG 5V FG
Shield Wire

Encoder (Servomotor) End Pin No. Wire Color Light blue/white Light blue Orange/white Orange Black Red FG

Encoder (Servomotor) End Pin No. Wire Color Black/pink Red/pink Black/light blue Red/light blue Green Orange FG

6 5 4 3 2 1
Shell

5 4 8 9 3 6
Shell

6 5 4 3 2 1
Shell

5 4 8 9 3 6
Shell

(2) Wiring Specications for Cable with Connectors (For absolute encoder, with a battery case) Standard Type
SERVOPACK End Pin No. Signal /PS PS
BAT BAT +

Flexible Type
SERVOPACK End Pin No. Signal /PS PS BAT () BAT (+) PG 0V PG 5V FG
Shield Wire

Encoder (Servomotor) End Pin No. Wire Color Light blue/white Light blue Orange/white Orange Black Red FG

Encoder (Servomotor) End Pin No. Wire Color Black/pink Red/pink Black/light blue Red/light blue Green Orange FG

6 5 4 3 2 1
Shell

5 4 8 9 3 6
Shield Wire

6 5 4 3 2 1
Shell

5 4 8 9 3 6
Shell

PG 0V PG 5V FG

Shell

Battery Case Pin No. Signal


BAT BAT +

Battery Case Pin No. Signal BAT () BAT (+)

2 1

2 1

35

Servomotors

SGMAV

Rotary Motors

(3) SERVOPACK-end/Encoder-end Connector Kit Specifications


Items Order No. Manufacturer SERVOPACK-end Connector Kit JZSP-CMP9-1-E (Cables are not included.) Molex Japan Co., Ltd. 55100-0670 (soldered) Product Specification: PS-54280 Encoder-end Connector Kit JZSP-CSP9-2-E (Cables are not included.) Molex Japan Co., Ltd.

Specifications

54346-0070 (crimped)* Mounting screw: M2 pan-head screw (2) Outer diameter of applicable cable: 6.3 dia. to 7.7 dia. mm Applicable wire size: AWG22 to 26 Outer diameter of insulating sheath: 1.05 dia. to 1.4 dia. mm Application Specification: AS-54992 Crimping Specification: CS-56161
27

20.5

17 2-M2 Pan-head Screws

19

External Dimensions mm

5 6 3 4 1 2

11

7
12 33

9 6
A crimp tool required. *: The followingiscrimp tool is applicable for the cables provided by Yaskawa. When using other wire sizes, contact the respective manufacturer for crimp tools. Applicable crimp tool for Yaskawas wire size: Hand Tool Model No. 57175-5000

(4) Cable Specications


Items Order No.* Cable Length Standard Type JZSP-CMP09--E UL20276 (Rating temperature: 80C) Flexible Type JZSP-CSP39--E

Specifications

20 m max. UL20276 (Rating temperature: 80C) 2C+AWG242P AWG22 AWG222C+AWG242P (0.33 mm2) AWG22 AWG22 (0.33 mm2) : 1.15 dia. mm Outer diameter of insulating sheath: 1.35 dia. mm Outer diameter of insulating sheath
AWG24 (0.20 mm2) Outer diameter of insulating sheath: 1.09 dia. mm AWG24 (0.20 mm2) Outer diameter of insulating sheath: 1.21 dia. mm

Finished Dimensions

6.5 dia. mm

6.8 dia. mm

Light blue

Black/ light blue Orange Black/ pink Red/ pink Green Red/ light blue

Internal Configuration and Lead Color


Orange Orange/ white

Red

Black

Light blue/ white

Yaskawa Standards Specifications (Standard Length)


Specify *: Examplethe cable length in 5of order no. : JZSP-CMP09-05-E ( m)

Cable length: 5 m, 10 m, 15 m, 20 m

36

Rotary Servomotors

Selecting Cables

Selecting Cables
1Relay Encoder Cables (For extending from 30 to 50 m)
Name Length Order No. Standard Type Specifications
SERVOPACK End Encoder End

Details

0.3 m

Encoder-end Cables (For incremental and absolute encoder)

0.3 m

JZSP-CSP11-E
Plug Connector (Crimped) Connector (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.)

(1)

30 m
w

JZSP-UCMP00-30-E JZSP-UCMP00-40-E JZSP-UCMP00-50-E

SERVOPACK End

Encoder End

Cable with Connectors (For incremental and absolute encoder)

40 m 50 m

(2)
Plug Connector (Crimped) Socket Connector (Soldered) (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.)
SERVOPACK End Encoder End

0.3 m

Cable with a Battery Case (Required when an absolute encoder is used*.)

0.3 m

JZSP-CSP12-E

Battery Case (Battery attached)


Plug Connector (Crimped) (Molex Japan Co., Ltd.) Socket Connector (Soldered) (Molex Japan Co., Ltd.)

(3)

30 m

JZSP-CMP19-30-E JZSP-CMP19-40-E JZSP-CMP19-50-E (4)

Cables

40 m 50 m

*Not required when connecting a battery to the host controller.


(1) Wiring Specifications for Encoder-end Cable
SERVOPACK End Pin No. Signal /PS PS BAT () BAT (+) PG 0V PG 5V FG
Shield Wire

(2) Wiring Specifications for Cable with Connectors


SERVOPACK End Pin No. Signal /PS PS BAT () BAT (+) PG 0V PG 5V FG
Shield Wire

Encoder (Servomotor) End Pin No. Wire Color Light blue/white Light blue Orange/white Orange Black Red FG

Encoder (Servomotor) End Pin No. Wire Color Light blue/white Light blue Orange/white Orange Black Red FG

6 5 4 3 2 1
Shell

5 4 8 9 3 6
Shell

6 5 4 3 2 1
Shell

6 5 4 3 2 1
Shell

37

Servomotors

SGMAV

Rotary Motors

(3) Wiring Specications for Cable with a Battery Case


SERVOPACK End Pin No. Signal /PS PS BAT () BAT (+) PG 0V PG 5V FG
Shield Wire

Encoder (Servomotor) End Pin No. Wire Color Light blue/white Light blue Orange/white Orange Black Red FG

6 5 4 3 2 1
Shell

6 5 4 3 2 1
Shell

Battery Case Pin No. Signal BAT () BAT (+)

2 1

(4) Cable Specications


Item Order No.* Cable Length Standard Type JZSP-CMP19--E

50 m max.
UL20276 (Rating temperature: 80C) AWG162C+AWG262P AWG16 (1.31 mm2) Outer diameter of insulating sheath: 2.0 dia. mm AWG26 (0.13 mm2) Outer diameter of insulating sheath: 0.91 dia. mm

Specifications

Finished Dimensions

6.8 dia. mm

Black

Internal Configuration and Lead Colors

Orange Orange /white

Light blue Light blue /white

Red

Yaskawa Standard Specifications (Standard Length)

Cable length: 30 m, 40 m, 50 m

Specify of order *: Examplethe cable length in 30 m) no. : JZSP-CMP19-30-E (

38

Rotary Servomotors

Selecting Cables

With Low-backlash Gears

Ratings and Specifications


Withstand Voltage: 1500 VAC for one minute Enclosure: Totally enclosed, self-cooled, IP55 (except for shaft opening) Ambient Humidity: 20% to 80% (no condensation) Drive Method: Direct drive Rotation Direction: Counterclockwise (CCW) with forward run reference when viewed from the load side
Gear Rated Torque N m Instantaneous Peak Torque N m Gear Ratio Lost Motion arc-min Rated Torque / Efficiency*1 N m /% Instantaneous Peak Torque N m Rated Speed min-1 Max. Speed min-1

Time Rating: Continuous Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C Excitation: Permanent magnet Mounting: Flange-mounted Gear Mechanism: Planetary gear mechanism Thermal Class: B
Servomotor Servomotor Model SGMAVA5AAH1 A5AAH2 A5AAHC A5AAH7 Rated Output W Rated Speed min-1 Max. Speed min-1

50

3000

6000

0.159

0.477

01AAH1 01AAHB 01AAHC 01AAH7 C2AAH1 C2AAHB C2AAHC C2AAH7 02AAH1 02AAHB 02AAHC 02AAH7 04AAH1 04AAHB 04AAHC 04AAH7 06AAH1 06AAHB 06AAHC 06AAH7 08AAH1 08AAHB 08AAHC 08AAH7 10AAH1 10AAHB 10AAHC 10AAH7

100

3000

6000

0.318

0.955

150

3000

6000

0.477

1.43

200

3000

6000

0.637

1.91

400

3000

6000

1.27

3.82

550

3000

6000

1.75

5.25

750

3000

6000

2.39

7.16

1000

3000

6000

3.18

9.55

1/5 1/9 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33

3 max.

3 max.

3 max.

3 max.

3 max.

3 max.

3 max.

3 max.

0.433/64*2 1.12/78 2.84/85 3.68/70 1.06/78*2 2.52/72 5.35/80 7.35/70 1.68/83*2 3.53/79*2 6.3/70*2 11.2/79*2 2.39/75 5.74/82 10.2/76 17.0/81 5.35/84 11.5/82 23.0/86 34.0/81 6.9/79 16.6/86 29.4/80 49.1/85 10.0/84 23.1/88 42.1/84 69.3/88 13.7/86 29.1/83 58.2/87 94.5/90

1.98 3. 8 9. 0 13.4 4.20 9. 0 17.8 27.4 6.45 13.9 26.2 42.5 8.31 18.7 35.7 57.4 17.2 38.2 74.6 115 23.6 53.7 100 159 32.9 73.3 138 220 44.4 96.6 186 296

600 333 143 91 600 273 143 91 600 273 143 91 600 273 143 91 600 273 143 91 600 273 143 91 600 273 143 91 600 273 143 91

1200 667 286 182 1200 545 286 182 1200 545 286 182 1200 545 286 182 1200 545 286 182 1200 545 286 182 1200 545 286 182 1200 545 286 182

*1: *

Gear output torque is expressed using the following equation. 1 (Gear output torque)= (Servomotor output torque) (efficiency) (gear ratio) Gear efficiency depends on operating conditions such as output torque, motor speed, and temperature etc. The values in the table are representative values with rated torque, rated speed, and an ambient temperature of 25C, and are not guaranteed values. 2: When using SGMAV-A5A, -01A, -C2A servomotors with a gear ratio of 1/5, or an SGMAV-C2A servomotor with a gear ratio of 1/11, maintain an 85% max. effective load ratio. For an SGMAV-C2A servomotor with a gear ratio of 1/21 or 1/31, maintain a 90% max. effective load ratio. Notes: 1 The gear mounted to our servomotor has not been broken in. Break in the servomotor if necessary. First, run the motor at low speed with no load. If no problems arise, gradually increase the speed and load. 2 The no-load torque for a servomotor with a gear is high immediately after the servomotor starts, and it then decreases and becomes stable a few minutes later. This is a common phenomenon caused by grease being circulated in the gear and not by a faulty gear. IMPORTANT The SERVOPACK speed control range is 5000:1. When using servomotors at extremely low speeds (0.02 min-1 at gear output shaft), or when using servomotors with 1 pulse feed reference for extended periods etc., the gear bearing lubrication may be insufficient. That may cause deterioration of bearing or increase the load ratio. Contact your Yaskawa representative if you are using your servomotor under these conditions.

39

Servomotors

SGMAV

Rotary Motors

1Moment of Inertia and Allowable Radial and Thrust Loads


Moment of Inertia 10-4 kg m2 Servomotor Model SGMAVA5AAH1 A5AAH2 A5AAHC A5AAH7 01AAH1 01AAHB 01AAHC 01AAH7 C2AAH1 C2AAHB C2AAHC C2AAH7 02AAH1 02AAHB 02AAHC 02AAH7 04AAH1 04AAHB 04AAHC 04AAH7 06AAH1 06AAHB 06AAHC 06AAH7 08AAH1 08AAHB 08AAHC 08AAH7 10AAH1 10AAHB 10AAHC 10AAH7 Flange Output Motor Servomotors with Low-backlash Gears Allowable Radial Load (Fr) N Allowable Thrust Load (Fs) N LF mm Reference Diagram

Gear

Motor

Gear

Gear

Gear

0.0302 0.0272 0.0282 0.0692 0.0430 0.0980 0.0880 0.1030 0.0581 0.1131 0.1631 0.1181 0.323 0.309 0.606 0.566 0.397 0.760 0.680 0.810 1.026 0.896 1.166 0.946 1.469 1.369 3.77 3.57 1.90 4.60 4.20 4.00

0.006 0.003 0.004 0.045 0.005 0.060 0.050 0.065 0.005 0.060 0.110 0.065 0.207 0.193 0.490 0.450 0.207 0.570 0.490 0.620 0.700 0.570 0.840 0.620 0.700 0.600 3.000 2.800 0.700 3.400 3.000 2.800

0.0292 0.0272 0.0282 0.0692 0.0420 0.0970 0.0880 0.1020 0.0571 0.1121 0.1611 0.1171 0.317 0.308 0.604 0.565 0.391 0.750 0.678 0.800 0.986 0.886 1.146 0.936 1.429 1.359 3.75 3.56 1.86 4.54 4.18 3.99

0.005 0.003 0.004 0.045 0.004 0.059 0.050 0.064 0.004 0.059 0.108 0.064 0.201 0.192 0.480 0.449 0.201 0.560 0.488 0.610 0.660 0.560 0.820 0.610 0.660 0.590 2.980 2.790 0.660 3.340 2.980 2.790

95 113 146 267 95 192 233 605 95 192 528 605 152 192 528 605 152 435 528 951 343 435 830 951 343 435 830 951 343 684 830 951

431 514 663 1246 431 895 1087 2581 431 895 2254 2581 707 895 2254 2581 707 1856 2254 4992 1465 1856 4359 4992 1465 1856 4359 4992 1465 3590 4359 4992

37 37 37 53 37 53 53 75 37 53 75 75 53 53 75 75 53 75 75 128 75 75 128 128 75 75 128 128 75 128 128 128

With shaft
LF

Fr Fs

With flange
LF

Fr

Fs

IMPORTANT The gear generates the loss at gear mechanism and oil seal. The loss varies with torque and motor speed conditions. The temperature rise depends on heating conditions. Always check the actual gear and motor temperature. If the temperature is high, take the measures shown below. Decrease the load ratio. Change the heating conditions. Cool the motor with a cooling fan etc.

Rated Output W

1/5

50 100 150 200 400 550 750 1000

Heat Sink Size 1/9 or 1/11 1/21 A

1/33

A : 250 mm 250 mm 6 mm, aluminum B : 300 mm 300 mm 12 mm, aluminum C : 350 mm 350 mm 12 mm, aluminum

40

Rotary Servomotors

With Low-backlash Gears

Ratings and Specifications

With Low-backlash Gears


(1) 50 to 150 W

External Dimensions

Units: mm
W U T

L LL LM LG

0.06 A (0.05)
LR L1 L3 LE L2 Q QK A Shaft End With Key and Tap 0.05 Dia. (0.04 Dia.) A LC
LA a. Di

0.04 (0.03)

2 14

17

20

12

Note: The geometric tolerance in parentheses indicates the value when LC=40.

Rotating Section (Shaded Section)

C Dia. B Dia. LD Dia. LB Dia.

S Dia.

4-LZ Dia.

Tap Depth

Model SGMAVA5AAH11 * (A5AAH1C) * A5AAH21 * (A5AAH2C) * A5AAHC1 * (A5AAHCC) * A5AAH71 * (A5AAH7C) * 01AAH11 * (01AAH1C) * 01A AHB1 * (01AAHBC) * 01AAHC1 * (01AAHCC) * 01AAH71 * (01AAH7C) * C2AAH11 * (C2AAH1C) * C2A AHB1 * (C2AAHBC) * C2AAHC1 * (C2AAHCC) * C2AAH71 * (C2AAH7C) * Model SGMAVA5AAH11 * (A5AAH1C) * A5AAH21 * (A5AAH2C) * A5AAHC1 * (A5AAHCC) * A5AAH71 * (A5AAH7C) * 01AAH11 * (01AAH1C) * 01A AHB1 * (01AAHBC) * 01AAHC1 * (01AAHCC) * 01AAH71 * (01AAH7C) * C2AAH11 * (C2AAH1C) * C2A AHB1 * (C2AAHBC) * C2AAHC1 * (C2AAHCC) * C2AAH71 * (C2AAH7C) *

Gear Ratio

LL

LM

LR

LE

LG

Flange Face Dimensions B LD LB

LC

LA

LZ

1/5 1/9 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33

152 (197) 161 (206) 192.5 (237.5) 164 (209) 204.5 (249.5) 229 (274) 176 (221) 216.5 (261.5) 241 (286)

110 (155) 119 (164) 134.5 (179.5) 122 (167) 146.5 (191.5) 149 (194) 134 (179) 158.5 (203.5) 161 (206)

78 42 87 102.5 90 114.5 117 102 126.5 129 58 42 58 80 42 58 80 2.5 2.2 2.5 7.5 2.2 2.5 7.5 8 5 8 10 5 8 10 40 29 40 59 29 40 59 55.5 39.5 55.5 84 39.5 55.5 84 2.2 5 29 39.5

40 0.025

40

46

3.4

56 0.030
0 40 0.025

60 40 60 90 40 60 90

70 46 70 105 46 70 105

5.5 3.4 5.5 9 3.4 5.5 9

56 0.030 85 0.035
0 40 0.025 0 56 0.030 0

85 0.035

Flange Face Dimensions L1 L2 L3

Tap Depth

QK

Key Dimensions U W

Approx. Mass kg

22

20

14.6

10 0.015

M3 6L

15

2.5

0.6 (0.9) 0.7 (1.0) 1.3 (1.6) 0.7 (1.0) 1.4 (1.7) 2.8 (3.1) 0.8 (1.1) 1.5 (1.8) 2.9 (3.2)

28 22

30 20

20 14.6

28

20

16 0.018 10 0.015 16 0.018 25 0.021 10 0.015 16 0.018 25 0.021


0 0 0 0 0 0

M4 8L M3 6L M4 8L M6 12L M3 6L M4 8L M6 12L

25 15

3 2.5

5 4

5 4

28

30

20

28

20

25

36 22 28

44 20 30

26 14.6 20

42

32

36 15

4 2.5

8 4

7 4

28 36 44 26 42

20

25

32

36

The asterisk ( ) describes the 8th digit of *: order a servomotor with shaft values of the(without key the model designation, shaft end code 6 (straight with key and tap). If a key or tap is not necessary, * end code 2 and tap). Notes: 1 The models and values in parentheses are for servomotors with holding brakes. 2 Please note that gear dimensions are different from those of , , and series.

41

Servomotors

SGMAV

Rotary Motors

1Flange Output Face


L LR L3 LE A
LA

0.06 A (0.05) 0.02 0.04 (0.03)

0.05 Dia. A (0.04 Dia.) LC


Di

a.

F Dia. G Dia. LD Dia. LB Dia.

LJ D

ia.

Note: The geometric tolerance in parentheses indicates the value when LC=40.

LK

4-LZ Dia.

Tap Depth

Model SGMAVA5AAH101 (A5AAH10C) A5AAH201 (A5AAH20C) A5AAHC01 (A5AAHC0C) A5AAH701 (A5AAH70C)

Gear Ratio

LR

LJ

LK

No. of pcs Approx. Tap Depth Mass kg

1/5 125 (170) 1/9 1/21 1/33 1/5 1/11 167.5 (212.5) 1/21 1/33 1/5 1/11 1/21 188 (233) 1/33 27 45 24
+0.021 0

15 134 (179) 155.5 (200.5) 137 (182) 21 15

18

+0.012 0

24

3-M4 6L

0.6 (0.9)

30 18

14 5

+0.018 0

40 24

5 3

6-M4 7L 3-M4 6L

1.2 (1.5) 0.7 (1.0)

01AAH101 (01AAH10C) 01AAHB01 (01AAHB0C) 01AAHC01 (01AAHC0C) 01AAH701 (01AAH70C)


C2AAH101 (C2AAH10C) C2AAHB01 (C2AAHB0C) C2AAHC01 (C2AAHC0C) C2AAH701 (C2AAH70C)

+0.012 0

21

30

14

+0.018 0

40

6-M4 7L

1.3 (1.6)

176 (221) 149 (194) 179.5 (224.5)

27 15 21

45 18 30

24 5

+0.021 0

59 24 40

5 3 5

6-M6 10L 3-M4 6L 6-M4 7L

2.4 (2.7) 0.8 (1.1) 1.4 (1.7)

+0.012 0

14

+0.018 0

59

6-M6 10L

2.5 (2.8)

Notes: 1 The models and values in parentheses are for servomotors with holding brakes. 2 The dimensions not given on the table above are the same as those in the table on the previous page.

IMPORTANT Regarding the flange output type shaft end, when the flange "LC" is 40 mm, we recommend designing a servomotor with the dimensions shown in the diagram on the right, in order to secure the gap between the gear oil seal and the parts on the load side.

0.5 min.

Parts on the load side

24 Dia. max.

42

Rotary Servomotors

With Low-backlash Gears

External Dimensions

Units: mm

With Low-backlash Gears


(2) 200 to 550 W

External Dimensions

Units: mm
W U T
LC

L LL LM LG

0.06
LR L1 L3 LE

A Shaft End With Key and Tap 0.05 Dia. A

L2 Q QK

1.5

17

21

0.04
A

13

LA

14

Di

a.

S Dia. C Dia. B Dia. LD Dia. LB Dia.

Rotating Section (Shaded Section)

4-LZ Dia.

Tap Depth

Model SGMAV-

Gear Ratio

LL

LM

LR

LE

LG

Flange Face Dimensions B LD LB

LC

LA

LZ

02AAH11 * (02AAH1C) * 02AAHB1 * (02AAHBC) * 02AAHC1 * (02AAHCC) * 02AAH71 * (02AAH7C) * 04AAH11 * (04AAH1C) * 04A AHB1 * (04AAHBC) * 04AAHC1 * (04AAHCC) * 04AAH71 * (04AAH7C) * 06AAH11 * (06AAH1C) * 06A AHB1 * (06AAHBC) * 06AAHC1 * (06AAHCC) * 06AAH71 * (06AAH7C) *
Model SGMAV-

1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33

202 (242)

144 (184)

115

58

2.5

40

55.5

56 0.030

60

70

5.5

231 (271) 220.5 (260.5) 249.5 (289.5) 335.5 (375.5) 275.5 (321.5)

151 (191) 162.5 (202.5) 169.5 (209.5) 202.5 (242.5) 195.5 (241.5)

122

80

7.5

10

59

84

85 0.035 56 0.030 85 0.035 115 0.035 85 0.035


0 0 0 0

90

105

133.5 140.5 173.5

58 80 133

2.5 7.5 12.5

8 10 13

40 59 84

55.5 84 114

60 90 120

70 105 135

5.5 9 11

166.5

80

7.5

10

59

84

90

105

361.5 (407.5)

228.5 (274.5)

199.5

133

12.5

13

84

114

115 0.035

120

135

11

Flange Face Dimensions L1 L2 L3

Tap Depth M4 8L

QK

Key Dimensions U W

Approx. Mass kg

02AAH11 * (02AAH1C) * 02AAHB1 * (02AAHBC) * 02AAHC1 * (02AAHCC) * 02AAH71 * (02AAH7C) * 04AAH11 * (04AAH1C) * 04A AHB1 * (04AAHBC) * 04AAHC1 * (04AAHCC) * 04AAH71 * (04AAH7C) * 06AAH11 * (06AAH1C) * 06A AHB1 * (06AAHBC) * 06AAHC1 * (06AAHCC) * 06AAH71 * (06AAH7C) *

28

30

20

28

20

16 0.018

25

1.9 (2.5) 2.0 (2.6) 3.8 (4.4) 2.2 (2.8) 4.1 (4.7) 8.7 (9.3) 4.4 (5.1) 4.6 (5.3) 9.2 (9.9)

36

44

26

42

32

25 0.021 16 0.018 25 0.021 40 0.025 25 0.021


0 0 0 0

M6 12L M4 8L M6 12L M10 20L M6 12L

36

28 36 48

30 44 85

20 26 33

28 42 82

20 32

25 36 70

3 4 5

5 8 12

5 7 8

44

36

44

26

42

32

36

48

85

33

82

44

40 0.025

M10 20L

70

12

The asterisk ( ) describes the 8th digit of *: order a servomotor with shaft values of the(without key the model designation, shaft end code 6 (straight with key and tap). If a key or tap is not necessary, * end code 2 and tap). Notes: 1 The models and values in parentheses are for servomotors with holding brakes. 2 Please note that gear dimensions are different from those of , , and series.

43

Servomotors

SGMAV

Rotary Motors

1Flange Output Face


L

LR L3 LE A

0.06 A 0.02 0.05 Dia. A 0.04


LC

LA

a. Di

F Dia. G Dia. LD Dia. LB Dia.

LJ

Dia

5
Model SGMAVGear Ratio

4-LZ Dia.

Tap Depth

LR

LJ

No. of pcs Approx. Tap Depth Mass kg

02AAH101 (02AAH10C) 02AAHB01 (02AAHB0C) 02AAHC01 (02AAHC0C) 02AAH701 (02AAH70C) 04AAH101 (04AAH10C) 04AAHB01 (04AAHB0C) 04AAHC01 (04AAHC0C) 04AAH701 (04AAH70C) 06AAH101 (06AAH10C) 06AAHB01 (06AAHB0C) 06AAHC01 (06AAHC0C) 06AAH701 (06AAH70C)

1/5 165 (205) 1/11 1/21 178 (218) 1/33 1/5 1/11 196.5 (236.5) 1/21 1/33 1/5 222.5 (268.5) 1/11 1/21 263.5 (309.5) 1/33 35 60 32
+0.025 0

21

30

14

+0.018 0

40

6-M4 7L

1.8 (2.4) 1.9 (2.5)

27

45

24

+0.021 0

59

6-M6 10L

3.4 (4.0)

183.5 (223.5)

21

30

14

+0.018 0

40

6-M4 7L

2.1 (2.7)

27

45

24

+0.021 0

59

6-M6 10L

3.7 (4.3)

237.5 (277.5)

35

60

32

+0.025 0

84

6-M8 12L

7.3 (7.9) 4.0 (4.7) 4.2 (4.9)

27

45

24

+0.021 0

59

6-M6 10L

84

6-M8 12L

7.8 (8.5)

Notes: 1 The models and values in parentheses are for servomotors with holding brakes. 2 The dimensions not given on the table above are the same as those in the table on the previous page.

44

Rotary Servomotors

With Low-backlash Gears

External Dimensions

Units: mm

With Low-backlash Gears


(3) 750 W, 1.0 kW

External Dimensions

Units: mm

W U T
LC

L LL LM LG

0.06
LR L1 L3 LE

A Shaft End With Key and Tap

L2 Q QK

1.5

17

21

0.04
A

0.05 Dia. A

13

LA

14

Di

a.

S Dia. C Dia. B Dia. LD Dia. LB Dia.

Rotating Section (Shaded Section)

4-LZ Dia.

Tap Depth

Model SGMAV-

Gear Ratio

LL

LM

LR

LE

LG

Flange Face Dimensions B LD LB

LC

LA

LZ

08AAH11 * (08AAH1C) * 08AAHB1 * (08AAHBC) * 08AAHC1 * (08AAHCC) * 08AAH71 * (08AAH7C) * 10AAH11 * (10AAH1C) * 10AAHB1 * (10AAHBC) * 10AAHC1 * (10AAHCC) * 10AAH71 * (10AAH7C) *
Model SGMAV-

1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33

273 (318)

193 (238)

163

80

7.5

10

59

84

85

90

105

352 (397) 303 (353)

219 (264) 223 (273)

189

133

12.5

13

84

114

115

120

135

11

193

80

7.5

10

59

84

85

90

105

382 (432)

249 (299)

219

133

12.5

13

84

114

115

120

135

11

Flange Face Dimensions L2 L3 L1

Tap Depth M6 12L

QK

Key Dimensions U W

Approx. Mass kg

08AAH11 * (08AAH1C) * 08AAHB1 * (08AAHBC) * 08AAHC1 * (08AAHCC) * 08AAH71 * (08AAH7C) * 10AAH11 * (10AAH1C) * 10AAHB1 * (10AAHBC) * 10AAHC1 * (10AAHCC) * 10AAH71 * (10AAH7C) *

36

44

26

42

32

25

36

5.2 (6.1) 5.4 (6.3) 10.1 (11) 6.5 (7.5)

48

85

33

82

44

40

M10 20L M6 12L

70

12

36

44

26

42

32

25

36

48

85

33

82

44

40

M10 20L

70

12

11.4 (12.4)

The asterisk ( ) describes the 8th digit of *: order a servomotor with shaft values of the(without key the model designation, shaft end code 6 (straight with key and tap). If a key or tap is not necessary, * end code 2 and tap). Notes: 1 The models and values in parentheses are for servomotors with holding brakes. 2 Please note that gear dimensions are different from those of , , and series.

45

Servomotors

SGMAV

Rotary Motors

1Flange Output Face


L

LR L3 LE A

0.06 0.02

0.05 Dia. A 0.04


LC

LA

Di

a.

F Dia. G Dia. LD Dia. LB Dia.

LJ D

ia.

4-LZ Dia.

Tap Depth

Model SGMAV-

Gear Ratio

LR

LJ

No. of pcs Approx. Tap Depth Mass kg

08AAH101 (08AAH10C) 08AAHB01 (08AAHB0C) 08AAHC01 (08AAHC0C) 08AAH701 (08AAH70C) 10AAH101 (10AAH10C) 10AAHB01 (10AAHB0C) 10AAHC01 (10AAHC0C) 10AAH701 (10AAH70C)

1/5 220 (265) 1/11 1/21 254 (299) 1/33 1/5 1/11 1/21 1/33 284 (334) 35 60 32
+0.025 0

27

45

24

+0.021 0

59

6-M6 10L

4.8 (5.7) 5.0 (5.9)

35

60

32

+0.025 0

84

6-M8 12L

8.7 (9.6)

250 (300)

27

45

24

+0.021 0

59

6-M6 10L

6.1 (7.1)

84

6-M8 12L

10.0 (11.0)

Notes: 1 The models and values in parentheses are for servomotors with holding brakes. 2 The dimensions not given on the table above are the same as those in the table on the previous page.

46

Rotary Servomotors

With Low-backlash Gears

External Dimensions

Units: mm

Rotary Servomotors

SGMPS

Model Designations
2Without Gears

SGMPS - 01
Series Servomotor SGMPS

A
3rd digit

C
4th digit

A
5th digit

2
6th digit

1 - E
7th digit 8th digit

1st+2nd digits

1st+2nd digits Rated Output


Code

5th digit Design Revision Order


Code A E Specifications IP55 (standard) IP67 (optional)

7th digit Options


Code Specifications Without options With holding brake (24 VDC) With oil seal and holding brake (24 VDC) With oil seal

01 02 04 08 15

Specifications 100 W 200 W 400 W 750 W 1.5 kW

1
C E S

6th digit Shaft End


Code

3rd digit Power Supply Voltage


Code A Specifications

2 6

Specifications Straight without key (standard) Straight with key and tap (optional)

8th digit RoHS Directive


Code E Specifications RoHS Compliant

200 VAC

4th digit Serial Encoder


Code

2 C

Specifications 17-bit absolute (standard) 17-bit incremental (standard)

47

Servomotors

SGMPS
Features
1Medium inertia 1Flat type 1Mounted high-resolution serial encoder:

Rotary Motors

Application Examples
1Semiconductor equipment 1Chip mounters 1PCB drilling stations 1Robots 1Material handling machines 1Food processing

17 bits
1Maximum speed: 6,000 min-1 1Wide selection: 100 W to 1.5 kW capacity, holding

brake and gear options


1Standard protection level: IP55 (IP67 available on

equipment

request)

1With Gears

SGMPS - 01
Series Servomotor SGMPS

A
3rd digit

2
4th digit

A
5th digit

H
6th digit

B
7th digit

0
8th digit

1 - E
9th digit 10th digit

1st+2nd digits

1st+2nd digits Rated Output


Code

5th digit Design Revision Order


Code A Specifications IP55 (standard)

8th digit Shaft End


Code Specifications Flange output Straight without key Straight with key and tap (optional)

01 02 04 08 15

Specifications 100 W 200 W 400 W 750 W 1.5 kW

0 2 6

6th digit Gear Type


Code H Specifications HDS planetary low-backlash gear

9th digit Options


Code Specifications Without holding brake With holding brake (24 VDC)

3rd digit Power Supply Voltage


Code A Specifications

7th digit Gear Ratio


Code B C Specifications

200 VAC

4th digit Serial Encoder


Code

2 C

Specifications 17-bit absolute (standard) 17-bit incremental (standard)

1 7

1/11 1/21 1/5 1/33

1 C

10th digit RoHS Directive


Code E Specifications RoHS Compliant

48

Rotary Servomotors

Ratings and Specifications


Time Rating: Continuous Vibration Class: V15 Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C Excitation: Permanent magnet Mounting: Flange-mounted Thermal Class: B
Voltage Servomotor Model: SGMPS- Rated Output*1 Rated Torque*1, *2 Instantaneous Peak Torque*1 Rated Current*1 Instantaneous Max. Current*1 Rated Speed*1 Max. Speed* Torque Constant
1

Withstand Voltage: 1500 VAC for one minute Enclosure: Totally enclosed, self-cooled, IP55 (except for shaft opening) Ambient Humidity: 20% to 80% (no condensation) Drive Method: Direct drive Rotation Direction: Counterclockwise (CCW) with forward run reference when viewed from the load side
01A 100 0.318 0.955 0.86 2. 8 02A 200 0.637 1.91 2.0 6.4 200 V 04A 400 1.27 3.82 2.6 8.4 3000 6000 0.524 0.409 (0.561) 39.6 31100 2R8 08A 750 2.39 7.16 5.4 16.5 15A 1500 4.77 14.3 9.2 28.0

W Nm Nm Arms Arms min-1 min-1 N m/Arms

0.401 0.0592 (0.0892) 17.1 53700 R90

0.361 0.263 (0.415) 15.4 24200 2R8A R1F 2

0.476 2.10 (2.98) 27.2 11400 5R5A

0.559 4.02 (4.90) 56.6 11900 120A

Rotor Moment of Inertia Rated Power Rate*1 Rated Angular Acceleration*1 Applicable SERVOPACK

10-4 kg m2
kW/s rad/s2 SGDV-

: 300 mm 300 mm 12 mm SGMPS-08, 15 Note: The values in parentheses are for servomotors with holding brakes.

These items quoted *1: temperature and torque-motor speed characteristicsC. in combination with an SGDV SERVOPACK are at an armature winding of 100C. Other values quoted are at 20 : Rated torques are continuous allowable torque values at 40C with an aluminum heat sink of the following dimensions attached. *2 SGMPS-01, 02, 04 : 250 mm 250 mm 6 mm

1Torque-Motor Speed Characteristics


SGMPS-01A
Motor Speed (min-1) Motor Speed (min-1)

: Continuous Duty Zone


Motor Speed (min-1)

: Intermittent Duty Zone


SGMPS-04A

SGMPS-02A
6000 5000 4000 3000 2000 1000 0 0 6000 5000 4000 3000 2000 1000 0 0

6000 5000 4000 3000 2000 1000 0

0 0.25 0.5 0.75 1 Torque ()

0.5 1 1.5 2 Torque ()

Torque ()

SGMPS-08A
Motor Speed (min-1) Motor Speed (min-1)

SGMPS-15A
6000 5000 4000 3000 2000 1000 0 0

6000 5000 4000 3000 2000 1000 0 0

4 6 2 Torque ()

4 8 12 16 Torque ()

Notes: 1 The characteristics of the intermittent duty zone differ depending on the supply voltages. The solid, dotted, and dashed-dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations: The solid line: With a three-phase 200 V or a single-phase 230 V SERVOPACK The dotted line: With a single-phase 200 V SERVOPACK The dashed-dotted line: With a single-phase 100 V SERVOPACK 2 When the effective torque is within the rated torque, the servomotor can be used within the intermittent duty zone. 3 When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops.

49

Servomotors

SGMPS

Rotary Motors

1Derating Rate for Servomotor Fitted with an Oil Seal When a motor is fitted with an oil seal, use the following derating rate because of the higher friction torque.
Servomotor Model SGMPSDerating Rate %

01A 90

02A

04A

08A 95

15A

1Holding Brake Electrical Specifications


Holding Brake Rated Voltage Servomotor Model SGMPS-01A SGMPS-02A Holding Brake Specifications Servomotor Rated Output Capacity Coil Resistance Rated Current Brake Release Holding W (at 20C) W Torque N m A(at 20C) Time ms Brake Operation Time ms

24 VDC +10% 0

SGMPS-04A SGMPS-08A SGMPS-15A

100 200 400 750 1500

7.8 7.6 8.2 7.5 10

0.318 0.637 1.27 2.39 4.77

71.6 74.2 70.9 58 57.6

0.34 0.32 0.32 0.31 0.31

20 40 40 20 20

100 100 100 100 100

Notes: 1 The holding brake is only used to hold the load and cannot be used to stop the servomotor. 2 The holding brake open time and holding brake operation time vary depending on which discharge circuit is used. Make sure holding brake open time and holding brake operation time are correct for your servomotor.

1Overload Characteristics The overload detection level is set under hot start conditions at a servomotor ambient temperature of 40C.
10000

1000

Detecting time (s)

100

10

1 100

150

200
Torque reference (percent of rated torque) (%)

250

300

Note: Overload characteristics shown above do not guarantee continuous duty of 100% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics.

50

Rotary Servomotors

Ratings and Specifications

Ratings and Specifications


1Allowable Load Moment of Inertia at the Motor Shaft The rotor moment of inertia ratio is the value for a servomotor without a gear and a holding brake.
Servomotor Model Servomotor Rated Output Allowable Load Moment of Inertia (Rotor Moment of Inertia Ratio)

SGMPS-

01 02 04 08 15

100 W 200 W 400 W 750 W 1500 W

25 times 15 times 7 times 5 times

1Load Moment of Inertia The larger the load moment of inertia, the worse the movement response. The allowable load moment of inertia (JL) depends on the motor capacity, as shown above. This value is provided strictly as a guideline and results may vary depending on servomotor drive conditions. Use the AC servo drive capacity selection program SigmaJunmaSize+ to check the operation conditions. The program can be downloaded for free from our web site (http://www. e-mechatronics.com/).
An overvoltage alarm (A.400) is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia. SERVOPACKs with a built-in regenerative resistor may generate a regenerative overload alarm (A.320). Take one of the following steps if this occurs. Reduce the torque limit. Reduce the deceleration rate. Reduce the maximum speed. Install an external regenerative resistor if the alarm cannot be cleared using the steps above. Refer to Regenerative Resistors on page 349. Regenerative resistors are not built into SERVOPACKs for 400 W motors or less. External regenerative resistors are required when this condition is exceeded or if the allowable loss capacity (W) of the built-in regenerative resistor is exceeded due to regenerative drive conditions when a regenerative resistor is already built in.

1Allowable Radial and Thrust Loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table.
Servomotor Model Allowable Radial Load (Fr) N Allowable Thrust Load (Fs) N LF mm Reference Diagram

01A 02A

78

49

20
LF

245
SGMPS-

68

25

Fr Fs

04A 08A 15A 392 490 147 147 35 35

51

Servomotors

SGMPS

Rotary Motors

(1) 100 to 400 W


0.04 A
L LL LR

0.04 Dia. A 3
LG
LC

20.5 MD

LP ME

17

ML

MW

QK

MH

14

LB Dia.

S Dia.

T
LA

Cross Section Y-Y


Di a.

0.02

Tap Depth

4-LZ Dia.

Shaft End With Key and Tap

Model
SGMPS01AA21-E (01AA2C-E) 01AA61-E (01AA6C-E)

LL

LP

LR

LC

LA

LB

LZ

LG

Tap Depth

Key Dimensions QK U W T

MD ME MH

ML MW

Approx. Mass kg
0.5 (0.7)

87 (115)

62 (90)

No tap
36 25 60 70
0 50 0.025 5.5

No key
9 1 12 20 19.8 14 1.8 3 3

8 0.009
M36L

02AA21-E (02AA2C-E) 02AA61-E (02AA6C-E) 04AA21-E (04AA2C-E) 04AA61-E (04AA6C-E)

97 (128.5)

67 (98.5)

No tap
43 30 80 90 70 0.030
0

No key
16 3 5 5 14 1.5 13 21 21

14 0.011
M58L

1.1 (1.6)

107 (138.5)

77 (108.5)

No tap
53 30 80 90 70 0.030
0

No key
16 3 5 5

14 0.011
M58L

1.4 (1.9)

Note: The models and values in parentheses are for servomotors with holding brakes.

Option 1With an Oil Seal


LS2 LS1

E1 Dia.

E2 Dia.

Model SGMPS-

Dimensions of Servomotor with an Oil Seal E1 E2 LS1 LS2

01A 02A,04A

22 35

39 49

3.5 6.5

7 10

Note: The 7th digit of the model designation is S or E. The key dimensions are the same as those in the table above.
Oil Seal Cover

52

Rotary Servomotors

External Dimensions

Units: mm

External Dimensions
(2) 750 W, 1.5 kW

Units: mm

30030
Encoder Cable UL20276, 6 Dia. Servomotor Main Circuit Cable UL1828, 7 Dia. Encoder Connector

30030 35

Servomotor Connector

L LL LP

40 0.04 A 3.5 0.04 Dia. A


120

25

40

10.5 10

38

13

19
25.5

S Dia.

28

110

0 0.035

14
A Tap Depth

Di

Cross Section Y-Y

a.
Shaft End With Key and Tap

0.02

4-10 Dia.

Model SGMPS-

LL

LP

Tap Depth No tap

Key Dimensions QK U W T

Approx. Mass kg

08AA21-E (08AA2C-E) 08AA61-E (08AA6C-E) 15AA21-E (15AA2C-E) 15AA61-E (15AA6C-E)

126.5 (160)

86.5 (120)

No key

66.7

16 0.011 0
M58L No tap

22

4.2 (5.7)

154.5 114.5 (187.5) (147.5)

No key

94.7

19 0.013 0
M610L

22

3.5

6.6 (8.1)

Note: The models and values in parentheses are for servomotors with holding brakes.

Option 1With an Oil Seal


10.5 5 3.5

Oil Seal Cover

53

55 Dia. 77 Dia.

W
T

QK Y

Servomotors

SGMPS

Rotary Motors

1Cables Connections 2Standard Wiring (Max. encoder cable length: 20 m)


SGDV SERVOPACK

SGMPS-08, -15 (750 W, 1.5 kW) Servomotors


Encoder Cable (See page 59.)

Servomotor Main Circuit Cable (See page 55.) Encoder Cable (See page 59.) Battery Case (Required when an absolute encoder is used.) Servomotor Main Circuit Cable (See page 55.) SGMPS Servomotor

2Encoder Cable Extension from 30 to 50 m


(See page 62.)
(Example)

SGMPS-08, -15 (750 W, 1.5 kW) Servomotors


Relay Encoder Cable (See page 62.)
e Cable with a Battery (Required when an absolute encoder is used.) w Cable with Connectors, or r Cable

SGDV SERVOPACK

Relay Encoder Cable (See page 62.)

e Cable with a Battery (Required when an absolute encoder is used.) w Cable with Connectors, or r Cable

Servomotor Main Circuit Cable (See page 55.)

Servomotor Main Circuit Cable (See page 55.) SGMPS Servomotor

q Encoder-end Cable

CAUTION
Separate the servomotor main circuit cable wiring from the I/O signal cable and encoder cable at least 30 cm, and do not bundle or run them in the same duct. When the cable length exceeds 20 m, be sure to use a relay encoder cable. When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops.

54

Rotary Servomotors

Selecting Cables

Selecting Cables
1Servomotor Main Circuit Cable
Name Servomotor Rated Output Length Order No. Standard Type Flexible Type* JZSP-CSM01-03-E JZSP-CSM21-03-E JZSP-CSM01-05-E JZSP-CSM21-05-E JZSP-CSM01-10-E JZSP-CSM21-10-E JZSP-CSM01-15-E JZSP-CSM21-15-E JZSP-CSM01-20-E JZSP-CSM21-20-E JZSP-CSM01-30-E JZSP-CSM21-30-E JZSP-CSM01-40-E JZSP-CSM21-40-E JZSP-CSM01-50-E JZSP-CSM21-50-E JZSP-CSM02-03-E JZSP-CSM22-03-E JZSP-CSM02-05-E JZSP-CSM22-05-E JZSP-CSM02-10-E JZSP-CSM22-10-E JZSP-CSM02-15-E JZSP-CSM22-15-E JZSP-CSM02-20-E JZSP-CSM22-20-E JZSP-CSM02-30-E JZSP-CSM22-30-E JZSP-CSM02-40-E JZSP-CSM22-40-E JZSP-CSM02-50-E JZSP-CSM22-50-E JZSP-CMM00-03-E JZSP-CMM01-03-E JZSP-CMM00-05-E JZSP-CMM01-05-E JZSP-CMM00-10-E JZSP-CMM01-10-E JZSP-CMM00-15-E JZSP-CMM01-15-E JZSP-CMM00-20-E JZSP-CMM01-20-E JZSP-CMM00-30-E JZSP-CMM01-30-E JZSP-CMM00-40-E JZSP-CMM01-40-E JZSP-CMM00-50-E JZSP-CMM01-50-E JZSP-CMM20-03-E JZSP-CMM20-05-E JZSP-CMM20-10-E JZSP-CMM20-15-E JZSP-CMM20-20-E JZSP-CSM11-03-E JZSP-CSM31-03-E JZSP-CSM11-05-E JZSP-CSM31-05-E JZSP-CSM11-10-E JZSP-CSM31-10-E JZSP-CSM11-15-E JZSP-CSM31-15-E JZSP-CSM11-20-E JZSP-CSM31-20-E JZSP-CSM11-30-E JZSP-CSM31-30-E JZSP-CSM11-40-E JZSP-CSM31-40-E JZSP-CSM11-50-E JZSP-CSM31-50-E JZSP-CSM12-03-E JZSP-CSM32-03-E JZSP-CSM12-05-E JZSP-CSM32-05-E JZSP-CSM12-10-E JZSP-CSM32-10-E JZSP-CSM12-15-E JZSP-CSM32-15-E JZSP-CSM12-20-E JZSP-CSM32-20-E JZSP-CSM12-30-E JZSP-CSM32-30-E JZSP-CSM12-40-E JZSP-CSM32-40-E JZSP-CSM12-50-E JZSP-CSM32-50-E JZSP-CMM10-03-E JZSP-CMM11-03-E JZSP-CMM10-05-E JZSP-CMM11-05-E JZSP-CMM10-10-E JZSP-CMM11-10-E JZSP-CMM10-15-E JZSP-CMM11-15-E JZSP-CMM10-20-E JZSP-CMM11-20-E JZSP-CMM10-30-E JZSP-CMM11-30-E JZSP-CMM10-40-E JZSP-CMM11-40-E JZSP-CMM10-50-E JZSP-CMM11-50-E JZSP-CMM30-03-E JZSP-CMM30-05-E JZSP-CMM30-10-E JZSP-CMM30-15-E JZSP-CMM30-20-E Specifications Details

100 W

For Servomotor without Holding Brakes

200 W 400 W

750 W

1.5 kW

100 W

For Servomotor with Holding Brakes

200 W 400 W

750 W

1.5 kW

3m 5m 10 m 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 15 m 20 m 3m 5m 10 m 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 15 m 20 m

SERVOPACK End 50 mm

Servomotor End

(1)
Wire Markers M4 Crimped Terminals

SERVOPACK End 50 mm

Servomotor End L

(2)
Wire Markers M4 Crimped Terminals

SERVOPACK End 50 mm

Servomotor End

(3)
Wire Markers M4 Crimped Terminal

SERVOPACK End 50 mm

Servomotor End L

(4)

Wire Markers M4 Crimped Terminal

*: Use flexible cables for movable sections such as robot arms.

(Contd)

55

Servomotors

SGMPS

Rotary Motors

1Servomotor Main Circuit Cable (cont) d


Name Servomotor Rated Output Length Order No. Standard Type Flexible Type* JZSP-CSM9-1-E JZSP-CSM9-2-E Crimped Type (A crimp tool is required.) JZSP-CMM9-3-E Crimped Type (A crimp tool is required.) JZSP-CSM9-5-E JZSP-CSM90-05-E JZSP-CSM90-10-E JZSP-CSM90-15-E JZSP-CSM90-20-E JZSP-CSM90-30-E JZSP-CSM90-40-E JZSP-CSM90-50-E JZSP-CSM91-05-E JZSP-CSM91-10-E JZSP-CSM91-15-E JZSP-CSM91-20-E JZSP-CSM91-30-E JZSP-CSM91-40-E JZSP-CSM91-50-E JZSP-CSM80-05-E JZSP-CSM80-10-E JZSP-CSM80-15-E JZSP-CSM80-20-E JZSP-CSM80-30-E JZSP-CSM80-40-E JZSP-CSM80-50-E JZSP-CSM81-05-E JZSP-CSM81-10-E JZSP-CSM81-15-E JZSP-CSM81-20-E JZSP-CSM81-30-E JZSP-CSM81-40-E JZSP-CSM81-50-E (9) (8) (7) Specifications Crimped Type (A crimp tool is required.) Details (5) (6)

100 W 200 W400 W


Servomotorend Connector Kit

750 W1.5 kW (Without holding brake) 750 W1.5 kW (With holding brake) 5m 10 m 15 m 20 m 30 m 40 m 50 m 5m 10 m 15 m 20 m 30 m 40 m 50 m

100 to 400 W

Cables

750 W 1.5 kW

*: Use flexible cables for movable sections such as robot arms.


(1) Wiring Specications for Servomotors without Holding Brakes: 100 to 400 W
SERVOPACK-end Leads Wire Color Green/yellow Blue White Red Signal FG Phase W Phase V Phase U Servomotor-end Connector Signal FG Phase W Phase V Phase U

(2) Wiring Specifications for Servomotors without Holding Brakes: 750 W, 1.5 kW
SERVOPACK-end Leads Wire Color Red White Blue Green/yellow Signal Phase U Phase V Phase W FG Servomotor-end Connector Signal Phase U Phase V Phase W FG Pin No.

Pin No.

1 2 3 4 5 6

1 2 3 4

(3) Wiring Specifications for Servomotor with Holding Brakes: 100 to 400 W
SERVOPACK-end Leads Wire Color Green/yellow Blue White Red Black Black Signal FG Phase W Phase V Phase U Brake Brake Servomotor-end Connector Signal FG Phase W Phase V Phase U Brake Brake Pin No.

(4) Wiring Specifications for Servomotor with Holding Brakes: 750 W1.5 kW
SERVOPACK-end Leads Wire Color Red White Blue Green/yellow Black Black Signal Phase U Phase V Phase W FG Brake Brake Servomotor-end Connector Signal Phase U Phase V Phase W FG Brake Brake Pin No.

1 2 3 4 5 6

1 2 3 4 5 6

Note: No polarity for connection to a holding brake.

Note: No polarity for connection to a holding brake.

56

Rotary Servomotors

Selecting Cables

Selecting Cables
(5) Servomotor-end Connector Kit Specifications: For 100 W Servomotors
Items Order No. Applicable Servomotors Manufacturer Receptacle Electrical Contact Applicable Wire Size Outer Diameter of Insulating Sheath Mounting Screw Applicable Cable Outer Diameter Specifications JZSP-CSM9-1-E (Cables are not included.) SGMPS-01A J.S.T. Mfg. Co., Ltd. J17-06FMH-7KL-1-CF SJ1F-01GF-P0.8 AWG20 to 24
Pin No. 1

External Dimensions mm
20 19

12

654 321

1.11 dia. to 1.53 dia. mm


M2 Pan-head screw

7 0.3 dia. mm

Pin No. 6

Note: A crimp tool (Model no.: YRS-8841) is required. Contact the respective manufacturer for more information.

(6) Servomotor-end Connector Kit Specications: For 200, 400 W Servomotors


Items Order No. Applicable Servomotors Manufacturer Receptacle Electrical Contact Applicable Wire Size Outer Diameter of Insulating Sheath Mounting Screw Applicable Cable Outer Diameter Specifications JZSP-CSM9-2-E (Cables are not included.) SGMPS-02A, -04A J27-06FMH-7KL-1-CF SJ2F-01GF-P1.0 AWG20 to 24
13

External Dimensions mm
21 21

J.S.T. Mfg. Co., Ltd.

654 321
Pin No. 1

1.11 dia. to 1.53 dia. mm


M2 Pan-head screw

7 0.3 dia. mm

Pin No. 6

Note: A crimp tool (Model no.: YRS-8861) is required. Contact the respective manufacturer for more information.

(7) Servomotor-end Connector Kit Specications: For 750 W, 1.5 kW Servomotors


Specifications Items Order No. Applicable Servomotors Manufacturer Cap Socket Applicable Wire Size For Servomotors without Holding Brakes JZSP-CMM9-3-E SGMPS-08A, -15A Tyco Electronics AMP K.K. For Servomotors with Holding Brakes For power line For brake line JZSP-CSM9-5-E

350780-1 350550-6 AWG20 to 14


Pin No. 4

350781-1 350550-6 AWG20 to 14


Pin No. 3

350689-3
AWG24 to 18
Pin No. 1

26.7

External Dimensions mm

14

7.6 27.4 15.7

Pin No. 1

Pin No. 6

27.4

20.3 28.4

Pin No. 4

Note: The following crimp tools are required. For use with servomotors without holding brakes or servomotors with holding brakes and power lines: Model no. 90296-2 For use with servomotors with holding brakes and brake lines: Model no. 90300-2. Contact the respective manufacturer for more information.

57

Servomotors

SGMPS

Rotary Motors

(8) Cable Specications: For 100 to 400 W Servomotors


Items Order No.* Standard Type JZSP-CSM90--E (50 m max.) UL2517 (Rating temperature: 105C) AWG20 6C For power line: AWG20 (0.52 mm2) Outer diameter of insulating sheath: 1.53 dia. mm For holding brake line: AWG20 (0.52 mm2) Outer diameter of insulating sheath: 1.53 dia. mm Flexible Type JZSP-CSM80--E (50 m max.) UL2517 (Rating temperature: 105C) AWG22 6C For power line: AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.37 dia. mm For holding brake line: AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.37 dia. mm

Specifications

Finished Dimensions
Green (yellow)

7 0.3 dia. mm

Black

Internal Configuration and Lead Color

Black Blue White Red

Yaskawa Standard Specifications (Standard Length) Specify *: Examplethe cable length in 5of order no. : JZSP-CSM90-05-E ( m)

Cable length: 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m

(9) Cable Specications: For 750 W, 1.5 kW Servomotors


Items Order No.* Standard Type JZSP-CSM91--E (50 m max.) UL2517 (Rating temperature: 105C) AWG16 4C, AWG20 2C For power line: AWG16 (1.31 mm2) Outer diameter of insulating sheath: 2.15 dia. mm For holding brake line: AWG20 (0.52 mm2) Outer diameter of insulating sheath: 1.6 dia. mm Flexible Type JZSP-CSM81--E (50 m max.) UL2517 (Rating temperature: 105C) AWG16 4C, AWG22 2C For power line: AWG16 (1.31 mm2) Outer diameter of insulating sheath: 2.35 dia. mm For holding brake line: AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.37 dia. mm

Specifications

Finished Dimensions
Green/ (yellow)

8 0.3 dia. mm
Black

Red

Internal Configuration and Lead Color


Blue White

Black

Yaskawa Standard Specifications (Standard Length) Specify *: Examplethe cable length in 5of order no. : JZSP-CSM91-05-E ( m)

Cable length: 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m

58

Rotary Servomotors

Selecting Cables

Selecting Cables
1Encoder Cables (Length: 20 m or less)
Name Servo motor Capacity Length Order No. Standard Type JZSP-CSP01-03-E JZSP-CSP01-05-E JZSP-CSP01-10-E JZSP-CSP01-15-E JZSP-CSP01-20-E JZSP-CMP00-03-E JZSP-CMP00-05-E JZSP-CMP00-10-E JZSP-CMP00-15-E JZSP-CMP00-20-E JZSP-CSP05-03-E JZSP-CSP05-05-E JZSP-CSP05-10-E JZSP-CSP05-15-E JZSP-CSP05-20-E JZSP-CSP19-03-E JZSP-CSP19-05-E JZSP-CSP19-10-E JZSP-CSP19-15-E JZSP-CSP19-20-E Flexible Type*1 JZSP-CSP21-03-E JZSP-CSP21-05-E JZSP-CSP21-10-E JZSP-CSP21-15-E JZSP-CSP21-20-E JZSP-CMP10-03-E JZSP-CMP10-05-E JZSP-CMP10-10-E Specifications
SERVOPACK End L Encoder End

Details

3m 5m 100 to 10 m 400 W 15 m Cable with 20 m Connectors (For Incremental 3m Encoder) 5m 750 W 10 m 1.5 kW 15 m 20 m 3m 5m 100 to 10 m 400 W Cable with 15 m 2 Connectors* 20 m (For Absolute 3m Encoder, with 5m a Battery Case) 750 W 10 m 1.5 kW 15 m 20 m
SERVOPACK-end Connector Kit

(1)
Connector (Crimped) (Molex Japan Co., Ltd.) SERVOPACK End L Connector (Molex Japan Co., Ltd.) Encoder End

(2)

JZSP-CMP10-15-E Connector (Crimped) Socket Connector (Soldered) (Molex Japan Co., Ltd.) JZSP-CMP10-20-E (Molex Japan Co., Ltd.) -CSP25-03-E JZSP Encoder End SERVOPACK End L JZSP-CSP25-05-E JZSP-CSP25-10-E Connector JZSP-CSP25-15-E Connector (Crimped) Battery Case ) (Battery attached (Molex Japan Co., Ltd.) -CSP25-20-E (Molex Japan Co., Ltd.) JZSP SERVOPACK End Encoder End JZSP-CSP29-03-E L -CSP29-05-E JZSP JZSP-CSP29-10-E Battery Case JZSP-CSP29-15-E Connector (Crimped) (Battery attached) Socket Connector (Soldered) (Molex Japan Co., Ltd.) -CSP29-20-E (Molex Japan Co., Ltd.) JZSP Soldered

(3)

(4)

100 W to 1.5 kW

JZSP-CMP9-1-E Crimped Type (A crimp tool is required.)

100 to 400 W
Encoder-end Connector Kit

JZSP-CSP9-2-E Soldered

(5)

750 W1.5 kW 5m 10 m 15 m 20 m

JZSP-CMP9-2-E JZSP-CMP09-05-E JZSP-CMP09-10-E JZSP-CMP09-15-E JZSP-CMP09-20-E JZSP-CSP39-05-E JZSP-CSP39-10-E JZSP-CSP39-15-E JZSP-CSP39-20-E

20 m Max.
(6)

Cables

sections such as robot *1:: Use flexible cables for movableto the host controller, noarms. case is required. If so, use a cable for incremental encoders. battery *2 When the battery is connected

59

Servomotors

SGMPS

Rotary Motors

(1) Wiring Specications for Cable with Connectors: 100 to 400 W (For incremental encoder)
SERVOPACK End Pin No. Signal /PS PS BAT() BAT(+) PG 0V PG 5V FG
Shield Wire

(2) Wiring Specications for Cable with Connectors: 750 W1.5 kW (For incremental encoder)
SERVOPACK End Pin No. Signal Encoder (Servomotor) End
Wire Pin No. Standard Type Color Flexible Type Light blue/white Black/light blue 6

Encoder (Servomotor) End Wire Pin No. Standard Type Color Type Flexible

6 5 4 3 2 1
Shell

5 4 8 9 3 6
Shell

Light blue/white Light blue Orange Black Red FG

Black/pink Red/pink Red/light blue Green Orange FG

6 5 4 3 2 1
Shell

/PS PS BAT() BAT(+) PG 0V PG 5V FG


Shield Wire

5 4 3 2 1
Shell

Light blue Orange/white Orange Black Red FG

Red/light blue Black/pink Red/pink Green Orange FG

Orange/white Black/light blue

(3) Wiring Specications for Cable with Connectors: 100 to 400 W (For absolute encoder, with a battery case)
SERVOPACK End Pin No. Signal Encoder (Servomotor) End Wire Color Pin No. Standard Type Flexible Type

(4) Wiring Specications for Cable with Connectors: 750 W1.5 kW (For absolute encoder, with a battery case)
SERVOPACK End Pin No. Signal Encoder (Servomotor) End Wire Color Pin No. Standard Type Flexible Type

6 5 4 3 2 1 Shell

/PS PS BAT() BAT(+) PG 0V PG 5V FG


Shield Wire

5 4 8 9 3 6
Shell

Light blue/white Light blue Orange Black Red FG

Black/pink Red/pink Red/light blue Green Orange FG

6 5 4 3 2 1 Shell

/PS PS
BAT BAT +

6 5 4 3 2 1
Shield Wire

Light blue/white Light blue Orange Black Red FG

Black/pink Red/pink Red/light blue Green Orange FG

Orange/white Black/light blue

Orange/white Black/light blue

PG 0V PG 5V FG

Shell

Battery Case Pin No. Signal

Battery Case Pin No. Signal

2 1

BAT() BAT(+)

2 1

BAT BAT +

(5) SERVOPACK-end/Encoder-end Connector Kit Specifications


Items Order No. Manufacturer SERVOPACK-end Connector Kit JZSP-CMP9-1-E (Cables are not included.) Molex Japan Co., Ltd. 55100-0670 (soldered) Product Specification: PS-54280 Encoder-end Connector Kit JZSP-CSP9-2-E JZSP-CMP9-2-E (Cables are not included.) (Cables are not included.) Molex Japan Co., Ltd.

54346-0070 (crimped)* Mounting screw: M2 pan-head screw (2) Outer diameter of applicable cable: 6.3 dia. to 7.7 dia. mm Applicable wire size: AWG22 to 26 Outer diameter of insulating sheath: 1.05 dia. to 1.4 dia. mm Application Specification: AS-54992 Crimping Specification: CS-56161
27

Molex Japan Co., Ltd. 54280-0609 (soldered) Product Specification: PS-54280

Specifications

20.5

17 2-M2 Pan-head Screws

19

External Dimensions mm

5 6 3 4 1 2

7
12 33

44

12

9 6
required. *: A crimp tool iscrimp tool is applicable for the cables provided by Yaskawa. When using other wire sizes, contact the respective manufacturer for crimp tools. The following Applicable crimp tool for Yaskawas wire size: Hand Tool Model No. 57175-5000

19

11

60

Rotary Servomotors

Selecting Cables

Selecting Cables
(6) Cable Specications
Items Order No.* Cable Length Standard Type JZSP-CMP09--E UL20276 (Rating temperature: 80C) Flexible Type JZSP-CSP39--E

Specifications

20 m max. UL20276 (Rating temperature: 80C) AWG222C+AWG242P AWG222C+AWG242P AWG22 (0.33 mm2) AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.15 dia. mm Outer diameter of insulating sheath: 1.35 dia. mm AWG24 (0.20 mm2) AWG24 (0.20 mm2) Outer diameter of insulating sheath: 1.09 dia. mm Outer diameter of insulating sheath: 1.21 dia. mm 6.5 dia. mm 6.8 dia. mm

Finished Dimensions

Light blue

Internal Configuration and Lead Color


Orange Orange/ white

Red

Black

Light blue/ white Black/ pink Red/ pink

Orange

Green

Black/ light blue Red/ light blue

Yaskawa Standards Specifications (Standard Length)

Cable length: 5 m, 10 m, 15 m, 20 m

*: Specify the cable length in 5of order no. Example: JZSP-CMP09-05-E ( m)

61

Servomotors

SGMPS

Rotary Motors

1Relay Encoder Cables (For extending from 30 to 50 m)


Name Length Order No. Standard Type Specifications Details

SERVOPACK End

Encoder-end Cables

0.3 m

Encoder End

(For incremental and absolute encoder)

0.3 m

JZSP-CSP11-E
Plug Connector (Crimped) Connector (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.)

(1)

30 m
Cable with Connectors

JZSP-UCMP00-30-E JZSP-UCMP00-40-E JZSP-UCMP00-50-E

SERVOPACK End

Encoder End

(For incremental and absolute encoder)

40 m 50 m

(2)
Plug Connector (Crimped) (Molex Japan Co., Ltd.) SERVOPACK End Socket Connector (Soldered) (Molex Japan Co., Ltd.) Encoder End

0.3 m

Cable with a Battery Case

(Required when an absolute encoder is used*)

0.3 m

JZSP-CSP12-E

Battery Case (Battery attached)


Plug Connector (Crimped) (Molex Japan Co., Ltd.) Socket Connector (Soldered) (Molex Japan Co., Ltd.)

(3)

Cables

30 m 40 m 50 m

JZSP-CMP19-30-E JZSP-CMP19-40-E JZSP-CMP19-50-E

(4)

*: Not required when connecting a battery to the host controller.


(1) Wiring Specifications for Encoder-end Cable
SERVOPACK End Pin No. Signal /PS PS BAT () BAT (+) PG 0V PG 5V FG
Shield Wire

(2) Wiring Specifications for Cable with Connectors


SERVOPACK End Pin No. Signal /PS PS BAT () BAT (+) PG 0V PG 5V FG
Shield Wire

Encoder (Servomotor) End Pin No. Wire Color Light blue/white Light blue Orange/white Orange Black Red FG

Encoder (Servomotor) End Pin No. Wire Color Light blue/white Light blue Orange/white Orange Black Red FG

6 5 4 3 2 1
Shell

5 4 8 9 3 6
Shell

6 5 4 3 2 1
Shell

6 5 4 3 2 1
Shell

(3) Wiring Specications for Cable with a Battery (4) Cable Specications Case
Item
SERVOPACK End Pin No. Signal /PS PS BAT () BAT (+) PG 0V PG 5V FG
Shield Wire

Encoder (Servomotor) End Pin No. Wire Color Light blue/white Light blue Orange/white Orange Black Red FG

Order No.* Cable Length

Standard Type JZSP-CMP19--E

6 5 4 3 2 1
Shell

6 5 4 3 2 1
Shell

Specifications

Finished Dimensions

50 m max. UL20276 (Rating temperature: 80C) AWG162C+AWG262P AWG16 (1.31 mm2) Outer diameter of insulating sheath: 2.0 dia. mm AWG26 (0.13 mm2) Outer diameter of insulating sheath: 0.91 dia. mm 6.8 dia. mm

Battery Case Pin No. Signal BAT () BAT (+)

Black

2 1

Internal Configuration and Lead Colors

Orange Orange /white

Light blue Light blue /white

Red

Yaskawa Standard Specifications (Standard Length)

Cable length: 30 m, 40 m, 50 m

of order *: Specify the cable length in 30 m) no. Example: JZSP-CMP19-30-E (

62

Rotary Servomotors

Selecting Cables

With Low-backlash Gears

Ratings and Specifications


Withstand Voltage: 1500 VAC for one minute Enclosure: Totally enclosed, self-cooled, IP55 (except for shaft opening) Ambient Humidity: 20% to 80% (no condensation) Drive Method: Direct drive Rotation Direction: Counterclockwise (CCW) with forward run reference when viewed from the load side
Gear Rated Torque N m Gear Ratio Lost Motion arc-min Rated Torque / Instantaneous Efficiency*1 Peak Torque N m /% N m Rated Speed min-1 Max. Speed*2 min-1

Time Rating: Continuous Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C Excitation: Permanent magnet Mounting: Flange-mounted Gear Mechanism: Planetary gear mechanism Thermal Class: B
Servomotor Model SGMPSRated Output W Servomotor Rated Speed min-1

01AAH1 01AAHB 01AAHC 01AAH7 02AAH1 02AAHB 02AAHC 02AAH7 04AAH1 04AAHB 04AAHC 04AAH7 08AAH1 08AAHB 08AAHC 08AAH7 15AAH1 15AAHB 15AAHC 15AAH7

100

3000

0.318

200

3000

0.637

400

3000

1.27

750

3000

2.39

1500

3000

4.77

1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33

3 max.

3 max.

3 max.

3 max.

3 max.

1.27/80 2.80/80 5.34/80 8.40/80 2.55/80 5.96/85 11.4/85 17.9/85 5.40/85 11.9/85 22.7/85 33.5/80 10.2/85 22.3/85 42.7/85 67.0/85 20.3/85 44.6/85 80.1/80 126/80

4.34 9.55 18.2 28.7 8.40 19.3 37.3 58.6 17.6 39.1 72.2 115 33.3 71.0 140 206 65.9 148 270 353*3

600 273 143 91 600 273 143 91 600 273 143 91 600 273 143 91 600 273 143 91

800 363 190 121 800 363 190 121 800 363 190 121 800 363 190 121 800 363 190 121

*1: Gear output torque is expressed using the following equation. 1


(Gear output torque)= (Servomotor output torque) (gear ratio)

(efficiency)

Gear efficiency depends on operating conditions such as rated output, motor speed, and temperature etc. The values in the table are representative values with rated output, rated speed, and an ambient temperature of 25C, and are not guaranteed values. 2: Max. speed is up to 4000 min-1 at the shaft. 3: The instantaneous peak torque values indicated with 3 are limited by the gear, so use the following servomotor instantaneous peak torque. In this case, set torque limit parameters Pn402 and 403 for the SERVOPACK at 250% Notes: 1 The gear mounted to our servomotor has not been broken in. Break in the servomotor if necessary. First, run the motor at low speed with no load. If no problems arise, gradually increase the speed and load. 2 The no-load torque for a servomotor with a gear is high immediately after the servomotor starts, and it then decreases and becomes stable a few minutes later. This is a common phenomenon caused by grease being circulated in the gear and not by a faulty gear.

* *

IMPORTANT The SERVOPACK speed control range is 5000:1. When using servomotors at extremely low speeds (0.02 min-1 at gear output shaft), or when using servomotors with 1 pulse feed reference for extended periods etc., the gear bearing lubrication may be insufficient. That may cause deterioration of bearing or increase the load ratio. Contact your Yaskawa representative if you are using your servomotor under these conditions.

63

Servomotors

SGMPS

Rotary Motors

1Moment of Inertia and Allowable Radial and Thrust Loads


Moment of Inertia Servomotor Model SGMPS-

10-4 kg m2
Motor

Servomotors with Low-backlash Gears Allowable Allowable Thrust Load (Fs) N Reference LF mm Diagram

+
Gear

Gear

Radial Load (Fr) N

01AAH1 01AAHB 01AAHC 01AAH7 02AAH1 02AAHB 02AAHC 02AAH7 04AAH1 04AAHB 04AAHC 04AAH7 08AAH1 08AAHB 08AAHC 08AAH7 15AAH1 15AAHB 15AAHC 15AAH7

0.152 0.107 0.102 0.092 0.623 0.351 0.373 0.328 0.769 0.604 0.604 0.582 2.87 2.62 2.76 2.56 5.56 6.11 6.00 5.14

0.093 0.048 0.043 0.033 0.360 0.088 0.110 0.065 0.360 0.195 0.195 0.173 0.765 0.523 0.663 0.455 1.540 2.090 1.980 1.116

167 216 392 431 245 323 549 608 245 441 568 657 343 451 813 921 353 647 1274

147 235 235 294 235 294 314 294 314 490 314 490 882

55 69 69 79 69 79 100 79 100 137 137 151

LF

Fr Fs

IMPORTANT The gear generates the loss at gear mechanism and oil seal. The loss varies with torque and motor speed conditions. The temperature rise depends on heating conditions. Always check the actual gear and motor temperature. If the temperature is high, take the measures shown below. Decrease the load ratio. Change the heating conditions. Cool the motor with a cooling fan etc.

Rated Output W

1/5

Heat Sink Size 1/11 1/21 A B

1/33

100 200 400 750 1500

A : 250 mm 250 mm 6 mm, aluminum B : 300 mm 300 mm 12 mm, aluminum C : 350 mm 350 mm 12 mm, aluminum

64

Rotary Servomotors

With Low-backlash Gears

Ratings and Specifications

With Low-backlash Gears


(1) 100 to 400 W

External Dimensions

Units: mm

L LL LM LG

0.06 A
LR L1 L3 LE L2 Shaft End With Key and Tap
LC

0.05 Dia. A 0.04


A

MH

ME

17

ML

14

LA

Di

a.

Q QK

Rotating Section (Shaded Section)

S Dia. C Dia. B Dia. LD Dia. LB Dia.

4-LZ Dia.

Tap Depth

Model SGMPS-

Gear Ratio

LL

LM LR LE LG

LD

LB

LC LA LZ L1 L2 L3

Tap Key Dimensions Approx. ME MH ML Mass kg Depth QK U W T

01AAH11-E * 1/5 (01AAH1C-E) 168 * (196) 01AAHB1-E * 1/11 (01AAHBC-E) * 01AAHC1-E * 1/21 (01AAHCC-E) 191 * (219) 01AAH71-E * 1/33 (01AAH7C-E) *

108 (136)

82 60

40 20 64.5 65 0.030 0

70 80 6.6 30 30 22 28 16 0.018 M48L 25 0

12 20

1.3 (1.5)

117 (145)

91 74 7.5 10 59 26 84

85 0.035

90 105

36 38 26 36 20 0.021 M510L 32 3.5 0

12 20

2.8 (3.0) 3.2 (3.7) 3.5 (4.0) 3.8 (4.3) 3.5 (4.0) 4.1 (4.6) 4.5 (5.0) 7.0 (7.5)

02AAH11-E * 1/5 (02AAH1C-E) 197 123 * 99 74 7.5 10 59 26 84 (228.5) (154.5) 02AAHB1-E * 1/11 (02AAHBC-E) *

85

0 0.035

90 105

36 38 26 36 20

0 0.021

M510L 32 3.5

1.5 13 21

04AAH11-E 207 133 * 1/5 109 (04AAH1C-E) (238.5) (164.5) * 04AAHB1-E 225 141 * 1/11 117 (04AAHBC-E) (256.5) (172.5) * 04AAHC1-E 253 148 * 1/21 124 (04AAHCC-E) (284.5) (179.5) * 04AAH71-E 254 149 * 1/33 125 (04AAH7C-E) (285.5) (180.5) *

02AAHC1-E * 1/21 (02AAHCC-E) 215 131 * 107 84 12 12 59 32 96 100 0.035 105 120 0 (246.5) (162.5) 02AAH71-E * 1/33 (02AAH7C-E) * 74 7.5 10 59 26 84 85 0.035
0

40 44 29 42 25 0.021 M612L 36 0

1.5 13 21

90 105

9 9

36 38 26 36 20 0.021 M510L 32 3.5 0 40 44 29 42 25 0.021 M612L 36 0 4 5 5

6 8 10 10

6 7 8 8

1.5 13 21 1.5 13 21 1.5 13 21 1.5 13 21

84 12 12 59 32 96 100 0.035 105 120 0

105 14 13 59 40 112 115 0.035 120 135 11 45 60 33 58 32 0.025 M816L 50 0 0 105 12.5 13 84 40 114 115 0.035 120 135 11 45 60 33 58 32 0.025 M816L 50 0 0

The asterisk ( ) describes the of the th digit of designation, shaft end code 6 (straight with key and tap). If a key or tap is not necessary, *: order a servomotor with shaftvaluescode 2 (8without keythe model. * end and tap) Note: The models and values in parentheses are for servomotors with holding brakes.

65

Servomotors

SGMPS

Rotary Motors

(2) 750 W, 1.5 kW


U T
Encoder Cable UL20276, 6 Dia. Servomotor Main Circuit Cable UL1828, 7 Dia.

30030
(35)

Encoder Connector Servomotor Connector

30030
L LL LM LR LG L1 L3 LE L2

0.06 A 0.05 Dia. A


Shaft End With Key and Tap
LC

7
40

0.04
A

10.5 28

LA
Q QK

Di

a.

13 19 (25)
120

Rotating Section (Shaded Section)

S Dia. C Dia. B Dia. LD Dia. LB Dia.

4-LZ Dia.
Tap Depth

Tap Depth

Model SGMPS-

Gear Ratio

LL

LM LR

LE

LG

LD

LB

LC

LA

LZ

L1

L2

L3

Key Dimensions QK U W T

Approx. Mass kg

The asterisk ( ) describes the of the th digit of designation, shaft end code 6 (straight with key and tap). If a key or tap is not necessary, *: order a servomotor with shaftvaluescode 2 (8without keythe model. * end and tap) Note: The models and values in parentheses are for servomotors with holding brakes.

08AAH11-E * (08AAH1C-E) * 08AAHB1-E * (08AAHBC-E) * 08AAHC1-E * (08AAHCC-E) * 08AAH71-E * (08AAH7C-E) * 15AAH11-E * (15AAH1C-E) * 15AAHB1-E * (15AAHBC-E) * 15AAHC1-E * (15AAHCC-E) * 15AAH71-E * (15AAH7C-E) *

234.5 (268) 263.5 1/11 (297) 1/5 1/21 1/33 1/5

150.5 131 84 12 (184) 158.5 139 105 14 (192)

12 13

59 59

32

96 100 0.035 105 120 0

40 45

44 60

29 33

42 25 0.021 M612L 36 0 58 32 0.025 M816L 50 0

4 5

8 10

7 8

40 112 115 0.035 120 135 11 0

6.9 (8.4) 8.0 (9.5) 11.0 (12.5) 13.1 (10.7) 11.3 (12.8) 23.6 (25.1)

316.5 174.5 155 142 10 (350) (208)

15

84

44 134 140 0.040 145 165 14 0

57

85

40

82 40 0.025 0

M10 20L

70

12

291.5 (325) 344.5 1/11 (378) 1/21 1/33

186.5 167 105 12.5 13 (220) 202.5 183 142 10 15 (236)

40 114 115 0.035 120 135 11 0 84 44 134 140 0.040 145 165 0 14

45 57

60 85

33 40

58 32 0.025 M816L 50 0 5 40 0.025 82


M10 20L
0

10 8 12

364.5 208.5 189 156 16 (398) (242)

70 5.5 14 9

16 135 51 163 165

0 0.040

170 190

70

86

51

45

0 0.025

66

Rotary Servomotors

With Low-backlash Gears

External Dimensions

Units: mm

Flange-type With Low-backlash Gears


Time Rating: Continuous Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C Excitation: Permanent magnet Mounting: Flange-mounted Gear Mechanism: Planetary gear mechanism Thermal Class: B
Servomotor Model SGMPSRated Output W Servomotor Rated Speed min-1 Rated Torque N m

Ratings and Specifications

Withstand Voltage: 1500 VAC for one minute Enclosure: Totally enclosed, self-cooled, IP55 (except for shaft opening) Ambient Humidity: 20% to 80% (no condensation) Drive Method: Direct drive Rotation Direction: Counterclockwise (CCW) with forward run reference when viewed from the load side
Lost Motion arc-min Gear Rated Torque / Instantaneous Efficiency*1 N m/% Peak Torque N m Rated Speed min-1 Max. Speed*2 min-1

Gear Ratio

01AAH10 01AAHB0 01AAHC0 01AAH70 02AAH10 02AAHB0 02AAHC0 02AAH70 04AAH10 04AAHB0 04AAHC0 04AAH70 08AAH10 08AAHB0 08AAHC0 08AAH70 15AAH10 15AAHB0 15AAHC0 15AAH70

100

3000

0.318

200

3000

0.637

400

3000

1.27

750

3000

2.39

1500

3000

4.77

1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33

3 max.

3 max.

3 max.

3 max.

3 max.

1.27/80 2.80/80 5.34/80 8.40/80 2.55/80 5.62/80 10.7/80 16.8/80 5.08/80 11.2/80 21.3/80 33.5/80 9.56/80 21.0/80 40.2/80 63.1/80 19.1/80 42.0/80 80.1/80 126/80

4.32 9. 5 18.1 27.0 8. 6 18.9 36.1 48.0*3 17.2 35.0 72.2 93.0*3 32.0 56.0*3 134 156*3 64.4 142 270 353*3

600 273 143 91 600 273 143 91 600 273 143 91 600 273 143 91 600 272 143 91

800 363 190 121 800 363 190 121 800 363 190 121 800 363 190 121 800 363 190 121

*1: Gear output torque is expressed using the following equation. 1


(Gear output torque)= (Servomotor output torque) (gear ratio)

(efficiency)

Gear efficiency depends on operating conditions such as rated output, motor speed, and temperature etc. The values in the table are representative values with rated output, rated speed, and an ambient temperature of 25C, and are not guaranteed values. 2: Max. speed is up to 4000 min-1 at the shaft. 3: The instantaneous peak torque values indicated with 3 are limited by the gear, so use the following servomotor instantaneous peak torque. In this case, set torque limit parameters Pn402 and 403 for the SERVOPACK at 250% Notes: 1 The gear mounted to our servomotor has not been broken in. Break in the servomotor if necessary. First, run the motor at low speed with no load. If no problems arise, gradually increase the speed and load. 2 The no-load torque for a servomotor with a gear is high immediately after the servomotor starts, and it then decreases and becomes stable a few minutes later. This is a common phenomenon caused by grease being circulated in the gear and not by a faulty gear.

* *

IMPORTANT The SERVOPACK speed control range is 5000:1. When using servomotors at extremely low speeds (0.02 min-1 at gear output shaft), or when using servomotors with 1 pulse feed reference for extended periods etc., the gear bearing lubrication may be insufficient. That may cause deterioration of bearing or increase the load ratio. Contact your Yaskawa representative if you are using your servomotor under these conditions.

67

Servomotors

SGMPS

Rotary Motors

1Moment of Inertia and Allowable Radial and Thrust Loads


Moment of Inertia Servomotor Model SGMPS 10-4 kg m2

Servomotors with Low-backlash Gears Allowable Allowable Thrust Load (Fs) N Reference LF mm Diagram

Motor
Gear

Gear

Radial Load (Fr) N

01AAH10 01AAHB0 01AAHC0 01AAH70 02AAH10 02AAHB0 02AAHC0 02AAH70 04AAH10 04AAHB0 04AAHC0 04AAH70 08AAH10 08AAHB0 08AAHC0 08AAH70 15AAH10 15AAHB0 15AAHC0 15AAH70

0.144 0.100 0.102 0.085 0.543 0.364 0.351 0.317 0.689 0.636 0.628 0.545 2.72 2.65 2.65 2.43 5.59 5.58 5. 9 5.1

0.085 0.041 0.043 0.026 0.280 0.101 0.088 0.054 0.280 0.227 0.219 0.136 0.616 0.552 0.552 0.327 1.57 1.56 1.88 1.08

167 216 392 431 245 323 549 608 245 441 568 657 343 451 813 921 353 647 1274

147 235 235 294 235 294 314 294 314 490 314 490 882

55 69 69 79 69 79 100 79 100 137 137 151


LF

Fr

Fs

IMPORTANT The gear generates the loss at gear mechanism and oil seal. The loss varies with torque and motor speed conditions. The temperature rise depends on heating conditions. Always check the actual gear and motor temperature. If the temperature is high, take the measures shown below. Decrease the load ratio. Change the heating conditions. Cool the motor with a cooling fan etc.

Rated Output W

1/5

Heat Sink Size 1/11 1/21 A B C

1/33

100 200 400 750 1500

A : 250 mm 250 mm 6 mm, aluminum B : 300 mm 300 mm 12 mm, aluminum C : 350 mm 350 mm 12 mm, aluminum

68

Rotary Servomotors

Flange-type With Low-backlash Gears

Ratings and Specifications

Flange-type With Low-backlash Gears


(1) 100 to 400 W
0.06 A
LR L1 LE A

External Dimensions

Units: mm

L LL LM LG
MH

0.04

0.05 Dia. A
LC

ME

17

ML

14

LA

Di

a.

S Dia. B Dia. LD Dia. LB Dia.

LJ D

ia.

4-LZ Dia.

Tap Depth

Model SGMPS01AAH101-E (01AAH10C-E) 01AAHB01-E (01AAHB0C-E)

Gear Ratio

LL

LM

LR

LE

LG

LD

LB

LC

LA

LZ

L1

Tap Depth

LJ

ME MH

ML

Approx. Mass kg

1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33

132 (160)

109 (137)

83

23

50 64.5 65

0 0.030

70

80

6.6

22 19

+0.021 0

M3 6L

35

12

20

1.3 (1.5) 1.4 (1.6) 2.4 (2.6) 2.9 (3.4) 3.0 (3.5) 4.1 (4.6) 3.2 (3.7) 4.4 (4.9) 5.8 (6.3)

01AAHC01-E (01AAHC0C-E) 01AAH701-E (01AAH70C-E) 02AAH101-E (02AAH10C-E) 02AAHB01-E (02AAHB0C-E) 02AAHC01-E (02AAHC0C-E) 02AAH701-E (02AAH70C-E) 04AAH101-E (04AAH10C-E) 04AAHB01-E (04AAHB0C-E) 04AAHC01-E (04AAHC0C-E) 04AAH701-E (04AAH70C-E)

145 (173)

118 (146)

92

27

10

10

60

83

85 0.035

90

105

0 26 24 +0.021

M4 7L

45

12

20

150 (181.5)

123 (154.5)

99

27

10

10

60

83

85

0 0.035

90

105

26 24

+0.021 0

M4 7L

45

1.5

13

21

162 (193.5) 160 (191.5) 172 (203.5) 184 (215.5)

131 107 (162.5) 133 109 (164.5) 141 117 (172.5) 149 125 (180.5)

31

12

12

70

96

0 100 0.035 105 120

0 29 28 +0.021

M5 8L

55

1.5

13

21

27 31

10 12

10 12

60 70

83 96

85 0.035

90

105

9 9

0 26 24 +0.021

M4 7L M5 8L

45 55

1.5 1.5

13 13

21 21

0 100 0.035 105 120

0 29 28 +0.021

35

14

13

90

112 115 0.035 120 135 0

11

0 33 32 +0.025

M5 8L

70

1.5

13

21

Note: The models and values in parentheses are for servomotors with holding brakes.

69

Servomotors

SGMPS

Rotary Motors

(2) 750 W, 1.5 kW


Encoder Connector Servomotor Connector

Encoder Cable UL20276, 6 Dia. Servomotor Main Circuit Cable UL1828, 7 Dia.

30030
(35)

30030
L LL LM LR L1 LE

0.06 A 0.05 Dia. A


LC

40

10.5 28

LG

0.04
A

LA

Di

a.

13
B Dia. LD Dia. LB Dia.
25.5 120

19

S Dia.

LJ

Dia

LK

4-LZ Dia.

Tap Depth

Model SGMPS08AAH101-E (08AAH10C-E) 08AAHB01-E (08AAHB0C-E)

Gear Ratio

LL

LM

LR

LE

LG

LD

LB

LC

LA

LZ

L1

LJ

LK

S
0 28 +0.021

Tap Depth M58L M58L

1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33

181.5 (215) 193.5 (227) 218.5 (252) 221.5 (255) 246.5 (280) 261.5 (295)

150.5 (184) 158.5 (192) 174.5 (208) 186.5 (220) 202.5 (236) 208.5 (242)

131 139

31 35

12 14

12 13

70 90

96 100 0.035 105 120 0 112 115 0.035 120 135 0

9 11

29 33

55 70

3 3

Approx. Mass kg 6.9 (8.4)

0 32 +0.025

8.6 (10.1) 12.2 (13.7) 11.6 (13.1) 15.8 (17.3) 20.5 (22.0)

08AAHC01-E (08AAHC0C-E) 08AAH701-E (08AAH70C-E) 15AAH101-E (15AAH10C-E) 15AAHB01-E (15AAHB0C-E) 15AAHC01-E (15AAHC0C-E) 15AAH701-E (15AAH70C-E)

155

44

10

15

107 134 140 0.040 145 165 0

14

42

80

0 35 +0.025

M610L

167 183

35 12.5 13 44 10 15

90

112 115 0.035 120 135 0

11

33 42

70 80

3 4

0 32 +0.025

M58L M610L

107 134 140 0.040 145 165 0 14

0 35 +0.025

189

53

16

16

135 163 165 0.040 170 190 0

51

100

0 47 +0.025

M812L

Note: The models and values in parentheses are for servomotors with holding brakes.

70

Rotary Servomotors

Flange-type With Low-backlash Gears

External Dimensions

Units: mm

Rotary Servomotors

SGMGV

Model Designations

SGMGV - 03
Series Servomotor SGMGV

A
3rd digit

D
4th digit

A
5th digit

2
6th digit

1
7th digit

1st+2nd digits

1st+2nd digits Rated Output


Code

4th digit Serial Encoder


Code

7th digit Options


Code Specifications Without options With holding brake (90 VDC) With holding brake (24 VDC) With oil seal and holding brake (90 VDC) With oil seal and holding brake (24 VDC) With oil seal

03 05 09 13 20 30 44 55 75 1A 1E

Specifications 300 W 450 W 850 W 1.3 kW 1.8 kW 2.9 kW 4.4 kW 5.5 kW 7.5 kW 11 kW 15 kW

3 D

Specifications 20-bit absolute (standard) 20-bit incremental (standard)

1
B C D E S

5th digit Design Revision Order


Code A Specifications Standard

6th digit Shaft End


Code Specifications Straight without key (standard) Straight with key and tap (optional)

2 6

3rd digit Power Supply Voltage


Code A D Specifications 200 VAC 400 VAC

71

SGMJV
Features
1High-speed driving of feed shafts for various

Application Examples
1Machine tools 1Transfer machines 1Material handling

machines
1Wide selection: 300 W to 15 kW capacity,

holding brake option


1Mounted serial encoder: 20 bits, high resolution 1Protective structure: IP67

machines
1Food processing

equipment

Configurations of connectors for the main circuit vary depending on servomotor capacity. SGMGV-03/-05
The connectors are used only for Yaskawa servomotors. Order the connectors specified by Yaskawa. Both protective structure IP67 and European Safety Standards compliant connectors are available. For details, refer to page 83 and 84.

SGMGV-09 to -1E
The connectors for these models are round. The connectors specified by Yaskawa are required. Note that the connectors vary depending on the operation environment of servomotors. Two types of connectors are available. Standard connectors: For details, refer to page 86 and 87. Protective structure IP67 and European Safety Standards compliant connectors: For details, refer to page 88.

72

Rotary Servomotors

Ratings and Specifications


Time Rating: Continuous Vibration Class: V15 Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C Excitation: Permanent magnet Mounting: Flange-mounted Thermal Class: F Withstand Voltage: 1500 VAC for one minute (200-V Class) 1800 VAC for one minute (400-V Class) Enclosure: Totally enclosed, self-cooled, IP67 (except for shaft opening) Ambient Humidity: 20% to 80% (no condensation) Drive Method: Direct drive Rotation Direction: Counterclockwise (CCW) with forward run reference when viewed from the load side
05A 0.45 2.86 8.92 3.8 11 09A 0.85 5.39 13.8 6.9 17 13A 1.3 8.34 23.3 10.7 28 20A 1.8 11.5 28.7 16.7 42 3000 0.748 26 (28.1) 50.9 (47.1) 30A 2.9 2.4*2 18.6 15.1*2 45.1 23.8 19.6*2 56 1500 0.848 46 (54.5) 75.2 (63.5) 44A 4. 4 28.4 71.1 32.8 84 55A 5.5 35.0 87.6 42.1 110 75A 7.5 48.0 119 54.7 130 1AA 11 70.0 175 58.6 140 1EA 15 95.4 224 78 170

200-V Class
Servomotor Model: SGMGV- Rated Output*1 Rated Torque*1 Instantaneous Peak Torque*1 Rated Current*1 Instantaneous Max. Current*1 Rated Speed*1 Max. Speed*1 Torque Constant Rotor Moment of Inertia Rated Power Rate*1 Rated Angular Acceleration*1 Applicable SERVOPACK kW Nm Nm Arms Arms min-1 min-1 N m/Arms

03A 0.3 1.96 5.88 2.8 8

10-4 kg m2
kW/s rad/s2 SGDV-

0.776 2.48 (2.73) 15.5 (14.1)

0.854 3.33 (3.58) 24.6 (22.8)

0.859 13.9 (16) 20.9 (18.2)

0.891 19.9 (22) 35.0 (31.6)

0.934 67.5 (76.0) 119 (106)

0.871 89.0 (97.5) 138 (126)

0.957 125 (134) 184 (172)

2000 1.32 1.37 242 303 (261) (341) 202 (188) 300 (283)

7900 8590 3880 4190 4420 4040 4210 3930 3840 2890 3150 (7180) (7990) (3370) (3790) (4090) (3410) (3740) (3590) (3580) (2680) (2960) 3R 8A 3R 8A 7R6A 120A 180A 330A 330A 200A*2 470A 550A 590A 780A

items and torqueSERVOPACK are at an armature winding temperature of 20C. *1:: These using SGDV-200Amotor speed characteristics quoted in combination with a values. SERVOPACKs with SGMGV-30A servomotors, *2 When values in parentheses are for servomotors with holding brakes. use these Notes: 1 The

2 The above specifications show the values under the cooling condition when the following heat sinks are mounted on the servomotors. SGMGV-03A/-05A: 250 mm 250 mm 6 mm (aluminum) SGMGV-09A/-13A/-20A: 400 mm 400 mm 20 mm (iron) SGMGV-30A/-44A/-55A/-75A: 550 mm 550 mm 30 mm (iron) SGMGV-1AA/-1EA: 650 mm 650 mm 35 mm (iron)

400-V Class
Servomotor Model: SGMGV- Rated Output* Rated Torque* Instantaneous Peak Torque* Rated Current* Instantaneous Max. Current* Rated Speed* Max. Speed* Torque Constant Rotor Moment of Inertia Rated Power Rate* Rated Angular Acceleration* Applicable SERVOPACK kW Nm Nm Arms Arms min-1 min-1 N m/Arms

03D 0.3 1.96 5.88 1.4 4

05D 0.45 2.86 8.92 1.9 5.5

09D 0.85 5.39 13.8 3.5 8.5

13D 1.3 8.34 23.3 5.4 14

20D 1.8 11.5 28.7 8.4 20 3000 1.50 26 (28.1) 50.9 (47.1)

30D 2.9 18.6 45.1 11.9 28 1500 1.70 46 (54.5) 75.2 (63.5)

44D 4. 4 28.4 71.1 16.5 40.5

55D 5.5 35.0 87.6 20.8 52

75D 7.5 48.0 119 25.7 65

1AD 11 70.0 175 28.1 70

1ED 15 95.4 224 37.2 85

1.55 2.48 (2.73) 15.5 (14.1)

1.71 3.33 (3.58) 24.6 (22.8)

1.72 13.9 (16) 20.9 (18.2)

1.78 19.9 (22) 35.0 (31.6)

1.93 67.5 (76.0) 119 (106)

1.80 89.0 (97.5) 138 (126)

1.92 125 (134) 184 (172)

2000 2.64 2.74 242 (261) 202 (188) 303 (341) 300 (283)

10-4 kg m2
kW/s rad/s2 SGDV-

7900 8590 3880 4190 4420 4040 4210 3930 3840 2890 3150 (7180) (7990) (3370) (3790) (4090) (3410) (3740) (3590) (3580) (2680) (2960) 1R9D 1R9D 3R5D 5R 4D 8R 4D 120D 170D 210D 260D 280D 370D

73

: These items and torque-motor speed characteristics quoted in combination with a SERVOPACK are at an armature winding temperature of 20C. Notes: 1 The values in parentheses are for servomotors with holding brakes. 2 The above specifications show the values under the cooling condition when the following heat sinks are mounted on the servomotors. SGMGV-03D/-05D: 250 mm 250 mm 6 mm (aluminum) SGMGV-09D/-13D/-20D: 400 mm 400 mm 20 mm (iron) SGMGV-30D/-44D/-55D/-75D: 550 mm 550 mm 30 mm (iron) SGMGV-1AD/-1ED: 650 mm 650 mm 35 mm (iron)

Servomotors

SGMGV

Rotary Motors

1Torque-Motor Speed Characteristics (200 V/400 V)


SGMGV-03A,-03D
3500 3000
Motor Speed (min-1) Motor Speed (min-1)

: Continuous Duty Zone


SGMGV-09A,-09D
3500 3000

: Intermittent Duty Zone


SGMGV-13A,-13D
3500 3000

SGMGV-05A,-05D
3500 3000
Motor Speed (min-1)

2500 2000 1500 1000 500 0 0 1 2 3 4 5 6 7


Torque (N m) A B

2500 2000 1500 1000 500 0 0 1 2 3 4 5 6 7 8 9 10 Torque (N m)


A B

2500 2000 1500 1000 500 0 0 2 4 6 8 10 12 14 16


Torque (N m) A B

Motor Speed (min-1)

2500 2000 1500 1000 500 0 0 5 10 15 20 25


Torque (N m) A B

SGMGV-20A,-20D
3500 3000
Motor Speed (min-1) Motor Speed (min-1)

SGMGV-30A,-30D (When using with SGDV-330A)


3500 3000
Motor Speed (min-1)

SGMGV-30A (When using with SGDV-200A)


3500 3000
Motor Speed (min-1)

SGMGV-44A,-44D
3500 3000 2500 2000 1500 1000 500 0
A B

2500 2000 1500 1000 500 0 0 5 10 15 20 25 30 35 Torque (N m)


A B

2500 2000 1500 1000 500 0 0 5 10 15 20 25 30 35 40 45 50 Torque (N m)


A B

2500 2000 1500 1000 500 0 0 5 10 15 20 25 30 35 40 45 50 Torque (N m)


A B

0 10 20 30 40 50 60 70 80 Torque (N m)

SGMGV-55A,-55D
3000
Motor Speed (min-1) Motor Speed (min-1)

SGMGV-75A,-75D
3000
Motor Speed (min-1)

SGMGV-1AA,-1AD
2000
Motor Speed (min-1)

SGMGV-1EA,-1ED
2000 1500 1000
A B

2000

2000

1500 1000
A B

1000

1000

500 0

500 0

0 0 20 60 80 Torque (N m) 40 100

0 0 50 100 Torque (N m) 150

50

100 150 Torque (N m)

200

50

100 150 200 Torque (N m)

250

Notes: 1 When the effective torque is within the rated torque, the servomotor can be used within the intermittent duty zone. 2 When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the lineto-line voltage drops.

1Holding Brake Electrical Specifications


Servomotor Model SGMGV-03 SGMGV-05 SGMGV-09 SGMGV-13 SGMGV-20 SGMGV-30 SGMGV-44 SGMGV-55 SGMGV-75 SGMGV-1A SGMGV-1E Servomotor Rated Output kW Holding Brake Specifications Holding Torque Nm Rated Voltage 24 VDC Capacity W Rated Current A (at 20C) Rated Voltage 90 VDC Capacity W Rated Current A (at 20C)

0.3 0.45 0.85 1.3 1.8 2.9 4.4 5.5 7.5 11 15

4.5 4.5 12.7 19.6 19.6 43.1 43.1 72.6 72.6 84.3 114.6

10 10 10 10 10 18.5 18.5 25 25 32 35

0.42 0.42 0.41 0.41 0.41 0.77 0.77 1.05 1.05 1.33 1.46

10 10 10 10 10 18.5 18.5 25 25 32 35

0.11 0.11 0.11 0.11 0.11 0.21 0.21 0.28 0.28 0.36 0.39

Notes: 1 The holding brake is only used to hold the load and cannot be used to stop the servomotor. 2 The holding brake open time and holding brake operation time vary depending on which discharge circuit is used. Make sure holding brake open time and holding brake operation time are correct for your servomotor. 3 A 24-VDC power supply is provided by customers. 4 Refer to page 348 for information on the 90-VDC power supply.

74

Rotary Servomotors

Ratings and Specifications

Ratings and Specifications


1Allowable Load Moment of Inertia at the Motor Shaft The rotor moment of inertia ratio is the value for a servomotor without a gear and a holding brake.
Servomotor Model SGMGV-03 to -1E Servomotor Rated Output Allowable Load Moment of Inertia (Rotor Moment of Inertia Ratio)

0.3 to 1.5 kW

5 times

1Load Moment of Inertia The larger the load moment of inertia, the worse the movement response of the load. The allowable load moment of inertia (JL) depends on the motor capacity, as shown above. This value is provided strictly as a guideline and results may vary depending on servomotor drive conditions. Use the AC servo drive capacity selection program SigmaJunmaSize+ to check the operation conditions. The program can be downloaded for free from our web site (http://www.e-mechatronics.com/).
An overvoltage alarm (A.400) is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia. SERVOPACKs with a built-in regenerative resistor may generate a regenerative overload alarm (A.320). Take one of the following steps if this occurs. Reduce the torque limit. Reduce the deceleration rate. Reduce the maximum speed. Install an external regenerative resistor if the alarm cannot be cleared using the steps above. Refer to Regenerative Resistors on page 349.

1Allowable Radial and Thrust Loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table.
Servomotor Model Allowable Radial Load (Fr) N Allowable Thrust Load (Fs) N LF mm Reference Diagram

SGMGV-

03A21 05A21 09A21 13A21 20A21 30A21 44A21 55A21 75A21 1AA21 1EA21

490 490 490 686 980 1470 1470 1764 1764 1764 4998

98 98 98 343 392 490 490 588 588 588 2156

37 40 58 58 58 79 79 113 113 116 116

LF

Fr Fs

75

Servomotors

SGMGV

Rotary Motors

1Without Holding Brakes (1) 300 W, 450 W


L LL LM Shaft End LR LR

36

10 79 Dia.

0.04 A 0.04 Dia. A1 20 D


S Dia. 0 80 -0.030Dia.
90

5
ia.

0D 10

ia.

17 38

KB1 KB2

0.02

18 Dia.

4-6.6 Dia. Mounting Holes

Note: For the specifications of the other shaft ends, refer to page 82.

Model SGMGV-

LL

LM

LR

KB1

KB2

Shaft End Dimensions S


0 14 -0.011 0 16 -0.011

Approx. Mass kg

03A21 05A21

163 179

126 139

90 103

37 40

75 88

114 127

25 30

2.6 3.2

Note: Models with oil seals are of the same configuration.

Cable Specifications for Encoder-end Connector (20-bit Encoder) Receptacle: CM10-R10P-D 3 1 Applicable plug (To be provided by the customer) Plug: CM10-AP10S--D (L-shaped) 4 7 CM10-SP10S--D (Straight) 8 10 (Boxes () indicate a value that varies, depending on cable size.) Manufacturer: DDK Ltd.
With an Absolute Encoder With an Incremental Encoder BAT (+)

Cable Specifications for Servomotorend Connector


PE

PE 5 4 3 2 1

FG (Frame ground)


Phase U Phase V Phase W

1 2 3 4 5

PS /PS

PG 5V BAT ()

6 7 8 9 10

PG 0V
FG (Frame ground)

1 2 3 4 5

PS /PS

PG 5V

6 7 8 9 10

PG 0V
FG (Frame ground)

Manufacturer: Japan Aviation Electronics Industry,Ltd.

35 Dia.

70 50

S Dia.

76

Rotary Servomotors

External Dimensions

Units: mm

1 R

External Dimensions
(2) 850 W to 7.5 kW

Units: mm

36

LL LM LG LE

LR

0.04 A 0.04 Dia. A


Di a.
LR LE

Shaft End LR LE

LH

Dia

LA
.

79 Dia.

LB Dia.

S Dia.

S Dia. 45 Dia.

50

28 Dia.

44 Dia.

KL1

IE

17

KB1 KB2

*
KB2

4-LZ Dia. Mounting Holes 0.02 0.04 : When using SGMGV-55 and -75 servomotors

SGMGV-09 to -20

SGMGV-30 to -75

Note: For the specifications of the other shaft ends, refer to page 82.

Model SGMGV-

LL

LM

LR

KB1

IE 123 123

KL1

Flange Face Dimensions LA 145 145 145 200 200 200 200 LB 0 110 -0.035 0 110 -0.035 0 110 -0.035 0 114.3 -0.025 0 114.3 -0.025 0 114.3 -0.025 0 114.3 -0.025 LC 130 130 130 180 180 180 180 LE LG LH 165 165 165 230 230 230 230 LZ

Shaft End Dimensions

09A21 13A21 20A21 30A21 44A21 55 A21 75 A21

195 211 229 239 263 334 380

137 153 171 160 184 221 267

101 117 135 124 148 185 231

58 58 58 79 79 113 113

83 99 117 108 132 163 209

125 141 159 148 172 209 255

104 104 104 134 134 144 144

6 6 6 3.2 3.2 3.2 3.2

12 12 12 18 18 18 18

9 9 9 13.5 13.5 13.5 13.5

S 0 19 -0.013 0 22 -0.013 0 24 -0.013 +0.01 35 0 0 35 +0.01 0 42 -0.016 0 42 -0.016

Q 40 40 40 76 76 110 110

Approx. Mass kg

5.5 7.1 8.6 13.5 17.5 21.5 29.5

Note: Models with oil seals are of the same configuration.

Cable Specifications for Encoder-end Connector (20-bit Encoder) Receptacle: CM10-R10P-D 3 1 Applicable plug (To be provided by the customer) Plug: CM10-AP10S--D (L-shaped) 4 7 CM10-SP10S--D (Straight) 10 8 (Boxes () indicate a value that varies, depending on cable size.) Manufacturer: DDK Ltd.
With an Absolute Encoder With an Incremental Encoder BAT (+)

Cable Specifications for Servomotor-end Connector


D A

A B C D

Phase U Phase V Phase W FG (Frame ground)

Manufacturer: DDK Ltd.

1 2 3 4 5

PS /PS

PG 5V BAT ()

6 7 8 9 10

PG 0V
FG (Frame ground)

1 2 3 4 5

PS /PS

PG 5V

6 7 8 9 10

PG 0V
FG (Frame ground)

77

S Dia. 62 Dia.

R1

1 R

Servomotors

SGMGV

Rotary Motors

(3) 11 kW, 15 kW
L LL LR LG LE

36

LM

0.06 A 0.04 Dia. A


Shaft End
Di a.

LR LE

S Dia.

LH Dia .

LA

79 Dia.

LB Dia.

KL1

S1 Dia.

4-LZ Dia. Mounting Holes 0.04 56 56

IE

110

17

KB1 KB2

Note: For the specifications of the other shaft ends, refer to page 82.

Model SGMGV-

LL

LM

LR

KB1

KB2

IE

KL1

Flange Face Dimensions LA 235 235 LB 0 200 -0.046 0 200 -0.046 LC 220 220 LE LG LH 270 270

Shaft End Dimensions LZ S 0 13.5 42 -0.016 +0.030 13.5 55 +0.011 S1

Approx. Mass kg

1A A21 1E A21

447 509

331 393

295 357

116 116

247 309

319 381

150 150

168 168

4 4

20 20

50 60

57 67

Note: Models with oil seals are of the same configuration.

Cable Specifications for Encoder-end Connector (20-bit Encoder) Receptacle: CM10-R10P-D 3 1 Applicable plug (To be provided by the customer) Plug: CM10-AP10S--D (L-shaped) 4 7 CM10-SP10S--D (Straight) 10 8 (Boxes () indicate a value that varies, depending on cable size.) Manufacturer: DDK Ltd.
With an Absolute Encoder With an Incremental Encoder BAT (+)

Cable Specifications for Servomotor-end Connector


D A

A B C D

Phase U Phase V Phase W FG (Frame ground)

Manufacturer: DDK Ltd.

1 2 3 4 5

PS /PS

PG 5V BAT ()

6 7 8 9 10

PG 0V
FG (Frame ground)

1 2 3 4 5

PS /PS

PG 5V

6 7 8 9 10

PG 0V
FG (Frame ground)

80 Dia.

50

S Dia.

78

Rotary Servomotors

External Dimensions

Units: mm

R1

External Dimensions
1With Holding Brakes (1) 300 W, 450 W

Units: mm

Shaft End

36

L LL LM

LR

10 79 Dia.

0.04 A 0.04 Dia. A


S Dia. 0 80-0.030Dia.

LR

120 Dia .

90

100

Dia

70 50

18 Dia.

17 38

KB1 KB2

0.02

4-6.6 Dia. Mounting Holes

Note: For the specifications of the other shaft ends, refer to page 82.

Model SGMGV-

LL

LM

LR

KB1

KB2

Shaft End Dimensions S


0 14 -0.011 0 16 -0.011

Approx. Mass kg

03A2 05A2

196 212

159 172

123 136

37 40

75 88

147 160

25 30

3.6 4.2

Note: Models with oil seals are of the same configuration.

Cable Specifications for Encoder-end Connector (20-bit Encoder) Receptacle: CM10-R10P-D 3 1 Applicable plug (To be provided by the customer) 4 7 Plug: CM10-AP10S--D (L-shaped) 8 CM10-SP10S--D (Straight) 10 (Boxes () indicate a value that varies, depending on cable size.) Manufacturer: DDK Ltd.
With an Absolute Encoder With an Incremental Encoder BAT (+)

Cable Specifications for Servomotor-end Connector


PE

PE 5 4 3 2 1

FG (Frame ground) Brake terminal Brake terminal Phase U Phase V Phase W

1 2 3 4 5

PS /PS

PG 5V BAT ()

6 7 8 9 10

PG 0V
FG (Frame ground)

1 2 3 4 5

PS /PS

PG 5V

6 7 8 9 10

PG 0V
FG (Frame ground)

Manufacturer: Japan Aviation Electronics Industry,Ltd.

79

35 Dia.

S Dia.

1 R

Servomotors

SGMGV

Rotary Motors

(2) 850 W to 7.5 kW


L LL LM LG LR LE

36

0.04 A 0.04 Dia. A


LH Dia

Shaft End LR

LA
.

a. Di

LE

LR LE S Dia. 62 Dia.

79 Dia. KL1 KL3 50

S Dia. LB Dia.

S Dia. 45 Dia.

28 Dia.

44 Dia.

4-LZ Dia. Mounting Holes

IE

SGMGV-09 to -20

SGMGV-30 to -75

11

17

KB1 KB3 KB2

0.02 0.04 : When using SGMGV-55 and -75 servomotors

Note: For the specifications of the other shaft ends, refer to page 82.

Model SGMGV-

LL

LM

LR

KB1

KB2

KB3

IE

KL1

KL3 LA

Flange Face Dimensions LB


0 110 -0.035 0 110 -0.035 0 110 -0.035

Shaft End Dimensions LH LZ S


0 19 -0.013 0 22 -0.013 0 24 -0.013 0 35 +0.01 0 35 +0.01 0 42 -0.016 0 42 -0.016

LC

LE

LG

Approx. Mass kg

09A2 13A2 20A2 30A2 44A2 55A2 75A2

231 247 265 287 311 378 424

173 189 207 208 232 265 311

137 153 171 172 196 229 275

58 58 58 79 79 113 113

83 99 117 108 132 163 209

161 177 195 196 220 253 299

115 131 149 148 172 205 251

104 104 104 134 134 144 144

80 80 80 110 110 110 110

145 145 145

130 130 130

6 6 6 3.2 3.2 3.2 3.2

12 12 12 18 18 18 18

165 165 165 230 230 230 230

9 9 9 13.5 13.5 13.5 13.5

40 40 40 76 76 110 110

7.5 9.0 11.0 19.5 23.5 27.5 35

0 200 114.3 -0.025 180

200 114.3

0 -0.025

180

123 123

0 200 114.3 -0.025 180 0 200 114.3 -0.025 180

Note: Models with oil seals are of the same configuration.

Cable Specifications for Encoder-end Connector (20-bit Encoder) Receptacle: CM10-R10P-D 1 3 Applicable plug (To be provided by the customer) 4 Plug: CM10-AP10S--D (L-shaped) 7 CM10-SP10S--D (Straight) 8 10 (Boxes () indicate a value that varies, depending on cable size.) Manufacturer: DDK Ltd.
With an Absolute Encoder With an Incremental Encoder BAT (+)

Cable Specifications for Servomotor-end Connector


A B C D Phase U Phase V Phase W FG (Frame ground)

D C

A B

Manufacturer: DDK Ltd.

1 2 3 4 5

PS /PS

PG 5V BAT ()

6 7 8 9 10

PG 0V
FG (Frame ground)

1 2 3 4 5

PS /PS

PG 5V

6 7 8 9 10

PG 0V
FG (Frame ground)

Cable Specifications for Brake-end Connector Receptacle: CM10-R2P-D Applicable plug (To be provided by the customer) Plug: CM10-AP2S--D (L-shaped) CM10-SP2S--D (Straight) (Boxes () indicate a value that varies, depending on cable size.) Manufacturer: DDK Ltd.
Brake terminal Brake terminal Note: No polarity for connection to the brake terminals

1 2

80

Rotary Servomotors

External Dimensions

Units: mm

R1

1 R

External Dimensions
(3) 11 kW, 15 kW

Units: mm

36

LL LM LG

LR LE

0.06 A 0.04 Dia. A


S Dia.
LH Dia.

Shaft End
Di a.

LA

LR LE

79 Dia. KL1 KL3 50

LB Dia.

S1 Dia.

110

11

17
KB1 KB3 KB2

0.04

IE

56 56

Note: For the specifications of the other shaft ends, refer to page 82.

4-LZ Dia. Mounting Holes

Model
SGMGV-

LL

LM

LR

KB1

KB2

KB3

IE

KL1

KL3 LA

Flange Face Dimensions


LB
0 200 -0.046 0 200 -0.046

LC

LE

LG

LH

LZ

Shaft End Approx. Dimensions Mass S S1 kg


0 42 -0.016

1AA2 1EA2

498 598

382 482

346 446

116 116

247 309

370 470

315 385

150 150

168 168

125 125

235 235

220 220

4 4

20 20

270 270

13.5 13.5

S Dia. 80 Dia.

R1

50 60

65 85

55 +0..030 +0 011

Note: Models with oil seals are of the same configuration.

Cable Specifications for Encoder-end Connector (20-bit Encoder) Receptacle: CM10-R10P-D 1 3 Applicable plug (To be provided by the customer) 4 Plug: CM10-AP10S--D (L-shaped) 7 CM10-SP10S--D (Straight) 8 10 (Boxes () indicate a value that varies, depending on cable size.) Manufacturer: DDK Ltd.
With an Absolute Encoder With an Incremental Encoder BAT (+)

Cable Specifications for Servomotor-end Connector


A B C D Phase U Phase V Phase W FG (Frame ground)

D C

A B

Manufacturer: DDK Ltd.

1 2 3 4 5

PS /PS

PG 5V BAT ()

6 7 8 9 10

PG 0V
FG (Frame ground)

1 2 3 4 5

PS /PS

PG 5V

6 7 8 9 10

PG 0V
FG (Frame ground)

Cable Specifications for Brake-end Connector Receptacle: CM10-R2P-D Applicable plug (To be provided by the customer) Plug: CM10-AP2S--D (L-shaped) CM10-SP2S--D (Straight) (Boxes () indicate a value that varies, depending on cable size.) Manufacturer: DDK Ltd.
Brake terminal Brake terminal Note: No polarity for connection to the brake terminals

1 2

81

Servomotors

SGMGV

Rotary Motors

1Shaft End

SGMGV -
Code Specifications Straight without key Straight with key and tap for one location (Key slot is JIS B1301-1996 fastening type) Remarks Standard Optional

2 6

Shaft End Code: 2 (Straight without Key)


LR Q

03

05

09

Model SGMGV13 20 30/44

55/75

1A

1E

LR Q

37 25

40 30

58 40

58 40

58 40

79 76

113 110

116 110

116 110
+

R1

S Dia.

0 14 0.011 16 0.011 19 0.013 22 0.013 24 0.013 35 +0.01 0 0 0 0 0

42 0.016 42 0.016 55 +0..030 0 0 0 011

Code: 6 (Straight with Key and Tap) LR Q


LR Q QK U P S Dia.

QK S W T U P

37 25 15

40 30 20

58 40 25

58 40 25

58 40 25

79 76 60

113 110 90

116 110 90

116 110 90
+

0 14 0.011 16 0.011 19 0.013 22 0.013 24 0.013 35 +0.01 0 0 0 0 0

42 0.016 42 0.016 55 +0..030 0 0 0 011 12 8 5 12 8 5 16 10 6


M20 Screw, Depth 40

5 5 3
M4 Screw, Depth 10

5 5 3

5 5 3

6 6 3.5

8 7 4

10 8 5
M12 Screw, Depth 25

M5 Screw, Depth 12

M16 Screw, Depth 32

82

Rotary Servomotors

External Dimensions

Units: mm

1 R

Selecting Cables (SGMGV-03 / -05)


1Cables Connections 2Standard Wiring (Max. encoder cable length: 20 m)
SGDV SERVOPACK

2Encoder Cable Extension from 30 to 50 m


(See page 91.)
(Example) SGDV SERVOPACK Relay Encoder Cable (See page 91.)

e Cable with a Battery (Required when an absolute encoder is used.)

Encoder Cable (See page 89.) Battery Case (Required when an absolute encoder is used.) Servomotor Main Circuit Cable (See page 83.) SGMGV-03/-05 Servomotor Servomotor Main Circuit Cable (See page 83.)

w Cable with Connectors, or r Cable

q Encoder-end Cable

SGMGV-03/-05 Servomotor

CAUTION
Separate the servomotor main circuit cable wiring from the I/O signal cable and encoder cable at least 30 cm, and do not bundle or run them in the same duct. When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops.

1Servomotor Main Circuit Cable


Servomotor Rated Output Order No. Name Length Standard (Flexible) Type* JZSP-CVM21-03-E JZSP-CVM21-05-E JZSP-CVM21-10-E JZSP-CVM21-15-E JZSP-CVM21-20-E JZSP-CVM21-30-E JZSP-CVM21-40-E JZSP-CVM21-50-E JZSP-CVM41-03-E JZSP-CVM41-05-E JZSP-CVM41-10-E JZSP-CVM41-15-E JZSP-CVM41-20-E JZSP-CVM41-30-E JZSP-CVM41-40-E JZSP-CVM41-50-E JZSP-CVM9-1-E
Wire Markers M4 Crimped Terminals

Specifications

Details

For Servomotor without Holding Brakes

0.3 kW 0.45 kW
For Servomotor with Holding Brakes

3m 5m 10 m 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 15 m 20 m 30 m 40 m 50 m

SERVOPACK End 50 mm

Servomotor End L

(1)
Wire Markers M4 Crimped Terminals

SERVOPACK End 50 mm

Servomotor End L

(2)

Servomotor-end Connector Kit

Crimped Type (A crimp tool is required.)

(3)
(Contd)

*: These flexible cables are provided as standard equipment.


83

Servomotors

SGMGV

Rotary Motors

Servomotor Rated Output

Name

Length

Order No. Standard (Flexible) Type* JZSP-CVM29-03-E JZSP-CVM29-05-E JZSP-CVM29-10-E JZSP-CVM29-15-E JZSP-CVM29-20-E JZSP-CVM29-30-E JZSP-CVM29-40-E JZSP-CVM29-50-E JZSP-CVM49-03-E JZSP-CVM49-05-E JZSP-CVM49-10-E JZSP-CVM49-15-E JZSP-CVM49-20-E JZSP-CVM49-30-E JZSP-CVM49-40-E JZSP-CVM49-50-E

Specifications

Details

For Servomotor without Holding Brakes (4 wires)

0.3 kW 0.45 kW

Cables

For Servomotor with Holding Brakes (6 wires)

3m 5m 10 m 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 15 m 20 m 30 m 40 m 50 m

(4)

(4)

*: These flexible cables are provided as standard equipment.


(1) Wiring Specications for Servomotors without Holding Brakes
SERVOPACK-end Leads Wire Color Green/yellow Blue White Red Signal FG Phase W Phase V Phase U Servomotor-end Connector Signal FG Phase W Phase V Phase U Pin No. PE 1 2 3 4 5

(2) Wiring Specications for Servomotor with Holding Brakes


SERVOPACK-end Leads Wire Color Green/yellow Blue White Red Black Black Signal FG Phase W Phase V Phase U Brake Brake Servomotor-end Connector Signal FG Phase W Phase V Phase U Brake Brake Pin No. PE 1 2 3 4 5

Note: No polarity for connection to a holding brake

(3) Servomotor-end Connector Kit Specifications


Items Order No. Applicable Servomotors Manufacturer Plug Electrical Contact Applicable Wire Size Outer Diameter of Insulating Sheath Mounting Screw Applicable Cable Outer Diameter Specifications JZSP-CVM9-1-E (Cables are not included.) SGMGV-03/-05 Japan Aviation Electronics Industry, Ltd. JNYFX06SJ3 ST-TMH-S-C1B AWG18 to 22
18

(4) Cable Specications (Flexible Type)


Items Order No.* Cable Length For Servomotor without Holding Brakes (4 wires) JZSP-CVM29--E UL2586 (Rating temperature: 105C) AWG20 4C For power line: AWG20 (0.55 mm2) Outer diameter of insulating sheath: 1.77 dia. For Servomotor with Holding Brakes (6 wires) JZSP-CVM49--E UL2586 (Rating temperature: 105C) AWG20 6C For power line: AWG20 (0.55 mm2) Outer diameter of insulating sheath: 1.77 dia. For holding brake line: AWG20 (0.55 mm2) Outer diameter of insulating sheath: 1.77 dia.

External Dimensions mm

50 m max.

38

39.6

Specifications

1.3 dia. to 1.8 dia.


M3 Pan head screw

Finished Dimensions

7.30.3 dia.

7.40.3 dia.

PE

6.9 dia. to 8.3 dia.

Note: A crimp tool (Model no. : CT160-3-TMH5B) is required. Contact the respective manufacturer for more information.

Internal Configuration and Lead Color

Red Green/ yellow Blue White

Black
Green/ yellow

Black Red White

Blue

Yaskawa Standard Specifications (Standard Length)

Cable length: 3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m

Specify *: Examplethe cable length in 5of order no. : JZSP-CVM29-05-E ( m)

84

Rotary Servomotors

Selecting Cables (SGMGV-03 / -05)

Selecting Cables (SGMGV-09 to -1E)


1Cables Connections 2Standard Wiring (Max. encoder cable length: 20 m)
2Encoder Cable Extension from 30 to 50 m
(See page 91.)

SGDV SERVOPACK

(Example) SGDV SERVOPACK Relay Encoder Cable (See page 91.)


e Cable with a Battery (Required when an absolute encoder is used.)

Encoder Cable (See page 89.)

w Cable with Connectors, or r Cable

Battery Case (Required when an absolute encoder is used.)


q Encoder-end Cable

Servomotor Main Circuit Cable

SGMGV-09 to -1E Servomotor

SGMGV-09 to -1E Servomotor

CAUTION
Separate the servomotor main circuit cable wiring from the I/O signal cable and encoder cable at least 30 cm, and do not bundle or run them in the same duct. When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops.

1Servomotor Main Circuit Cables Customers must assemble the servomotor s main circuit cables and attach connectors to connect the SERVOPACKs and the SGMGV servomotors. The connectors specified by Yaskawa are required. Note that the connectors vary depending on the operation environment of servomotors. Two types of connectors are available. Standard connectors Protective structure IP67 and European Safety Standards compliant connectors Yaskawa does not specify which cables to use. Use appropriate cables for the connectors.

85

Servomotors

SGMGV

Rotary Motors

1Standard Connectors 3Connector Configuration


Servomotor-end Connector (Receptacle) Straight Plug

Cable Clamp

Cable

SGMGV Servomotor

L-shaped Plug

(1) Without Holding Brakes


Servomotor-end Connector For 0.85 to 15 kW Capacity kW Servomotor-end Connector (Receptacle) CE05-2A18-10PD-D (MS3102A18-10P) CE05-2A22-22PD-D (MS3102A22-22P) CE05-2A32-17PD-D (MS3102A32-17P) Cable-end Connector (Not provided by Yaskawa) Straight Plug MS3106B18-10S L-shaped Plug MS3108B18-10S Cable Clamp MS3057-10A

Servomotor-end Connector

0.85 1.3 1.8 2.9 4.4 5.5 to 15

MS3106B22-22S MS3106B32-17S

MS3108B22-22S MS3108B32-17S

MS3057-12A MS3057-20A

Notes: 1 Servomotor-end connectors (receptacles) are RoHS-compliant. Contact the respective connector manufacturers for RoHS-compliant cable-end connectors (not provided by Yaskawa). 2 Servomotor-end connectors (receptacles) can be used with MS plugs. For the model number of the MS receptacle, refer to the receptacle number in parentheses and select the appropriate plug.

(2) With Holding Brakes


0.85 to 15 kW servomotors require servomotor-end connector and brake power supply connector. The servomotor-end connector is the same as is used for servomotors without holding brakes.
Brake Power Supply Connector 0.85 to 15 kW Capacity kW Servomotor-end Connector (Receptacle) Cable-end Connector (Not provided by Yaskawa) Straight Plug CM10-SP2S-S-D Applicable Cable: 4.0 dia. to 6.0 dia. L-shaped Plug CM10-AP2S-S-D Applicable Cable: 4.0 dia. to 6.0 dia. CM10-AP2S-M-D Applicable Cable: 6.0 dia. to 9.0 dia. CM10-AP2S-L-D Applicable Cable: 9.0 dia. to 11.6 dia. DDK Ltd. Manufacturer

Servomotor-end Connector

Brake Power Supply Connector

0.85 to 15

CM10-R2P-D

CM10-SP2S-M-D Applicable Cable: 6.0 dia. to 9.0 dia. CM10-SP2S-L-D Applicable Cable: 9.0 dia. to 11.6 dia.

To order a brake power supply connecter kit (0.85 to 15 kW) with the order no. below, contact your Yaskawa representative. J Z S P - C V B 9 - S M S2 - E

Connector Type S: Straight plug A: L-shaped plug

Bush Size*1 Contact Pin Size S : Size S (4.0 dia. to 6.0 dia.) S2: Soldered M : Size M (6.0 dia. to 9.0 dia.) C3: Crimped type*2 L : Size L (9.0 dia. to 11.6 dia.)

connector available standard equipment. *1:: A size-Mtool (model:kit isJ-50448T)as aDDK Ltd. is required. 357 by *2 A crimp

86

Rotary Servomotors

Selecting Cables (SGMGV-09 to -1E)

Selecting Cables (SGMGV-09 to -1E)


3Cable-end Connectors

(1) MS3106B-S : Straight Plug


L J A Q Y W

Units: mm Shell Size Joint Screw A Length of Joint Portion J0.12 Overall Length L max. Outer Diameter of Joint Nut +0 Q 0.38 Cable Clamp Set Screw V Effective Screw Length W min. Maximum Width Y max.

18 22 32

1-1/8-18UNEF 1-3/8-18UNEF 2-18UNS

18.26 18.26 18.26

52.37 55.57 61.92

34.13 40.48 56.33

1-20UNEF 1-3/16-18UNEF 1-3/4-18UNS

9.53 9.53 11.13

42 50 66

(2) MS3108B-S : L-shaped Plug


L J A Q R

Units: mm Shell Size Joint Screw A Length of Joint Portion J0.12 Overall Length L max. Outer Diameter of Joint Nut +0 Q 0.38 R 0.5 U 0.5 Cable Clamp Set Screw V Effective Screw Length W min.

18 22 32

1-1/8-18UNEF 1-3/8-18UNEF 2-18UNS

18.26 18.26 18.26

68.27 76.98 95.25

34.13 40.48 56.33

20.5 24.1 32.8

30.2 33.3 44.4

1-20UNEF 1-3/16-18UNEF 1-3/4-18UNS

9.53 9.53 11.13

(3) MS3057-A : Cable Clamp with Rubber Bushing


A C J Dia. (Inner Diameter of Bushing) E Dia. (Inner Diameter of Cable Clamp)

1.6
V Q Dia.

W U

H (Slide Range)

Units: mm Cable Clamp Type MS3057-10A MS3057-12A MS3057-20A Applicable Connector Shell Size Overall Length A0.7 Effective Screw Length C E Diameter G0.7 J Diameter Set Screw V Outer Diameter Q0.7 Dia. Attached Bushing AN3420-10 AN3420-12 AN3420-20

18 2022 32

23.8 23.8 27.8

10.3 10.3 11.9

15.9 19 31.7

31.7 37.3 51.6

3.2 4 6.3

14.3 15.9 23.8

1-20UNEF 1-3/16-18UNEF 1-3/4-18UNS

30.1 35.0 51.6

3Dimensional Drawings of Brake Power Supply


21 Dia. 32.5 21 Dia.

Items Connector Order No. Protective Structure Manufacturer Instructions IP67 DDK Ltd.

Specifications CM10-P2S--D (Cables are not included.)

34

L-shaped plug (CM10-AP2S--D): TC-573, Straight plug (CM10-SP2S--D): TC-583 Electrical contact (100 pcs in one bag) Crimped type: CM10-#22SC(C3)-100, Wire size: AWG16 to 20, Outer diameter of sheath: 1.87 to 2.45 dia., Hand tool: 357J-50448T Soldered type: CM10-#22SC (S2)-100, Wire size: AWG16 max.

L-shaped Plug

Electrical Contact Order No.

51.4 Straight Plug

Real contact (4000 pcs on one reel) Crimped type: CM10-#22SC(C3)-4000, Wire size: AWG 16 to 20, Outer diameter of sheath: 1.87 to 2.45 dia., Semi-automatic tool: AP-A50541T (product name for one set), AP-A50541T-1 (product name for applicator) Note: The product name of the semi-automatic tool refers to the product name of the press and applicator (crimper) as a set.

21 Dia.

87

21 Dia.

Servomotors

SGMGV

Rotary Motors

1Protective Structure IP67 and European Safety Standards Compliant Connector 3Connector Configuration
Servomotor-end Connector (Receptacle) Plug Conduit Cable

Waterproof Straight Plug SGMGV Servomotor Waterproof Cable Clamp Waterproof L-shaped Plug

Cable

Note: For the conduit grounding, contact the manufacturer of the conduit being used.

(1) Without Holding Brakes


Servomotor-end Connector For 0.85 to 15 kW Servomotorend Connector (Receptacle) CE05-2A1810PD-D Cable-end Connector (Not Provided by Yaskawa) Straight Plug L-shaped Plug Cable Clamp CE3057-10A-1-D CE3057-10A-2-D CE3057-10A-3-D CE3057-12A-1-D CE3057-12A-2-D CE3057-12A-3-D CE3057-12A-7-D CE3057-20A-1-D CE3057-20A-2-D CE3057-20A-3-D Applicable Cable Diameter (For Reference) Manufacturer

Capacity kW

0.85 1. 3 1. 8
Servomotor-end Connector

CE05-6A1810SD-D-BSS

CE05-8A1810SD-D-BAS

2. 9 4. 4 5. 5 to 15

CE05-2A2222PD-D

CE05-6A2222SD-D-BSS

CE05-8A2222SD-D-BAS

CE05-2A3217PD-D

CE05-6A3217SD-D-BSS

CE05-8A3217SD-D-BAS

10.5 dia. to 14.1 dia. 8.5 dia. to 11.0 dia. 6.5 dia. to 8.7 dia. 12.5 dia. to 16.0 dia. 9.5 dia. to 13.0 dia. 6.8 dia. to 10.0 dia. 14.5 dia. to 17.0 dia. 22 dia. to 23.8 dia. 24 dia. to 26.6 dia. 22 dia. to 22.5 dia.

DDK Ltd.

(2) With Holding Brakes


0.85 to 15 kW servomotors require servomotor-end connector and brake power supply connector. The servomotor-end connector is the same as is used for servomotors without holding brakes.

Brake Power Supply Connector 0.85 to 15 kW Capacity kW Servomotor-end Connector (Receptacle) Cable-end Connector (Not provided by Yaskawa) Straight Plug CM10-SP2S-S-D Applicable Cable: 4.0 dia. to 6.0 dia. CM10R2P-D CM10-SP2S-M-D Applicable Cable: 6.0 dia. to 9.0 dia. CM10-SP2S-L-D Applicable Cable: 9.0 dia. to 11.6 dia. L-shaped Plug CM10-AP2S-S-D Applicable Cable: 4.0 dia. to 6.0 dia. CM10-AP2S-M-D Applicable Cable: 6.0 dia. to 9.0 dia. CM10-AP2S-L-D Applicable Cable: 9.0 dia. to 11.6 dia. DDK Ltd. Manufacturer

0.85
Servomotor-end Connector (The same as is used for servomotors without holding brakes.) Brake Power Supply Connector

to

15

To order a brake power supply connecter kit (0.85 to 15 kW) with the order no. below, contact your Yaskawa representative. J Z S P - C V B 9 - S M S2 - E

Connector Type S: Straight plug A: L-shaped plug

Bush Size*1 Contact Pin Size S : Size S (4.0 dia. to 6.0 dia.) S2: Soldered M : Size M (6.0 dia. to 9.0 dia.) C3: Crimped type*2 L : Size L (9.0 dia. to 11.6 dia.)

connector available standard equipment. *1:: A size-Mtool (model:kit isJ-50448T)as aDDK Ltd. is required. 357 by *2 A crimp

88

Rotary Servomotors

Selecting Cables (SGMGV-09 to -1E)

Selecting Cables
1Encoder Cables (Max. length: 20 m)
Name Length (L) Order No. Standard Type JZSP-CVP01-03-E JZSP-CVP01-05-E JZSP-CVP01-10-E JZSP-CVP01-15-E JZSP-CVP01-20-E JZSP-CVP02-03-E JZSP-CVP02-05-E JZSP-CVP02-10-E JZSP-CVP02-15-E JZSP-CVP02-20-E JZSP-CVP06-03-E JZSP-CVP06-05-E JZSP-CVP06-10-E JZSP-CVP06-15-E JZSP-CVP06-20-E JZSP-CVP07-03-E JZSP-CVP07-05-E JZSP-CVP07-10-E JZSP-CVP07-15-E JZSP-CVP07-20-E Flexible Type*1 JZSP-CVP11-03-E JZSP-CVP11-05-E JZSP-CVP11-10-E JZSP-CVP11-15-E JZSP-CVP11-20-E JZSP-CVP12-03-E JZSP-CVP12-05-E JZSP-CVP12-10-E JZSP-CVP12-15-E JZSP-CVP12-20-E JZSP-CVP26-03-E JZSP-CVP26-05-E JZSP-CVP26-10-E JZSP-CVP26-15-E JZSP-CVP26-20-E JZSP-CVP27-03-E JZSP-CVP27-05-E JZSP-CVP27-10-E JZSP-CVP27-15-E JZSP-CVP27-20-E Specifications
SERVOPACK End
molex

Details

Encoder Cable with Connectors (For Incremental Encoder)

Battery Case (Battery Attached) Connector CM10-AP10S--D (Crimped)(Molex Japan Co., Ltd.) (DDK Ltd.)

Soldered

SERVOPACK-end Connector Kit

molex

Encoder Cable with Connectors (For Absolute Encoder, with a Battery Case)

3m 5m 10 m 15 m 20 m 3m 5m 10 m 15 m 20 m 3m 5m 10 m 15 m 20 m 3m 5m 10 m 15 m 20 m

Encoder End

Connector (Crimped) (Molex Japan Co., Ltd.)

CM10-SP10S--D (DDK Ltd.)

(1)
SERVOPACK End
molex

Encoder End

Connector (Crimped) (Molex Japan Co., Ltd.) SERVOPACK End


molex

CM10-AP10S--D (DDK Ltd.) Encoder End

Battery Case (Battery Attached) Connector CM10-SP10S--D (Crimped)(Molex Japan Co., Ltd.) (DDK Ltd.) SERVOPACK End L Encoder End

(2)

molex

JZSP-CMP9-1-E

(3)
(Molex Japan Co., Ltd.)

Connector Specifications Plug: CM10-SP10S-M-D JZSP-CVP9-1-E Encoder-end Connectors for Protective Structure IP67 Straight Plug JZSP-CVP9-3-E Electrical Contact: (Crimped)*2 CM10-#22SC(C4)-100 Applicable Cable Diameter: 6.0 dia. to 9.0 dia. Connector Specifications Plug: CM10-SP10S-M-D Electrical Contact: (Soldered) CM10-#22SC(S1)-100 Applicable Cable Diameter: 6.0 dia. to 9.0 dia. Connector Specifications Plug: CM10-AP10S-M-D JZSP-CVP9-2-E Encoder-end Connectors for Protective Structure IP67 L-shaped Plug JZSP-CVP9-4-E Electrical Contact: (Crimped)*2 CM10-#22SC(C4)-100 Applicable Cable Diameter: 6.0 dia. to 9.0 dia. Connector Specifications Plug: CM10-AP10S-M-D Electrical Contact: (Soldered) CM10-#22SC(S1)-100 Applicable Cable Diameter: 6.0 dia. to 9.0 dia.
(DDK Ltd.) (DDK Ltd.)

+Electrical Contact

+Electrical Contact

Cables

3m 5m 10 m 15 m 20 m

JZSP-CMP09-03-E JZSP-CMP09-05-E JZSP-CMP09-10-E JZSP-CMP09-15-E JZSP-CMP09-20-E

JZSP-CSP39-03-E JZSP-CSP39-05-E JZSP-CSP39-10-E JZSP-CSP39-15-E JZSP-CSP39-20-E (4)

for movable sections *1:: Use flexible cables-52667T) is required. such as robot arms. *2 A crimp tool (357J

89

Servomotors

SGMGV

Rotary Motors

(1) Wiring Specications for Cable with Connectors (For incremental encoder) Standard Type
SERVOPACK End Pin No. Signal 6 /PS 5 PS 4 BAT 3 BAT + 2 PG 0V 1 PG 5V Shell FG Encoder (Servomotor) End Pin No. 2 1 5 6 9 4 10 Wire Color Light blue/white Light blue Orange/white Orange Black Red FG

Flexible Type
SERVOPACK End Pin No. Signal 6 /PS 5 PS 4 BAT 3 BAT + 2 PG 0V 1 PG 5V Shell FG Encoder (Servomotor) End Pin No. 2 1 5 6 9 4 10 Wire Color Black/pink Red/pink Black/light blue Red/light blue Green Orange FG

Shield Wire

Shield Wire

(2) Wiring Specications for Cable with Connectors (For absolute encoder, with a battery case) Standard Type
SERVOPACK End Pin No. Signal 6 /PS 5 PS 4 BAT 3 BAT + 2 PG 0V 1 PG 5V Shell FG Battery Case Pin No. Signal Encoder (Servomotor) End Pin No. 2 1 5 6 9 4 10 Wire Color Light blue/white Light blue Orange/white Orange Black Red FG

Flexible Type
SERVOPACK End Pin No. Signal 6 /PS 5 PS 4 BAT 3 BAT + 2 PG 0V 1 PG 5V Shell FG Battery Case Pin No. Signal
Shield Wire

Encoder (Servomotor) End Pin No. Wire Color 2 Black/pink 1 Red/pink 5 Black/light blue 6 Red/light blue 9 Green 4 Orange 10 FG

Shield Wire

2 1

BAT BAT +

2 1

BAT BAT +

(3) SERVOPACK-end Connector Kit Specications


Items Order No. Manufacturer Connector Model (For standard) External Dimensions (Units: mm) Specifications JZSP-CMP9-1-E Molex Japan Co., Ltd.

55100-0670 (soldered)

(19)

(12)

(33)

(4) Cable Specications


Items Order No.* Cable Length Standard Type JZSP-CMP09--E UL20276 (Rating temperature: 80C) AWG22 2C + AWG24 2P AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.15 dia. AWG24 (0.20 mm2) Outer diameter of insulating sheath: 1.09 dia. 6.5 dia.
Light blue Light blue/ white Red Orange Black Orange/ white Black/ pink

Flexible Type JZSP-CSP39--E

Specifications

Finished Dimensions

20 m max. UL20276 (Rating temperature: 80C) AWG22 2C + AWG24 2P AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.35 dia. AWG24 (0.20 mm2) Outer diameter of insulating sheath: 1.21 dia. 6.8 dia.
Black/ light blue
Orange Green

Internal Configuration and Lead Color

Red/ light blue

Red/ pink

Yaskawa Standards Specifications (Standard Length)


Specify *: Examplethe cable length in 5of order no. : JZSP-CMP09-05-E ( m)

Cable length: 3 m, 5 m, 10 m, 15 m, 20 m

90

Rotary Servomotors

Selecting Cables

Selecting Cables
1Encoder Cables (For extending from 30 to 50 m)
Name Length Order No. Specifications
SERVOPACK End

Details

0.3 m

Encoder End

JZSP-CVP01-E
q

molex

Plug Connector (Crimped) (Molex Japan Co., Ltd.)

CM10-SP10S--D (DDK Ltd.)

Encoder-end Cables (For incremental and absolute encoder)

0.3 m
SERVOPACK End Encoder End

(1)
0.3 m

JZSP-CVP02-E

molex

Plug Connector (Crimped) (Molex Japan Co., Ltd.)

CM10-AP10S--D (DDK Ltd.)

30 m
w

JZSP-UCMP00-30-E JZSP-UCMP00-40-E JZSP-UCMP00-50-E

SERVOPACK End

Encoder End

Cable with Connectors (For incremental and absolute encoder)

50 m

Connector (Crimped) (Molex Japan Co., Ltd.)

molex

40 m

(2)

Socket Connector (Soldered) (Molex Japan Co., Ltd.)

molex

SERVOPACK End

0.3 m

Encoder End
molex

Cable with a Battery Case (Required when an absolute encoder is used.*)

molex

0.3 m

JZSP-CSP12-E

Battery Case (Battery attached) Socket Connector (Soldered) Connector (Crimped) (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.)

(3)

30 m

JZSP-CMP19-30-E JZSP-CMP19-40-E JZSP-CMP19-50-E (4)

Cables

40 m 50 m

*: Not required when connecting a battery to the host controller.

91

Servomotors

SGMGV

Rotary Motors

(1) Wiring Specifications for Encoder-end Cable (For incremental and absolute encoder)
SERVOPACK End Pin No. Signal 6 /PS 5 PS 4 BAT 3 BAT + 2 PG 0V 1 PG 5V Shell FG Encoder (Servomotor) End Pin No. 2 1 5 6 9 4 10 Wire Color Light blue/white Light blue Orange/white Orange Black Red FG

(2) Wiring Specifications for Cable with Connectors (For incremental and absolute encoder)
SERVOPACK End Pin No. Signal 6 /PS 5 PS 4 BAT () 3 BAT (+) 2 PG 0V 1 PG 5V Shell FG Shield Wire Encoder (Servomotor) End Pin No. Wire Color 6 Light blue/white 5 Light blue 4 Orange/white 3 Orange 2 Black 1 Red Shell FG

Shield Wire

Note: The signals BAT(+) and BAT() are used when using an absolute encoder.

(3) Wiring Specications for Cable with a Battery Case (For absolute encoder)
SERVOPACK End Pin No. Signal 6 /PS 5 PS 4 BAT () 3 BAT (+) 2 PG 0V 1 PG 5V Shell FG Battery Case Pin No. Signal 2 BAT () 1 BAT (+) Encoder (Servomotor) End Pin No. Wire Color 6 Light blue/white 5 Light blue 4 Orange/white 3 Orange 2 Black 1 Red Shell FG

Shield Wire

(4) Cable Specications


Item Order No.* Cable Length Standard Type JZSP-CMP19--E

50 m max.
UL20276 (Rating temperature: 80C) AWG162C+AWG262P AWG16 (1.31 mm2) Outer diameter of insulating sheath: 2.0 dia. AWG26 (0.13 mm2) Outer diameter of insulating sheath: 0.91 dia.

Specifications

Finished Dimensions

6.8 dia.

Black

Internal Configuration and Lead Colors

Orange Orange /white

Light Blue Light Blue /white

Red

Yaskawa Standard Specifications (Standard Length)

Cable length: 30 m, 40 m, 50 m

Specify of order *: Examplethe cable length in 30 m) no. : JZSP-CMP19-30-E (

92

Rotary Servomotors

Selecting Cables

Rotary Servomotors

SGMSV

Model Designations

SGMSV - 10
Series Servomotor SGMSV

A
3rd digit

D
4th digit

A
5th digit

2
6th digit

1
7th digit

1st+2nd digits

1st+2nd digits Rated Output


Code

4th digit Serial Encoder


Code

7th digit Options


Code Specifications Without options With holding brake (90 VDC) With holding brake (24 VDC) With oil seal and holding brake (90 VDC) With oil seal and holding brake (24 VDC) With oil seal

10 15 20 25 30 40 50 70

*: Available only for 200-VAC models.


3rd digit Power Supply Voltage
Code A D Specifications

Specifications 1.0 kW 1.5 kW 2.0 kW 2.5 kW 3.0 kW 4.0 kW 5.0 kW 7.0 kW*

3 D

Specifications 20-bit absolute (standard) 20-bit incremental (standard)

1
B C D E S

5th digit Design Revision Order


Code A Specifications Standard

6th digit Shaft End


Code Specifications Straight without key (standard) Straight with key and tap (optional)

2 6

200 VAC 400 VAC

93

SGMJV
Features
1Super high power 1Wide selection: 1.0 kW to 7.0 kW capacity,

Application Examples
1Chip mounters 1PCB drilling stations 1Machine tool feeders

holding brake option


1Mounted serial encoder: 20 bits, high resolution 1Protective structure IP67 Not including the

IP22 compliant enclosure for 7.0 kW motor)

Configurations of connectors for the main circuit SGMSV-10 to -70


The connectors for these models are round. The connectors specified by Yaskawa are required. Note that the connectors vary depending on the operation environment of servomotors. Two types of connectors are available. Standard connectors For details, refer to page 103 to 105. Protective structure IP67 and European Safety Standards compliant connectors For details, refer to page 106 and 107.
Note: Connectors are not provided by Yaskawa.

94

Rotary Servomotors

Ratings and Specifications


Time Rating: Continuous Vibration Class: V15 Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C Excitation: Permanent magnet Mounting: Flange-mounted Thermal Class: F Withstand Voltage: 1500 VAC for one minute (200-V class) 1800 VAC for one minute (400-V class) Enclosure: Totally enclosed, self-cooled, IP67 (except for shaft opening)
Note: IP22 for SGMSV-70 servomotors.

Ambient Humidity: 20% to 80% (no condensation) Drive Method: Direct drive Rotation Direction: Counterclockwise (CCW) with forward run reference when viewed from the load side
15A 1.5 4.90 14.7 9.3 28 20A 2.0 6.36 19.1 12.1 42 25A 2. 5 7.96 23.9 13.8 44.5 3000 30A 3.0 9.80 29.4 17.9 56 5000 0.582 7.00
9.2

200-V Class
Servomotor Model: SGMSV- Rated Output* Rated Torque* Instantaneous Peak Torque* Rated Current* Instantaneous Max. Current* Rated Speed* Max. Speed* Torque Constant Rotor Moment of Inertia Rated Power Rate* Rated Angular Acceleration* Applicable SERVOPACK kW Nm Nm Arms Arms min-1 min-1 N m/Arms

10A 1. 0 3.18 9.54 5. 7 17 6000 0.636 1.74


1.99

40A 4. 0 12.6 37.8 25.4 77

50A 5.0 15.8 47.6 27.6 84

70A 7.0 22.3 54 38.3 105

0.590 2.00
2.25

0.561 2.47
2.72

0.610 3.19
3.44

0.519 9.60
11.8

0.604 12.3
14.5

0.604 12.3 404 18100 550A

10-4 kg m2
kW/s rad/s2 SGDV-

58
51

120
107

164
149

199
184

137
104

165
135

203
172

18300 7R6A

24500 120A

25700 180A

25000 200A

14000 200A

13100 330A

12800 330A

16000 21800 23400 23100 10700 10700 10900

: These items and torque-motor speed characteristics quoted in combination with a SERVOPACK are at an armature winding temperature of 20C. Notes: 1 The values in parentheses are for servomotors with holding brakes. 2 The above specifications show the values under the cooling condition when the following heat sinks are mounted on the servomotors. SGMSV-10A/-15A/-20A/-25A : 300 mm300 mm12 mm (aluminum) SGMSV-30A/-40A/-50A/-70A : 400 mm400 mm20 mm (aluminum)

400-V Class
Servomotor Model: SGMSV- Rated Output* Rated Torque* Instantaneous Peak Torque* Rated Current* Instantaneous Max. Current* Rated Speed* Max. Speed* Torque Constant Rotor Moment of Inertia Rated Power Rate* Rated Angular Acceleration* Applicable SERVOPACK kW Nm Nm Arms Arms min-1 min-1 N m/Arms

10D 1. 0 3.18 9.54 2. 8 8. 5 6000 1.27

15D 1.5 4.9 14.7 4.7 14

20D 2.0 6.36 19.1 6.1 20

25D 2. 5 7.96 23.9 7. 4 25 3000 5000 1.15

30D 3.0 9.8 29.4 8.9 28

40D 4. 0 12.6 37.8 12.5 38

50D 5.0 15.8 47.6 13.8 42

1.23

1.18

1.16 7.00 9.2 137


104

1.06

1.21

10-4 kg m2
kW/s rad/s2 SGDV-

1.74 2.00 2.47 3.19 1.99 2.25 2.72 3.44 58


51

9.60 12.3 11.8 14.5 165


135

120
107

164
149

199
184

203
172

18300 3R5D

24500 5R4D

25700 8R 4D

25000 120D

14000 120D

13100 170D

12800 170D

16000 21800 23400 23100 10700 10700 10900

: These items and torque-motor speed characteristics quoted in combination with a SERVOPACK are at an armature winding temperature of 20C. Notes: 1 The values in parentheses are for servomotors with holding brakes. 2 The above specifications show the values under the cooling condition when the following heat sinks are mounted on the servomotors. SGMSV-10D/-15D/-20D/-25D : 300 mm300 mm12 mm (aluminum) : 400 mm400 mm20 mm (aluminum) SGMSV-30D/-40D/-50D

95

Servomotors

SGMSV

Rotary Motors

1Torque-Motor Speed Characteristics 200 V/400 V A : Continuous Duty Zone


SGMSV-10A, -10D
6000
Motor Speed (min-1) Motor Speed (min-1)

: Intermittent Duty Zone


SGMSV-25A, -25D
6000

SGMSV-15A, -15D
6000
Motor Speed (min-1)

SGMSV-20A, -20D
6000
Motor Speed (min-1)

5000 4000 3000 2000 1000 0 0 2 4 6 8 Torque (Nm) 10


A B

5000 4000 3000 2000 1000 0 0 5 10 15 Torque (Nm) 20


A B

5000 4000 3000 2000 1000 0 0 5 10 15 20 Torque (Nm) 25


A B

5000 4000 3000 2000 1000 0 0 5 10 15 20 Torque (Nm) 25 30


A B

SGMSV-30A, -30D
6000
Motor Speed (min-1) Motor Speed (min-1)

SGMSV-40A, -40D
6000
Motor Speed (min-1)

SGMSV-50A, -50D
6000 5000 4000 3000 2000 1000 0
A B Motor Speed (min-1)

SGMSV-70A
6000 5000 4000 3000 2000 1000 0
A B

5000 4000 3000 2000 1000 0 0 10 20 30 40


Torque (Nm) A B

5000 4000 3000 2000 1000 0 0 10 20


Torque (Nm) A B

30

40

10

20

30

40

50

10

20

30

40

50

60

Torque (Nm)

Torque (Nm)

Notes: 1 When the effective torque is within the rated torque, the servomotor can be used within the intermittent duty zone. 2 When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops.

1Holding Brake Electrical Specifications


Servomotor Model SGMSV-10 SGMSV-15 SGMSV-20 SGMSV-25 SGMSV-30 SGMSV-40 SGMSV-50 Servomotor Rated Output kW Holding Brake Specifications Holding Torque Nm Rated Voltage 24 VDC Capacity W Rated Current A (at 20C) Rated Voltage 90 VDC Capacity W Rated Current A (at 20C)

1.0 1.5 2.0 2.5 3.0 4.0 5.0

7.84 7.84 7.84 10 20 20 20

12 12 12 12 10 10 10

0.5 0.5 0.5 0.5 0.41 0.41 0.41

12 12 12 12 10 10 10

0.13 0.13 0.13 0.13 0.11 0.11 0.11

Notes: 1 The holding brake is only used to hold the load and cannot be used to stop the servomotor. 2 The holding brake open time and holding brake operation time vary depending on which discharge circuit is used. Make sure holding brake open time and holding brake operation time are correct for your servomotor. 3 A 24 VDC power supply is to be provided by customers. 4 For information on a 90 VDC power supply, refer to page 348.

96

Rotary Servomotors

Ratings and Specifications

Ratings and Specifications


1Allowable Load Moment of Inertia at the Motor Shaft The rotor moment of inertia ratio is the value for a servomotor without a gear and a holding brake.
Servomotor Model SGMSV-10 to -70 Servomotor Rated Output Allowable Load Moment of Inertia (Rotor Moment of Inertia Ratio)

1.0 to 7.0 kW

5 times

1Load Moment of Inertia The larger the load moment of inertia, the worse the movement response. The allowable load moment of inertia (JL) depends on the motor capacity, as shown above. This value is provided strictly as a guideline and results may vary depending on servomotor drive conditions. Use the AC servo drive capacity selection program SigmaJunmaSize+ to check the operation conditions. The program can be downloaded for free from our web site (http://www.e-mechatronics.com/).
An overvoltage alarm (A.400) is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia. SERVOPACKs with a built-in regenerative resistor may generate a regenerative overload alarm (A.320). Take one of the following steps if this occurs. Reduce the torque limit. Reduce the deceleration rate. Reduce the maximum speed. Install an external regenerative resistor if the alarm cannot be cleared using the steps above. Refer to Regenerative Resistors on page 349.

1Allowable Radial and Thrust Loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table.
Servomotor Model Allowable Radial Load (Fr) N Allowable Thrust Load (Fs) N LF mm Reference Diagram
LF

SGMSV-

10A21 15A21 20A21 25A21 30A21 40A21 50A21 70A21

686

196

45
Fr

980 1176 392 63

Fs

97

Servomotors

SGMSV

Rotary Motors

1Without Holding Brakes (1) 1.0 to 5.0 kW


L LL LM LG

LR LE

36

Shaft End

0.04 A 0.04 Dia. A LH Dia .


LB Dia.
LC

79 Dia.

S Dia.

LA

a. Di

LR LE

KL1

30 Dia.

0.02
4- Dia. Mounting Holes

17
KB2

KB1

Note: For the specifications of the other shaft ends, refer to page 101.

Model SGMSV-

LL

LM

LR

KB1 KB2 KL1

Flange Face Dimensions LA LB LC LE LF LG LH LZ

Shaft End Dimensions S Q

Approx. Mass kg

10A21 15A21 20A21 25A21 30A21 40A21 50A21

192 147 111 202 157 121 218 173 137 241 196 160 259 196 160 296 233 197 336 273 237

45 45 45 45 63 63 63

76 86

135 145

96 96 96 96

115 115 115 115

95 -0.035 -0 95 -0.035 -0 95 -0.035 -0 95 -0.035 -0 110 -0.035 -0 110 -0.035 -0 110 -0.035 -0

100 100 100 100 130 130 130

3 3 3 3 6 6 6

3 3 3 3 6 6 6

10 10 10 10 12 12 12

130 130 130 130 165 165 165

7 7 7 7 9 9 9

24 -0.013 -0 24 -0.013 -0 24 -0.013 -0 24 -0.013 -0 28 -0.013 -0 28 -0.013 -0 28 -0.013 -0

40 40 40 40 55 55 55

102 161 125 184

124 184 114 145 161 221 114 145 201 261 114 145

Note: Models with oil seals are of the same configuration.

Cable Specifications for Encoder-end Connector (20-bit Encoder) Receptacle: CM10-R10P-D 3 1 Applicable plug (To be provided by the customer) Plug: CM10-AP10S--D (L-shaped) 4 7 CM10-SP10S--D (Straight) 8 10 (Boxes () indicate a value that varies, depending on cable size.) ManufacturerDDK Ltd.
With an Absolute Encoder With an Incremental Encoder BAT (+)

Cable Specifications for Servomotor-end Connector


D A

A B C D

Phase U Phase V Phase W FG (Frame ground)

1 2 3 4 5

PS /PS

PG 5V BAT ()

6 7 8 9 10

PG 0V
FG (Frame ground)

1 2 3 4 5

PS /PS

PG 5V

6 7 8 9 10

PG 0V
FG (Frame ground)

SGMSV-10 to -25 ManufacturerDDK Ltd. SGMSV-30 to -50 ManufacturerJapan Aviation Electronics Industry, Ltd.

S Dia. 45 Dia.

50

4.1 4.6 5.4 6.8 10.5 13.5 16.5

98

Rotary Servomotors

External Dimensions

Units: mm

R1

External Dimensions

Units: mm

(2) 7.0 kW (only for 200 V servomotors)


Note: Leave a minimum space of 70 mm around the servomotor to allow for a sufficient amount of cooling air.

70 43 130

397 334 291 12 6

63 28 0.013 Dia. 0 0.04


A Shaft End

144 130

63 6

110 0.035 Dia. 0

30 Dia.

50

108 80

114

Cooling Air Flow

55

20 261

201 0.04 Dia. A 0.02

4-9 Dia.

Note: For the specifications of the other shaft ends, refer to page 101.

Approx. Mass: 18.5 kg

Cooling Fan Connector for Cooling Fan

Cable Specifications for Servomotor-end Connector


D A

A B C D

Phase U Phase V Phase W FG (Frame ground)

49

17

Connector for Connector for Encoder Motor

Manufacturer: Japan Aviation Electronics Industry, Ltd. Cable Specifications for Fan-end Connector
A F E D B C

Specifications of Cooling Fan Single-phase 220 V 50/60 Hz 17/15 W 0.11/0.09 A

Specifications of rotation error detector Contact Capacity: Max. allowable voltage: 350 V (AC, DC) Max. allowable current: 120 mA (AC, DC) Max. controllable power: 360 mW Alarm Contact: ON at normal fan rotation. OFF at 1680100 min-1 or less. (OFF during 3 seconds at start-up)

Receptacle:MS3102A14S-6P Applicable plug Plug:MS3108B14S-6S Cable clamp:MS3057-6A

Note: Servomotor-end connectors (receptacles) are RoHScompliant. Contact the respective connector manufacturers for RoHS-compliant cable-end connectors. A B C D E F Fan motor Fan motor

Alarm terminal Alarm terminal FG (Frame ground)

Cable Specifications for Encoder-end Connector (20-bit Encoder)


3 7 10 8 1 4

Receptacle: CM10-R10P-D Applicable plug (To be provided by the customer) Plug: CM10-SP10S--D (Straight) (Boxes () indicate a value that varies, depending on cable size.) Use straight plugs to avoid interference with the fan cover. ManufacturerDDK Ltd. With an Incremental Encoder BAT (+)

With an Absolute Encoder

1 2 3 4 5

PS /PS

PG 5V BAT ()

6 7 8 9 10

PG 0V
FG (Frame ground)

1 2 3 4 5

PS /PS

PG 5V

6 7 8 9 10

PG 0V
FG (Frame ground)

99

28 Dia. 45 Dia.

144 130

165
R1

14 5

Servomotors

SGMSV

Rotary Motors

1With Holding Brakes (1) 1.0 to 5.0 kW


L LL LR LM LG LE Shaft End

36

0.04 A 0.04 Dia. A


S Dia.
LH Dia .

LR
LC

79 Dia.

LA

ia.

LE

LB Dia.

KL1 KL3 50

4-LZ Dia. Mounting Holes 0.02

30 Dia.

11

17

*
Model

: No brake connector for 200-V models.

KB1 KB3 KB2


Note: For the specifications of the other shaft ends, refer to page 101.

SGMSV-

LL

LM

LR

KB1

200V 400V 67 77 93 116 114 151 191 76 86

KB2

KB3*

KL1

KL3* LA

Flange Face Dimensions LB LC LE LF LG LH LZ

Shaft End Dimensions Approx.Mass S Q

400V 200V 400V 400V 118 128 144 177 176 213 253 102 102 102 102 119 119 119 96 96 96 96 114 114 114 69 69 69 69 81 81 81

10A2 233 188 152 15A2 243 198 162 20A2 259 214 178 25A2 292 247 211 30A2 295 232 196 40A2 332 269 233 50A2 372 309 273

45 45 45 45 63 63 63

176 186

115 115 115 115 145

95 -0.035 -0 95 -0.035 -0 95 -0.035 -0 95 -0.035 -0 110 -0.035 -0

100 100 100 100 130

3 3 3 3 6 6 6

3 3 3 3 6 6 6

10 10 10 10 12 12 12

130 130 130 130 165 165 165

7 7 7 7 9 9 9

24 -0.013 -0 24 -0.013 -0 24 -0.013 -0 24 -0.013 -0 28 -0.013 -0 28 -0.013 -0 28 -0.013 -0

S Dia. 45 Dia.

40 40 40 40 55 55 55

5.5 6 6.8 8.7 13 16 19

102 202 125 225 124 220 161 257 201 297

145 110 -0.035 130 -0 145 110 -0.035 130 -0

: No brake connector for 200-V models (there are brake terminals on the servomotor-end connectors). Note: Models with oil seals are of the same configuration.

Cable Specifications for Encoder-end Connector (20-bit Encoder) Receptacle: CM10-R10P-D 1 3 Applicable plug (To be provided by the customer) 4 Plug: CM10-AP10S--D (L-shaped) 7 CM10-SP10S--D (Straight) 8 10 (Boxes () indicate a value that varies, depending on cable size.) Manufacturer: DDK Ltd.
With an Absolute Encoder

200-V Class
Cable Specifications for Servomotor-end Connector
F E D G A B C

A B C D E F G

Phase U Phase V Phase W FG Frame ground Brake terminal Brake terminal

1 2 3 4 5

PS /PS

PG 5V BAT ()

6 7 8 9 10

BAT (+)

PG 0V
FG (Frame ground)

Manufacturer: Japan Aviation Electronics Industry, Ltd.


Note: No polarity for connection to the brake terminals

400-V Class
Cable Specifications for Servomotor-end Connector
D C A B

With an Incremental Encoder

1 2 3 4 5

PS /PS

PG 5V

6 7 8 9 10

PG 0V
FG (Frame ground)

A B C D

Phase U Phase V Phase W FG (Frame ground)

SGMSV-10 to -25
Manufacturer: DDK Ltd.

SGMSV-30 to -50
Manufacturer: Japan Aviation Electronics

Industry, Ltd. Cable Specifications for Brake-end Connector Receptacle: CM10-R2P-D Applicable plug (To be provided by the customer) 1 Plug: CM10-AP2S--D (L-shaped) 2 CM10-SP2S--D (Straight) (Boxes () indicate a value that varies, depending on cable size.) Manufacturer: DDK Ltd.
Brake terminal Brake terminal Note: No polarity for connection to the brake terminals

100

Rotary Servomotors

External Dimensions

Units: mm

R1

External Dimensions
1Shaft End

Units: mm

SGMSV -
Code Specifications Straight without key Straight with key and tap for one location (Key slot is JIS B1301-1996 fastening type) Remarks Standard Optional

2 6

Code

Specifications
LR

Shaft End LR
Q

Model SGMSV-

10

15 45 40

20

25

30

40 63 55

50

70

Straight without Key

Q
R1

S Dia.

S LR

24 0.013 0 45 40 32 24 0.013 0 8 7 4 M8 Screw Depth16

28 0.013 0 63 55 50 28 0.013 0

LR Q QK U P S Dia. T

Q QK S W T U P

Straight with Key and Tap

101

1 R

Servomotors

SGMSV

Rotary Motors

1Cables Connections 2Standard Wiring (Max. encoder cable length: 20 m)

2Encoder Cable Extension from 30 to 50 m


(See page 110.)

SGDV SERVOPACK

(Example) SGDV SERVOPACK Relay Encoder Cable (See page 110.)


e Cable with a Battery (Required when an absolute encoder is used.)

Encoder Cable (See page 108.) Servomotor Main Circuit Cable

w Cable with Connectors, or r Cable

Battery Case (Required when an absolute encoder is used.) Servomotor Main Circuit Cable

q Encoder-end Cable

SGMSV Servomotor

SGMSV Servomotor

CAUTION
Separate the servomotor main circuit cable wiring from the I/O signal cable and encoder cable at least 30 cm, and do not bundle or run them in the same duct. When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops.

1Servomotor Main Circuit Cables Customers must assemble the servomotor s main circuit cables and attach connectors to connect the SERVOPACKs and the SGMSV servomotors. The connectors for these models are round. The connectors specified by Yaskawa are required. Note that the connectors vary depending on the operation environment of servomotors. Two types of connectors are available. Standard connectors Protective structure IP67 and European Safety Standards compliant connectors Yaskawa does not specify which cables to use. Use appropriate cables for the connectors.

102

Rotary Servomotors

Selecting Cables

Selecting Cables
1Standard Connectors 3Connector Configuration
Servomotor-end Connector (Receptacle) Straight Plug Cable Clamp Cable

L-shaped Plug SGMSV Servomotor

(1) Without Holding Brakes


Servomotor-end Connector For 1.0 to 7.0 kW Capacity kW Servomotor-end Connector (Receptacle) CE05-2A1810PD-D (MS3102A18-10P) JL04HV-2E2222PE-B-R (MS3102A22-22P) Cable-end Connector (Not provided by Yaskawa) Straight Plug MS3106B18-10S L-shaped Plug MS3108B18-10S Cable Clamp MS3057-10A

Servomotor-end Connector

1.0 to 2.5 3.0 to 7.0

MS3106B22-22S

MS3108B22-22S

MS3057-12A

Note: 1 Servomotor-end connectors (receptacles) are RoHS-compliant. Contact the respective connector manufacturers for RoHS-compliant cable-end connectors. 2 Servomotor-end connectors (receptacles) can be used with MS plugs. For the model number of the MS receptacle, refer to the receptacle number in parentheses and select the appropriate plug.

(2) With Holding Brakes (200 V)


No brake connector for 200-V models (there are brake terminals on the servomotor-end connectors). Servomotor-end Connector For 1.0 to 5.0 kW Capacity kW Servomotor-end Connector (Receptacle) JL04V-2E2015PE-B-R (MS3102A20-15P) JL04V-2E2410PE-B-R (MS3102A24-10P) Cable-end Connector (Not provided by Yaskawa) Straight Plug MS3106B20-15S L-shaped Plug MS3108B20-15S Cable Clamp MS3057-12A

Servomotor-end Connector

1. 0 to 2. 5 3. 0 to 5. 0

MS3106B24-10S

MS3108B24-10S

MS3057-16A

Note: 1 Servomotor-end connectors (receptacles) are RoHS-compliant. Contact the respective connector manufacturers for RoHS-compliant cable-end connectors. 2 Servomotor-end connectors (receptacles) can be used with MS plugs. For the model number of the MS receptacle, refer to the receptacle number in parentheses and select the appropriate plug.

103

Servomotors

SGMSV

Rotary Motors

(3) With Holding Brakes (400 V)

Servomotor-end Connector For 1.0 to 5.0 kW Capacity kW Servomotor-end Connector (Receptacle) CE05-2A1810PD-D (MS3102A18-10P) JL04HV-2E2222PE-B-R (MS3102A22-22P) Cable-end Connector (Not provided by Yaskawa) Straight Plug MS3106B18-10S L-shaped Plug MS3108B18-10S Cable Clamp MS3057-10A

Servomotor-end Connector Brake Power Supply Connector

1.0 to 2.5 3.0 to 5.0

MS3106B22-22S

MS3108B22-22S

MS3057-12A

Note: 1 Servomotor-end connectors (receptacles) are RoHS-compliant. Contact the respective connector manufacturers for RoHS-compliant cable-end connectors. 2 Servomotor-end connectors (receptacles) can be used with MS plugs. For the model number of the MS receptacle, refer to the receptacle number in parentheses and select the appropriate plug.

Brake Power Supply Connector For 1.0 to 5.0 kW Capacity kW Servomotorend Connector (Receptacle) Cable-end Connector (Not provided by Yaskawa) Straight Plug CM10-SP2S-S-D Applicable Cable: 4.0 dia. to 6.0 dia. CM10-R2P-D CM10-SP2S-M-D Applicable Cable: 6.0 dia. to 9.0 dia. CM10-SP2S-L-D Applicable Cable: 9.0 dia. to 11.6 dia. L-shaped Plug CM10-AP2S-S-D Applicable Cable: 4.0 dia. to 6.0 dia. CM10-AP2S-M-D Applicable Cable: 6.0 dia. to 9.0 dia. CM10-AP2S-L-D Applicable Cable: 9.0 dia. to 11.6 dia. DDK Ltd. Manufacturer

1.0
to

5.0

To order a brake power supply connecter kit (1.0 to 5.0 kW) with the order no. below, contact your Yaskawa representative. J Z S P - C V B 9 - S M S2 - E

Connector Type S: Straight plug A: L-shaped plug

Contact Pin Size Bush Size*1 S : Size S (4.0 dia. to 6.0 dia.) S2: Soldered M: Size M (6.0 dia. to 9.0 dia.) C3: Crimped type*2 L : Size L (9.0 dia. to 11.6 dia.)

connector available *1:: A size-Mtool (model:kit isJ-50448T)as standard equipment. 357 by DDK Ltd. is required. *2 A crimp

104

Rotary Servomotors

Selecting Cables

Selecting Cables
3Cable-end Connectors

(1) MS3106B-S : Straight Plug


L J A Q W

Units: mm Shell Size Joint Screw A Length of Joint Portion J0.12 Overall Length L max. Outer Diameter of Joint Nut +0 Q 0.38 Cable Clamp Set Screw V Effective Screw Length W min. Maximum Width Y max.

18 20 22 24
Units: mm Shell Size

1-1/8-18UNEF 1-1/4-18UNEF 1-3/8-18UNEF 1-1/2-18UNEF

18.26 18.26 18.26 18.26

52.37 55.57 55.57 58.72

34.13 37.28 40.48 43.63

1-20UNEF 1-3/16-18UNEF 1-3/16-18UNEF 1-7/16-18UNEF

9.53 9.53 9.53 9.53

42 47 50 53

(2) MS3108B-S : L-shaped Plug


L J A Q R

Joint Screw A

Length of Joint Portion J0.12

Overall Length L max.

Outer Diameter of Joint Nut +0 Q 0.38

R 0.5

U 0.5

Cable Clamp Set Screw V

Effective Screw Length W min.

18 20 22 24

1-1/8-18UNEF 1-1/4-18UNEF 1-3/8-18UNEF 1-1/2-18UNEF

18.26 18.26 18.26 18.26

68.27 76.98 76.98 86.51

34.13 37.28 40.48 43.63

20.5 22.5 24.1 25.6

30.2 33.3 33.3 36.5

1-20UNEF 1-3/16-18UNEF 1-3/16-18UNEF 1-7/16-18UNEF

9.53 9.53 9.53 9.53

(3) MS3057-A : Cable Clamp with Rubber Bushing


A C J Dia. (Inner Diameter of Bushing) E Dia. (Inner Diameter of Cable Clamp)

1.6
Q Dia. V

W U

H (Slide Range)

Units: mm Cable Clamp Type MS3057-10A MS3057-12A MS3057-16A Applicable Connector Shell Size Overall Length A0.7 Effective Screw Length C 10.3 E Diameter G0.7 H J Diameter Set Screw V Outer Diameter Q0.7 Dia. 30.1 Attached Bushing AN3420-10 AN3420-12 AN3420-16

18 2022 24

23.8 23.8 26.2

10.3 10.3

15.9 19 23.8

31.7 37.3 42.9

3.2 4 4.8

14.3 15.9 19.1

1-20UNEF 1-3/16-18UNEF 1-7/16-18UNEF

35.0 42.1

3Dimensional Drawings of Brake Power Supply


21 Dia.
Items Connector Order No. Protective Structure Manufacturer Instructions Specifications CM10- P2S- -D (Cables are not included.) IP67 DDK Ltd. L-shaped plug (CM10-AP2S- -D): TC-573, Straight plug (CM10-SP2S- -D): TC-583 Electrical contact (100 pcs in one bag) Crimped type: CM10-#22SC(C3)-100, Wire size: AWG16 to 20, Outer diameter of sheath: 1.87 to 2.45 dia., Hand tool: 357J-50448T Soldered type: CM10-#22SC (S2)-100, Wire size: AWG16 max. Real contact (4000 pcs on one reel) Crimped type: CM10-#22SC(C3)-4000, Wire size: AWG 16 to 20, Outer diameter of sheath: 1.87 to 2.45 dia., Semi-automatic tool: AP-A50541T (product name for one set), AP-A50541T-1 (product name for applicator) Note: The product name of the semi-automatic tool refers to the product name of the press and applicator (crimper) as a set.

32.5 21 Dia.

(34) L-shaped Plug

21 Dia.

(51.4) Straight Plug

105

21 Dia.

Electrical Contact Order No.

Servomotors

SGMSV

Rotary Motors

1Protective Structure IP67 and European Safety Standards Compliant Connector 3Connector Configuration
Servomotor-end Connector (Receptacle) Plug Conduit Cable

Waterproof Straight Plug SGMSV Servomotor

Waterproof Cable Clamp

Cable

Waterproof L-shaped Plug

(1) Without Holding Brakes


Servomotor-end Connector For 1.0 to 7.0 kW Servomotorend Connector (Receptacle) CE05-2A1810PD-D

Note: For the conduit grounding, contact the manufacturer of the conduit being used.

Cable-end Connector (Not Provided by Yaskawa) Plug CE05Straight Plug L-shaped Plug Cable Clamp CE3057-10A-1-D CE3057-10A-2-D Applicable Cable Manufacturer Diameter (For Reference)

Capacity kW

Servomotor-end Connector

1.0 to 2.5 3.0 to 7.0

10.5 dia. to 14.1 dia. 8.5 dia. to 11.0 dia. DDK Ltd. CE3057-10A-3-D 6.5 dia. to 8.7 dia. JL04V-6A22-22SE-EB-R JL04V-8A22-22SE-EB-R JL04-2022CK (09) -R 6.5 Dia. to 9.5 Dia. Japan Aviation JL04HV-2E226A22or or Electronics JL04-2022CK (12) -R 9.5 Dia. to 13.0 Dia. 22PE-B-R 22SE-R JA06A-22-22S-J1-EB-R* JA08A-22-22S-J1-EB-R* JL04-2022CK (14) -R 12.9 Dia. to 15.9 Dia. Industry, Ltd. 6A1810SD-D JL04VCE05-6A1810SD-D-BSS CE05-8A1810SD-D-BAS

*: Not compliant with European Safety Standards, but compliant with protective structure IP67.
(2) With Holding Brakes (200 V)
No brake connector for 200-V models (there are brake terminals on the servomotor-end connectors). Servomotor-end Connector For 1.0 to 5.0 kW Capacity kW Servomotorend Connector (Receptacle) JL04V-2E2015PE-B-R Cable-end Connector (Not Provided by Yaskawa) Plug JL04VStraight Plug L-shaped Plug Cable Clamp Applicable Cable Manufacturer Diameter (For Reference)

Servomotor-end Connector

1.0 to 2.5 3.0 to 5.0

JL04V-2E2410PE-B-R

JL04-2022CK (09) -R 6A20- JL04V-6A20-15SE-EB-R JL04V-8A20-15SE-EB-R JL04-2022CK (12) -R JL04-2022CK (14) -R 15SE-R JL04-2428CK (11) -R JL04- JL04V-6A24-10SE-EB-R JL04V-8A24-10SE-EB-R JL04-2428CK (14) -R 6A24or or JL04-2428CK (17) -R 10SE-R JA06A-24-10S-J1-EB-R* JA08A-24-10S-J1-EB-R* JL04-2428CK (20) -R

6.5 Dia. to 9.5 Dia. 9.5 Dia. to 13.0 Dia. Japan 12.9 Dia. to 15.9 Dia. Aviation 9.0 Dia. to 12.0 Dia. Electronics 12.0 Dia. to 15.0 Dia. Industry, Ltd. 15.0 Dia. to 18.0 Dia. 18.0 Dia. to 20.0 Dia.

*: Not compliant with European Safety Standards, but compliant with protective structure IP67.

106

Rotary Servomotors

Selecting Cables

Selecting Cables

(3) With Holding Brakes (400 V)

Servomotor-end Connector For 1.0 to 5.0 kW Servomotorend Connector (Receptacle) CE05-2A1810PD-D Cable-end Connector (Not Provided by Yaskawa) Plug CE05Straight Plug L-shaped Plug Cable Clamp CE3057-10A-1-D CE3057-10A-2-D CE3057-10A-3-D Applicable Cable Diameter (For Reference) Manufacturer

Capacity kW

Servomotor-end Connector Brake Power Supply Connector

1.0 to 2.5 3.0 to 5.0

6A1810SD-D
JL04V-

CE05-6A1810SD-D-BSS JL04V-6A22SE-EB-R

CE05-8A1810SD-D-BAS

10.5 dia. to 14.1 dia. 8.5 dia. to 11.0 dia. 6.5 dia. to 8.7 dia. 6.5 Dia. to 9.5 Dia.

DDK Ltd.

JL04HV-2E2222PE-B-R

6A22or 9.5 Dia. to 13.0 Dia. 22SE-R JA06A-22-22S-J1-EB-R* JA08A-22-22S-J1-EB-R* JL04-2022CK14-R 12.9 Dia. to 15.9 Dia.

JL04V-8A22-22SE-EB-R JL04-2022CK 09 R or JL04-2022CK12-R

Japan Aviation Electronics Industry, Ltd.

*: Not compliant with European Safety Standards, but compliant with protective structure IP67.
Brake Power Supply Connector For 1.0 to 5.0 kW Capacity kW Servomotor-end Connector (Receptacle) Cable-end Connector (Not provided by Yaskawa) Straight Plug CM10-SP2S-S-D Applicable Cable: 4.0 dia. to 6.0 dia. CM10-R2P-D CM10-SP2S-M-D Applicable Cable: 6.0 dia. to 9.0 dia. CM10-SP2S-L-D Applicable Cable: 9.0 dia. to 11.6 dia. L-shaped Plug CM10-AP2S-S-D Applicable Cable: 4.0 dia. to 6.0 dia. CM10-AP2S-M-D Applicable Cable: 6.0 dia. to 9.0 dia. CM10-AP2S-L-D Applicable Cable: 9.0 dia. to 11.6 dia. DDK Ltd. Manufacturer

1. 0
to

5. 0

To order a brake power supply connecter kit (1.0 to 5.0 kW) with the order no. below, contact your Yaskawa representative. J Z S P - C V B 9 - S M S2 - E

Connector Type S: Straight plug A: L-shaped plug

Contact Pin Size Bush Size*1 S : Size S (4.0 dia. to 6.0 dia.) S2: Soldered M: Size M (6.0 dia. to 9.0 dia.) C3: Crimped type*2 L : Size L (9.0 dia. to 11.6 dia.)

connector available *1:: A size-Mtool (model:kit isJ-50448T)as standard equipment. 357 by DDK Ltd. is required. *2 A crimp

107

Servomotors

SGMSV

Rotary Motors

1Encoder Cables (Max. length: 20 m)


Name Length (L) Order No. Standard Type JZSP-CVP01-03-E JZSP-CVP01-05-E JZSP-CVP01-10-E JZSP-CVP01-15-E JZSP-CVP01-20-E JZSP-CVP02-03-E JZSP-CVP02-05-E JZSP-CVP02-10-E JZSP-CVP02-15-E JZSP-CVP02-20-E JZSP-CVP06-03-E JZSP-CVP06-05-E JZSP-CVP06-10-E JZSP-CVP06-15-E JZSP-CVP06-20-E JZSP-CVP07-03-E JZSP-CVP07-05-E JZSP-CVP07-10-E JZSP-CVP07-15-E JZSP-CVP07-20-E Flexible Type*1 JZSP-CVP11-03-E JZSP-CVP11-05-E JZSP-CVP11-10-E JZSP-CVP11-15-E JZSP-CVP11-20-E JZSP-CVP12-03-E JZSP-CVP12-05-E JZSP-CVP12-10-E JZSP-CVP12-15-E JZSP-CVP12-20-E JZSP-CVP26-03-E JZSP-CVP26-05-E JZSP-CVP26-10-E JZSP-CVP26-15-E JZSP-CVP26-20-E JZSP-CVP27-03-E JZSP-CVP27-05-E JZSP-CVP27-10-E JZSP-CVP27-15-E JZSP-CVP27-20-E Specifications
SERVOPACK End
molex

Details

Encoder Cable with Connectors (For Incremental Encoder)

Battery Case (Battery Attached) Connector CM10-AP10S--D (Crimped)(Molex Japan Co., Ltd.) (DDK Ltd.)

Soldered

SERVOPACK-end Connector Kit

molex

Encoder Cable with Connectors (For Absolute Encoder, with a Battery Case)

3m 5m 10 m 15 m 20 m 3m 5m 10 m 15 m 20 m 3m 5m 10 m 15 m 20 m 3m 5m 10 m 15 m 20 m

Encoder End

Connector (Crimped) (Molex Japan Co., Ltd.)

CM10-SP10S--D (DDK Ltd.)

(1)
SERVOPACK End
molex

Encoder End

Connector (Crimped) (Molex Japan Co., Ltd.) SERVOPACK End


molex

CM10-AP10S--D (DDK Ltd.) Encoder End

Battery Case (Battery Attached) Connector CM10-SP10S--D (Crimped)(Molex Japan Co., Ltd.) (DDK Ltd.) SERVOPACK End L Encoder End

(2)

molex

JZSP-CMP9-1-E

(3)
(Molex Japan Co., Ltd.)

Connector Specifications Plug: CM10-SP10S-M-D JZSP-CVP9-1-E Encoder-end Connectors for Protective Structure IP67 Straight Plug JZSP-CVP9-3-E Electrical Contact: (Crimped)*2 CM10-#22SC(C4)-100 Applicable Cable Diameter: 6.0 dia. to 9.0 dia. Connector Specifications Plug: CM10-SP10S-M-D Electrical Contact: (Soldered) CM10-#22SC(S1)-100 Applicable Cable Diameter: 6.0 dia. to 9.0 dia. Connector Specifications Plug: CM10-AP10S-M-D JZSP-CVP9-2-E Encoder-end Connectors for Protective Structure IP67 L-shaped Plug JZSP-CVP9-4-E Electrical Contact: (Crimped)*2 CM10-#22SC(C4)-100 Applicable Cable Diameter: 6.0 dia. to 9.0 dia. Connector Specifications Plug: CM10-AP10S-M-D Electrical Contact: (Soldered) CM10-#22SC(S1)-100 Applicable Cable Diameter: 6.0 dia. to 9.0 dia.
(DDK Ltd.) (DDK Ltd.)

+Electrical Contact

+Electrical Contact

Cables

3m 5m 10 m 15 m 20 m

JZSP-CMP09-03-E JZSP-CMP09-05-E JZSP-CMP09-10-E JZSP-CMP09-15-E JZSP-CMP09-20-E

JZSP-CSP39-03-E JZSP-CSP39-05-E JZSP-CSP39-10-E JZSP-CSP39-15-E JZSP-CSP39-20-E (4)

for movable sections *1:: Use flexible cables-52667T) is required. such as robot arms. *2 A crimp tool (357J

108

Rotary Servomotors

Selecting Cables

Selecting Cables
(1) Wiring Specications for Cable with Connectors (For incremental encoder) Standard Type
SERVOPACK End Pin No. Signal 6 /PS 5 PS 4 BAT 3 BAT + 2 PG 0V 1 PG 5V Shell FG Encoder (Servomotor) End Pin No. 2 1 5 6 9 4 10 Wire Color Light blue/white Light blue Orange/white Orange Black Red FG

Flexible Type
SERVOPACK End Pin No. Signal 6 /PS 5 PS 4 BAT 3 BAT + 2 PG 0V 1 PG 5V Shell FG Encoder (Servomotor) End Pin No. 2 1 5 6 9 4 10 Wire Color Black/pink Red/pink Black/light blue Red/light blue Green Orange FG

Shield Wire

Shield Wire

(2) Wiring Specications for Cable with Connectors (For absolute encoder, with a battery case) Standard Type
SERVOPACK End Pin No. Signal 6 /PS 5 PS 4 BAT 3 BAT + 2 PG 0V 1 PG 5V Shell FG Battery Case Pin No. Signal Encoder (Servomotor) End Pin No. 2 1 5 6 9 4 10 Wire Color Light blue/white Light blue Orange/white Orange Black Red FG

Flexible Type
SERVOPACK End Pin No. Signal 6 /PS 5 PS 4 BAT 3 BAT + 2 PG 0V 1 PG 5V Shell FG Battery Case Pin No. Signal
Shield Wire

Encoder (Servomotor) End Pin No. Wire Color 2 Black/pink 1 Red/pink 5 Black/light blue 6 Red/light blue 9 Green 4 Orange 10 FG

Shield Wire

2 1

BAT BAT +

2 1

BAT BAT +

(3) SERVOPACK-end Connector Kit Specications


Items Order No. Manufacturer Connector Model (For standard) External Dimensions (Units: mm) Specifications JZSP-CMP9-1-E Molex Japan Co., Ltd.

55100-0670 (soldered)

(19)

(12)

(33)

(4) Cable Specications


Items Order No.* Cable Length Standard Type JZSP-CMP09--E UL20276 (Rating temperature: 80C) AWG22 2C + AWG24 2P AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.15 dia. AWG24 (0.20 mm2) Outer diameter of insulating sheath: 1.09 dia. 6.5 dia.
Blue Blue/ white Red Orange Black Orange/ white Black/ pink

Flexible Type JZSP-CSP39--E

Specifications

Finished Dimensions

20 m max. UL20276 (Rating temperature: 80C) AWG22 2C + AWG24 2P AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.35 dia. AWG24 (0.20 mm2) Outer diameter of insulating sheath: 1.21 dia. 6.8 dia.
Black/ light blue
Orange Green

Internal Configuration and Lead Color

Red/ light blue

Red/ pink

Yaskawa Standards Specifications (Standard Length)

Cable length: 3 m, 5 m, 10 m, 15 m, 20 m

109

Specify *: Examplethe cable length in 5of order no. : JZSP-CMP09-05-E ( m)

Servomotors

SGMSV

Rotary Motors

1Encoder Cables (For extending from 30 to 50 m)


Name Length Order No. Specifications
SERVOPACK End

Details

0.3 m

Encoder End

JZSP-CVP01-E
q

Encoder-end Cables (For incremental and absolute encoder)

Plug Connector (Crimped) (Molex Japan Co., Ltd.)

CM10-SP10S--D (DDK Ltd.) Encoder End

0.3 m
JZSP-CVP02-E

SERVOPACK End

(1)

0.3 m
molex

Plug Connector (Crimped) (Molex Japan Co., Ltd.)

CM10-AP10S--D (DDK Ltd.) Encoder End

30 m 40 m 50 m

JZSP-UCMP00-30-E JZSP-UCMP00-40-E JZSP-UCMP00-50-E

SERVOPACK End

Cable with Connectors (For incremental and absolute encoder)

Connector (Crimped) (Molex Japan Co., Ltd.) SERVOPACK End


molex

molex

(2)

Socket Connector (Soldered) (Molex Japan Co., Ltd.)

0.3 m

Encoder End
molex

Cable with a Battery Case (For absolute encoder*)

0.3 m

JZSP-CSP12-E

Battery Case (Battery attached) Socket Connector (Soldered) Connector (Crimped) (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.)

(3)

Relay Cables

30 m 40 m 50 m

JZSP-CMP19-30-E JZSP-CMP19-40-E JZSP-CMP19-50-E

(4)

*: Not required when connecting a battery to the host controller.


(1) Wiring Specifications for Encoder-end Cable (For incremental and absolute encoder)
SERVOPACK End Pin No. Signal 6 /PS 5 PS 4 BAT 3 BAT + 2 PG 0V 1 PG 5V Shell FG Encoder (Servomotor) End Pin No. 2 1 5 6 9 4 10 Wire Color Light blue/white Light blue Orange/white Orange Black Red FG

(2) Wiring Specifications for Cable with Connectors (For incremental and absolute encoder)
SERVOPACK End Pin No. Signal 6 /PS 5 PS 4 BAT () 3 BAT (+) 2 PG 0V 1 PG 5V Shell FG Shield Wire Encoder (Servomotor) End Pin No. Wire Color 6 Light blue/white 5 Light blue 4 Orange/white 3 Orange 2 Black 1 Red Shell FG

Shield Wire Note: The signals BAT(+) and BAT() are used when using an absolute encoder.

(4) Relay Encoder Cable Specications


Item Standard Type JZSP-CMP19--E Order No.* Cable Length

(3) Wiring Specications for Cable with a Battery Case (For absolute encoder)
SERVOPACK End Pin No. Signal 6 /PS 5 PS 4 BAT () 3 BAT (+) 2 PG 0V 1 PG 5V Shell FG Battery Case Pin No. Signal 2 BAT () 1 BAT (+) Encoder (Servomotor) End Pin No. Wire Color 6 Light blue/white 5 Light blue 4 Orange/white 3 Orange 2 Black 1 Red Shell FG

50 m max.
UL20276 (Rating temperature: 80C) AWG162C+AWG262P AWG16 (1.31 mm2) Outer diameter of insulating sheath: 2.0 dia. mm AWG26 (0.13 mm2) Outer diameter of insulating sheath: 0.91 dia. mm

Specifications

Finished Dimensions

6.8 dia.

Shield Wire

Internal Configuration and Lead Colors

Black Orange Orange /white Light Blue Light Blue /white

Red

Yaskawa Standard Specifications (Standard Length)

Cable length: 30 m, 40 m, 50 m

of order *: Specify the cable length in 30 m) no. Example: JZSP-CMP19-30-E (

110

Rotary Servomotors

Selecting Cables

molex

molex

Rotary Servomotor General Instructions


Precautions on Servomotor Installation
Servomotors can be installed either horizontally or vertically. The service life of the servomotor will be shortened or unexpected problems will occur if the servomotor is installed incorrectly or in an inappropriate location. Always observe the following installation instructions.

CAUTION
Do not connect the servomotor directly to a commercial power line. This will damage the servomotor.
The servomotor cannot operate without the proper SERVOPACK.

(1) Installation Environment


Items Ambient Temperature Ambient Humidity Condition

0 to 40C (no freezing) 20% to 80%RH (no condensation)


Free of corrosive or explosive gases. Well-ventilated and free of dust and moisture. Facilitates inspection and cleaning. Elevation :1,000 m max. Free of high magnetic field Store the servomotor in the following environment if it is stored with the power cable disconnected. Ambient temperature during storage: 20 to +60C (no freezing) Ambient humidity during storage: 20% to 80%RH (no condensation)

Installation Site

Storage Environment

(2) Enclosure The servomotor enclosure* is described table as follows.


Model SGMAVSGMJV SGMPS SGMGV SGMSV Without Gears IP65 IP55 IP67 (optional) IP67 IP67 (SGMSV-70 servomotor only: IP22) With Gears IP55 IP55
Shaft Flange Through shaft section
This refers to the gap where the shaft protrudes from the end of the motor.

*: Except through shaft section. The enclosure specification can be satisfied only when using a specified cable.
3Do not use servomotors in a location that is subject to oil. If the servomotor is used in a location that is

subject to water or oil mist, order a servomotor with an oil seal to seal the through shaft section. Precautions on Using Servomotor with Oil Seal:
3Put the oil surface under the oil seal lip. 3Use an oil seal in favorably lubricated condition. 3When using a servomotor with its shaft upward direction, be sure that oil will not stay in the oil seal lips.

(3) Orientation 3Servomotors can be installed either horizontally or vertically. When installing servomotors vertically, make cable traps to keep out water. When mounting servomotors with the shaft up, take measures with the connected machine to prevent oil from getting into the servomotors through gear boxes etc.

Horizontal

Vertical

Cable Trap

111

Servomotors

General Instructions

Rotary Motors

IMPORTANT 1 Install the servomotor so that alignment accuracy falls within the following range. Vibration that will damage the bearings and encoders if the shafts are not properly aligned.

*
Coupling

Alignment Accuracy *: Measure this distance at four different positions on the circumference. The difference between the maximum and minimum measurements must be 0.03 mm or less.

Note: Turn together with coupling.

2Do not allow any direct impact to the shafts when installing the couplings. Do not hit the area near encoders with a hammer etc., as impacts may damage the encoders.

3Before installation, thoroughly remove the anticorrosive paint from the end of the motor shaft. Only after removing the paint can servomotors be installed on the machines.
Anticorrosive paint is coated here.

(5) Cable Stress 3Make sure there is no bending or tension on the cables themselves, the connections, or the cable lead inlets. Be especially careful to wire encoder cables so that they are not subject to stress because the core wires of encoder cables and main circuit cables are very thin at only 0.2 to 0.3 mm2. (6) Connectors Observe the following precautions: 3When the connectors are connected to the motor, be sure to connect the end of motor main circuit cables before connecting the encoder cables end. If the encoder cables end is connected, the encoder may break because of the voltage differences between FG. 3Make sure there is no foreign matters such as dust and metal chips in the connector before connecting. 3Do not apply shock to resin connectors. Otherwise, they may be damaged. 3Make sure of the pin arrangement. 3Be sure not to apply stress on the connector, when using flexible cables. The connector may be damaged by stress. 3When handling a servomotor with its cables connected, hold the servomotor or the connectors and cables will be damaged. 3 Fix the cable connector to SGMJV, SGMAV, SGMPS -01 / -02 / -04 or SGMGV -03 / -05 servomotors with screws. Refer toCable connections to SGMJV, SGMAV and SGMPS servomotorsorCable connections Make sure that the connector is securely fixed with screws. to SGMGV-03/-05 servomotors. If the cable connector is not secure, the requirements for the protective structures specifications may not be met.

112

Rotary Servomotor General Instructions

(4) Alignment Align the shaft of the servomotor with the shaft of the equipment, and then couple the shafts.

Cable Connections to SGMJV, SGMAV and SGMPS Servomotors


Connect the main circuit cable and encoder cable to SGMJV, SGMAV or SGMPS-01/-02/-04 servomotor in the following manner.

CAUTION
Do not directly touch the connector pins provided with the servomotor. Particularly, the encoder may be damaged by static electricity, etc.

STEP1 Remove the protective tape and cap from the servomotor connector.
Cap Protective Tape

STEP2 Mount the cable connector on the servomotor and fix it with screws as shown in the figure below.
Encoder Cable For all models 2-M2 pan-head screws Tightening torque: 0.15 Nm

U Rubber Packing V W Servomotor Main Circuit Cable

2-M2 Tapped Holes 2-M2 Tapped Holes

For 550 W or less servomotors

2-M2 pan-head screws Tightening torque: 0.15 Nm


For 750 W or more servomotors

2-M2.5 pan-head screws Tightening torque: 0.33 Nm

IMPORTANT 3First, connect the servomotor to the servomotor main circuit cable end. 3Do not remove the rubber packing. Mount the connector so that the rubber packing is seated properly. If the rubber packing is not seated properly, the requirements for the protective structure specifications may not be met.

113

Servomotors

General Instructions

Rotary Motors

Connect the main circuit cable and encoder cable to SGMGV-03/-05 servomotor in the following manner.

CAUTION
Do not directly touch the connector pins provided with the servomotor. Particularly, the encoder may be damaged by static electricity, etc.

STEP1 Remove the protective cap from the servomotor connector.


Protective Cap

STEP2 Mount the cable connector on the servomotor and fix it with screws as shown in the figure below.
Encoder Cable
All models
molex

U V W G

O-ring

Servomotor Main Circuit Cable


SGMGV-03/-05

4-M3 pan-head screws Tightening torque: 0.44 Nm

Lead on Non-load Side

Lead on Load Side*

*: In this case, contact your Yaskawa representative.

IMPORTANT 3First, connect the servomotor to the servomotor main circuit cable end. 3Do not remove the O-ring. Mount the connector so that the O-ring is seated properly. If the O-ring is not seated properly, the requirements for the protective structure specifications may not be met.

114

Rotary Servomotor General Instructions

Cable Connections to SGMGV-03/-05 Servomotors

Mechanical Specifications
1Mechanical ToleranceT.I.R.Total lndicator Reading The following figure shows tolerances for the servomotors output shaft and installation area. For more details on tolerances, refer to the external dimensions of the individual servomotor.
Perpendicularity between the flange face and output shaft 0.04 A Run-out at the end of the shaft 0.02

Mating concentricity of the flange O.D. 0.04 Dia. A

1Direction of Servomotor Rotation Positive rotation of the servomotor without a gear is counterclockwise when viewed from the load. Refer to Ratings and Specifications for each series regarding rotation direction of the servomotor with a gear. The direction of rotation can be reversed by changing the SERVOPACK parameters. Counterclockwise 1Shock Resistance
Vertical

Mount the servomotor with the axis horizontal. The servomotor will withstand the following vertical impacts: 3Impact Acceleration: 490 m/s2 3Impact occurrences: 2

Impact Applied to the Servomotor

1Vibration Resistance
Front to Back Side to Side Vertical

Mount the servomotor with the axis horizontal. The servomotor will withstand the following vibration acceleration in three directions: Vertical, side to side, and front to back.
Servomotor Model Vibration Acceleration at Flange

Horizontal Impact Applied to the Servomotor

SGMJVSGMAV, SGMPS SGMGV -03 to -44, SGMSV -10 to -50 SGMGV -55 to -1E SGMSV -70

49 m/s2
49 m/s2 Front to back direction: 24.5 m/s2

24.5 m/s2 14.7 m/s2

IMPORTANT The amount of vibration the servomotor endures will vary depending on the application. Check the vibration acceleration being applied to your servomotor for each application.

1Vibration Class The vibration class for the servomotors at rated motor speed is V15. (A vibration class of V15 indicates a total vibration amplitude of 15 m maximum on the servomotor during rated rotation.)

Rotor Moment of Inertia


Small-capacity servomotors come in a medium inertia seriesSGMJV servomotor, SGMPS servomotorand low inertia series SGMAV servomotor.The rotor moment of inertia of SGMJV servomotor and SGMPS servomotor are twice as large as that of SGMAV.

Select servomotors based on the specifications of your devices, such as load moment of inertia or machine rigidity. 3 When the rotor moment of inertia is large: Servomotors are capable of corresponding to load changes because of the decrease of the moment of inertia ratio. This has the benefit of reducing settling time and speed ripple. This should also improve control stability of machines with low rigidity. 3 When mounting a servomotor with a large rotor moment of inertia to a device with a small load moment of inertia: Acceleration/deceleration torque increases and effective load ratio increases. Check the effective load ratio when you select motor capacity.

115

Servomotors

General Instructions

Rotary Motors

The motor rated specifications are continuous allowable values at an ambient temperature of 40C when servomotors are installed with heat sinks. When the motor is mounted on a small surface, the motor temperature may rise considerably because of the limited heat radiating abilities of the surface. See the following graph for the relation between heat sink size and derating (derating ratio). IMPORTANT The actual temperature rise depends on how the heat sink (servomotor mounting section) is fixed on the installation surface, what material is used for the motor mounting section, and motor speed. Always check the actual motor temperature.

SGMJV-A5/-01

SGMJV-02

SGMJV-08

100% 80% 60% 40% 20% 50 100 150 200 Heat Sink (mm)

100% 80% 60% 40% 20% 100 150 200 Heat Sink (mm)
SGMJV-04

100% 80% 60% 40% 20% 50 100 150 200 250 Heat Sink (mm)

Derating

Derating

250

50

250

Derating

300

SGMAV-A5/-01

SGMAV-02/-04/-06

SGMAV-08

100%
Derating Derating

100%
Derating

100% 80% 60% 40% 100 150 200 Heat Sink (mm) 20% 50 100 150 200 250 Heat Sink (mm)
SGMAV-10

80%
SGMAV-C2

80% 60% 40%

60% 40% 20% 50 100 150 200 Heat Sink (mm)

250

20%

50

250

300

SGMPS-01

SGMPS-02

SGMPS-08

100% 80%
Derating Derating

100% 80%
SGMPS-04

100% 80%
Derating
SGMPS-15

60% 40% 20% 100

60% 40% 20% 100

60% 40% 20% 50 100 150

50

150

200

250

50

150

200

250

200

250

300

Heat Sink (mm)

Heat Sink (mm)

Heat Sink (mm)

116

Rotary Servomotor General Instructions

Servomotor Heating Conditions

Holding Brake Delay Time


Holding brakes have motion delay time that varies depending on when the brake is open and when the brake is operating. The following table shows the brake delay time of each servomotor. IMPORTANT Make sure the holding brake delay time is correct for your servomotor.

3 Example, switching the holding brakes on the DC side


Model SGMAV-A5 to -04 SGMAV-06 to -10 SGMJV-A5 to -04 SGMJV-08 SGMPS-01, -08 SGMPS-02, -04, -15 Voltage Brake Open Time Brake Operation Time ms ms Model SGMGV-03 to -20 SGMGV-30,-44 SGMGV-55,-75,-1A SGMGV-1E SGMSV-10 to -25 SGMSV-30 to -50 Voltage Brake Open Time Brake Operation Time ms ms

24 V 24 V 24 V

60 80 60 80 20 40

100 100 100 100 100 100

24 V, 90 V

100 170 170 250 170 100

80 100 24 V80 90 V , 80 80 80 80

117

Servomotors

General Instructions

Rotary Motors

(1) Terminology for Servomotors with Low-backlash Gears


Item Rated Torque (Nm) Lost Motion
arc-min *

Measurement Method/Definition The rated output torque of the motor is the gear input torque. The rated torque is this value multiplied by the inverse of the gear ratio and efficiency. Angular difference in a screw with a 5% rated torque load. (Maximum value at any four positions during output.) Highest torsion angle value on one side with a rated torque load. Difference in absolute accuracy for one rotation under load and no-load conditions during output.

Typical Value

3 max. 10 max.

Torsion Rigidity
arc-min *

Angular Transmission Error Accuracy arc-min

6 max.

*: See the following graph for lost motion and torsion rigidity.

Lost motion

Torsion angle

Torsion rigidity

Torque
Torsion rigidity

+Torque

5% Rated torque

Rated torque

Rated torque

(2) Noise Data


The following noise data for a servomotor with a gear is for reference only. The data may vary slightly depending on the capacity and gear ratio of the servomotor. Measurement Conditions 3Scale A: 50 cm 3Ground Noise: 28 dB
100
Initial Noise Level (dB)

50

1000

2000
Input speed

3000
(min-1)

4000

(3) Efficiency
The output torque and motor speed produce the following trends in efficiency. The values in the tables, Ratings and Specifications of SGM Servomotors with Gears, are at the rated motor torque and rated motor speed.

Efficiency

Efficiency

Output torque

Motor speed

118

Rotary Servomotor General Instructions

Terms for Servomotors with Gears

Cables
1Standard Cables Standard servomotor main circuit cables, encoder cables, and relay cables cannot be used in cases where high flexibility is needed, as when the cables themselves move or are twisted or turned. R15 min. is recommended for the bending radius of standard cables. Use flexible cables for flexible applications. 1Flexible Cables (1) Life of Flexible Cable The flexible cable supports 10,000,000 or more operations of bending life with the recommended bending radius R = 90 mm under the following test conditions. 3Conditions 1 Repeat moving one end of the cable forward and backward for 320 mm using the test equipment shown in the following figure. 2 Connect the lead wires in parallel, and count the number of cable return motion times until a lead wire is disconnected. Note that one reciprocation is counted as one test.
Shifting Distance 320 mm

Shifting End Bending Radius R=90 mm

Fixed End

Notes: 1 The life of flexible cable differs largely depending on the amount of mechanical shocks, mounting to the cable, and fixing methods. The life of flexible cable is limited under the specified conditions. 2 The life of flexible cable indicates the number of bending times in which lead wires are electrically conducted and by which no cracks and damages that affects the performance of cable sheathing are caused. Disconnecting the shield wire is not taken into account.

(2) Wiring Precautions Even if the recommended bending radius R is followed in the mechanical design, incorrect wiring may cause the early disconnection. Observe the following precautions when wiring. (a) Cable twisting Straighten the flexible cables wiring. Twisted cables cause the early disconnection. Check the indication on the cable surface to make sure that the cable is not twisted. (b) Fixing method Do not fix the moving points of the flexible cable, or stress on the fixed points may cause early disconnection. Fix the cable at the minimum number of points. Do not put stress on the servomotor-end and SERVOPACKend connectors. (c) Cable length If the cable length is too long, it may result the cable sagging. If the cable length is too short, excessive tension on the fixed points will cause the early disconnection. Use a flexible cable with the optimum length. (d) Interference between cables Avoid interference between cables. Interference limits the motion of flexible cable, which causes early disconnection. Keep enough distance between cables, or provide a partition when wiring.

119

Servomotors

General Instructions

Rotary Motors

1Battery Case (Model: JUSP-BA01-E) Use this battery case if your battery case needs replacing due to damage etc.. This battery case cannot be used with an incremental encoder cable.

IMPORTANT 1 The battery case (JUSP-BA01-E) is not provided with a battery. A battery must be purchased separately. 2 Install the battery case where the ambient temperature is between 0C to 55C.

Absolute encoder cable Note: Cable and connector to connect encoder cable and battery case are not included.

SERVOPACK-end Connector

JZSP-CSP04--E 05--E 06--E 07--E JUSP-CVP6--E 7--E

Mount a battery (JZSP-BA01).

Battery Case (JUSP-BA01-E)

(1) Mounting a Battery in a Battery Case Prepare a lithium battery (JZSP-BA01) and mount in a battery case.
2
Red Connector

Red

ER3 V Lithium Battery (3.6 V, 1000 mAh, manufactured by Toshiba Battery Co., Ltd.)

(2) Connecting a Battery to the Host Controller Use a battery that meets the specifications of the host controller. Use an ER6VC3N (3.6 V, 2000 mAh, manufactured by Toshiba Battery Co., Ltd.) or equivalent battery.

120

Rotary Servomotor General Instructions

Battery Case

Direct Drive Servomotors

SGMCS

Model Designations

SGMCS - 02
Direct Drive Servomotor SGMCS

3
4th digit

C
5th digit

1
6th digit

1
7th digit

1st+2nd 3rd digits digit

1st+2nd Rated Torque digits 1Small-capacity


Code

3rd digit Motor Outer Diameter


Code B C D E M N Specifications 135 dia. mm 175 dia. mm 230 dia. mm 290 dia. mm 280 dia. mm 360 dia. mm

5th digit Design Revision Order


Code A B C Specifications Model of servomotor outer diameter code M, N Model of servomotor outer diameter code E Model of servomotor outer diameter code B, C, D

02 04 05 07 08 10 14 16 17 25 35

Specifications 2.0 N m 4.0 N m 5.0 N m 7.0 N m 8.0 N m 10 N m 14 N m 16 N m 17 N m 25 N m 35 N m

6th digit Flange Specifications


Code Flange Specifications Specifications Mounted Side Non-load side load end Non-load side Non-load side with cable on side Motor Outer Diameter Code (3rd digit) B

4th digit Serial Encoder


Code Specifications

20-bit absolute (without multiturn data) (standard) 20-bit incremental (option)

1 3 4

C-face C-face C-face

1Medium-capacity
Code

45 80 1A 1E 2Z

Specifications 45 N m 80 N m 110 N m 150 N m 200 N m

: Applicable Model

7th digit Option


Code Specifications Without options

121

SGMCS
Features
1Directly coupled to a load without a mechanical

Application Examples
1Semiconductor equipment 1LCD manufacturing equipment 1Units for inspection and testing 1Electronic parts assembling

transmission such as a gear.


1Powerful and smooth operation throughout the

speed range from low to high.


(Instantaneous peak torque: 6 to 600 N m maximum speed: 250 to 500 min-1)

machines
1Inspection units for integrated

indexing.
1Easy wiring and piping with the hollow structure.

circuits
1Automated machines 1Robots

Rated Torque / Peak Torque


1Small-capacity
Inst. Peak Torque Rated Torque

1Medium-capacity

Inst. Peak Torque Rated Torque

Outer Diameter 135 mm, Inner Diameter 20 mm


SGMCS-02B SGMCS-05B SGMCS-07B
Rated Torque 2.0 / Inst. Peak Torque 6.0 N m 5.0/15.0 7.0/21.0

Outer Diameter 280 mm, Inner Diameter 75 mm


SGMCS-45M SGMCS-80M SGMCS-1AM
(Rated Torque 45 / Inst. Peak Torque 135 N m) (80/240) (110/330)

20

40

60

80 N m

200

400

600 N m

Outer Diameter 175 mm, Inner Diameter 35 mm


SGMCS-04C SGMCS-10C SGMCS-14C
4.0/12.0 10.0/30.0 14.0/42.0

Outer Diameter 360 mm, Inner Diameter 118 mm


SGMCS-80N SGMCS-1EN SGMCS-2ZN
(200/600) (80/240) (150/450)

20

40

60

80 N m

200

400

600 N m

Outer Diameter 230 mm, Inner Diameter 60 mm


SGMCS-08D SGMCS-17D SGMCS-25D
8.0/24.0 17.0/51.0 25.0/75.0

20

40

60

80 N m

Outer Diameter 290 mm, Inner Diameter 75 mm


SGMCS-16E SGMCS-35E
35.0/105.0 16.0/48.0

20

40

60

80

100 N m

122

Direct Drive Servomotors

1High-resolution, 20-bit encoder for highly precise

1IC handlers

Ratings and Specifications


1Small-capacity Series
Time Rating: Continuous Vibration Class: V15 Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C Excitation: Permanent magnet Mounting: Flange method Thermal Class: A
Voltage Servomotor Model SGMCS- Rated Output*1 Rated Torque*1, *2 Instantaneous Peak Torque*1 Stall Torque*1 Rated Current*1 Instantaneous Max. Current*1 Rated Speed*1 Max. Speed*
1

Withstand Voltage: 1500 VAC for one minute Enclosure: Totally enclosed, self-cooled, IP42 (except for gaps on the rotating section of the shaft) Ambient Humidity: 20% to 80% (no condensation) Drive Method: Direct drive Rotation Direction: Counterclockwise (CCW) with forward run reference when viewed from the load side

W Nm Nm Nm Arms Arms min-1 min-1 N m/Arms

Torque Constant Rotor Moment of Inertia Rated Power Rate*1 Rated Angular Acceleration*1 Absolute Accuracy Repeatability Applicable SERVOPACK

10-4 kg m2
kW/s rad/s2 second second SGDV-

200 V 02BC 05BC 07BC 04CC 10CC 14CC 08DC 17DC 25DC 16EB 35EB 42 105 147 84 209 293 168 356 393 335 550 2.0 5.0 7.0 4. 0 10.0 14.0 8.0 17.0 25.0 16.0 35.0 6.0 15.0 21.0 12.0 30.0 42.0 24.0 51.0 75.0 48.0 105 2.05 5.15 7.32 4.09 10.1 14.2 8.23 17.4 25.4 16.5 35.6 1.8 1.7 1.4 2. 2 2. 2 2. 8 1.9 2.5 2.6 3.3 3.5 5.4 5.1 4.1 7. 0 7. 0 8. 3 5.6 7.5 8.0 9.4 10.0 200 200 200 150 200 150 500 500 400 300 500 350 250 500 250 1.18 3.17 5.44 2.04 5.05 5.39 5.1 7.8 10.8 5.58 11.1 28 51 77 77 140 220 285 510 750 930 1430 1.4 4.9 6.4 2. 1 7. 1 8. 9 2.2 5.7 8.3 2.75 8.57 710 980 910 520 710 640 280 330 330 170 240

15 1. 3
2R8A

15 1.3
2R8A

15 1.3
2R8A

15 1.3
5R5A

1: These items and torque-motor speed characteristics quoted in combination with an SGDV SERVOPACK are at an armature winding temperature of 100C. Other values quoted at 20C. 2: Rated torques are continuous allowable torque values at 40C with a steel heat sink attached. Heat sink: SGMCS-B : 350 mm 350 mm 12 mm SGMCS-C : 450 mm 450 mm 12 mm SGMCS-D : 550 mm 550 mm 12 mm SGMCS-E : 650 mm 650 mm 12 mm Notes: 1 SGMCS servomotor with holding brake is not available. 2 For the bearings used in SGMCS servomotors, loss varies according to the bearing temperature. At low temperatures, the amount of heat loss will be large.

* *

1Small-capacity Series: Torque-Motor Speed Characteristics A : Continuous Duty Zone B : Intermittent Duty Zone
Motor Speed (min-1) Motor Speed (min-1) Motor Speed (min-1)

500 400 300 200 100 0 0 3 6 9 12 15 Torque (N m)


A B

500 400 300 200 100 0 0 500 400 300 200 100 0 0

Motor Speed (min-1)

500 400 300 200 100 0


A

SGMCS-02B

SGMCS-05B

SGMCS-07B

500 400 300 200 100 0 0 500 400 300 200 100 0
A

SGMCS-04C

0 1.5 3.0 4.5 6.0 7.5 Torque (N m)


Motor Speed (min-1) Motor Speed (min-1)

5 10 15 20 25 Torque (N m)

3 6 9 12 15 Torque (N m)

Motor Speed (min-1)

400 300 200 100 0 0


A B

400 300 200 100 0 0 10 20 30 40 50 Torque (N m)


A B

Motor Speed (min-1)

500

SGMCS-10C

500

SGMCS-14C

SGMCS-08D

SGMCS-17D

6 12 18 24 30 Torque (N m)

6 12 18 24 30 Torque (N m)

0 12 24 36 48 60 Torque (N m)

SGMCS-25D
Motor Speed (min-1) Motor Speed (min-1)

SGMCS-16E
Motor Speed (min-1)

500 400 300 200 100


A B

500 400 300 200 100


A B

500 400 300 200 100


A

SGMCS-35E

123

0 0 0 0 9 18 27 36 45 0 20 40 60 80 100 0 15 30 45 60 75 Torque (N m) Torque (N m) Torque (N m) Notes: 1 The characteristics of the intermittent duty zone differ depending on the supply voltages. The solid and dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations: The solid line: With a three-phase 200 V SERVOPACK The dotted line: With a single-phase 100 V SERVOPACK 2 When the effective torque is within the rated torque, the servomotor can be used within the intermittent duty zone. 3 When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops.

Direct Drive Servomotors

SGMCS

Rotary Motors

Ratings and Specifications


1Medium-capacity Series
Time Rating: Continuous Vibration Class: V15 Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C Excitation: Permanent magnet Mounting: Flange method Thermal Class: F
Voltage Servomotor Model SGMCS- Rated Output*1 Rated Torque*1, *2 Instantaneous Peak Torque*1 Stall Torque*1 Rated Current*1 Instantaneous Max. Current*1 Rated Speed*1 Max. Speed*1 Torque Constant Rotor Moment of Inertia Rated Power Rate*1 Rated Angular Acceleration*1 Absolute Accuracy Repeatability Applicable SERVOPACK W Nm Nm Nm Arms Arms min-1 min-1 N m/Arms

45M 707 45 135 45 5.80 17

10-4 kg m2
kW/s rad/s2 second second SGDV-

8.39 388 52.2 1160

7R6A

80M 1260 80 240 80 9.74 28 150 300 8.91 627 102 1280 15 1.3 120A

200 V 1AM 80N 1730 1260 110 80 330 240 110 80 13.4 9.35 42 28 300 9.08 1360 47.1 588

8.45 865 140 1270

180A

120A

1EN 2ZN 2360 3140 150 200 450 600 150 200 17.4 18.9 56 56 150 250 9.05 11.5 2470 3060 91.1 131 607 654 15 1.3 200A 200A

These items and torque-motor speed characteristics quoted in combination with an SGDV SERVOPACK are at an armature winding temperature of 20C. Rated torques are continuous allowable torque values at 40C with a steel heat sink attached. Heat sink: 750 mm 750 mm 45 mm Notes: 1 SGMCS servomotor with holding brake is not available. 2 For the bearings used in SGMCS servomotors, loss varies according to the bearing temperature. At low temperatures, the amount of heat loss will be large.

*1: *2:

1Medium-capacity Series: Torque-Motor Speed Characteristics A : Continuous Duty Zone B : Intermittent Duty Zone
SGMCS-45M
Motor Speed (min-1)

Motor Speed (min-1)

Motor Speed (min-1)

200 100 0 0

200 100 0 0

200 100 0 0

Motor Speed (min-1)

300

300

SGMCS-80M

300

SGMCS-1AM

300 200 100 0 0

SGMCS-80N

50 100 Torque (N m)

150

100 200 Torque (N m)

300

100 200 300 400 Torque (N m)

100 200 Torque (N m)

300

300
Motor Speed (min-1)

SGMCS-1EN
Motor Speed (min-1)

300 200 100 0 0

SGMCS-2ZN

200 100

0 0 100 200 300 400 500 Torque (N m)

200 400 600 800 Torque (N m)

Notes: 1 When the effective torque is within the rated torque, the servomotor can be used within the intermittent duty zone. 2 When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops.

124

Direct Drive Servomotors

Withstand Voltage: 1500 VAC for one minute Enclosure: Totally enclosed, self-cooled, IP44 (except for shaft opening) Ambient Humidity: 20% to 80% (no condensation) Drive Method: Direct drive Rotation Direction: Counterclockwise (CCW) with forward run reference when viewed from the load side

Ratings and Specifications


1Allowable Load Moment of Inertia at the Motor Shaft
Servomotor Model Rated Torque Nm Allowable Load Moment of Inertia (Rotor Moment of Inertia Ratio)

SGMCS-

02BC, 05BC, 07BC, 04CC 10CC 14CC, 08DC, 17DC, 25DC, 16EB, 35EB 45MA, 80MA, 1AMA, 80NA, 1ENA, 2ZNA

2.0, 5.0, 7.0, 4.0 10.0 14.0, 8.0, 17.0, 25.0, 16.0, 35.0 45, 80, 110, 150, 200

10 times 5 times 3 times 3 times

1Load Moment of Inertia The larger the load moment of inertia, the worse the movement response. The allowable load moment of inertia (JL) depends on the motor capacity, as shown above. This value is provided strictly as a guideline and results may vary depending on servomotor drive conditions. Use the AC servo drive capacity selection program SigmaJunmaSize+ to check the operation conditions. . The program can be downloaded for free from our web site (http://www.e-mechatronics.com/
An overvoltage alarm (A.400) is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia. SERVOPACKs with a built-in regenerative resistor may generate a regenerative overload alarm (A.320). Take one of the following steps if this occurs. Reduce the torque limit. Reduce the deceleration rate. Reduce the maximum speed. Install an external regenerative resistor if the alarm cannot be cleared using the steps above. Refer to Regenerative Resistors on page 349.

125

Direct Drive Servomotors

SGMCS

Rotary Motors

Mechanical Specifications
1Allowable Loads The loads applied while a servomotor is running are roughly classified in the following patterns. Design the machine so that the thrust load and moment load will not exceed the values in the table.
F F L F L A (See the table below for the dimension A of each servomotor model.) Where F is external force, Thrust load: Fa=Load mass Moment load: M=F(L+A)

Where F is external force, Thrust load: Fa=F+Load mass Moment load: M=FL

Servomotor Model SGMCS- Dimension A mm Allowable Thrust Load (Fa) N Allowable Moment Load (M) N m

02B

05B 0 1500 50

07B

04C 10C 14C 08D 0 3300 75

17D

25D

16E

35E 45M 80M 1AM 80N 1EN 2ZN 33 9000 180 37.5 16000 350

40

64

70

90

93

0 4000 103 135

0 11000 250 320

Note: SGMCS-02B to -35E servomotors, set dimensions A to 0 (zero).

1Mechanical Tolerance The following table shows tolerances for the servomotor s output shaft and installation area. See the dimensional drawing of the individual servomotor for more details on tolerances. (1) Small-capacity Series
A

Dia.

Drive End

Opposite Drive End Dia. A

Dia.

Servomotor Model SGMCS02B 05B 07B 04C 10C 14C 08D 17D 25D 16E 35E Run-out of the Surface of the Shaft 0.02 0.02 0.02 0.02 Run-out at the End of the Shaft 0.04 0.04 0.04 0.04 Perpendicularity between the Flange Face and Output Shaft 0.07 0.07 0.08 0.08 Coaxiality of Output Axis and Mounting Socket Joint 0.07 0.07 0.08 0.08 Tolerance T.I.R. (Total Indicator Reading) Units: mm

(2) Medium-capacity Series


Dia. A B Dia. Dia. Dia.

Tolerance T.I.R. (Total Indicator Reading) Units: mm

Drive End

A B

Run-out of the Surface of the Shaft Run-out at the End of the Shaft Perpendicularity between the Flange Face and Output Shaft Coaxiality of Output Axis and Mounting Socket Joint Right angle between Flange Face and Output Shaft

Servomotor Model SGMCS45M 80M 1AM 80N 1EN 2ZN 0.02 0.02 0.04 0.04

Opposite Drive End

0.08 0.08

0.08 0.08

1Direction of Rotation Positive rotation of the servomotor is counterclockwise when viewed from the load.

1Impact Resistance Mount the servomotor with the axis horizontal. The servomotor will withstand the following vertical impacts: Impact Acceleration: 490 m/s2 Number of Impacts: 2

Vertical

Impact applied to the servomotor

1Vibration Resistance Mount the servomotor with the axis horizontal. The servomotor will withstand the following vibration acceleration in three directions: Vertical, side to side, and front to back.
Servomotor Type Small-capacity Series Medium-capacity Series Vibration Acceleration at Flange
Vertical Front to back

1Vibration Class The vibration class at rated motor speed is V15. (A vibration class of V15 indicates a total vibration amplitude of 15 m maximum on the servomotor during rated rotation.)

49 m/s2 24.5 m/s2

Side to Side Vibration applied to the servomotor

126

Direct Drive Servomotors

Where F is external force, Thrust load: Fa=F+Load mass Moment load: M=0

External Dimensions

Units: mm

1Small-capacity Series (1) Rated Torque 2.0 to 7.0 N m (Outer Diameter 135 mmInner Diameter 20 mm) Applicable Flange: 1
6 M4 Tapped Holes, Depth 8
(Divided into six equal sections of sixty degrees)

0.07 B 0.07 Dia. A

L (LL)

40.9

0.02

6 M4 Tapped Holes, Depth 8 (Divided into six equal sections of sixty degrees)

*1
20+0.4 Dia. 0 120 - 0 Dia. 0.035

(70 Dia.)

135 Dia.

90 D ia.
R26

(0.5: Bolt Section)

R4 0 Con .5 MA nec X. tor Are a

(1) (9)

100 - 0 Dia. 0.035

90 Dia .

*
Nameplate

Na

me pla te

23 .4

*1
A

.4 25
90

0.04

Model SGMCS-

(LL)

Approx. Mass kg

The shaded *1The hatched section shows the rotating section. section shows the non-rotating section. *2

02BC11 05BC11 07BC11

59 88 128

51 80 120

4.8 5.8 8.2


30050

Applicable Flange: 4

(35)

50 30 0.07 B 10 (22) 4

L (LL)

40.9

0.02 6 M4 Tapped Holes, Depth 8 (Divided into six equal sections of sixty degrees)
90
Di a.

6 M4 Tapped Holes, Depth 8 (Divided into six equal sections of sixty degrees)

0.07 Dia. A

20

135 Dia. 0 120 - 0.035 Dia. (80 Dia.)

90

Dia

(0.5:Bolt Section)

0.1

*2
A
Nameplate Nameplate

20+0.4 Dia. 0 (70 Dia.) 0 100 - 0.035 Dia.


(1)

*1

*1
0.04

Model SGMCS-

(LL)

Approx. Mass kg

The shaded *1The hatched section shows the rotating section. section shows the non-rotating section. *2

02BC41 05BC41 07BC41

59 88 128

51 80 120

4.8 5.8 8.2

2Servomotor Connector for Small-capacity Series Servomotors (Applicable Flange: 1)

Servomotor-end Connector Specifications


1 3

Encoder-end Connector Specifications


1 3

2 4

Model: JN1AS04MK2 Manufacturer: Japan Aviation Electronics Industry, Ltd. Applicable plug: JN1DS04FK1 (Provided by the customer.)
Red White Blue Green (yellow)

4 8 10

Model: JN1AS10ML1 Manufacturer: Japan Aviation Electronics Industry, Ltd. Applicable plug: JN1DS10SL1 (Provided by the customer.)
Light blue Light blue/ white Red

1 2 3 4

Phase U Phase V Phase W FG (Frame ground)

1 2 3 4 5

PS /PS PG5V

6 7 8 9 10

FG (Frame ground) PG0V

Shield Black

127

Direct Drive Servomotors

SGMCS

Rotary Motors

External Dimensions

Units: mm

(2) Rated Torque 4.0 to 14.0 N m (Outer Diameter 175 mmInner Diameter 35 mm) Applicable Flange: 1
0.07 B 6 M5 Tapped Holes, Depth 8 (Divided into six equal sections of sixty degrees) 5 0.07 Dia. A 2 M5 Tapped Holes, Depth 8 (Only for use by Yaskawa) 160 -0.040 Dia. 175 Dia.
L (LL) B

12 0D ia.

50.9

0.02

6 M5 Tapped Holes, Depth 8 (Divided into six equal sections of sixty degrees)

*1
35 +0.4 Dia. 0
(100 Dia.)

130 Dia .
6.5 R3
R5 1 Co MAX nne cto . rA
.4 23

(1: Bolt Section)

(9)
rea

(1)

25 .4
Nameplate 60

*2
Nameplate

*1
A

0.04

Model SGMCS-

(LL)

Approx. Mass kg

The shaded *1The hatched section shows the rotating section. section shows the non-rotating section. *2

04CC11 10CC11 14CC11

69 90 130

59 80 120

7.2 10.2 14.2


30050

Applicable Flange: 4

(35)

50 30 6 M5 Tapped Holes, Depth 8 (Divided into six equal sections of sixty degrees) 0.07 B 10 (22) 0.07 Dia. A 2M5 Tapped Holes, Depth 8 (Only for use by Yaskawa) 160 -0 .040 Dia. 0 (100 Dia.) 175 Dia. 5
L (LL)

50.9

0.02

12

0D

20

6 M5 Tapped Holes, Depth 8 (Divided into six equal sections of sixty degrees)
ia.

(1: Bolt Section)

0.1

*2
Nameplate Nameplate

(1)

130 -0 .040 Dia. 0

0D ia.

35 +0.4 Dia. 0 (100 Dia.)

13

*1

2 M5 Tapped Holes, Depth 8 (Only for use by Yaskawa)

*1
A

0.04

Model SGMCS-

(LL)

Approx. Mass kg

The shaded *1The hatched section shows the rotating section. section shows the non-rotating section. *2

04CC41 10CC41 14CC41

69 90 130

59 80 120

7.2 10.2 14.2

2Servomotor Connector (Applicable Flange: 4)

Servomotor-end Connector Specifications


Model : 350779-1 Plug : 350561-3 or 350690-3 (No.1 to 3) Pin Ground pin : 350654-1or 350669-1 (No.4) Manufacturer: Tyco Electronics AMP K.K. Applicable plug : 350780-1 Cap : 350536-6 or 350550-6 Socket

Encoder-end Connector Specifications


: 55102-0600 Model Manufacturer : Molex Japan Co., Ltd 6 Applicable plug : 54280-0609

1 2 3 4

5 3 1

4 2

1 2 3 4 5 6
Connector Case

PG5V PG0V

Red Black

PS /PS FG (Frame ground)

Light blue Light blue/ white Shield

1 2 3 4

Phase U Phase V Phase W FG (Frame ground)

Red White Blue Green (yellow)

128

Direct Drive Servomotors

130 -0.040 Dia.

2 M5 Tapped Holes, Depth 8 (Only for use by Yaskawa)

External Dimensions

Units: mm

(3) Rated Torque 8.0 to 25.0 N m (Outer Diameter 230 mmInner Diameter 60 mm Applicable Flange: 1
0.08 6 M6 Tapped Holes, Depth 10 (Divided into six equal sections of 0.08 Dia. A sixty degrees) 2 M6 Tapped Holes, Depth 10 (Only for use by Yaskawa)
B

L 5 (LL)

2 M6 Tapped Holes, Depth 10 (Only for use by Yaskawa)

*1
200 -0.046 Dia. 230 Dia.
160 D ia.

R53

(0.5: Bolt Section)

25

.4

4 23.

R6 7 Co .5 M nne AX cto . rA rea

60 +0.4 Dia. 0 (140 Dia.) 0 170 -0.040 Dia.

(9)

(1)

16

0D

ia.

50.9

0.02

6 M6 Tapped Holes, Depth 10 (Divided into six equal sections of sixty degrees)

*1
A

60
Nameplate Nameplate

0.04

Model SGMCS-

(LL)

Approx. Mass kg

The shaded *1The hatched section shows the rotating section. section shows the non-rotating section. *2

08DC11 17DC11 25DC11

74 110 160

64 100 150

14.0 22.0 29.7

Applicable Flange: 4

30050

(35)

50 30 6 M6 Tapped Holes, Depth 10 (Divided into six equal sections of sixty degrees) 6 M6 Tapped 0.08 Dia. A Holes, Depth 10 (Only for use by Yaskawa)
10 (22)

0.08 B

L (LL) 20

50.9

230 Dia. 200 -0 .046 Dia. 0 (140 Dia.)

ia.

(0.5: Bolt Section)

0.1

60 +0.4 Dia. 0 (140 Dia.) 0 170 -0.040Dia.

16

0D

*1

2 M6 Tapped Holes, Depth 10 (Only for use by Yaskawa)

*2

(1)

160

Dia

0.02

6 M6 Tapped Holes, Depth 10 (Divided into six equal sections of sixty degrees)
.

*1
A

Nameplate

Nameplate

0.04

Model SGMCS-

(LL)

Approx. Mass kg

The shaded *1The hatched section shows the rotating section. section shows the non-rotating section. *2

08DC41 17DC41 25DC41

74 110 160

64 100 150

14.0 22.0 29.7

129

Direct Drive Servomotors

SGMCS

Rotary Motors

External Dimensions

Units: mm

(4) Rated Torque 16.0 to 35.0 N m (Outer Diameter 290 mmInner Diameter 75 mm Applicable Flange: 1
0.08 Dia. A 2 M8 Tapped Holes, Depth 14 (Only for use by Yaskawa) 0.02 2 M8 Tapped Holes, Depth 14 (Only for use by Yaskawa)

0D ia.

20

(2 80

Di

a. )

6 M8 Tapped Holes, Depth 14 (Divided into six equal sections of sixty degrees)

0.08

L (LL)

61.6

6 M8 Tapped Holes, Depth 14 (Divided into six equal sections of sixty degrees)

*1
260 -0.052 Dia. 75+0.4 Dia. 0 (180 Dia.) 220 -0.046 Dia. 290 Dia.

200 Dia .

5 R6

25.

23.

R8 Co 0 M nn AX ec . tor A

(9)

*2

(1)

*1

re a

Nam

epla

te

60

Nameplate

(4)

0.04

Model SGMCS-

(LL)

Approx. Mass kg

The shaded *1The hatched section shows the rotating section. section shows the non-rotating section. *2

16EB11 35EB11

88 112

76 100

26.0 34.0

Applicable Flange: 4

30050

(35)

(22)

6 M8 Tapped Holes, Depth 14


(Divided into six equal sections of sixty degrees)

50 30

10

20

260-0 .052 Dia. 0 (160 Dia.)

180 Dia.

*1
75+0.4 Dia. 0 290 Dia.
D 200
Nameplate

0.1

220

0 -0.046

Dia.

2 M8 Tapped Holes, Depth 14 (Only for use by Yaskawa)

(2 80

2 M8 Tapped 0.08 B Holes, Depth 14 (Only for use 0.08 Dia. A by Yaskawa)

0D

Di a. )

0.02

ia.

L (LL) 20

61.6

6 M8 Tapped Holes, Depth 14 (Divided into six equal sections of sixty degrees)

*2
Nameplate

(1)

*1

(4)

0.04

The shaded *1The hatched section shows the rotating section. section shows the non-rotating section. *2

Model SGMCS-

(LL)

Approx. Mass kg

16EB41 35EB41

88 112

76 100

26.0 34.0

130

Direct Drive Servomotors

ia.

External Dimensions

Units: mm

1Medium-capacity Series (1) Rated Torque 45 to 110 N m (Outer Diameter 280 mm, Inner Diameter 75 mm) Applicable Flange: 1
6
LL KB2 KB1

15 0.08 A B 15(within 280 -00.052 Dia.) 0.08 Dia. A B

12 * M6 Screws, Depth 15 (Divided into equal sections) 41 30

2800.5 Dia.

147

1.5 (Rotating Section) 75.2 Dia.

264 Dia .

0.04
0 110 -0.035 Dia. 0 75+0 .019 Dia. 0 280 -0.052 Dia.

250 Dia. 115 Dia.

*
0 15(within 75 +0.019Dia.)

140 Dia.

*
B

0.04

12 * M6 Screws, Depth 18 (Divided into equal sections)

*: The shaded section shows the rotating section.


Model SGMCSLL KB1 KB2 Approx. Mass kg 38 45 51
L LL KB2 KB1

45MA11 80MA11 1AMA11

141 191 241

87.5 137.5 187.5

122 172 222

Applicable Flange: 3
0.08 C 6

15

10
12 * M6 Screws, Depth 15 (Divided into equal sections) 0.08 Dia. A B 1.5 (Rotating Section) 75.2 Dia. 115 Dia.

0.02 41 12 * M6 Screws, Depth 18 (Divided into equal sections)

264 Dia .

147

0.04
0 75+0 .019 Dia. 0 110 -0.035 Dia. 140 Dia.

280 Dia. 0 248 -0.046 Dia.

*
0 15(within 75 +0.019Dia.)

*
B

0.04

*: The shaded section shows the rotating section.


Model SGMCSL LL KB1 KB2 Approx. Mass kg 38 45 51

45MA31 80MA31 1AMA31

150 200 250

135 185 235

102.5 152.5 202.5

137 187 237

2Servomotor Connector for Medium-capacity Series Servomotors (Applicable Flange: 1, 3)


Servmotor-end Connector Specifications (Same for All Medium-capacity Models)
Model : CE05-2A18-10PD Manufacturer : DDK Ltd. Applicable plug and cable clamp Plug : CE05-6A18-10SD-B-BSS Cable clamp : CE3057-10A- D265

Encoder-end Connector Specifications (Same for All Medium-capacity Models)

A D

B C

: JN1AS10ML1 : Japan Aviation Electronics Industry, Ltd. Applicable plug : JN1DS10SL1 Model Manufacturer

4 8 10

7
1 2 3 4 5
PS /PS PG5V

A B C D

Phase U Phase V Phase W FG (Frame ground)

6 7 8 9 10

FG (Frame ground) PG0V

131

182

182

88
. Dia

88
Dia .

Direct Drive Servomotors

SGMCS

Rotary Motors

External Dimensions

Units: mm

(2) Rated Torque 80 to 200 N m (Outer Diameter 360 mm, Inner Diameter 118 mm) Applicable Flange: 1
LL

15 0.08 A B 15(within 360


-0.057

KB2 KB1

12 * M8 Screws, Depth 15 (Divided into equal sections) 41 30 0.08 Dia. A B

5
D ia .

186

118 +0.022 Dia. 0 0 160 -0.040 Dia.

(Rotating Section)

118.2 Dia.

190 Dia. 360 -0.057 Dia. 0

325 Dia. 166 Dia.

Rotating Section

15(within 118 +0.022 Dia.) 0

344

0.04

0.04

12 * M8 Screws, Depth 20 (Divided into equal sections)

*: The shaded section shows the rotating section.


Model SGMCSLL KB1 KB2 Approx. Mass kg 50 68 86

80NA11 1ENA11 2ZNA11

151 201 251

98 148 198

132 182 232

Applicable Flange: 3
0.08 C 12 * M8 Screws, Depth 15 (Divided into equal sections) 0.08 Dia. A B 5 186 1.5 (Rotating Section) 360 Dia. 323 -0.057 Dia. 0 166 Dia. 118.2 Dia.
A

10

L LL KB2 KB1

15

0.02 41

12 * M8 Screws, Depth 20 (Divided into equal sections) 0.04 118 +0.022 Dia. 0 0 160 -0.040 Dia. 190 Dia.

222

1.5

344

*
15(within 118 +0.022 Dia.) 0

*
B

0.04

*: The shaded section shows the rotating section.


Model SGMCSL LL KB1 KB2 Approx. Mass kg 50 68 86

80NA31 1ENA31 2ZNA31

160 210 260

145 195 245

113 163 213

147 197 247

222

Dia

132

Direct Drive Servomotors

Dia.)

3600.5 Dia.

135
Dia.

135
Dia.

Selecting Cables
1Cables Connections 2Standard Wiring (Max. encoder cable length: 20 m)
SGDV SERVOPACK

2Encoder Cable Extension from 30 to 50 m


(Example) SGDV SERVOPACK

(See page 138.)

Relay Encoder Cable (See page 138.)


Cable with Connectors, or Cable

Encoder Cable (See page 136.) Encoder Cable Servomotor Main Circuit Cable Servomotor Main Circuit Cable (See page 133.) A

SGMCS Servomotor

Encoder-end Cable

SGMCS Servomotor Servomotor Main Circuit Cable (See page 133.)

CAUTION
Separate the servomotor main circuit cable wiring from the I/O signal cable and encoder cable at

least 30 cm, and do not bundle or run them in the same duct.
When the encoder cable length exceeds 20 m, use a relay encoder cable. When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the

Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops.

1Servomotor Main Circuit Cables


Name Length (L) Order No. Standard Type JZSP-CMM60-03-E JZSP-CMM60-05-E JZSP-CMM60-10-E JZSP-CMM60-15-E JZSP-CMM60-20-E JZSP-CMM00-03-E JZSP-CMM00-05-E JZSP-CMM00-10-E JZSP-CMM00-15-E JZSP-CMM00-20-E Flexible Type*1 JZSP-CSM60-03-E JZSP-CSM60-05-E JZSP-CSM60-10-E JZSP-CSM60-15-E JZSP-CSM60-20-E JZSP-CMM01-03-E JZSP-CMM01-05-E JZSP-CMM01-10-E
Heat-shrinkable Tube

Specifications Applicable Flange* : 1


2

Details
Servomotor End

3m 5m 10 m 15 m 20 m 3m
Cable with Loose Wire at SERVOPACK End Small-capacity Series

SERVOPACK End 50 mm

M4 Crimped Terminals

Applicable Flange*2 : 4
SERVOPACK End 8.50.5 (Exposed core wire) 50 Sheath to Bind Core Wires Servomotor End L (6.5 Dia.)

5m 10 m 15 m 20 m

35

JZSP-CMM01-15-E JZSP-CMM01-20-E

M4 Crimped Terminals Cable: UL2517 (AWG204C) Cap : 350780-1(4-pole) Socket : 350536-6(Chained)

Applicable Flange*2 : 1 JN1DS04FK1 Servomotor-end Connector JZSP-CMM9-3-E


Soldered

Applicable Flange*2 : 4
Crimped Type (A crimp tool is required.)

5m 10 m Cables 15 m 20 m 50 m Medium-capacity Series: Cables

JZSP-CSM90-05-E JZSP-CSM90-10-E JZSP-CSM90-15-E JZSP-CSM90-20-E JZSP-CSM90-50-E

JZSP-CSM80-05-E JZSP-CSM80-10-E JZSP-CSM80-15-E JZSP-CSM80-20-E JZSP-CSM80-50-E


5 4

Contact your Yaskawa representative for cables with connectors and cables and connectors.

133

flexible cables for *1:: Useapplicable flanges,movable sections such as robot arms.. see model designations on page 121 *2 For Note: SGMCS servomotors with holding brakes are not available.

Direct Drive Servomotors

SGMCS

Rotary Motors

Selecting Cables
(1) Small-capacity Series: Wiring Specifications for Cables Applicable Flange: 1
SERVOPACK End Wire Color Red White Blue Green/(yellow) Signal Phase U Phase V Phase W FG Servomotor End Signal Phase U Phase V Phase W FG Pin No.

Applicable Flange: 4
SERVOPACK End Wire Color Red White Blue Green/(yellow) Signal Phase U Phase V Phase W FG Servomotor End Signal Phase U Phase V Phase W FG Pin No.

1 2 3 4

1 2 3 4

(2) Small-capacity Series: Servomotor-end Connector Specifications


Items Manufacturer Order No. Outer Diameter of Applicable Cable External Dimensions mm Specifications Japan Aviation Electronics Industry, Ltd. JN1DS04FK1 (Soldered)

5.7 dia. to 7.3 dia. mm


51.5 max.
Pin No. 1 Pin No. 2 Ground

18.8 15.5

19

Pin No. 3

(3) Small-capacity Series: Servomotor-end Connector Kit Specications


Items Manufacturer Order No. Cap Socket Applicable Wire Size Specifications Tyco Electronics AMP K.K. JZSP-CMM9-3-E

350780-1 350550-6
AWG20 to 14

External Dimensions mm
27.4

26.7

7.6 15.7

Note: A crimp tool (Model no.: 90296-2) is required. Contact the respective manufacturer for more information.

(4) Small-capacity Series: Cable Specifications


Items Order No.* Standard Type JZSP-CSM90--E (50 m max.) UL2517 (Rating temperature: 105C) AWG20 6C For power line: AWG20 (0.52 mm2) Outer diameter of insulating sheath: 1.53 dia. mm For holding brake line: AWG20 (0.52 mm2) Outer diameter of insulating sheath: 1.53 dia.mm Flexible Type JZSP-CSM80--E (50 m max.) UL2517 (Rating temperature: 105C) AWG22 6C For power line: AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.37 dia. mm For holding brake line: AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.37 dia. mm

Specifications

Finished Dimensions

7 0.3 mm
Black

Internal Configuration and Lead Color

Green/ (yellow) Blue Black

White

Red

Yaskawa Standard Specifications (Standard Length)

Cable length 5 m, 10 m, 15 m, 20 m, 50 m

*:

Specify the cable length of order no. Example: JZSP-CSM90-15-E (15 m)

134

Direct Drive Servomotors

Selecting Cables
(5) Medium-capacity Series (SGMCS-M and N): Connector Specifications

Standard Straight Plug

SGMCS Servomotor Non-waterproof Cable Clamp Cable

Standard L-shaped Plug

Servomotor-end Connector (Receptacle)


Servomotor-end Connector

Cable-end Connector L-shaped Plug MS3108B18-10S Straight Plug MS3106B18-10S Cable Clamp MS3057-10A

MS3102A18-10P

Dimensional Drawings: MS3108B L-shaped Plug Shell


Units: mm
L J A Q

Model No. MS 3108B

Shell Size

Joint Screw A

Outer Length of Overall Diameter Joint Length of Joint Portion Nut L Max. +0 0.12 Q 0.38

R 0.5

U 0.5

Effective Cable Screw Clamp Length Set Screw W V Min.

W U

18

1 1/818UNEF

18.26

68.27

34.13

20.5

30.2

1-20UNEF

9.53

Dimensional Drawings: MS3106B Straight Plug Shell


Units: mm
L J A Q Y W

Model No. MS 3106B

Shell Size

Joint Screw A

Outer Effective Length of Cable Overall Diameter Screw Joint Clamp Length Length of Joint Portion Set Screw Nut W L Max. +0 0.12 V Min. Q 0.38

Maximum Width Y Max.

18

1 1/818UNEF

18.26

52.37

34.13

1-20UNEF

9.53

42

Dimensional Drawings: MS3057-10A Cable Clamp with Rubber Bushing


A C
J (Inner Bushing Diameter) E (Inner Cable Clamp Diameter)

1.6
V Q

H (Slide Range)

Units: mm
Model No. MS3057-10A Applicable Connector Shell Size Overall Length A0.7 Effective Screw Length C E G0.7 H J Set Screw V Outer Diameter Q0.7 Attached Bushing AN3420-10

18

23.8

10.3

15.9

31.7

3.2

14.3

1-20UNEF

30.1

135

Direct Drive Servomotors

SGMCS

Rotary Motors

Selecting Cables
1Encoder Cables and Connectors (Max. length: 20 m)
Name Length (L) Order No. Standard Type JZSP-CMP60-03-E JZSP-CMP60-05-E JZSP-CMP60-10-E JZSP-CMP60-15-E JZSP-CMP60-20-E JZSP-CMP00-03-E JZSP-CMP00-05-E JZSP-CMP00-10-E JZSP-CMP00-15-E JZSP-CMP00-20-E JZSP-CMP03-03-E JZSP-CMP03-05-E JZSP-CMP03-10-E JZSP-CMP03-15-E JZSP-CMP03-20-E Flexible Type*1 JZSP-CSP60-03-E JZSP-CSP60-05-E JZSP-CSP60-10-E JZSP-CSP60-15-E JZSP-CSP60-20-E JZSP-CMP10-03-E JZSP-CMP10-05-E JZSP-CMP10-10-E JZSP-CMP10-15-E JZSP-CMP10-20-E JZSP-CMP13-03-E JZSP-CMP13-05-E JZSP-CMP13-10-E JZSP-CMP13-15-E JZSP-CMP13-20-E
Connector (Crimped) (Molex Japan Co., Ltd.) Applicable Flange*2 : 4 SERVOPACK End L Straight Plug (Crimped) (Japan Aviation Electronics Industry, Ltd.) Encoder End

Specifications
Applicable Flange*2: 1, 3 SERVOPACK End L

Details

3m 5m 10 m
Cable with Connectors (For Incremental and Absolute Encoder)

Encoder End

(1)

15 m 20 m 3m 5m 10 m 15 m 20 m 3m 5m 10 m 15 m 20 m

(2)
Connector (Molex Japan Co., Ltd.) SERVOPACK End
L

Socket Connector (Molex Japan Co., Ltd.) Encoder End


60 mm 1 2 3 4 5 6

Cable with Loose Wire at Encoder End (For Incremental and Absolute Encoder)

(3)

Connector (Crimped) (Molex Japan Co., Ltd.)

Wire Markers

Soldered

SERVOPACK-end Connector Kit

JZSP-CMP9-1-E
(Molex Japan Co., Ltd.)

JN1DS10SL1 (Straight Plug) Encoder-end Connector Kit JN1-22-22S-PKG100 (Socket Contact) JZSP-CMP9-2-E

Applicable Flange*2: 1, 3 Crimped Type (A crimp tool is required.)

(4)
(Japan Aviation Electronics Industry, Ltd.) Applicable Flange*2: 4 Soldered (Molex Japan Co., Ltd.)

Cables

5m 10 m 15 m 20 m

JZSP-CMP09-05-E JZSP-CMP09-10-E JZSP-CMP09-15-E JZSP-CMP09-20-E

JZSP-CSP39-05-E JZSP-CSP39-10-E JZSP-CSP39-15-E JZSP-CSP39-20-E

(5)

flexible cables for *1:: Useapplicable flanges,movable sections such as robot arms.. see model designations on page 121 *2 For

(1) Wiring Specifications for Cable with Connectors Applicable Flange: 13 (Standard type)
SERVOPACK End Pin No. 1 2 5 6 Shell Signal PG5V PG0V PS /PS FG Encoder End Pin No. 4 9 1 2 7 Wire Color Red Black Light blue Light blue/white FG Shield wire

(Flexible type)
SERVOPACK End Pin No. 1 2 5 6 Shell Signal PG5V PG0V PS /PS FG Encoder End Pin No. 4 9 1 2 7 Wire Color Orange Green Black/light blue Red/light blue FG Shield wire

Shield Wire

Shield Wire

Note: Be sure to connect the shield wire of encoder cable to the connector case (shell).

(2) Wiring Specifications for Cable with Connectors Applicable Flange: 4 (Standard type)
SERVOPACK End Pin No. 1 2 5 6 Shell Signal PG5V PG0V PS /PS FG Encoder End Pin No. 1 2 5 6 7 Wire Color Red Black Light blue Light blue/white FG Shield wire

(Flexible type)
SERVOPACK End Pin No. 1 2 5 6 Shell Signal PG5V PG0V PS /PS FG Encoder End Pin No. 1 2 5 6 7 Wire Color Orange Green Red/light blue Black/light blue FG Shield wire

Shield Wire

Shield Wire

Note: Be sure to connect the shield wire of encoder cable to the connector case (shell).

136

Direct Drive Servomotors

Selecting Cables
(3) Wiring Specifications for Cable with Loose Wire at Encoder End (Standard type) (Flexible type)
SERVOPACK End Pin No. 6 5 4 3 2 1 Shell Signal /PS PS BAT(-) BAT(+) PG0V PG5V FG Encoder End Marker Wire Color 6 Light blue/white 5 Light blue 4 Orange/white 3 Orange 2 Black 1 Red Shield Wire SERVOPACK End Pin No. 1 2 3 4 5 6 Shell Signal PG5V PG0V BAT(+) BAT(-) PS /PS FG Shield Wire Encoder End Marker Wire Color 1 Orange 2 Green 3 Red/pink 4 Black/pink 5 Red/light blue 6 Black/light blue

Notes: 1 The signals BAT(+) and BAT() are not needed when using SGMCS servomotors. 2 Be sure to connect the shield wire of encoder cable to the connector case (shell).

(4) SERVOPACK-end/Encoder-end Connector Kit Specifications


Items Order No. Manufacturer SERVOPACK-end Connector Kit JZSP-CMP9-1-E (Cables are not included.) Molex Japan Co., Ltd. Encoder-end Connector Kit Tools are not included. Japan Aviation Electronics Industry, Ltd. Straight plug: JN1DS10SL1 (crimped) Socket contact type: JN1-22-22S-PKG100 Outer diameter of applicable cable : 5.7 dia. to 7.3 dia. mm Applicable wire size: AWG21 to 25 Outer diameter of insulating sheath: 0.8 dia. to 1.5 dia. mm Crimp tool (hand tool) model: CT150-2-JN
51.5 max. 18.8 Dia.
5 6 3 4 1 2

JZSP-CMP9-2-E (Cables are not included.) Molex Japan Co., Ltd.


54280-0609 Soldered Product SpecificationPS-54280

55100-0670 (soldered) Product SpecificationPS-54280

Specifications

Note: 55100-0670 (soldered) when using a connector kit External Dimensions (Units: mm)
(19)

3 7

1 4

44 12

(10)

(36)

10

(5) Cable Specifications


Items Order No.* Cable Length Standard Type JZSP-CMP09--E Flexible Type JZSP-CSP39--E

20 m max.
UL20276 (Rating temperature: 80C) AWG22 2C+AWG24 2P AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.15 dia. mm AWG24 (0.20 mm2) Outer diameter of insulating sheath: 1.09 dia. mm UL20276 (Rating temperature: 80C) AWG22 2C+AWG24 2P AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.35 dia. mm AWG24 (0.20 mm2) Outer diameter of insulating sheath: 1.21 dia. mm

Specifications

Finished Dimensions
Blue

6.5 dia. mm
Blue/ white Black/ light blue

6.8 dia. mm
Red/ light blue

Internal Configuration and Lead Colors


Orange

Red

Black
Orange/ white Black/ pink

Orange

Green Red/ pink

Yaskawa Standard Specifications (Standard Length)


Specify * Examplethe cable length in 5of order no. : JZSP-CMP09-05-E ( m)

Cable length: 5 m, 10 m, 15 m, 20 m

137

19

Direct Drive Servomotors

SGMCS

Rotary Motors

Selecting Cables
1Relay Encoder Cables (For extending from 30 to 50 m)
Name Length Order No. Standard Type Specifications
Applicable Flange*: 1, 3 SERVOPACK End 30030
Encoder End

Details

Encoder-end Cables (For incremental and absolute encoder)

0.3 m

JZSP-CSP15-E
Plug Connector (Soldered) Plug (Molex Japan Co., Ltd.) (Japan Aviation Electronics Industry,Ltd.) Applicable Flange*: 4 SERVOPACK End Encoder End L

30 m
Cable with Connectors

JZSP-UCMP00-30-E JZSP-UCMP00-40-E JZSP-UCMP00-50-E JZSP-CMP19-30-E JZSP-CMP19-40-E JZSP-CMP19-50-E

(For incremental and absolute encoder)

40 m 50 m 30 m 40 m 50 m

2
Plug Connector (Crimped) (Molex Japan Co., Ltd.) Socket Connector (Soldered) (Molex Japan Co., Ltd.)

Cables

*: For applicable flanges, see model designations on page 121.


(1) Wiring Specications for Encoder-end Cable
SERVOPACK End Pin No. Signal PG 5V PG 0V PS /PS FG
Shield Wire

(2) Wiring Specications for Cable with Connectors


SERVOPACK End Pin No. Signal /PS PS
BAT BAT +

Encoder End Pin No. Wire Color Red Black Light blue Light blue/white FG Shield wire

Encoder End Pin No. Wire Color Light blue/white Light blue Orange/white Orange Black Red FG

1 2 5 6
Shell

4 9 1 2 7

6 5 4 3 2 1
Shell

6 5 4 3 2 1
Shell
Shield Wire

PG 0V PG 5V FG

Note: Be sure to connect the shield wire of encoder cable to the connector case (shell).

(3) Cable Specifications


Items Order No.* Cable Length Standard Type JZSP-CMP19--E

Specifications

Finished Dimensions

50 m max. UL20276 (Rating temperature: 80C) AWG16 2C+AWG26 2P AWG16 (1.31 mm2) Outer diameter of insulating sheath: 2.0 dia.mm AWG26 (0.13 mm2) Outer diameter of insulating sheath: 0.91 dia. mm 6.8 dia. mm

Black

Internal Configuration and Lead Colors

Orange Orange/white

Light blue Light blue/white

Red

Yaskawa Standard Specifications (Standard Length)


cable length in of * Specify theJZSP-CMP19-30-E (30 order no. Example: m)

Cable length: 30 m, 40 m, 50 m

138

Direct Drive Servomotors

Linear Servomotors

SGLGW
(Coreless Type)

Model Designations
2Moving Coil

S G

G W 1st digit 2nd digit

30
3rd+4th digits

A
5th digit

050
6th+7th+ 8th digits

C
9th digit

P
10th digit

11th digit

Linear Series Linear Servomotor

1st digit Servomotor Type


Code G Specifications Coreless

5th digit Voltage


Code A Specifications 200 VAC

10th digit Hall Sensor/Cooling Method


Code P C H Specifications With hall sensor Forced cooling With hall sensor and forced cooling Applicable Model All models SGLGW -40A, -60A, -90A All models

2nd digit Moving Coil/ Magnetic Way


Code W Specifications Moving Coil

6th+7th+8th digits Length of Moving Coil 9th digit Design Revision Order
ABC

Blank Without hall sensor

11th digit Connector for Main Circuit Cable


Code Blank D Specifications Connector by Tyco Electronics AMP K.K. Connector by Interconnectron GmbH Applicable Model All models SGLGW -30A,-40A,-60A

3rd+4th digits Magnet Height

2Magnetic Way

S G

G M 1st digit 2nd digit

30 108
3rd+4th digits 5th+6th+ 7th digits

A
8th digit

9th digit

Linear Series Linear Servomotor

1st digit Servomotor Type (Same as that of the moving coil) 2nd digit Moving Coil/ Magnetic Way
Code M Specifications Magnetic Way

3rd+4th digits Magnet Height 5th+6th+7th digits Length of Magnetic Way 8th digit Design Revision Order ABC*

9th digit Options


Code Blank -M Specifications standard High force Applicable Model All models SGLGM-40-60

139

coreless linear servomotor revision *: The without mounting holes on has bottom CT. C= the CT = with mounting holes on the bottom

SGLGW( )
Features
1Direct-feed mechanism for high-speed and

Application Examples
1Feeders and loaders 1Semiconductor equipment 1LCD manufacturing equipment

high-precision positioning.
1Lack of magnetic attraction force helps extend

the life of linear motion guides and minimizes noise.


1Zero cogging for minimal force ripple.

2Precautions on Moving Coil with Hall Sensor


When using a moving coil with a hall sensor, the magnetic way must completely cover the bottom of the hall sensor. Refer to the example showing the correct installation. When determining the length of the moving coils stroke or the length of the magnetic way, consider the total length of the moving coil and the hall sensor unit. Refer to the following table.
Correct
Hall Sensor Moving Coil Movement Direction Moving Coil Magnetic Way

Incorrect

Magnetic Way End

The total length of moving coil with hall sensor


Moving Coil
A Hall Sensor L L1 Moving Coil

Length of Moving Coil L1 (mm)

Model SGLGW-

Length of Hall Sensor Unit Total Length A (mm) L (mm)

30A050P 30A080P 40A140P 40A253P 40A365P 60A140P 60A253P 60A365P 90A200P 90A370P 90A535P

50 80 140 252.5 365 140 252.5 365 199 367 535

0 (Included in the length of moving coil) 16

50 80 156 268.5 381 156 268.5 381 199 367 535

Magnetic Way

16 0 (Included in the length of


moving coil)

140

Linear Servomotors

Ratings and Specifications


Time Rating: Continuous Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C Excitation: Permanent magnet Withstand Voltage: 1500 VAC for one minute Enclosure: Self-cooled, air-cooling (Only self-cooled type available for SGLGW-30A linear servomotor) Ambient Humidity: 20% to 80% (no condensation) Allowable Winding Temperature: 130C (Thermal class B)

1With Standard-force Magnetic Ways


Linear Servomotor Model SGLGWPeak Speed* Rated Force* Rated Current* Peak Force* Peak Current* Moving Coil Mass Force Constant BEMF Constant Motor Constant Electrical Time Constant Mechanical Time Constant Thermal Resistance (With heat sink) Thermal Resistance (Without heat sink) Magnetic Attraction Applicable SERVOPACK m/s N Arms N Arms kg N/Arms V/(m/s) N/Q W ms ms K/W K/W N SGDV-

30A 050C 080C 5 5 12.5 25 0.51 0.79 40 80 1.62 2.53 0.10 0.15 26.4 33.9 8. 8 11.3 3. 7 5.6 0. 2 0.4 7.30 4.78 5.19 8.13 0
R70A

140C 5 47 0.8 140 2.4 0.34 61.5 20.5 7.8 0.4 5.59 1.67 3.02 0
R90A

40A 253C 5 93 1.6 280 4.9 0.60 61.5 20.5 11.0 0.4 4.96 0.87 1.80 0 1R6A

365C 5 140 2.4 420 7.3 0.87 61.5 20.5 13.5 0.4 4.77 0.58 1.23 0 2R8A

140C 4.8 70 1. 2 220 3. 5 0.42 66.6 22.2 11.1 0. 5 3.41 1.56 2.59 0 1R6A

60A 253C 4.8 140 2.2 440 7.0 0.76 66.6 22.2 15.7 0.5 3.08 0.77 1.48 0 2R 8A

365C 4. 8 210 3. 3 660 10.5 1.10 66.6 22.2 19.2 0. 5 2.98 0.51 1.15 0 5R5A

200C 4 325 4.4 1300 17.6 2.15 78.0 26.0 26.0 1.4 3.18 0.39 1.09 0 120A

90A 370C 4 550 7.5 2200 30.0 3.6 78.0 26.0 36.8 1.4 2.66 0.26 0.63 0 180A

535C 4 750 10.2 3000 40.8 4. 9 78.0 26.0 45.0 1. 4 2.42 0.22 0.47 0 200A

3.11 6.32 0
R90A

Notes: 1 The items marked with an and Force and Speed Characteristics (the table on the next page) are the values at a motor winding temperature of 100C during operation in combination with a SERVOPACK. The others are at 20C. 2 The above specifications show the values under the cooling condition when a heat sink (aluminum board) listed in the following table is mounted on the moving coil. Heat Sink Size 200 mm 300 mm 12 mm : SGLGW-30A050C, -30A080C, -40A140C, -60A140C 300 mm 400 mm 12 mm : SGLGW-40A253C, -60A253C 400 mm 500 mm 12 mm : SGLGW-40A365C, -60A365C 800 mm 900 mm 12 mm : SGLGW-90A200C, -90A370C, -90A535C

141

Linear Servomotors

SGLGW (Coreless Type)

Linear

Ratings and Specifications


Force and Speed Characteristics A : Continuous Duty Zone B : Intermittent Duty Zone
6.0
Motor Speed (m/s)

SGLGW-30A050C
Motor Speed (m/s)

6.0 5.0 4.0 3.0 2.0 1.0 0 0

SGLGW-30A080C

5 .0 4 .0 3 .0 2 .0 1 .0 0 0 10 30 40 Force (N) 20 50
A B

20

40

60

80 100

6.0
Motor Speed (m/s)

SGLGW-40A140C
Motor Speed (m/s)

6.0 5.0 4.0 3.0 2.0 1.0


0

SGLGW-40A253C
Motor Speed (m/s)

6.0 5.0 4.0 3.0 2.0 1.0 0

SGLGW-40A365C

5.0 4.0 3.0 2.0 1.0 0 0 50 100


B A

150

100

200

300

Force (N)

Force (N)

0 100 200 300 400 500 Force (N)

SGLGW-60A140C
6.0
Motor Speed (m/s) Motor Speed (m/s)

SGLGW-60A253C
6.0
Motor Speed (m/s)

6.0 5.0 4.0 3.0 2.0 1.0 0

SGLGW-60A365C

5. 0 4. 0 3. 0 2. 0 1. 0 0 0 50 100 150 200 250 Force (N)


A B

5.0 4.0 3.0 2.0 1.0 0 0 100 200 300 400 500
Force (N) A B

0 150 300 450 600 750


Force (N)

SGLGW-90A200C
6.0
Motor Speed (m/s) Motor Speed (m/s)

SGLGW-90A370C
6.0
Motor Speed (m/s)

SGLGW-90A535C
6.0 5.0 4.0 3.0 2.0 1.0 0
A B

5. 0 4. 0 3. 0 2. 0 1. 0 0 0 300 600 900 1200 1500 Force (N)


A B

5.0 4.0 3.0 2.0 1.0 0 0 500 10001500 2000 2500 Force (N)
A B

0 700 1400 2100 2800 3500 Force (N)

Notes: 1 The characteristics of the intermittent duty zone differ depending on the supply voltages. The solid, dotted, and dashed-dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations: The solid line: With a three-phase 200 V SERVOPACK The dotted line: With a single-phase 200 V SERVOPACK The dashed-dotted line: With a single-phase 100 VSERVOPACK SGLGW-30A050C and SGLGW-30A080C servomotors combined with single-phase 200 V SERVOPACKs have the same characteristics as those combined with three-phase ones. 2 When the effective force is within the rated force, the servomotor can be used within the intermittent duty zone.

142

Linear Servomotors

Force (N)

Ratings and Specifications


1With High-force Magnetic Ways
Linear Servomotor Model SGLGWPeak Speed* Rated Force* Rated Current* Peak Force* Peak Current* Moving Coil Mass Force Constant BEMF Constant Motor Constant Electrical Time Constant Mechanical Time Constant Thermal Resistance (With heat sink) Thermal Resistance (Without heat sink) Magnetic Attraction Applicable SERVOPACK m/s N Arms N Arms kg N/Arms V/(m/s) W N/Q ms ms K/W K/W N SGDV-

140C 4. 2 57 0. 8 230 3. 2 0.34 76.0 25.3 9. 6 0. 4 3.69 1.67 3.02 0 1R6A

40A 253C 4.2 114 1.6 460 6.5 0.60 76.0 25.3 13.6 0.4 3.24 0.87 1.80 0 2R8A

365C 4.2 171 2.4 690 9.7 0.87 76.0 25.3 16.7 0.4 3.12 0.58 1.23 0 3R8A

140C 4. 2 85 1. 2 360 5. 0 0.42 77.4 25.8 12.9 0. 5 2.52 1.56 2.59 0 1R6A

60A 253C 4.2 170 2.2 720 10.0 0.76 77.4 25.8 18.2 0.5 2.29 0.77 1.48 0 3R8A

365C 4.2 255 3.3 1080 14.9 1.10 77.4 25.8 22.3 0.5 2.21 0.51 1.15 0 7R 6A

Notes: 1 The items marked with an and Force and Speed Characteristics (the table on the next page) are the values at a motor winding temperature of 100C during operation in combination with a SERVOPACK. The others are at 20C. 2 The above specifications show the values under the cooling condition when a heat sink (aluminum board) listed in the following table is mounted on the moving coil. Heat Sink Size 200 mm 300 mm 12 mm : SGLGW-40A140C, -60A140C 300 mm 400 mm 12 mm : SGLGW-40A253C, -60A253C 400 mm 500 mm 12 mm : SGLGW-40A365C, -60A365C

143

Linear Servomotors

SGLGW (Coreless Type)

Linear

Ratings and Specifications


Force and Speed Characteristics A : Continuous Duty Zone B : Intermittent Duty Zone
5
Motor Speed (m/s)

SGLGW-40A140C
Motor Speed (m/s)

5 4 3 2 1 0

SGLGW-40A253C
Motor Speed (m/s)

5 4 3 2 1 0 0

SGLGW-40A365C

4 3 2 1
B A

SGLGW-60A140C
5
Motor Speed (m/s) Motor Speed (m/s)

SGLGW-60A253C
5 4 3 2 1 0 0
B A Motor Speed (m/s)

SGLGW-60A365C
5 4 3 2 1 0 0 240 480 720 9601200 Force (N)
A B

4 3 A 2 1 0 0 80 160 240 320 400 Force (N)


B

200 400 600 800 Force (N)

Notes: 1 The characteristics of the intermittent duty zone differ depending on the supply voltages. The solid, dotted, and dashed-dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations: The solid line: With a three-phase 200 V SERVOPACK The dotted line: With a single-phase 200 V SERVOPACK The dashed-dotted line: With a single-phase 100 VSERVOPACK 2 When the effective force is within the rated force, the servomotor can be used within the intermittent duty zone.

1Mechanical Specifications (1) Impact Resistance Impact acceleration: 196 m/s2 Impact occurrences: twice

(2) Vibration Resistance The linear servomotors will withstand the following vibration acceleration in three directions: Vertical, side to side, and front to back. Vibration acceleration: 49 m/s2

144

Linear Servomotors

50 100 150 200 250 Force (N)

0 100 200 300 400 500 Force (N)

200 400 600 800 Force (N)

External Dimensions
(1) SGLGW-30

Units: mm

3Moving Coil: SGLGW-30AC (With a connector by Tyco Electronics AMP K.K.)


4-M4 Mounting Screws, Depth 5 2-Screws #4-40 UNC 17
L5

L4 The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W.

50050

Cable UL20276, AWG26

Cable UL2517, AWG25 Nameplate L1 L3

50050

2 2-M4 Mounting Screws, Depth 5 (on Both Sides) 22 12


G Gap

(5.3 Dia.) (5 Dia.)

15

24

Moving Coil Model SGLGW-

L1

L2

L3

L4

L5

G Gap

30A050C 30A080C

50 80

48 72

30 50

20 30

20 25

5.9 5.7

0.85 0.95

44

G Gap W

Approx. Mass* kg

*: The values indicate the mass of moving coil with a hall sensor unit.
Hall Sensor Connector Specifications
9 5 6

57

L2

48.5 3

0.14 0.19

Pin Connector: 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector : 17JE-13090-02 (D8C) Stud : 17L-002C or 17L-002C1

Pin No. Signal +5V (Power supply) 1 2 Phase U 3 Phase V 4 Phase W 5 0V (Power supply) 6 Not used 7 Not used 8 Not used 9 Not used

Linear Servomotor Connector Specifications

Hall Sensor Output Signals

Plug : 350779-1 Pin : 350924-1 or 770672-1 by Tyco Electronics AMP K.K.


The Mating Connector Cap : 350780-1 Socket : 350925-1 or 770673-1

Pin No. Signal Wire Color 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 FG Green

When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of e a c h m o t o r p h a s e Vu , V v, V w becomes as shown in the figure below.

Vu Inverse Power Vv (V) Vw

Su

Sv

Sw

180 360 540 Electrical Angle ( )

145

Linear Servomotors

SGLGW (Coreless Type)

Linear

External Dimensions

Units: mm

3Moving Coil: SGLGW-30ACD (With a connector by Interconnectron GmbH)


4-4 Mounting Screws, Depth 5 17
L5

2-Screws #4-40 UNC

L4

50050

Cable UL20276, AWG26

The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. Cable UL2517,AWG25 L1 15 L3

50050

Name plate (5.3 Dia) (5 Dia)

2 2-M4 Mounting Screws, Depth 5 (on Both Sides) 22 12 3 1

G Gap

G Gap W

24

Moving Coil Model SGLGW-

L1

L2

L3

L4

L5

G
Gap

30A050CD 30A080CD

50 80

48 72

30 50

20 30

20 25

5.9 5.7

0.85 0.95

44

Approx. Mass* kg

*: The values indicate the mass of moving coil with a hall sensor unit.
Hall Sensor Connector Specifications
9 6

Pin Connector : 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector : 17JE-13090-02 (D8C) Stud : 17L-002C or 17L-002C1

Pin No. Signal +5V (Power supply) 1 2 Phase U 3 Phase V 4 Phase W 5 0V (Power supply) 6 Not used 7 Not used 8 Not used 9 Not used

Linear Servomotor Connector Specifications


1 6 2 3

Extension: SROC06JMSCN169 Pin : 021.423.1020 by Interconnectron GmbH The Mating Connector Plug : SPUC06KFSDN236 Socket: 020.030.1020

57

L2

48.5

0.14 0.19

Hall Sensor Output Signals


When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below.

Vu

Su

Pin No. 1 2 3 4 5 6

Signal Wire Color Phase U Red Phase V White Phase W Blue Not used Not used FG Green

Inverse Power (V)

Vv

Sv

Vw

Sw

180

360

540

) Electrical Angle (

146

Linear Servomotors

External Dimensions

Units: mm

3Magnetic Way: SGLGM-30A


Nameplate Warning Label

7.6

8.2

36

Pitch 54 N-4.5 Dia. Mounting Holes (Per unit) 8 Dia. Counter Boring, Depth 5 L1 --0..1 (1 Unit) 03

4.5

24
L2 (18)

N-M4 Mounting Screws, Depth6 Pitch 54

27

L2

(27)

Magnetic Way Model SGLGM-

L1

L2

Approx. Mass kg

Note: If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor.

30108A 30216A 30432A

108 216 432

54 162 378

2 4 8

0.6 1.1 2.3

147

44

Linear Servomotors

SGLGW (Coreless Type)

Linear

External Dimensions
(2) SGLGW-40

Units: mm

3Moving Coil: SGLGW-40AC (With a connector by Tyco Electronics AMP K.K.)


2-Screws #4-40 UNC

L5

45

L6 N2-M4 Mounting Screws, Depth 6

Nameplate

50050

50050

17
The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. L1 L3 N1-M4 Mounting Screws, 45 Depth 6 (on Both Sides)

(5.3 Dia.) (7 Dia.)

16

L4

25.4

L2 Hall Sensor

7.5

Gap 0.8

Gap 0.8

5.8 25.4

Moving Coil Model SGLGW-

L1

L2

L3

L4

L5

L6

N1

N2

Approx. Mass* kg

40A140C 40A253C 40A365C

140 252.5 365

125 237.5 350

90 180 315

30 37.5 30

52.5 60 52.5

45 135 270

3 5 8

4 8 14

0.40 0.66 0.93

*: The values indicate the mass of moving coil with a hall sensor unit.
Hall Sensor Connector Specifications
9 6

Linear Servomotor Connector Specifications

Hall Sensor Output Signals

Pin Connector : 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector : 17JE-13090-02 (D8C) Stud : 17L-002C or 17L-002C1

Pin No. Signal +5V (Power supply) 1 2 Phase U 3 Phase V 4 Phase W 5 0V (Power supply) 6 Not used 7 Not used 8 Not used 9 Not used

Plug : 350779-1 Pin : 350561-3 or 350690-3 (No.1 to 3) 350654-1 350669-1 (No.4) by Tyco Electronics AMP K.K.
The Mating Connector Cap : 350780-1 Socket : 350570-3 or 350689-3

Pin No. Signal Wire Color 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 FG Green

When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below.

Vu

Su

Inverse Vv Power (V) Vw

Sv

Sw

180 360 ) Electrical Angle (

540

148

Linear Servomotors

15

15 30 63 62

78

External Dimensions

Units: mm

3Moving Coil: SGLGW-40ACD (With a connector by Interconnectron GmbH)

2-Screws #4-40 UNC

L5

45

L6 N2-M4 Mounting Screws, Depth 6

Nameplate

50050

50050

(5.3 Dia.) (7 Dia.)

16

17
The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. L1 L3 N1-M4 Mounting Screws, 45

L4

25.4

15

Depth 6 (on Both Sides)

15 30
L2 Hall Sensor
7.5

63

Gap 0.8

25.4

Moving Coil Model SGLGW-

L1

L2

L3

L4

L5

L6

N1

N2

Approx. Mass* kg

40A140C D 40A253C D 40A365C D

140 252.5 365

125 237.5 350

90 180 315

30 37.5 30

52.5 60 52.5

45 135 270

3 5 8

4 8 14

0.40 0.66 0.93

*: The values indicate the mass of moving coil with a hall sensor unit.
Hall Sensor Connector Specifications
9 6

Pin Connector : 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector : 17JE-13090-02 (D8C) Stud : 17L-002C or 17L-002C1

Pin No. Signal +5V (Power supply) 1 2 Phase U 3 Phase V 4 Phase W 5 0V (Power supply) 6 Not used 7 Not used 8 Not used 9 Not used

Linear Servomotor Connector Specifications


1 6 2 3

Hall Sensor Output Signals


When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below.

Extension: SROC06JMSCN169 Pin : 021.423.1020 by Interconnectron GmbH The Mating Connector Plug : SPUC06KFSDN236 Socket: 020.030.1020

Vu

Su

Pin No. 1 2 3 4 5 6

Signal Wire Color Phase U Red Phase V White Phase W Blue Not used Not used FG Green

Inverse Power

Vv

Sv

(V) Vw Sw

180

360

540

) Electrical Angle (

149

62 5.8

Gap 0.8

78

Linear Servomotors

SGLGW (Coreless Type)

Linear

External Dimensions

Units: mm

3Magnetic Way : SGLGM-40C (Without mounting holes on the bottom) SGLGM-40CT (With mounting holes on the bottom)
L1
-0.1 -0.3

(1 Unit)

7.4

7.4

62

Nameplate
X

Warning Label

62

Pitch 45 L2 N-5.5 Dia. Mounting Holes (Per unit) (22.5)

25.4 25.4 10 Dia. 5.5 Dia. 10 Dia. 5.5 Dia.


13

12.7

22.5

22.5
Pitch 45 X

L2

(22.5)

5.4
X-X ( ) X N-M5 Mounting Screws, Depth 13 Per unit (Only for SGLGMCT) SGLGM40C

5.4
X-X SGLGM40CT

Type

Standard-force Magnetic Way Model SGLGM-

L1

L2

Approx. Mass kg

Standard Force

40090C or 40090CT 40225C or 40225CT 40360C or 40360CT 40405C or 40405CT 40450C or 40450CT

90 225 360 405 450

45 180 315 360 405

2 5 8 9 10

0.8 2.0 3.1 3.5 3.9

Note: If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor.

3High-force Magnetic Way : SGLGM-40C-M (Without mounting holes on the bottom) SGLGM-40CT-M (With mounting holes on the bottom)
L1 --0..1 (1 Unit) 03

7.4

12.2

7.4

12.2

62

Nameplate X

Warning Label

Pitch 45

10 Dia.

5.5 Dia.

N-5.5 Dia. Mounting Holes (Per unit)

22.5
Pitch 45 X

L2

(22.5)

10 Dia. 5.5 Dia.

22.5

L2

(22.5)

31.8

15.9 31.8

5.4
X-X ( ) X N-M5 Mounting Screws, Depth 13 Per unit (Only for SGLGMCT-M) SGLGM40C-M

5.4

X-X SGLGM40CT-M

Type

High-force Magnetic Way Model SGLGM-

L1

L2

Approx. Mass kg

High Force

40090C-M or 40090CT-M 40225C-M or 40225CT-M 40360C-M or 40360CT-M 40405C-M or 40405CT-M 40450C-M or 40450CT-M

90 225 360 405 450

45 180 315 360 405

2 5 8 9 10

1.0 2.6 4.1 4.6 5.1

Note: If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor.

13

62

150

Linear Servomotors

External Dimensions
(3) SGLGW-60

Units: mm

3Moving Coil: SGLGW-60AC (With a connector by Tyco Electronics AMP K.K.)

2-Screws
4-40 UNC

L5

45

L6 N2-M4 Mounting Screws, Depth 6

Nameplate

50050

50050

(5.3 Dia.) (7 Dia.)

16

The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. L1 L3 L4 N1-M4 Mounting Screws, 45 Depth 6 (on Both Sides)

17

25.4

15

30

L2 Hall Sensor

83

7.5

Gap 0.8

25.4

Moving Coil Model SGLGW-

L1

L2

L3

L4

L5

L6

N1

N2

Approx. Mass* kg

60A140C 60A253C 60A365C

140 252.5 365

125 237.5 350

90 180 315

30 37.5 30

52.5 60 52.5

45 135 270

3 5 8

4 8 14

0.48 0.82 1.16

*: The values indicate the mass of moving coil with a hall sensor unit.
Hall Sensor Connector Specifications
9 6

Linear Servomotor Connector Specifications

Hall Sensor Output Signals

5
Pin Connector : 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector

Socket Connector : 17JE-13090-02 (D8C) Stud : 17L-002C or 17L-002C1

Pin No. Signal +5V (Power supply) 1 2 Phase U 3 Phase V 4 Phase W 5 0V (Power supply) 6 Not used 7 Not used 8 Not used 9 Not used

Plug : 350779-1 Pin : 350561-3 or 350690-3 (No.1 to 3) 350654-1 350669-1 (No.4) by Tyco Electronics AMP K.K.
The Mating Connector Cap : 350780-1 Socket : 350570-3 or 350689-3

Pin No. Signal Wire Color 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 FG Green

When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below.

Vu

Su

Inverse Vv Power (V) Vw

Sv

Sw

180 360 540 Electrical Angle

151

82 5.8

Gap 0.8

98

15 1

Linear Servomotors

SGLGW (Coreless Type)

Linear

External Dimensions

Units: mm

3Moving Coil: SGLGW-60ACD (With a connector by Interconnectron GmbH)

2-Screws
4-40 UNC

L5

45

50050

(5.3 Dia.) (7 Dia.)

16

15

The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. L1 L3 L4 N1-M4 Mounting Screws, 45

25.4

Depth 6 (on Both Sides)

30

83

L2 Hall Sensor

7.5

Gap 0.8

25.4

Moving Coil Model SGLGW-

L1

L2

L3

L4

L5

L6

N1

N2

Approx. Mass* kg

60A140C D 60A253C D 60A365C D

140 252.5 365

125 237.5 350

90 180 315

30 37.5 30

52.5 60 52.5

45 135 270

3 5 8

4 8 14

0.48 0.82 1.16

*: The values indicate the mass of moving coil with a hall sensor unit.
Hall Sensor Connector Specifications
9 6

Pin Connector : 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector : 17JE-13090-02 (D8C) Stud : 17L-002C or 17L-002C1

Pin No. Signal +5V (Power supply) 1 2 Phase U 3 Phase V 4 Phase W 5 0V (Power supply) 6 Not used 7 Not used 8 Not used 9 Not used

Linear Servomotor Connector Specifications


1 6 2 3

Hall Sensor Output Signals


When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below.

Extension: SROC06JMSCN169 Pin : 021.423.1020 by Interconnectron GmbH The Mating Connector Plug : SPUC06KFSDN236 Socket: 020.030.1020

Vu
Inverse Power Vv

Su

Pin No. 1 2 3 4 5 6

Signal Wire Color Phase U Red Phase V White Phase W Blue Not used Not used FG Green

(V) Vw

Sv

Sw

180

360

540

) Electrical Angle (

82

Gap 0.8

5.8

98

152

Linear Servomotors

L6 N2-M4 Mounting Screws, Depth 6

Nameplate

50050

17

15 1

External Dimensions

Units: mm

3Magnetic Way : SGLGM-60C (Without mounting holes on the bottom) SGLGM-60CT (With mounting holes on the bottom)
L1 -0.3 (1 Unit)
-0.1

7.4

7.4

Nameplate

Warning Label

X Pitch 45

5.5 Dia.

10 Dia. 5.5 Dia.

10 Dia.

22.5

N-5.5 Dia. Mounting Holes (Per unit) L2 Pitch 45 X

(22.5)

5.4
X-X X N-M5 Mounting Screws, Depth 13 (Per unit) (Only for SGLGMCT) SGLGM60C

5.4 X-X
SGLGM60CT

Type

Standard-force Magnetic Way Model SGLGM-

L1

L2

Approx. Mass kg

Standard Force

60090C or 60090CT 60225C or 60225CT 60360C or 60360CT 60405C or 60405CT 60450C or 60450CT

90 225 360 405 450

45 180 315 360 405

2 5 8 9 10

1. 1 2. 6 4. 1 4. 6 5. 1

Note: If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor.

3High-force Magnetic Way : SGLGM-60C-M (Without mounting holes on the bottom) SGLGM-60CT-M (With mounting holes on the bottom)
L1 --0..1 (1 Unit) 03

13

22.5

L2

(22.5)

25.4 25.4

82 12.7

82

7.4

12.2

7.4

12.2

CORELESS LINEAR SERVO MOTOR


-

W N

A Ins.

O/N - S/N
YASKAWA ELECTRIC CORPORATION JAPAN

May cause injury. Keep magnetic materials WARNING away.

82

Nameplate X

Warning Label

X Pitch 45

22.5

L2 N-5.5 Dia. Mounting Holes (Per unit)

22.5

31.8 10 Dia. 5.5 Dia. 10 Dia. 5.5 Dia.

15.9 31.8

22.5
Pitch 45 X

L2

22.5

5.4
X-X X N-M5 Mounting Screws, Depth 13 (Per unit) (Only for SGLGMCT-M) SGLGM60C-M

5.4

X-X SGLGM60CT-M

Type

High-force Magnetic Way Model SGLGM-

L1

L2

Approx. Mass kg

Note: If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor.

High Force

153

60090C-M or 60090CT-M 60225C-M or 60225CT-M 60360C-M or 60360CT-M 60405C-M or 60405CT-M 60450C-M or 60450CT-M

90 225 360 405 450

45 180 315 360 405

2 5 8 9 10

1. 3 3. 3 5. 2 5. 9 6. 6

13

82

Linear Servomotors

SGLGW (Coreless Type)

Linear

External Dimensions
(4) SGLGW-90

Units: mm

3Moving Coil: SGLGW-90AC (With a connector by Tyco Electronics AMP K.K.)


L5 L6

95

N2-M6Mounting Screws, Depth 9

2-Screws #4-40 UNC


Cable UL20276,AWG26

50050

50050

L1 L4

(5.3 Dia.) (10.5 Dia.)

65

L3 The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W.

49 26 2

121

L2

Gap1

11.8 50.8

Moving Coil Model SGLGW-

L1

L2

L3

L4

L5

L6

N1

N2

Approx. Mass* kg

90A200C 90A370C 90A535C

199 367 535

189 357 525

130 260 455

40 40 40

60 55 60

95 285 380

3 5 8

4 8 10

2.2 3.65 4.95

*: The values indicate the mass of moving coil with a hall sensor unit.
Hall Sensor Connector Specifications 6 9 Linear Servomotor Connector Specifications Hall Sensor Output Signals
When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below.

Pin Connector : 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector : 17JE-13090-02 (D8C) Stud : 17L-002C or 17L-002C1

Pin No. Signal +5V (Power supply) 1 2 Phase U 3 Phase V 4 Phase W 5 0V (Power supply) 6 Not used 7 Not used 8 Not used 9 Not used

Pin No. Signal Wire Color 1 Phase U Red 2 Phase V White Plug350779-1 Pin 350218-3 or 3 Phase W Blue 350547-3 (No.1 or 3) 4 FG Green 350654-1 350669-1 (No.4) by Tyco Electronics AMP K.K.
The Mating Connector Cap 350780-1 Socket350536-3 or 350550-3

Vu

Su

Inverse Power

Vv

(V) Vw

Sv

Sw

180

360

540

) Electrical Angle (

110

Gap1

138

Cable UL2517,AWG15

154

Linear Servomotors

Nameplate

2N1-M6 Mounting Screws, Depth 9 (on Both Sides)

32

External Dimensions

Units: mm

3Magnetic Way: SGLGM-90A


L1 --0..1 (1 Unit) 03 Nameplate Warning Label

13.8

18.5

8.5

X X Pitch 63 L2 N-Mounting Holes (Per unit) (31.5)

31.5

50.8 6.6 Dia.

19
Pitch 63

L2

(44)

12 Dia.

6.5
X-X N-M6 Mounting Screws, Depth 14.5

Note: If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor.

Magnetic Way SGLGM-

L1

L2

Approx. Mass kg

90252A 90504A

252 504

189 441

4 8

7.3 14.7

155

110

Linear Servomotors

SGLGW (Coreless Type)

Linear

Selecting Cables
1Cables Connections

SGDV SERVOPACK

eCable for Connecting Serial Converter Unit*

(Between SERVOPACK connector

CN2

and serial converter unit)

qLinear Servomotor Main Circuit Cable

Serial Converter Unit (See page 221.)


wCable for Connecting Linear Scales

Linear Scale (To be provided by users)

rCable for Connecting Hall Sensor

(Between serial converter unit and hall sensor unit)

Hall Sensor Unit Linear Servomotor

*: A serial converter unit can be connected directly to an absolute linear scale.


1Cables
Name Applicable Linear Servomotor Model Length Order No. JZSP-CLN11-01-E JZSP-CLN11-03-E JZSP-CLN11-05-E JZSP-CLN11-10-E JZSP-CLN11-15-E JZSP-CLN11-20-E JZSP-CLN21-01-E JZSP-CLN21-03-E JZSP-CLN21-05-E JZSP-CLN21-10-E JZSP-CLN21-15-E JZSP-CLN21-20-E JZSP-CLN14-01-E JZSP-CLN14-03-E JZSP-CLN14-05-E JZSP-CLN14-10-E JZSP-CLN14-15-E JZSP-CLN14-20-E Specifications Details

-40 -60 SGLGW-30

Linear Servomotor Main Circuit Cables

SGLGW-90

SGLGW -30D -40D -60D

1m 3m 5m 10 m 15 m 20 m 1m 3m 5m 10 m 15 m 20 m 1m 3m 5m 10 m 15 m 20 m

SERVOPACK End

Linear Servomotor End

(1)

*1
SERVOPACK End Linear Servomotor End

(2)

*1
SERVOPACK End Linear Servomotor End

(3)

*2
(Contd)

* *

1: Connector by Tyco Electronics AMP K.K. 2: Connector by Interconnectron GmbH

156

Linear Servomotors

Selecting Cables
1Cables
Name Applicable Linear Servomotor Model Length Order No. JZSP-CLL00-01-E JZSP-CLL00-03-E JZSP-CLL00-05-E JZSP-CLL00-10-E JZSP-CLL00-15-E JZSP-CLP70-01-E JZSP-CLP70-03-E JZSP-CLP70-05-E JZSP-CLP70-10-E JZSP-CLP70-15-E JZSP-CLP70-20-E JZSP-CLL10-01-E JZSP-CLL10-03-E JZSP-CLL10-05-E JZSP-CLL10-10-E JZSP-CLL10-15-E
Serial Converter Unit End

Specifications

Details

Cables for Connecting Linear Scales*

All models

Cables for Connecting Serial Converter Units

All models

Cables for Connecting Hall Sensors

All models

1m 3m 5m 10 m 15 m 1m 3m 5m 10 m 15 m 20 m 1m 3m 5m 10 m 15 m

Linear Scale End

SERVOPACK End

Serial Converter Unit End

Serial Converter Unit End

Hall Sensor Unit End

*: When using serial converter unit JZDP-G00--E, the maximum cable length should be 3 m.
(1) Linear Servomotor Main Circuit Cables: JZSP-CLN11--E
SERVOPACK End Linear Servomotor End L Heat-shrinkableTube Finished Diameter 6.8 Dia.

Wiring Specifications
Linear Servomotor-end Connector Signal Phase U Phase V Phase W FG Pin. No.

8.5 mm

50 mm

35 mm

SERVOPACK-end Leads Wire Color Signal Phase U Phase V Phase W FG

27.7

M4 Crimped Terminal

U V W G

Red White Blue

1 2 3 4

Wire Markers

Cable (UL2464) AWG18/4C Cap: 350780-1 (4-pole) Socket: 350536-3 (Chained) by Tyco Electronics AMP K.K.

1 7.6 14.7

Green/yellow

(2) Linear Servomotor Main Circuit Cables: JZSP-CLN21--E

Wiring Specifications
SERVOPACK-end Leads Wire Color Red White Signal Phase U Phase V Phase W FG Linear Servomotor-end Connector Signal Phase U Phase V Phase W FG Pin. No.

SERVOPACK End

Linear Servomotor End L Heat-shrinkable Tube

8.5 mm

50 mm

35 mm

1 2 3 4

M4 Crimped Terminal Wire Markers

U V W G

Finished Diameter 11.9 Dia.

4 27.7

Blue Green/yellow

Cable (UL2570) AWG14/4C Cap: 350780-1 (4-pole) Socket: 350537-3 (Chained) by Tyco Electronics AMP K.K.

1 7.6 14.7

(3) Linear Servomotor Main Circuit Cables: JZSP-CLN14--E


SERVOPACK End Linear Servomotor End L Heat-shrinkable Tube SERVOPACK End M4 Crimped Terminal U V W G Finished Diameter 6.8 Dia.

Wiring Specifications
SERVOPACK-end Leads Wire Color Signal Linear Servomotor-end Connector Signal Phase U Phase V Phase W Pin No.

8.5 mm

50 mm

51 mm 28 Dia. 1
1 2 6
P

Black (White 1) Phase U

1 2 3 4 5

6 5
5 4

Black (White 2) Phase V Black (White 3) Phase W Green/yellow FG

2
Cable (UL2464) AWG18/4C SPUC06KFSDN236 by Interconnectron GmbH

4 3

Wire Markers

FG

157

Linear Servomotors

SGLGW (Coreless Type)

Linear

Selecting Cables
(4) Cables for Connecting Linear Scales: JZSP-CLL00--E
Serial Converter Unit End
Connector 17JE-23150-02 (D8C) (15-pinsoldered) by DDK Ltd.

Linear Scale End L Finished Diameter 9.5 Dia.

15

Cable (UL2584) (AWG22 3C + AWG25 6P)


Linear Scale End Pin No. Signal
/Sin V2 Ref V0+ /Cos V1

Connector 17JE-13150-02 (D8C) (With stud) (15-pinsoldered) 15 by DDK Ltd.

Wiring Specifications

Serial Converter Unit End Pin No. Signal /Cos (V1) /Sin (V2) Ref (V0+)

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Case

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Case

+5V
5Vs
BID Vx Vq Cos (V1+) Sin (V2+) /Ref (V0+)

+5V
5Vs
BID Vx Vq
Cos V1+ Sin V2+ /Ref V0

0V 0Vs
DIR Inner Shield

0V 0Vs
DIR Inner Shield

(5) Cables for Connecting Serial Converter Units: JZSP-CLP70--E


SERVOPACK End L Finished Diameter 6.8 Dia. Connector: 55100-0670 (6-pin, soldered) by Molex Japan Co., Ltd. Connector: 17JE-23090-02 (D8C) (9-pin, soldered) by DDK Ltd. Serial Converter Unit End

Cable (UL20276) (AWG222C+AWG242P)


SERVOPACK End Pin No. Signal PG5V PG0V Wire Color Red Black

Wiring Specifications
1 2 3 4 5 6
Shell

Serial Converter Unit End Pin No. Signal Wire Color Red Black

1 5 3 4 2 6
Case

+5V
0V


PS /PS Shield


Light blue Light blue/white


Phase S output Phase /S output Shield


Light blue Light blue/white

7 8 9

(6) Cables for Connecting Hall Sensors: JZSP-CLL10--E


Serial Converter Unit End L Hall Sensor End Finished Diameter 6.8 Dia. Cable (UL20276) (AWG222C+AWG242P)
Serial Converter Unit End Pin No. Signal Hall Sensor End Pin No. Signal

6 Connector: 17JE-23090-02 (D8C) (9-pin, soldered) 9 by DDK Ltd.

6 9

Connector: 17JE-13090-02 (D8C) (With stud) (9-pin, soldered) by DDK Ltd.

Wiring Specifications

1 2 3 4 5 6 7 8 9
Case

+5V
Phase U input Phase V input Phase W input

1 2 3 4 5 6 7 8 9
Case

+5V
Phase U input Phase V input Phase W input

0V

0V


Shield


Shield

158

Linear Servomotors

Linear Servomotors

SGLFW
(With F-type iron core)

Model Designations
Moving Coil

S G

F
1st digit

W 2nd digit

20
3rd+4th digits

A
5th digit

090
6th+7th+ 8th digits

A
9th digit

P
10th digit

11th digit

Linear Series Linear Servomotor

1st digit Servomotor Type


Code F Specifications F-type iron core

5th digit Voltage


Code A D Specifications 200 VAC 400 VAC

10th digit Hall Sensor


Code P Blank Specifications With hall sensor Without hall sensor

2nd digit Moving Coil/ Magnetic Way


Code W Specifications Moving Coil

6th+7th+8th digits Length of Moving Coil 11th digit Connector for Main Circuit Cable
Code Specifications Connector by Tyco Electronics AMP K.K. Connector by Interconnectron GmbH Applicable Model All models SGLFW-35,-50, -1Z200B, -1ZD380B

9th digit Design Revision Order 3rd+4th digits Magnet Height


A, B
Blank

Magnetic Way

S G

F
1st digit

M 2nd digit

20 324
3rd+4th digits 5th+6th+ 7th digits

A
8th digit

9th digit

Linear Series Linear Servomotor

1st digit Servomotor Type (Same as that of the moving coil) 2nd digit Moving Coil/ Magnetic Way
Code M Specifications Magnetic Way

3rd+4th digits Magnet Height 5th+6th+7th digits Length of Magnetic Way 8th digit Design Revision Order
A, B

9th digit Options


Code Blank C Specifications Standard With magnet cover

159

SGLGW
Features
Direct-feed mechanism for high-speed and high-precision positioning. The magnetic attraction force between the moving and stationary members can be used effectively to increase the rigidity of the linear guidance by preloading the linear motion bearings. The magnetic preloading on certain types of compliant linear motion bearings can help increase the system frequency response, s improving its deceleration and settling performances.

Application Examples
Feeders and loaders Semiconductor equipment LCD manufacturing equipment

2Precautions on Moving Coil with Hall Sensor


When using a moving coil with a hall sensor, the magnetic way must completely cover the bottom of the hall sensor. Refer to the example showing the correct installation. When determining the length of the moving coils stroke or the length of the magnetic way, consider the total length of the moving coil and the hall sensor unit. Refer to the following table.
Correct
Moving Coil Movement Direction Hall Sensor Magnetic Way

Incorrect

Moving Coil

Magnetic Way End

The total length of moving coil with hall sensor

L A L1 Moving Coil

Moving Coil Model SGLFW20A090AP 20A120AP 35120AP 35230AP 50200P 50380P 1Z200P 1Z380P

Length of Moving Coil L1 (mm)

Length of Hall Sensor Unit Total Length A (mm) L (mm)

Magnetic Way

91 127 127 235 215 395 215 395

22 22 22 22

113 149 149 257 237 417 237 417

160

Linear Servomotors

Ratings and Specifications


Time Rating: Continuous Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C Excitation: Permanent magnet Withstand Voltage: 1500 VAC for one minute Enclosure: Self-cooled Ambient Humidity: 20% to 80% (no condensation) Allowable Winding Temperature: 130C (Thermal class B)

200-V Class
Linear Servomotor Model SGLFWPeak Speed Rated Force* Rated Current* Peak Force* Peak Current* Moving Coil Mass Force Constant BEMF Constant Motor Constant Electrical Time Constant Mechanical Time Constant Thermal Resistance (With Heat Sink) Thermal Resistance (Without Heat Sink) Magnetic Attraction Applicable SERVOPACK m/s N Arms N Arms kg N/Arms V/ (m/s) w N/ ms ms K/W K/W N SGDV-

20A 090A 120A 5.0 25 0.70 86 3.0 0.7 36.0 12.0 7.9 3.2 11.0 4.35 7.69 314 1R6 5. 0 40 0.80 125 2. 9 0. 9 54.0 18.0 9. 8 3. 3 9. 3 3.19 5.02 462 1R6

35A 120A 230A 5.0 80 1.4 220 4.4 1.3 62.4 20.8 14.4 3.6 6.2 1.57 4.10 809 1R6 5.0 160 2.8 440 8.8 2.3 62.4 20.8 20.4 3.6 5.5 0.96 1.94 1590 3R8

50A 200B 380B 5.0 280 5.0 600 12.4 3.5 60.2 20.1 34.3 15.9 3.0 0.56 1.65 1650 5R5 5.0 560 10.0 1200 25.0 6.9 60.2 20.1 48.5 15.8 2.9 0.38 0.95 3260 120A

1ZA 200B 380B 4. 9 560 8. 7 1200 21.6 6. 4 69.0 23.0 52.4 18.3 2. 3 0.47 1. 3 3300 120A 4.9 1120 17.5 2400 43.6 11.5 69.0 23.0 74.0 18.3 2.1 0.2 0.73 6520 200A

Notes: 1 The items marked with an and Force and Speed Characteristics (the table on the next page) are the values at a motor winding temperature of 100C during operation in combination with a SERVOPACK. The others are at 20C. 2 The above specifications show the values under the cooling condition when a heat sink (aluminum board) listed in the following table is mounted on the moving coil. Heat Sink Size :125 mm 125 mm 13 mm: SGLFW-20A090A, -20A120A 254 mm 254 mm 25 mm: SGLFW-35A120A, -35A230A 400 mm 500 mm 40 mm: SGLFW-50A200B, -50A380B, -1ZA200B 600 mm 762 mm 50 mm: SGLFW-1ZA380B

400-V Class
Linear Servomotor Model SGLFWPeak Speed Rated Force* Rated Current* Peak Force* Peak Current* Moving Coil Mass Force Constant BEMF Constant Motor Constant Electrical Time Constant Mechanical Time Constant Thermal Resistance (With Heat Sink) Thermal Resistance (Without Heat Sink) Magnetic Attraction Applicable SERVOPACK m/s N Arms N Arms kg N/Arms V/ (m/s) N/ w ms ms K/W K/W N SGDV-

35D 120A 230A 4.5 80 0.6 220 2.0 1.3 136.0 45.3 14.2 3.7 5.2 1.57 4.1 810 1R9D 4. 5 160 1. 3 440 4. 0 2. 3 136.0 45.3 20.1 3. 6 5. 1 0.96 1.94 1590 1R9D

50D 200B 380B 5.0 280 2.3 600 5.6 3.5 134.7 44.9 33.4 15.0 3.2 0.56 1.65 1650 3R5D 5.0 560 4.5 1200 11.0 6.9 134.7 44.9 47.2 15.0 3.2 0.38 0.95 3260 5R 4D

1ZD 200B 380B 5.0 560 4.9 1200 12.3 6.4 122.6 40.9 51.0 17.4 2.5 0.47 1.3 3300 5R4D 5.0 1120 9.8 2400 24.6 11.5 122.6 40.9 72.1 17.2 2.2 0.2 0.73 6520 120D

Notes: 1 The items marked with an and Force and Speed Characteristics (the table on the next page) are the values at a motor winding temperature of 100C during operation in combination with a SERVOPACK. The others are at 20C. 2 The above specifications show the values under the cooling condition when a heat sink (aluminum board) listed in the following table is mounted on the moving coil. Heat Sink Size :254 mm 254 mm 25 mm: SGLFW-35D120A, -35D230A 400 mm 500 mm 40 mm: SGLFW-50D200B, -50D380B, -1ZD200B 600 mm 762 mm 50 mm: SGLFW-1ZD380B

161

Linear Servomotors

SGLFW (With F-type iron core)

Linear

Ratings and Specifications


Force and Speed Characteristics A : Continuous Duty Zone B : Intermittent Duty Zone
200-V Class
6.0
Motor Speed (m/s)

SGLFW-20A090A
Motor Speed (m/s)

6.0 5.0 4.0 3.0 2.0 1.0 0

SGLFW-20A120A
Motor Speed (m/s)

6.0 5.0 4.0 3.0 2.0 1.0 0

SGLFW-35A120A
Motor Speed (m/s)

6.0 5.0 4.0 3.0 2.0 1.0 0

SGLFW-35A230A

5 .0 4 .0 3 .0 2 .0 1 .0 0 0 20 40 60 80 100 Force (N)


A B

A B

A B

0 20 40 60 80 100 120 140 Force (N)

0 50 100 150 200 250 Force (N)

0 100 200 300 400 500 Force (N)

6.0
Motor Speed (m/s)

SGLFW-50A200B
Motor Speed (m/s)

6.0 5.0 4.0 3.0 2.0 1.0 0 0

SGLFW-50A380B
Motor Speed (m/s)

6.0 5.0 4.0 3.0 2.0 1.0 0 0

SGLFW-1ZA200B
Motor Speed (m/s)

6.0 5.0 4.0 3.0 2.0 1.0 0 0

SGLFW-1ZA380B

5.0 4.0 3.0 2.0 1.0 0 0 200 400 600 800


Force (N) A B

500

1000

1500

500

1000

1500

1000

2000

3000

Force (N)

Force (N)

Force (N)

Notes: 1 The characteristics of the intermittent duty zone differ depending on the supply voltages. The solid, dotted, and dashed-dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations: The solid line: With a three-phase 200 V SERVOPACK The dotted line: With a single-phase 200 V SERVOPACK The dashed-dotted line: With a single-phase 100 V SERVOPACK 2 When the effective force is within the rated force, the servomotor can be used within the intermittent duty zone.

400-V Class
6.0
Motor Speed (m/s)

SGLFW-35D120A
Motor Speed (m/s)

6.0 5.0 4.0 3.0 2.0 1.0 0

SGLFW-35D230A
Motor Speed (m/s)

6.0 5.0 4.0 3.0 2.0 1.0 0 0

SGLFW-50D200B
Motor Speed (m/s)

6.0 5.0 4.0 3.0 2.0 1.0 0 0

SGLFW-50D380B

5.0 4.0 3.0 2.0 1.0 0 0 50 100 150 200 250 Force (N)
A B

A B

A B

A B

0 100 200 300 400 500 Force (N)

200 400 600 800 Force (N)

500

1000

1500

Force (N)

6.0
Motor Speed (m/s)

SGLFW-1ZD200B
Motor Speed (m/s)

6.0 5.0 4.0 3.0 2.0 1.0 0 0

SGLFW-1ZD380B

5.0 4.0 3.0 2.0 1.0 0 0 500 1000 1500


A B

1000

2000

3000

Force (N)

Force (N)

Notes: 1 The characteristics of the intermittent duty zone differ depending on the supply voltages. The solid and dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations: The solid line: With a three-phase 400 V SERVOPACK The dotted line: With a three-phase 200 V SERVOPACK 2 When using the servomotor with a three-phase 200-V input power supply, a different serial converter unit is required. For details, contact your Yaskawa representative. 3 When the effective force is within the rated force, the servomotor can be used within the intermittent duty zone.

1Mechanical Specifications (1) Impact Resistance Impact acceleration: 196 m/s2 Impact occurrences: twice
(2) Vibration Resistance The linear servomotors will withstand the following vibration acceleration in three directions: Vertical, side to side, and front to back. Vibration acceleration: 49 m/s2 162

Linear Servomotors

External Dimensions
(1) SGLFW-20

Units: mm

3Moving Coil: SGLFW-20AA (With a connector by Tyco Electronics AMP K.K.)


50 Min. 30 5.5 17.5
(32) (22) (22) L1 L2

30 36
(12)

(25)

(44)

(20) 22

40

20

(7.5) A

Hall Sensor

Magnetic Way

(10)

0.5
(6)

34
(10.2: With Magnet Cover) (10: Without Magnet Cover)

2.5
AA

450.1

(4.2: With Magnet Cover) 2-Screws (4 : Without Magnet Cover) #4-40 UNC (Gap 0.8: With Magnet Cover) (Gap 1: Without Magnet Cover)

50

5 0

(12.5)

12.5 22.5

50 0 50

See the figures1 and 2 below. L3

The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. 7

Nameplate

SGLFW-20A090A 2-M4 Tapped Holes, Depth 5.5


20

SGLFW-20A120A 3-M4 Tapped Holes, Depth 5.5


20

22.5

12.5

30

36

12.5

30

36 72

Moving Coil Model SGLFW-

L1

L2

L3

Approx. Mass kg

20A090A 20A120A
Hall Sensor Connector Specifications
9 6

91 127

36 72

72 108

0.7 0.9
Hall Sensor Output Signals Pin No. Signal Phase U Phase V Phase W FG
Wire Color

Pin Connector : 17JE-13090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1

Pin No. 1 2 3 4 5 6 7 8 9

Signal

Linear Servomotor Connector Specifications

22.5

5.5
When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below.
Vu Inverse Power Vv (V) Vw

+5V (Power supply)


Phase U Phase V Phase W 0V (Power supply) Not used Not used Not used Not used
Plug:350779-1 Pin :350218-3 or 350547-3(No.1 to 3) 350654-1 350669-1(No.4) by Tyco Electronics AMP K.K. The Mating Connector Cap : 350780-1 Socket: 350536-3 or 350550-3

1 2 3 4

Red White Black Green

Note: Models compatible with connectors by Interconnectron GmbH are also available.

( 4.2 .) Dia

30 Min. 12

1D ( 6.
) ia.

Su

Sv

Sw

180 360 Electrical Angle()

540

163

Linear Servomotors

SGLFW (With F-type iron core)

Linear

External Dimensions

Units: mm

3Magnetic Way: SGLFM-20A


(L3) Moving Coil (17.5) (4.5)

9.9 2 N-4.8 Dia. Mounting Holes 22 (22)

(40)

NSNS
YASKAWA
TYPE:
O/N S/N MADE IN JAPAN

NSNS
YASKAWA
TYPE:
O/N S/N MADE

44

(22.5)

4.5

35

6 10

4 (34) 450.1

Reference Mark (Two 4 dia. marks are engraved.) (Gap1)

54

Nameplate L2
01 L1 -0.3 - .

Reference Mark

(Reference Mark) (54) (30.8)

30.8 -0.2

The Height of Screw Head: 4.2 Max. Assembly Dimensions

Notes: 1 Multiple SGLFM-20A magnetic ways can be connected. Connect magnetic ways so that the reference marks match one on the other in the same direction as shown in the figure. 2 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor.

Magnetic Way Model SGLFM-

-0 L1-0..1 3

L2

(L3) (331.6) (547.6) (763.6)

Approx. Mass kg

20324A 20540A 20756A

324 540 756

270 (54 5) 486 (54 9) 702 (54 13)

6 10 14

0. 9 1. 4 2

164

Linear Servomotors

External Dimensions
(2) SGLFW-35

Units: mm

3Moving Coil: SGLFW-35A (With a connector by Tyco Electronics AMP K.K.)


50 Min. 30 30
(32) (30) (30) L1 L2 (10.5)

(25) (7.5) (12.5)

2 5.5

Magnetic Way

Hall Sensor

36

(35) 37 30 25

(60)

55

12.5

0.5
(6)

34
(10.2With Magnet Cover) (10Without Magnet Cover)

450.1

50

5 0

Nameplate

SGLFW-35120A
6-M4 Tapped Holes, Depth 5.5

SGLFW-35230A
12-M4 Tapped Holes, Depth 5.5

35

35

18

30

18

5.5

2.5 8

(4.2With Magnet Cover) (4Without Magnet Cover) (Gap 0.8With Magnet Cover) (Gap1 Without Magnet Cover)

2-Screws #4-40 UNC

50

5 0

See the figures and below. L3 7 30 Min. 12 The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. AA

(8.5)

18

35

12.5

12.5

8.5

8.5

30

36 72

30

36 180(36 5)

Moving Coil Model SGLFW-

L1

L2

L3

Approx. Mass kg

35120A 35230A
Hall Sensor Connector Specifications
9 6

127 235

72 180

108 216

1.3 2.3
Hall Sensor Output Signals Pin No. Signal Phase U Phase V Phase W FG
Wire Color

Pin Connector 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02(D8C) Stud:17L-002C or 17L-002C1

Pin No. 1 2 3 4 5 6 7 8 9

Signal

Linear Servomotor Connector Specifications

+5V (Power supply)


Phase U Phase V Phase W 0V (Power supply) Not used Not used Not used Not used
Plug: 350779-1 Pin : 350218-3 or 350547-3 (No.1 to 3) 350654-1 350669-1 (No.4) by Tyco Electronics AMP K.K. The Mating Connector Cap : 350780-1 Socket: 350536-3 or 350550-3

1 2 3 4

Red White Black Green

When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below.

Vu Inverse Power Vv (V) Vw

Su

Sv

30
Sw

(4.2
.) Dia

1D ( 6.
) ia.

180 360 Electrical Angle()

540

165

Linear Servomotors

SGLFW (With F-type iron core)

Linear

External Dimensions

Units: mm

3Moving Coil: SGLFW-35AD (With a connector by Interconnectron GmbH)


50 Min. 30 30 2 5.5
Magnetic Way (10.5) (32) (60) (30) (30)
Hall Sensor

L1 L2

25
(7.5) (12.5)

36

(35) 37 30 25

18

55

12.5

(4.2 With Magnet Cover) 2-Screws #4-40 UNC (4 Without Magnet Cover) (10.2 With Magnet Cover) (Gap 0.8 With Magnet Cover) (10 Without Magnet Cover) 450.1 (Gap1 Without Magnet Cover)

(6)

34

50

50 0 0 5 00

See the figures and below. L3

2.5 8

30 Min. 12

AA

Nameplate

SGLFW-35120AD

SGLFW-35230AD

6-M4 Tapped Holes, Depth 5.5

12-M4 Tapped Holes, Depth 5.5

35

35

18

30

18

5.5

The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W.

12.5

12.5

8.5

8.5

30

36 72

30

36 180(36 5)

Moving Coil Model SGLFW-

L1

L2

L3

Approx. Mass kg

35120AD 35230AD

127 235

72 180

108 216

6 12

1.3 2.3

Hall Sensor Connector Specifications 6 9

Linear Servomotor Connector Specifications Pin No. 1 2 3 4 5 6 7 8 9 Signal +5V (Power supply) Phase U Phase V Phase W 0V (Power supply) Not used Not used Not used Not used

Hall Sensor Output Signals Pin No. 1 2 4 5 6 Name Phase U Phase V Phase W Not used Not used Ground
When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below.

5 4

1 2

Pin Connector : 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1

Extension: ARRA06AMRPN182 : 021.279.1020 Pin by Interconnectron GmbH The Mating Connector Plug : APRA06BFRDN170 Socket: 020.105.1020

Vu
Inverse Power (V)

Su

Vv

Sv

Vw

30

Sw

180

360

540

Electrical Angle()

166

Linear Servomotors

0.5

(8.5)

35

( 4.2 Dia .)

1D ( 6.
) ia.

External Dimensions

Units: mm

3Magnetic Way: SGLFM-35A


(L3)

9.9
(4.5) Moving Coil

2 N-4.8 Dia. Mounting Holes

(25)

(55)

60

51

(30)

(30)

N S N S
YASKAWA
TYPE:
O/N S/N MADE IN JAPAN DATE

N S N S
YASKAWA
TYPE:
O/N S/N MADE

6 10

4
(34) (Gap1) Reference Mark (Two 4 dia. marks are engraved.)
0 32.2 -0.2

4 .5

30

54

Nameplate L2
-0.1 L1 -0.3

Reference Mark

(54)

(Reference Mark)

450.1

(32.2)

The Height of Screw Head: 4.2 Max. Assembly Dimensions

Notes: 1 Multiple SGLFM-35A magnetic ways can be connected. Connect magnetic ways so that the reference marks match one on the other in the same direction as shown in the figure. 2 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor.

Magnetic Way Model SGLFM-

-0 L1-0..1 3

L2

(L3) (334.4) (550.4) (766.4)

Approx. Mass kg

35324A 35540A 35756A

324 540 756

270 (54 5) 486 (54 9) 702 (54 13)

6 10 14

1.2 2 2.9

167

Linear Servomotors

SGLFW (With F-type iron core)

Linear

External Dimensions
(3) SGLFW-50

Units: mm

3Moving Coil: SGLFW-50B (With a connector by Tyco Electronics AMP K.K.)


50 Min. 30
(40) (75) (37.5) (37.5) L1 L2

55
(15)

(40)

3
(64.5) 7 37.75 33.75 71.5

Magnetic Way

Hall Sensor

60

(9)

(5.2) 430.05

580.1

0.5 #4-40UNC (5.2With Magnet Cover) (5Without Magnet Cover) (Gap 0.8With Magnet Cover) (Gap 1Without Magnet Cover)

2-Screws

50

50 Min. 25
50 5 0 0
4D ( 7.

See the figures and below.

L3

The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W.

10

(14.2With Magnet Cover) (14Without Magnet Cover)

Nameplate

SGLFW-50200B

SGLFW-50380B

6-M5 Tapped Holes, Depth 9.5

12-M5 Tapped Holes, Depth 9.5

23.5

48 23.5

48

14

12

14 12

55

60 300(60 5)

55

60 120

Moving Coil Model SGLFW-

L1

L2

L3

Approx. Mass kg

50200B 50380B

215 395

120 300

180 360

3.5 6.9

Hall Sensor Connector Specifications


9 6

Linear Servomotor Connector Specifications Pin No. 1 2 3 4 5 6 7 8 9 Signal

Hall Sensor Output Signals Pin No. Signal Phase U Phase V Phase W FG
Wire Color

+5V (Power supply)


Phase U Phase V Phase W 0V (Power supply) Not used Not used Not used Not used
Plug:350779-1 Pin :350218-3 or 350547-3(No.1 to 3) 350654-1 350669-1(No.4) by Tyco Electronics AMP K.K. The Mating Connector Cap : 350780-1 Socket: 350536-3 or 350550-3

Pin Connector : 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1

1 2 3 4

Red White Black Green

When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below.

Vu Inverse Power Vv (V) Vw

Su

Sv

Sw

180 360 Electrical Angle()

540

168

Linear Servomotors

5 0

(12) 23.5
) ia.

(48)

( 4.2 .) Dia

External Dimensions

Units: mm

3Moving Coil: SGLFW-50BD (With a connector by Interconnectron GmbH)


50 Min. 30
(40)

55 60
(15)

L1 L2

40

3 7 37.75 33.75

Hall Sensor Magnetic Way

(75) (37.5) (37.5)

71.5

23.5

(48) 50.5

(9)

43 580.1

2-Screws 0.5 #4-40 UNC (5.2With Magnet Cover) (5Without Magnet Cover)

14

(12)

50

50 0
See the figures and below. The moving coil moves in the direction indicated by the arrow when current flows L3 in the order of phase U, V, and W.

48

50 Min. 25

10

2D ( 4.
) i a.

50

5 0

4D ( 7.

(Gap 0.8With Magnet Cover) (Gap 1Without Magnet Cover) (14.2With Magnet Cover) (14Without Magnet Cover)

Nameplate

) ia.

SGLFW-50200BD

SGLFW-50380BD

6-M5 Tapped Holes, Depth 9.5

12-M5 Tapped Holes, Depth 9.5

23.5

48 23.5 55

48

14

12

14 12

60 300(60 5)

55

60 120

Moving Coil Model SGLFW-

L1

L2

L3

Approx. Mass kg

50200BD 50380BD
Hall Sensor Connector Specifications 6 9

215 395

120 300

180 360

6 12

3.5 6.9

Pin Connector : 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1

Pin No. 1 2 3 4 5 6 7 8 9

Signal +5V (Power supply) Phase U Phase V Phase W 0V (Power supply) Not used Not used Not used Not used

Linear Servomotor Connector Specifications 6 5 1

Hall Sensor Output Signals Pin No. 1 2 4 5 6 Name Phase U Phase V Phase W Not used Not used Ground
When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below.

Extension: ARRA06AMRPN182 : 021.279.1020 Pin by Interconnectron GmbH The Mating Connector Plug : APRA06BFRDN170 Socket: 020.105.1020

Vu
Inverse Power Vv (V)

Su

Sv

Vw

Sw

180

360

540

Electrical Angle()

169

Linear Servomotors

SGLFW (With F-type iron core)

Linear

External Dimensions

Units: mm

3Magnetic Way: SGLFM-50A


(L3)

8.6
Moving Coil (37.75) (33.75) (5)

2 N-5.8 Dia. Mounting Holes

65 37.5 (37.5)

(71.5)

75

N S N S
YASKAWA
TYPE: O/N S/N MADE IN JAPAN DATE

N S N S
YASKAWA
TYPE:

9 14

5
(43) (Gap1)

Reference Mark (Two 4 dia. marks are engraved.)

67.5 39.4-0 .2 0

Nameplate L2 L1-0..1 -0 3

Reference Mark

(67.5)

(Reference Mark) (39.4)

580.1
The Height of Screw Head: 5.2 Max. Assembly Dimensions

Notes: 1 Multiple SGLFM-50A magnetic ways can be connected. Connect magnetic ways so that the reference marks match one on the other in the same direction as shown in the figure. 2 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor.

Magnetic Way Model SGLFM-

-0 L1-0..1 3

L2

(L3) (416.3) (686.3) (956.3)

Approx. Mass kg

50405A 50675A 50945A

405 675 945

337.5 (67.5 5) 607.5 (67.5 9) 877.5 (67.5 13)

6 10 14

2.8 4.6 6.5

170

Linear Servomotors

External Dimensions
(4) SGLFW-1Z

Units: mm

3Moving Coil: SGLFW-1ZB (With a connector by Tyco Electronics AMP K.K.)


(40)

3 7

(125) (62.5)

57.5

35.5 35.5

96 98

(15)

Magnetic Way

50 Min. 30
Hall Sensor

55 60

L1 L2

40

119

(62.5)

(12)

14

2-Screws #4-40 UNC


( 4.2

50 0 50
See the figures and below.

61.5

(9)

0.5 (5.2 With Magnet Cover) 43 ( 5 Without Magnet Cover) (Gap 0.8 With Magnet Cover) 580.1 (Gap 1 Without Magnet Cover) (14.2 With Magnet Cover) (14 Without Magnet Cover)

50 Min. 25
50 0

The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. L3

96

10

SGLFW-1Z200B 9-M5 Tapped Holes, Depth 9.5

12

14

14 12

96 35.5 35.5

.) Dia ( 8.4

50

Nameplate

SGLFW-1Z380B

.) Dia

18-M5 Tapped Holes, Depth 9.5

96 35.5 35.5

55

60 120

55

60 300(605)

Moving Coil Model SGLFW-

L1

L2

L3

Approx. Mass kg

1Z200B 1Z380B

215 395

120 300

180 360

9 18

6.4 11.5

Hall Sensor Connector Specifications 6 9

Linear Servomotor Connector Specifications Pin No. 1 2 3 4 5 6 7 8 9 Signal +5V (Power supply) Phase U Phase V Phase W 0V (Power supply) Not used Not used Not used Not used Pin No.
Plug:350779-1 Pin :350218-3 or 350547-3(No.1 to 3) 350654-1 350669-1(No.4) by Tyco Electronics AMP K.K. The Mating Connector Cap : 350780-1 Socket: 350536-3 or 350550-3

Hall Sensor Output Signals Signal Phase U Phase V Phase W FG


Wire Color

Pin Connector : 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1

1 2 3 4

Red White Black Green

When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below.

Vu
Inverse Power Vv (V)

Su

Sv

Vw

Sw
Electrical Angle()

180

360

540

171

Linear Servomotors

SGLFW (With F-type iron core)

Linear

External Dimensions

Units: mm

3Moving Coil: SGLFW-1ZBD (With a connector by Interconnectron GmbH)


(40)

3 7

(125) (62.5)

57.5

35.5 35.5

96 98

(15)

Magnetic Way Hall Sensor

50 Min. 30

55 60

L1 L2

40

(62.5)

61.5

119

(12)

14

2-Screws #4-40 UNC

(9)

0.5 (5.2 With Magnet Cover) 43 ( 5 Without Magnet Cover) (Gap 0.8 With Magnet Cover) 580.1 (Gap 1 Without Magnet Cover) (14.2 With Magnet Cover) (14 Without Magnet Cover)

See the figures and below.

50 Min. 25
50 0 4D ( 8.

The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. L3

10

50

Nameplate

SGLFW-1Z200BD

SGLFW-1ZD380BD

9-M5 Tapped Holes, Depth 9.5

18-M5 Tapped Holes, Depth 9.5

96 35.5 35.5

12

14

14 12

96 35.5 35.5

55

60 120

55

60 300(605)

Moving Coil Model SGLFW-

L1

L2

L3

Approx. Mass kg

1Z200BD 1ZD380BD
Hall Sensor Connector Specifications 6 9

215 395

120 300

180 360

9 18

6.4 11.5

Linear Servomotor Connector Specifications Pin No. 1 2 3 4 5 6 7 8 9 Signal +5V (Power supply) Phase U Phase V Phase W 0V (Power supply) Not used Not used Not used Not used

Hall Sensor Output Signals Pin No. 1 2 4 5 6 Name Phase U Phase V Phase W Not used Not used Ground
When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below.

5 4

61 2

Pin Connector : 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1

Extension: ARRA06AMRPN182 : 021.279.1020 Pin by Interconnectron GmbH The Mating Connector Plug : APRA06BFRDN170 Socket: 020.105.1020

Vu
Inverse Power Vv (V)

Su

Sv

Vw

Sw

180

360

540

Electrical Angle()

172

Linear Servomotors

50

50

96

( 4.2 .) Dia

) ia.

External Dimensions

Units: mm

3Magnetic Way: SGLFM-1ZA


(L3) Moving Coil (6.5)

8.6

2N-7 Dia.Mounting Holes 11.5 Dia. counter boring, Depth 1.5

(57.5)

(119)

125 112

(62.5)

N S N S
62.5
YASKAWA
TYPE:
O/N S/N MADE IN JAPAN DATE

N S N S
YASKAWA TYPE:

(61.5)

9
14

5 (43)

6.5

Nameplate

67.5 43.2 -0.2 0 1.5


Reference Mark (Two 4 dia. marks are engraved.) L2 L1-0..1 -0 3

Reference Mark

(Gap1) 580.1

(67.5) (Reference Mark) (43.2)

The Height of Screw Head: 6.7 Max. Assembly Dimensions

Notes: 1 Multiple SGLFM-1ZA magnetic ways can be connected. Connect magnetic ways so that the reference marks match one on the other in the same direction as shown in the figure. 2 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor.

Magnetic Way Model SGLFM-

11.5

-0 L1 -0..1 3

L2

L3 (423.9) (693.9) (963.9)

Approx. Mass kg

1Z405A 1Z675A 1Z945A

405 675 945

337.5 (67.5 5) 607.5 (67.5 9) 877.5 (67.5 13)

6 10 14

5 8.3 12

173

Linear Servomotors

SGLFW (With F-type iron core)

Linear

Selecting Cables
1Cables Connections

SGDV SERVOPACK

Cable for Connecting Serial Converter Unit*

(Between SERVOPACK connector

CN2

and serial converter unit)

Linear Servomotor Main Circuit Cable

Serial Converter Unit (See page 221.)

Cable for Connecting Linear Scales

Cable For Connecting Hall Sensor

Linear Scale (To be provided by users)

(Between serial converter unit and hall sensor unit)

Hall Sensor Unit

Linear Servomotor

*: A serial converter unit can be connected directly to an absolute linear scale.

174

Linear Servomotors

Selecting Cables
1Cables
Name Applicable Linear Servomotor Model Length Order No. JZSP-CLN11-01-E JZSP-CLN11-03-E JZSP-CLN11-05-E JZSP-CLN11-10-E JZSP-CLN11-15-E JZSP-CLN11-20-E JZSP-CLN21-01-E JZSP-CLN21-03-E JZSP-CLN21-05-E JZSP-CLN21-10-E JZSP-CLN21-15-E JZSP-CLN21-20-E JZSP-CLN14-01-E JZSP-CLN14-03-E JZSP-CLN14-05-E JZSP-CLN14-10-E JZSP-CLN14-15-E JZSP-CLN14-20-E JZSP-CLN15-01-E JZSP-CLN15-03-E JZSP-CLN15-05-E JZSP-CLN15-10-E JZSP-CLN15-15-E JZSP-CLN15-20-E JZSP-CLL00-01-E JZSP-CLL00-03-E JZSP-CLL00-05-E JZSP-CLL00-10-E JZSP-CLL00-15-E JZSP-CLP70-01-E JZSP-CLP70-03-E JZSP-CLP70-05-E SERVOPACK End JZSP-CLP70-10-E JZSP-CLP70-15-E JZSP-CLP70-20-E JZSP-CLL10-01-E JZSP-CLL10-03-E JZSP-CLL10-05-E JZSP-CLL10-10-E JZSP-CLL10-15-E
Serial Converter Unit End Hall Sensor Unit End Serial Converter Unit End

Specifications

Details

SGLFW-20, -35

SGLFW-50, -1Z

Linear Servomotor Main Circuit Cables SGLFWAD

SGLFWDD

Cables for Connecting Linear Scales*3

All models

Cables for Connecting Serial Converter Units

All models

Cables for Connecting Hall Sensors

All models

01 m 03 m 05 m 10 m 15 m 20 m 01 m 03 m 05 m 10 m 15 m 20 m 01 m 03 m 05 m 10 m 15 m 20 m 01 m 03 m 05 m 10 m 15 m 20 m 01 m 03 m 05 m 10 m 15 m 01 m 03 m 05 m 10 m 15 m 20 m 01 m 03 m 05 m 10 m 15 m

SERVOPACK End

Linear Servomotor End

(1)

*1
SERVOPACK End Linear Servomotor End

(2)

*1
SERVOPACK End Linear Servomotor End

(3)

*2
SERVOPACK End Linear Servomotor End

(4)

*2
Linear Scale End

(5)

Serial Converter Unit End

(6)

(7)

AMP *1:: Connector by Tyco ElectronicsGmbHK.K. *2: Connector by Interconnectron JZDP-G00--E, the maximum cable length should be 3 m. *3 When using serial converter unit

175

Linear Servomotors

SGLFW (With F-type iron core)

Linear

Selecting Cables
(1) Linear Servomotor Main Circuit Cables: JZSP-CLN11--E
SERVOPACK End Linear Servomotor End L Heat-shrinkable Tube Finished Diameter 6.8 Dia.

Wiring Specifications
SERVOPACK-end Leads Wire Color Signal Phase U Phase V Phase W FG Linear Servomotor-end Connector Signal Phase U Phase V Phase W FG Pin No.

8.5 mm

50 mm

35 mm

27.7

M4 Crimped Terminal

U V W G

Red White Blue

1 2 3 4

Wire Markers

(2) Linear Servomotor Main Circuit Cables: JZSP-CLN21--E Wiring Specifications


SERVOPACK End 8.5 mm 50 mm L Heat-shrinkable Tube Finished Diameter 11.9 Dia. Linear Servomotor End 35 mm
SERVOPACK-end Leads Wire Color Red Signal Phase U Phase V Phase W FG Linear Servomotor-end Connector Signal Phase U Phase V Phase W FG Pin No.

1 2 3 4

27.7

U V M4 Crimped Terminal W G Wire Markers

White Blue Green/yellow

Cable (UL2570) AWG14/4C Cap : 350780-1 (4-pole) Socket: 350537-3 (Chained) by Tyco Electronics AMP K.K.

1 7.6 14.7

(3) Linear Servomotor Main Circuit Cables: JZSP-CLN14--E Wiring Specifications


SERVOPACK End 8.5 mm 50 mm Linear Servomotor End L Heat-shrinkable Tube U V SERVOPACK End M4 Crimped Terminal W G Cable (UL2464) AWG18/4C SPUC06KFSDN236 by Interconnectron GmbH Finished Diameter 6.8 Dia.
Linear Servomotor-end SERVOPACK-end Leads Connector Signal Pin No. Phase U Phase V Phase W Wire Color Signal Black (White 1) Phase U Black (White 2) Phase V Black (White 3) Phase W Green/yellow FG FG

51 mm 28 Dia. 1
1 2 6
P

1 2 3 4 5 6

6 5
5 4

2 3

Wire Markers

176

Linear Servomotors

Cable (UL2464) AWG18/4C Cap : 350780-1 (4-pole) Socket: 350536-3 (Chained) by Tyco Electronics AMP K.K.

1 7.6 14.7

Green/yellow

Selecting Cables
(4) Linear Servomotor Main Circuit Cables: JZSP-CLN15--E Wiring Specifications
SERVOPACK End Linear Servomotor End L Heat-shrinkable Tube Finished Diameter 11.9 Dia. U V W G

8.5 mm

50 mm

61 mm

Linear Servomotor-end

27.2 Dia. 5
5 4 6 1 2

SERVOPACK-end Leads Wire Color Signal Phase U Phase V Phase W FG

Connector Signal Pin No. Phase U Phase V FG Phase W

1 2

Red White Black Green/yellow

1 2 4 5 6

M4 Crimped Terminal

4
Cable (UL2570) AWG14/4C APRA06BFRDN170 by Interconnectron GmbH

Wire Markers

(5) Cables for Connecting Linear Scales: JZSP-CLL00--E


Serial Converter Unit End Linear Scale End L Finished Diameter 9.5 Dia.

15

Connector 17JE-23150-02 (D8C) (15-pin, soldered ) by DDK Ltd.

Cable (UL 2584) (AWG223C+AWG256P)

15

Connector 17JE-13150-02 (D8C) (With stud)(15-pin, soldered) by DDK Ltd.

Wiring Specifications
Serial Converter Unit End Pin No. Signal
/Cos V1 /Sin V2 Ref V0+

Linear Scale End Pin No. Signal


/Cos V1 /Sin V2 Ref V0+

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Case

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Case

+5V
5Vs
BID Vx Vq
Cos V1+ Sin V2+ /Ref V0+

+5V
5Vs
BID Vx Vq
Cos V1+ Sin V2+ /Ref V0

0V 0Vs
DIR Inner Shield

0V 0Vs
DIR Inner Shield

177

Linear Servomotors

SGLFW (With F-type iron core)

Linear

Selecting Cables
(6) Cables for Connecting Serial Converter Units: JZSP-CLP70--E

SERVOPACK End L

Serial Converter Unit End

Finished Diameter 6.8 Dia.

Connector 17JE-23090-02D8C (9-pin, soldered) by DDK Ltd.

Wiring Specifications
SERVOPACK End Pin No. Signal PG5V PG0V Wire Color Red Black Serial Converter Unit End Pin No. Signal +5V Wire Color Red Black

1 2 3 4 5 6
Shell

1 5 3 4 2 6
Case

0V


PS /PS Shield


Light blue Light blue/white


Phase S output Phase /S output Shield


Light blue Light blue/white

7 8 9

(7) Cables for Connecting Hall Sensors: JZSP-CLL10--E

Serial Converter Unit End L

Hall Sensor End

Finished Diameter 6.8 Dia.

AWG222C+AWG242P

Cable (UL20276)

Connector :17JE-23090-02 (D8C) (9-pin, soldered) by DDK Ltd.

Connector :17JE-13090-02 (D8C) (With stud)(9-pin, soldered) by DDK Ltd.

Wiring Specifications
Serial Converter Unit End Pin No. Signal Hall Sensor End Pin No. Signal

1 2 3 4 5 6 7 8 9
Case

+5V
Phase U input Phase V input Phase W input

1 2 3 4 5 6 7 8 9
Case

+5V
Phase U input Phase V input Phase W input

0V

0V


Shield


Shield

178

Linear Servomotors

Connector: 55100-0670 (6-pin, soldered) by Molex Japan Co., Ltd.

AWG222C+AWG242P

Cable (UL20276)

Linear Servomotors

SGLTW
(With T-type iron core)

Model Designations
2Moving Coil

S G

T
1st digit

W 2nd digit

20
3rd+4th digits

A
5th digit

170
6th+7th+ 8th digits

A
9th digit

P
10th digit

11th digit

Linear Series Linear Servomotor

1st digit Servomotor Type


Code T Specifications T-type iron core

5th digit Voltage


Code A D Specifications 200 VAC 400 VAC

10th digit Hall Sensor


Code P Blank Specifications With hall sensor Without hall sensor

2nd digit Moving Coil/Magnetic Way


Code W Specifications Moving Coil

6th+7th+8th digits Length of Moving Coil 11th digit Connector for Main Circuit Cable
Code Specification Applicable Model

9th digit Design Revision Order 3rd+4th digits Magnet Height


A, B H: High-efficiency Type

Connector by Tyco SGLTW-20A -35A Electronics AMP -50A Blank K.K. MS connector D SGLTW-40B -80B

2Magnetic Way

Connector by SGLTW-35DH -50DH Interconnectron GmbH

S G

T
1st digit

M 2nd digit

20 324
3rd+4th digits 5th+6th+ 7th digits

A
8th digit

9th digit

Linear Series Linear Servomotor

1st digit Servomotor Type (Same as that of the moving coil) 2nd digit Moving Coil/Magnetic Way
Code M Specifications Magnetic Way

3rd+4th digits Magnet Height

9th digit Options


Code C Specifications Applicable Model All models Models with core SGLTM-20, -35*-40 -80

5th+6th+7th digits Length of Magnetic Way Blank Standard 8th digit Design Revision Order
A, B H: High-efficiency Type
Y

With magnet cover With base and magnet cover

179

*: Except for SGLTM-35H (high-efficiency type).

SGLGW
Features
3 Direct-feed mechanism for high-speed and high-

Application Examples
Feeders and loaders Mounters Machine tools

precision positioning.
3 Yaskawa's unique construction principles of the

TW linear motors negate the effects of the magnetic attraction force between the relative motor members.
3 Lack of magnetic attraction helps to extend the

life of the linear motion guides and to minimize operation noise.


3 Very little cogging.

2Precautions on Moving Coil with Hall Sensor


When using a moving coil with a hall sensor, the magnetic way must completely cover the bottom of the hall sensor. Refer to the example showing the correct installation. s When determining the length of the moving coil stroke or the length of the magnetic way, consider the total length of the moving coil and the hall sensor unit. Refer to the following table.
Correct
Hall Sensor Moving Coil Movement Direction Moving Coil Magnetic Way

Incorrect

Magnetic Way End

The total length of moving coil with hall sensor

Moving Coil Model SGLTW-

Length of Moving Coil L1 (mm)

Length of Hall Sensor Unit Total Length A (mm) L (mm)

L A Hall Sensor L1 Moving Coil

Magnetic Way

20A170AP 20A320AP 20A460AP 35A170AP 35A320AP 35A460AP 35170HP 35320HP 50170HP 50320HP 40A400AP 40A600AP 80A400AP 80A600AP 40400BP 40600BP 80400BP 80600BP

170 315 460 170 315 460 170 315 170 315 395 585 395 585 395 575 395 575

34

34

34 34 26 36 26 36 26 26

204 349 494 204 349 494 204 349 204 349 421 621 421 621 421 601 421 601

180

Linear Servomotors

Ratings and Specifications


Time Rating: Continuous Insulation Resistance: 500 VDC, 10 Mmin. Ambient Temperature: 0 to 40C Excitation: Permanent magnet Withstand Voltage: 1500 VAC for one minute Enclosure: Self-cooled Ambient Humidity: 20% to 80% (no condensation) Allowable Winding Temperature: 130C (Thermal class B)

200-V Class
Linear Servomotor Model SGLTWPeak Speed Rated Force* Rated Current* Peak Force* Peak Current* Moving Coil Mass Force Constant BEMF Constant Motor Constant Electrical Time Constant Mechanical Time Constant Thermal Resistance (With Heat Sink) Magnetic Attraction*1 Magnetic Attraction(on one side)*2 Applicable SERVOPACK m/s N Arms N Arms kg N/Arms V/(m/s) N/ w ms ms K/W N N SGDVStandard Type High-efficiency Type

Thermal Resistance (Without Heat Sink) K/W

20A 170A 320A 5 5 130 250 2.3 4.4 380 760 7.7 15.4 2.5 4.6 61 61 20.3 20.3 18.7 26.5 5.9 5.9 7.5 6.5 1.01 0.49 1.82 1.11 0 0 800 1590 3R8A 7R6A

460A 5 380 6.7 1140 23.2 6.7 61 20.3 32.3 5.9 6.4 0.38 0.74 0 2380 120A

35A 170A 320A 5 5 220 440 3.5 7 660 1320 12.1 24.2 3.7 6.8 67.5 67.5 22.5 22.5 26.7 37.5 6.9 6.8 5.2 4.8 0.76 0.44 1.26 0.95 0 0 1400 2780 5R5A 120A

460A 5 670 10.7 2000 36.7 10 67.5 22.5 46.4 7 4.6 0.32 0.61 0 4170 180A

40A 400B 600B 3.1 3.1 670 1000 7.3 10.9 2600 4000 39.4 60.6 15 23 99.1 99.1 33 33 61.4 75.2 15.2 15.2 4 4 0.24 0.2 0.57 0.4 0 0 3950 5890 180A 330A

80A 400B 600B 2.5 2.5 1300 2000 11.1 17.1 5000 7500 57.9 86.9 24 35 126 126 42 42 94.7 116 17 17 3 3 0.22 0.18 0.47 0.33 0 0 7650 11400 330A 550A

35A 50A 170H 320H 170H 320H 4.8 3.2 3.1 4.8 300 600 450 900 5.1 10.1 4.9 9.8 600 1200 900 1800 11.9 23.9 11.5 22.9 4.9 8.8 6 11 64 64 98.5 98.5 21.3 21.3 32.8 32.8 37.4 52.9 50.3 71.1 15.1 15.1 16.5 16.5 3 .3 3.3 2.8 2.8 0.76 0.4 0.61 0.3 1.26 0.83 0.97 0.8 0 0 0 0 1400 2780 2000 3980 5R5A 120A 5R5A 120A

the moving *1 :: The unbalanced magnetic gap resulted fromgenerated oncoil installation condition causes a magnetic attraction on the moving coil. value indicates the magnetic attraction one side of way. *2 TheThe items marked with an * and Force and Speed Characteristics the magneticpage) are the values at a motor winding temperature of 100C during (on the next Notes: 1 operation in combination with a SERVOPACK. The others are at 20C. 2 The above specifications show the values under the cooling condition when a heat sink (aluminum board) listed in the following table is mounted on the moving coil. 254 mm254 mm25 mm : SGLTW-20A170A,-35A170A Heat Sink Size 400 mm500 mm40 mm : SGLTW-20A320A,-20A460A,-35A170H,-35A320A,-35A320H,-35A460A,-50A170H 609 mm762 mm50 mm : SGLTW-40A400B,-40A600B,-50A320H,-80A400B,-80A600B

400-V Class
Linear Servomotor Model SGLTWPeak Speed Rated Force* Rated Current* Peak Force* Peak Current* Moving Coil Mass Force Constant BEMF Constant Motor Constant Electrical Time Constant Mechanical Time Constant Thermal Resistance (With Heat Sink) Magnetic Attraction*1 Magnetic Attraction(on one side)*2 Applicable SERVOPACK m/s N Arms N Arms kg N/Arms V/(m/s) N/ w ms ms K/W N N SGDVStandard Type 40D 80D 400B 600B 400B 600B High-efficiency Type 35D 50D 170H 320H 170H 320H

Thermal Resistance (Without Heat Sink) K/W

3. 1 670 3. 7 2600 20.7 15 196.1 65.4 59.6 14.3 4. 3 0.24 0.57 0 3950 120D

3. 1 1000 5. 5 4000 30.6 23 196.1 65.4 73 14.4 4. 2 0. 2 0. 4 0 5890 170D

3. 1 1300 7. 2 5000 37.6 24 194.4 64.8 85.9 15.6 3. 2 0.22 0.47 0 7650 170D

3.1 2000 11.1 7500 56.4 35 194.4 64.8 105.2 15.6 3.2 0.18 0.33 0 11400 260D

5 300 3.2 600 7.7 4.7 99.6 33.2 36.3 14.3 3.5 0.76 1.26 0 1400 3R5D

5 600 6.5 1200 15.5 8.8 99.6 33.2 51.4 14.4 3.3 0.4 0.83 0 2780 8R4D

4 450 3.2 900 7.4 6 153.3 51.1 48.9 15.6 2.5 0.61 0.97 0 2000 3R5D

4 900 6.3 1800 14.8 11 153.3 51.1 69.1 15.6 2.5 0.3 0.8 0 3980 8R 4D

the moving *1 :: The unbalanced magnetic gap resulted fromgenerated oncoil installation condition causes a magnetic attraction on the moving coil. value indicates the magnetic attraction one side of *2 TheThe items marked with an * and Force and Speed Characteristics the magnetic )way. the values at a motor winding temperature of 100C during operation in (on page 183 are Notes: 1 combination with a SERVOPACK. The others are at 20C. 2 The above specifications show the values under the cooling condition when a heat sink (aluminum board) listed in the following table is mounted on the moving coil. 400 mm500 mm40 mm : SGLTW-35D170H,-35D320H,-50D170H Heat Sink Size 609 mm762 mm50 mm : SGLTW-40D400B,-40D600B,-50D320H,-80D400B,-80D600B

181

Linear Servomotors

SGLTW (With T-type iron core)

Linear

Ratings and Specifications


Force and Speed Characteristics A : Continuous Duty Zone B : Intermittent Duty Zone
200-V Class Standard Type
SGLTW-20A170A
6
Motor Speed (m/s) Motor Speed (m/s)

SGLTW-20A320A
6
Motor Speed (m/s)

SGLTW-20A460A
6 5 4 3 2 1 0 200 400 600 800 1000 1200 Force (N) 0
A B

5 4 3 2 1 0 0 100 200 300 400 Force (N) 6


A B

5 4 3 2 1 0 0 200 400 600 800 Force (N)


A B

SGLTW-35A170A
6
Motor Speed (m/s)

SGLTW-35A320A
6
Motor Speed (m/s)

SGLTW-35A460A
5 4 3 2 1 0 0 500 1000 1500 2000 2500 Force (N)
A B

Motor Speed (m/s)

5 4 3 2 1 0 0 200 400 600700 Force (N)


A B

5 4 3 2 1 0 0 400 800 1200 1400 Force (N)


A B

SGLTW-40A400B
4
Motor Speed (m/s) Motor Speed (m/s)

SGLTW-40A600B
4
Motor Speed (m/s)

SGLTW-80A400B
4 3 2 1 0 0 2000 4000 Force (N) 6000
A B Motor Speed (m/s)

SGLTW-80A600B
4 3 2 1 0 0 2000 4000 6000 8000 Force (N)
A B

3 2 1 0 0 1000 2000 Force (N) 3000


A B

3 2 1 0 0 2000 4000 Force (N)


A B

200-V Class High-efficiency Type


SGLTW-35A170H
6
Motor Speed (m/s) Motor Speed (m/s)

SGLTW-35A320H
6
Motor Speed (m/s)

SGLTW-50A170H
4 3 2 1 0 0 300 600 900 Force (N)
A B Motor Speed (m/s)

SGLTW-50A320H
4 3 2 1 0 0 600 1200 1800 Force (N)
A

5 4 3 2 1 0 0 200 400 600 Force (N)


A B

5 4 3 2 1 0 0 400 800 1200 Force (N)


A B

Notes: 1 The characteristics of the intermittent duty zone differ depending on the supply voltages. The solid and dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations: The solid line: With a three-phase 200 V SERVOPACK The dotted line: With a single-phase 200 V SERVOPACK 2 When the effective force is within the rated force, the servomotor can be used within the intermittent duty zone.

182

Linear Servomotors

Ratings and Specifications


Force and Speed Characteristics (contd) A : Continuous Duty Zone B : Intermittent Duty Zone
400-V ClassStandard Type
SGLTW-40D400B
4
Motor Speed (m/s) Motor Speed (m/s)

SGLTW-40D600B
4
Motor Speed (m/s)

SGLTW-80D400B
4 3 2 1 0 0 2000 4000 Force (N) 6000
A B Motor Speed (m/s)

SGLTW-80D600B
4 3 2 1 0 0 2000 4000 6000 8000 Force (N)
A B

3 2 1 0 0 1000 2000 Force (N) 3000


A B

3 2 1 0 0 2000 4000 Force (N)


A B

400-V ClassHigh-efficiency Type


SGLTW-35D170H
6
Motor Speed (m/s) Motor Speed (m/s)

SGLTW-35D320H
6
Motor Speed (m/s)

5 4 3 2 1 0 0

SGLTW-50D170H
5
Motor Speed (m/s)

SGLTW-50D320H
4 3 2 1 0 0 600 1200 1800 Force (N)
A B

5 4 3 2 1 0 0 200 400 600 Force (N)


A B

5 4 3 2 1 0 0 400 800 1200 Force (N)


A B

A B

300 600 900 Force (N)

Notes: 1 The characteristics of the intermittent duty zone differ depending on the supply voltages. The solid and dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations: The solid line: With a three-phase 400 V SERVOPACK The dotted line: With a three-phase 200 V SERVOPACK 2 When using the servomotor with a three-phase 200-V input power supply, a different serial converter unit is required. For details, contact your Yaskawa representative. 3 When the effective force is within the rated force, the servomotor can be used within the intermittent duty zone.

1Mechanical Specifications
(1) Impact Resistance Impact acceleration: 196 m/s2 Impact occurrences: twice (2) Vibration Resistance The linear servomotors will withstand the following vibration acceleration in three directions: Vertical, side to side, and front to back. Vibration acceleration: 49 m/s2

183

Linear Servomotors

SGLTW (With T-type iron core)

Linear

External Dimensions
(1) Standard Type SGLTW-20

Units: mm

3Moving Coil: SGLTW-20AA (With a connector by Tyco Electronics AMP K.K.)


N-M6 Tapped Holes, Depth 12

(15)

(55) 51 47.5 12

Magnetic Way

50 10 48

L1 L2

(L3)

1 20 28 60 100
(70)

60

80

2-Screws #4-40 UNC


(15) (19.2With Magnet Cover) (19Without Magnet Cover) (Gap 0.8With Magnet Cover) (Gap 1Without Magnet Cover) Hall Sensor

50050
(4.2 Dia.) (7.4 Dia.) Nameplate 50050

The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W.

63 Min.

90 Min.

Moving Coil Model SGLTW-

L1

L2

(L3) (16) (17) (18)

Approx. Mass kg

20A170A 20A320A 20A460A


Hall Sensor Connector Specifications
9 6

170 315 460

144 (483) 288 (486) 432 (489)

8 14 20

2.5 4.6 6.7

Linear Servomotor Connector Specifications

Hall Sensor Output Signals

Pin Connector: 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1

Pin No. 1 2 3 4 5 6 7 8 9

Signal +5VDC Phase U Phase V Phase W 0V Not used Not used Not used Not used

Pin No.

Signal Phase U Phase V Phase W Ground

Wire Color

Plug: 350779-1 Pin : 350218-3 or 350547-3 (No.1 to 3) 350654-1 350669-1 (No.4) by Tyco Electronics AMP K.K. The Mating Connector Cap : 350780-1 Socket: 350536-3 or 350550-3

1 2 3 4

Red White Black Green

When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below.

Vu

Su

Inverse Power Vv (V)


Vw

Sv

Sw

180

360

540

Electrical Angle ( )

184

Linear Servomotors

External Dimensions

Units: mm

3Magnetic Way : SGLTM-20A


0

13.7 -0.2 54 27

L1 --0..1 03 L2

(54)

9 9.

103 Max.(Preshipment) 71.51(Preshipment)

15

(55) 40

31.7-0.2 0
Moving Coil

L2

(29.3) (54)

54

*700.3

(1)

(100)

87

*2.40.3

6 R

Nameplate
YASKAWA TYPE:
O/N DATE S/N MADE IN JAPAN

1 C
Gap10.3

19

32

(8)

(29.3)

2 N-7 Dia. Mounting Holes (See the sectional view for the depth.)

15

R0 .5

Ma

27

x.

M R1

ax

9.9 *2.40.3 54 40.3 -0.2 0 (9.4)


L2 L1 --0..1 03 (54)

Mount the magnetic way so that its corner surfaces are flush with the inner step.

62 +0.6 0 *700.3

Mount the magnetic way so that its corner surfaces are flush with the inner step.

Assembly Dimensions

Notes: 1 Two magnetic ways for both ends of moving coil make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the moving coil is mounted on a machine. 2 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 3 Two magnetic ways in a set can be connected to each other. 4 The dimensions marked with an are the dimensions between the magnetic ways. Be sure to follow exactly the dimensions specified in the figure above. Mount magnetic ways as shown in Assembly Dimensions. The values with a R are the dimensions at preshipment. 5 Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use stainless steel screws.

Magnetic Way Model SGLTM-

L1 -0..1 -0 3

L2

Approx. Mass kg

20324A 20540A 20756A

324 540 756

270 (545) 486 (549) 702 (5413)

6 10 14

3. 4 5. 7 7. 9

185

2 N-M6 Screws, Depth 8

Spacers: Do not remove them until the moving coil is mounted on the machine.

Linear Servomotors

SGLTW (With T-type iron core)

Linear

External Dimensions

Units: mm

3Magnetic Way with Base: SGLTM-20AY


11.7
70

20 54

L2

54

27

15
Base

55

9 9.

40

15

2.40.3
TYPE:

YASKAWA

O/N S/N MADE IN JAPAN

DATE

Moving Coil

74

Gap Includes a 0.2 thick magnet cover.

14 74 162 L4 2 N2-10 Dia. Mounting Holes (See the sectional view for the depth.)

L5

2 N1-M6 Screws, Depth 8 15 27


2.40.3

2 N1-M6 Bolts, Depth 16 2.3

54 20
L2 L3 L1 --0..1 03
54 11.7

Notes: 1 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 2 Two magnetic ways in a set can be connected to each other. 3 The characteristics of the magnetic way with base are the same as of the magnetic way without base (SGLTM-20A).

Magnetic Way Model SGLTM-

L1

L2

L3

L4

L5

N1

N2

Approx. Mass kg

20324AY 20540AY 20756AY

324 540 756

270 486 702

310 526 742

162 378 594

162 189 198

6 10 14

2 3 4

5.1 8.5 12

186

Linear Servomotors

0.8

100

700.3

15 19.2 0.80.3

132 116 87

60

TYPE:

YASKAWA

O/N S/N MADE IN JAPAN

DATE

9.9

External Dimensions
(2) Standard Type SGLTW-35

Units: mm

3Moving Coil: SGLTW-35AA (With a connector by Tyco Electronics AMP K.K.)


(70) 66 55 12 N-M6 Tapped Holes, Depth 12 L1 (L3) L2 48

(15)

Magnetic Way

50 10

1 20 28 60 100
(70)

60

2-Screws #4-40 UNC


(19.2 With Magnet Cover) (19 Without Magnet Cover) (Gap 0.8 With Magnet Cover) (Gap 1 Without Magnet Cover) (15)

80

50050
(8.4 Dia.) Nameplate

Hall Sensor (4.2 Dia.) 63 Min.

The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W.

50050 100 Min.

Moving Coil Model SGLTW-

L1

L2

(L3) (16) (17) (18)

Approx. Mass kg

35A170A 35A320A 35A460A


Hall Sensor Connector Specifications
9 6

170 315 460

144 (483) 288 (486) 432 (489)

8 14 20

3.7 6.8 10

Linear Servomotor Connector Specifications

Hall Sensor Output Signals

Pin Connector: 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1

Pin No. 1 2 3 4 5 6 7 8 9

Signal +5VDC Phase U Phase V Phase W 0V Not used Not used Not used Not used

Pin No.

Signal Phase U Phase V Phase W Ground

Wire Color

Plug: 350779-1 Pin : 350218-3 or 350547-3 (No.1 to 3) 350654-1 350669-1 (No.4) by Tyco Electronics AMP K.K. The Mating Connector Cap : 350780-1 Socket: 350536-3 or 350550-3

1 2 3 4

Red White Black Green

When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below.

Vu

Su

Inverse Power Vv (V)


Vw

Sv

Sw

180

360

540

Electrical Angle ( )

187

Linear Servomotors

SGLTW (With T-type iron core)

Linear

External Dimensions

Units: mm

3Magnetic Way: SGLTM-35A


L1 --0..1 03 L2

15 -0 .2 0 54 34.5
9 9.

(54)

103 Max. (Preshipment)

71.51(Preshipment)

*700.3

15

Moving Coil

54

*2.40.3

6 R
(30.6)

Nameplate
YASKAWA TYPE: O/N S/N MADE IN JAPAN DATE

Gap10.3

19

15

47

(8)

2 N-7 Dia. Mounting Holes (See the sectional view for the depth.)

2 N-M6 Screws, Depth 8


R0 .5 Ma

Spacers: Do not remove them until the moving coil is mounted on the machine.

x.

R1

34.5

x Ma

9.9

*2.40.3
54
L2 L1 --0..1 03 (54)

Mount the magnetic way so that its corner surfaces are flush with the inner step.

0 62 +0.6 *700.3

Mount the magnetic way so that its corner surfaces are flush with the inner step.

39-0 .2 0
(12)

Assembly Dimensions

Notes: 1 Two magnetic ways for both ends of moving coil make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the moving coil is mounted on a machine. 2 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 3 Two magnetic ways in a set can be connected to each other. 4 The dimensions marked with an are the dimensions between the magnetic ways. Be sure to follow exactly the dimensions specified in the figure above. Mount magnetic ways as shown in Assembly Dimensions. The values with a R are the dimensions at preshipment. 5 Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use stainless steel screws.

Magnetic Way Model SGLTM-

L1 -0..1 -0 3

L2

Approx. Mass kg

35324A 35540A 35756A

324 540 756

270 (545) 486 (549) 702 (5413)

6 10 14

4.8 8 11

188

Linear Servomotors

(70) 55

33 -0 .2 0

L2

(30.6) (54)

( 1)

(100)

87

1 C

External Dimensions

Units: mm

3Magnetic Way with Base: SGLTM-35AY


13 20 54
L2 (54)

34.5

15
Base

(85) (70)

9. 9

55

15

700.3

0.8

(100)

132 116 87

60

2.40.3
YASKAWA
TYPE:
O/N S/N MADE IN JAPAN DATE

15 19.2 0.80.3

Moving Coil

L5

74

L4

Gap Includes a 0.2 thick magnet cover.

2 N2-10 Dia. Mounting Holes (See the sectional view for the depth.) 2 N1-M6 Screws, Depth 8

2 N1-M6 Bolts, Depth 16 1

15 34.5

2.40.3

54 20
L2 L3 -0.1 L1-0.3 (54)
13

Notes: 1 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 2 Two magnetic ways in a set can be connected to each other. 3 The characteristics of the magnetic way with base are the same as of the magnetic way without base (SGLTM-35A).

Magnetic Way Model SGLTM-

L1

L2

L3

L4

L5

N1

N2

35324AY 35540AY 35756AY

324 540 756

270 486 702

310 526 742

162 378 594

162 189 198

6 10 14

2 3 4

189

TYPE:

YASKAWA

O/N S/N MADE IN JAPAN

DATE

74

14 162

9.9

Approx. Mass kg

6.4 11 15

Linear Servomotors

SGLTW (With T-type iron core)

Linear

External Dimensions
(3) Standard Type SGLTW-40

Units: mm

3Moving Coil: SGLTW-40B (With an MS connector)


(83) 78 75 16 Hall Sensor Receptacle Magnetic Way N-M8 Tapped Holes, Depth 16

(19.1)

63 20 40

L1 L2

(L3)

60

1
(111.8)

30 38 98 150

124

97

(25.3 With Magnet Cover) (25.1 Without Magnet Cover) (Gap 1.2 With Magnet Cover) (Gap 1.4 Without Magnet Cover)

(19.1)

2-Screws #4-40 UNC

64 Min.

The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W.

500 50
Linear SERVO MOTOR TYPE MADE IN JAPAN m/s N W A ins. V S/N O/N DATE YASKAWA ELECTRIC

Nameplate

Moving Coil Model SGLTW-

L1

L2

(L3) (15) (15)

Approx. Mass kg

40400B 40600B
Hall Sensor Connector Specifications

395 575

360(606) 540(60 9)

14 20

15 22

Linear Servomotor Connector Specifications Pin No. 1 2 3 4 5 6 7 8 9 Signal

Hall Sensor Output Signals Pin No. A B C D Signal Phase U Phase V Phase W Ground
When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below.

9 5

6 1

+5VDC
Phase U Phase V Phase W 0V Not used Not used Not used Not used

Pin Connector: 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1

Receptacle type: MS3102A-22-22P


by DDK Ltd.

The Mating Connector L-shaped plug type : MS3108B22-22S Straight plug type : MS3106B22-22S Cable clamp type : MS3057-12A

Vu

Su

Inverse Power Vv (V)


Vw

Sv

Sw

180 360 540 Electrical Angle ( )

190

Linear Servomotors

(4.2 Dia.)

External Dimensions

Units: mm

3Magnetic Way : SGLTM-40A


L1 -0.1 -0.3 L2 (67.5)

15 -0.2 0 67.5 39

19.1

(83) 63

37.5 -0.2 0
Moving Coil

L2

67.5

153 Max.(Preshipment)

1131(Preshipment)

Gap 1.40.3

*111.80.3

(1.4)

(150)

131

1.40.3

19.1

25.1

48

(15)

R0 .5

2N-9 Dia. Mounting Holes (See the sectional view for the depth.) Spacers: Do not remove them until the moving coil is mounted on the machine. 2N-M8 Screws, Depth 10 Nameplate 5.6 6
YASKAWA TYPE:

(36.1)

Ma

x.

M R1

ax

O/N S/N

MADE IN JAPAN

Mount the magnetic way so that its corner surfaces are flush with the inner step.

0 100+0.6

39

*1.40.3

*111.80.3

Mount the magnetic way so that its corner surfaces are flush with the inner step.

67.5 52.5 -0.2 0 (7.6)


L2 -0.1 L1 -0.3 (67.5)

Assembly Dimensions

Notes: 1 Two magnetic ways for both ends of moving coil make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the moving coil is mounted on a machine. 2 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 3 Two magnetic ways in a set can be connected to each other. 4 The dimensions marked with an are the dimensions between the magnetic ways. Be sure to follow exactly the dimensions specified in the figure above. Mount magnetic ways as shown in Assembly Dimensions. The values with a R are the dimensions at preshipment. 5 Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use stainless steel screws.

Magnetic Way Model SGLTM-

L1 -0..1 -0 3

L2

Approx. Mass kg

40405A 40675A 40945A

405 675 945

337.5 (67.55) 607.5 (67.59) 877.5 (67.513)

6 10 14

9 15 21

191

YASKAWA TYPE:

O/N S/N MADE IN JAPAN DATE

5.6

(36.1) (67.5)

1 C
YASKAWA TYPE:

O/N S/N

MADE I

Linear Servomotors

SGLTW (With T-type iron core)

Linear

External Dimensions

Units: mm

3Magnetic Way with Base: SGLTM-40AY


12.5 25 67.5
(103) (83) 63 L2 (67.5)

20 19.1
Base

39

5. 6

1.40.3
YASKAWA
TYPE:
O/N S/N MADE IN JAPAN DATE

19.1 25.3 1.20.3

Moving Coil

L5

92.5
L4

92.5

(17.5) (202.5)

Gap Includes a 0.2 thick magnet cover.

2 N1 - M8 Screws, Depth 10
5.6

2 N2 -12 Dia. Mounting Holes (See the sectional view for the depth.)

20 39

(1.40.3)

2 N1-M8 Bolts, Depth 25 5

67.5 25
L2 L3 -0.1 L1-0.3 (67.5) (12.5)

Notes: 1 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 2 Two magnetic ways in a set can be connected to each other. 3 The characteristics of the magnetic way with base are the same as of the magnetic way without base (SGLTM-40A).

Magnetic Way Model SGLTM-

L1

L2

L3

L4

L5

N1

N2

Approx. Mass kg

40405AY 40675AY 40945AY

405 675 945

337.5 607.5 877.5

387.5 657.5 927.5

202.5 472.5 742.5

202.5 236.25 247.5

6 10 14

2 3 4

13 21 30

192

Linear Servomotors

111.80.3

(1.2)

(150)

190 170 131

90

TYPE:

YASKAWA

O/N S/N MADE IN JAPAN DATE

External Dimensions

Units: mm

(4) Standard Type SGLTW-80 3Moving Coil: SGLTW-80B (With an MS connector)


120 19.1

Hall Sensor Receptacle Magnetic Way

N-M8 Tapped Holes, Depth 16 L1 L2


L3

115 75 16

63 20 40

60

111.8

1 30 38 98 150 97 124
4.2 Dia.

Gap 1.2 With Magnet Cover

25.3 With Magnet Cover

25.1 Without Magnet Cover

Gap 1.4 Without Magnet Cover

19.1

64 Min.
Linear SERVO MOTOR TYPE MADE IN JAPAN m/s W A ins. V S/N O/N DATE YASKAWA ELECTRIC

The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W.

2-Screws #4-40 UNC

50050

Nameplate

Moving Coil Model SGLTW-

L1

L2

L3 (15) (15)

Approx. Mass kg

80400B 80600B
Hall Sensor Connector Specifications

395 575

360(606) 540(609)

14 20

24 35

Linear Servomotor Connector Specifications Pin No. 1 2 3 4 5 6 7 8 9 Signal

Hall Sensor Output Signals Pin No. A B C D Signal Phase U Phase V Phase W Ground
When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below.

9 5

6 1

+5VDC
Phase U Phase V Phase W 0V Not used Not used Not used Not used

Pin Connector: 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1

Receptacle type: MS3102A-22-22P


by DDK Ltd.

The Mating Connector L-shaped plug type : MS3108B22-22S Straight plug type : MS3106B22-22S Cable clamp type : MS3057-12A

Vu

Su

Inverse Power Vv (V)


Vw

Sv

Sw

180 360 540 Electrical Angle ( )

193

Linear Servomotors

SGLTW (With T-type iron core)

Linear

External Dimensions

Units: mm

3Magnetic Way : SGLTM-80A


0

16.9 -0.2 67.5 57

L1 -0.3 L2

-0.1

(67.5)

19.1

Moving Coil

39.4 -0.2 33.75

L3

153 Max.(Preshipment)

(37.9) (67.5)

*1.50.3

7 R

25.1

19.1

85

(15)

(37.9)

Nameplate 2 N1-M8 Screws, Depth 10


*1.50.3

2N2-9 Dia. Mounting Holes (See the sectional view for the depth.) Spacers: Do not remove them until the moving coil is mounted on the machine. 6
O/N S/N MADE IN JAPAN DATE

R0 .5

5.6
YASKAWA TYPE: YASKAWA TYPE:
O/N S/N MADE IN JAPAN

Ma

Mount the magnetic way so that its corner surfaces are flush with the inner step.

*111.80.3

100 0

+0.6

57

x.

M R1

ax.

Assembly Dimensions

Mount the magnetic way so that its corner surfaces are flush with the inner step.

50.6-0.2 (11.3)

67.5

L2 L1 -0.1 -0.3

(67.5)

Notes: 1 Two magnetic ways for both ends of moving coil make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the moving coil is mounted on a machine. 2 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 3 Two magnetic ways in a set can be connected to each other. 4 The dimensions marked with an are the dimensions between the magnetic ways. Be sure to follow exactly the dimensions specified in the figure above. Mount magnetic ways as shown in Assembly Dimensions. The values with a R are the dimensions at preshipment. 5 Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use stainless steel screws.

Magnetic Way Model SGLTM-

L1 -0..1 -0 3

L2

L3

N1

N2

Approx. Mass kg

80405A 80675A 80945A

405 675 945

337.5(67.55) 607.5(67.59) 877.5(67.513)

337.5(33.7510) 607.5(33.7518) 887.5(33.7526)

6 10 14

11 19 27

14 24 34

194

Linear Servomotors

(120) 100

1131(Preshipment)

Gap 1.40.3

*111.80.3

(1.4)

(150)

131

YASKAWA TYPE:

O/N S/N DATE MADE IN JAPAN

6 5.

1 C

External Dimensions

Units: mm

3Magnetic Way with Base: SGLTM-80AY

14.4

25 67.5 33.75

L2

(67.5)

57 20 19.1
Base (140) (120)

5.6

100

Moving Coil

111.80.3

(1.2)

(150)

190 170 131

90

2 N2 - 12 Dia. Mounting Holes (See the sectional view for the depth.) 1.50.3
YASKAWA
TYPE:
O/N S/N MADE IN JAPAN DATE

19.1 25.3 1.20.3

L5

92.5 2 N1-M8 Screws, Depth 10

L4

Gap Includes a 0.2 thick magnet cover.

5. 6
(1.50.3)

20

57

2 N3-M8 Bolts, Depth 25 3.1

25

33.75 67.5

L2 L3 -0.1 L1-0.3

Notes: 1 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 2 Two magnetic ways in a set can be connected to each other. 3 The characteristics of the magnetic way with base are the same as of the magnetic way without base (SGLTM-80A).

Magnetic Way Model SGLTM-

L1

L2

L3

L4

L5

N1

N2

80405AY 80675AY 80945AY

405 675 945

337.5 607.5 877.5

387.5 657.5 927.5

202.5 472.5 742.5

202.5 236.25 247.5

6 10 14

2 3 4

195

TYPE:

YASKAWA

O/N S/N MADE IN JAPAN DATE

92.5

(17.5) (202.5)

(67.5) (14.4)

N3

Approx. Mass kg

11 19 27

18 31 43

Linear Servomotors

SGLTW (With T-type iron core)

Linear

External Dimensions

Units: mm

(5) High-efficiency Type SGLTW-35AH


3Moving Coil: SGLTW-35AH (Loose Lead Wires without Connectors)
N-M6 Screws, Depth 12

(70)

200.1

(15)

66 62.5 12

Magnetic Way

30 10 20

L1 L2

(L3)

480.15

1000.15

800.05

60 1200.1

28

Linear SERVO MOTOR

TYPE

S/N YASKAWA ELECTRIC MADE IN JAPAN

(19.2 :With Magnet Cover) (19 :Without Magnet Cover)

(Gap0.8 :With Magnet Cover) (Gap1.0 :Without Magnet Cover)

(15)

Nameplate

(4.2 Dia.)

Hall Sensor 2-Screws #4-40 UNC

Protective Tube

50050
Cable UL20276, AWG28

35 43 63 Min.

Moving Coil Model SGLTW-

50050

The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W.

L1

L2

(L3) (16) (17)

Approx. Mass kg

35A170H 35A320
Hall Sensor Connector Specifications
9 6

170 315

144 (483) 288 (486)

8 14

4.7 8.8

Lead Specifications of Moving Coil

Hall Sensor Output Signals


When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below.

Pin Connector: 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1

Pin No. 1 2 3 4 5 6 7 8 9

Signal +5VDC Phase U Phase V Phase W 0V Not used Not used Not used Not used

If this cable is bent repetitively, the cable

will disconnect. Phase V Phase U

Phase W

Ground

(View from Top of Moving Coil)

Name Phase U Phase V Phase W Ground

Color Black Green

Code U V W

Wire Size

Vu

Su

2 mm2 2 mm2

Inverse Power Vv (V)


Vw

Sv

Sw

180

360

540

Electrical Angle ( )

196

Linear Servomotors

O/N

W A

(90)

N V
DATE

30

30

m/s ins.

External Dimensions

Units: mm

3Moving Coil: SGLTW-35DHD (With a connector by Interconnectron GmbH)


(70) 66 62.5 12 N-M6 Screws, Depth 12

200.1

(15)

Magnetic Way

30 10 20

L1 L2

(L3)

480.15

60 1200.1

28

1000.15

800.05

Linear SERVO MOTOR

TYPE

S/N YASKAWA ELECTRIC MADE IN JAPAN

O/N

W A

(90)

N V
DATE

30

30

(15)

(19.2 :With Magnet Cover) (19 :Without Magnet Cover)

(Gap0.8 :With Magnet Cover) (Gap1.0 :Without Magnet Cover)

Nameplate

50050
Cable UL20276,AWG28

(4.2 Dia.)

Moving Coil Model SGLTW-

m/s ins.

Hall Sensor Protective tube

The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W.

50050 2-Screws #4-40 UNC

35 43 63 Min.

L1

L2

(L3) (16) (17)

Approx. Mass kg

35D170HD 35D320HD
Hall Sensor Connector Specifications

170 315

144(48 3) 288(486)

8 14

4. 7 8. 8

9 5

6 1

Pin Connector: 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1

Pin No. 1 2 3 4 5 6 7 8 9

Signal

Linear Servomotor Connector Specifications 6 5 1

Hall Sensor Output Signals Pin No. 1 2 4 5 6 Signal Phase U Phase V Phase W Not used Not used Ground
When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below.

+5VDC
Phase U Phase V Phase W 0V Not used Not used Not used Not used

Extension : ARRA06AMRPN182 : 021.279.1020 Pin by Interconnectron GmbH The Mating Connector Plug : APRA06BFRDN170 Socket : 020.105.1020

Vu

Su

Inverse Power Vv (V)


Vw

Sv

Sw

180 360 540 Electrical Angle ( )

197

Linear Servomotors

SGLTW (With T-type iron core)

Linear

External Dimensions

Units: mm

3Magnetic Way: SGLTM-35H


L1 -0.3 L2
-0.1

15 -0.2 54 34.5
9 9.

(54)

150.1

(70) (0.8)

33-0 .2 0
Moving Coil

L2

30.6

*2.40.3
R6
(30.6)

C1

Model Nameplate
YASKAWA TYPE:
O/N S/N MADE IN JAPAN DATE

4.20.1

0.80.3

150.1

C1

47

(8)

2 N-7 Dia. Mounting Holes (See the sectional view for the depth.)

Gap Includes a 0.2 thick magnet cover. (4) Spacer: Do not remove them until the moving coil is mounted on the machine.

2 N-M6 Screws, Depth 8

R1

R0 .5 Ma x.

M ax .

34.5

*2.40.3
54
L2 L1 --0..1 03 (54)

39 -0 .2 0
(12)
Mount the magnetic way so that its corner surfaces are flush with the inner step.

Mount the magnetic way so that its corner surfaces are flush with the inner step.

0 82 +0.6 *900.3

Assembly Dimensions

Notes: 1 Two magnetic ways for both ends of moving coil make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the moving coil is mounted on a machine. 2 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 3 Two magnetic ways in a set can be connected to each other. 4 The dimensions marked with an are the dimensions between the magnetic ways. Be sure to follow exactly the dimensions specified in the figure above. Mount magnetic ways as shown in Assembly Dimensions. The values with a R are the dimensions at preshipment. 5 Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use stainless steel screws.

Magnetic Way Model SGLTM-

L1 -0..1 -0 3

L2

Approx. Mass kg

35324H 35540H 35756H

324 540 756

270 (545) 486 (549) 702 (5413)

6 10 14

4.8 8 11

198

Linear Servomotors

55

123 Max. (Preshipment)

54
YASKAWA TYPE:
O/N S/N MADE IN JAPAN DATE

54

91.51(Preshipment)

*900.3

(120)

107

9 9.

External Dimensions

Units: mm

(6) High-efficiency Type SGLTW-50


3Moving Coil: SGLTW-50AH (Loose Lead Wires without Connectors)
N-M6 Screws, Depth 12

200.1

(4.1)

(85) 81 62.5 12

(19.1)

Magnetic Way

30 10 20

L1 L2

(L3)

480.15

800.05

28

(Gap0.8 : With Magnet Cover) (Gap1.0 : Without Magnet Cover)

(23.3 : With Magnet Cover) (23.1 : Without Magnet Cover)

(19.1)

Nameplate

Hall Sensor (4.2 Dia.)

50050 Hall Sensor End Connector Cable UL20276, AWG28 35 43 63 Min.

Moving Coil Model SGLTW-

50050

2-Screws #4-40 UNC

Protective Tube

1000.15

30

60 1200.1

Linear SERVO MOTOR

TYPE

S/N

O/N

(90)

YASKAWA ELECTRIC MADE IN JAPAN

W A N V
DATE

m/s ins.

The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W.

L1

L2

(L3) (16) (17)

Approx. Mass kg

50A170H 50A320
Hall Sensor Connector Specifications
9 6

170 315

144 (483) 288 (486)

8 14

6 11
Hall Sensor Output Signals
When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below.

Lead Specifications of Moving Coil

Pin Connector: 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1

Pin No. 1 2 3 4 5 6 7 8 9

Signal +5VDC Phase U Phase V Phase W 0V Not used Not used Not used Not used

If this cable is bent repetitively, the cable will disconnect. Phase U

Phase V

Phase W

Ground

(View from Top of Moving Coil) Vu

Name Phase U Phase V Phase W Ground

Color Black Green

Code U V W

Wire Size

Su

2 mm2 2 mm2

Inverse Power Vv ( V)
Vw

Sv

Sw

180

360

540

Electrical Angle ( )

199

Linear Servomotors

SGLTW (With T-type iron core)

Linear

External Dimensions

Units: mm

3Moving Coil: SGLTW-50DHD (With a connector by Interconnectron GmbH)


N-M6 Screws, Depth 12 (85) 81 62.5 12

200.1

(19.1)

(4.1)

Magnetic Way

30 10 20

L1 L2

(L3)

480.15

28

1000.15

800.05

60 1200.1

Linear SERVO MOTOR

TYPE

S/N YASKAWA ELECTRIC MADE IN JAPAN

O/N

W A

(90)

(23.3 :With Magnet Cover) (23.1 :Without Magnet Cover)

(Gap0.8 :With Magnet Cover) (Gap1.0 :Without Magnet Cover)

(19.1)

Nameplate

Hall Sensor Protective tube

The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W.

50050
Cable UL20276,AWG28

(4.2 Dia.)

50050 2-Screws #4-40 UNC

35 43 63 Min.

Moving Coil Model SGLTW-

L1

L2

(L3) (16) (17)

Approx. Mass kg

50D170HD 50D320HD
Hall Sensor Connector Specifications

170 315

144(483) 288(486)

8 14

6 11

9 5

6 1

Pin Connector: 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1

Pin No. 1 2 3 4 5 6 7 8 9

Signal

Linear Servomotor Connector Specifications 6 5 1

Hall Sensor Output Signals Pin No. 1 2 4 5 6 Signal Phase U Phase V Phase W Not used Not used Ground
When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below.

+5VDC
Phase U Phase V Phase W 0V Not used Not used Not used Not used

Extension : ARRA06AMRPN182 : 021.279.1020 Pin by Interconnectron GmbH The Mating Connector Plug : APRA06BFRDN170 Socket : 020.105.1020

Vu

Su

Inverse Power Vv (V)


Vw

Sv

Sw

180 360 540 Electrical Angle ( )

200

Linear Servomotors

N V
DATE

30

m/s ins.

External Dimensions

Units: mm

3Magnetic Way: SGLTM-50H


L1 --0..1 03 L2

9 -0 .2 0 54 42

(54)

19.10.1

(85) (0.8)

70

(4.1)

27 -0 .2 0 54

L2

(27) (54)
YASKAWA TYPE:
O/N S/N MADE IN JAPAN DATE

131 Max. (Preshipment)

91.51(Preshipment)

*900.3

(120)

112

C1

12
Moving Coil

Di

a.

Model Nameplate
YASKAWA TYPE:
O/N S/N MADE IN JAPAN

4.20.1

0.80.3

19.10.1

C1

62

(8)

2 N-7 Dia. Mounting Holes (See the sectional view for the depth.)

Gap Includes a 0.2 thick magnet cover. (4)

R1

R0 .5 Ma x.

M ax .

2 N-M6 Screws, Depth 8


Mount the magnetic way so that its corner surfaces are flush with the inner step.

42

45 -0.2
L1 -0.3
-0.1

54
L2 (54)

Mount the magnetic way so that its corner surfaces are flush with the inner step.

0 82 +0.6 *900.3

Assembly Dimensions

Notes: 1 Two magnetic ways for both ends of moving coil make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the moving coil is mounted on a machine. 2 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 3 Two magnetic ways in a set can be connected to each other. 4 The dimensions marked with an are the dimensions between the magnetic ways. Be sure to follow exactly the dimensions specified in the figure above. Mount magnetic ways as shown in Assembly Dimensions. The values with a R are the dimensions at preshipment. 5 Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use stainless steel screws.

Magnetic Way Model SGLTM-

L1 -0..1 -0 3

L2

Approx. Mass kg

50324H 50540H 50756H

324 540 756

270 (545) 486 (549) 702 (5413)

6 10 14

8 13 18

201

DATE

Spacers: Do not remove them until the moving coil is mounted on the machine.

Linear Servomotors

SGLTW (With T-type iron core)

Linear

Selecting Cables
1Cables Connections
SGDV SERVOPACK

eCable for Connecting Serial Converter Unit*

(Between SERVOPACK connector CN2 and serial converter unit) Serial Converter Unit (See page 221.)
qLinear Servomotor Main Circuit Cable

wCable for Connecting Linear Scales rCable for Connecting Hall Sensor

Linear Scale (To be provided by users)

(Between serial converter unit and hall sensor unit)

Linear Servomotor Hall Sensor Unit

*
1Cables

: A serial converter unit can be connected directly to an absolute linear scale.

Name

Applicable Linear Servomotor Model

Length

Order No.

Specifications

Details

SGLTW -20A -35A A

SGLTW -40B, -80B

Linear Servomotor Main Circuit Cables SGLTW -AD

SGLTW -35DHD, -50DHD

01 m 03 m 05 m 10 m 15 m 20 m 01 m 03 m 05 m 10 m 15 m 20 m 01 m 03 m 05 m 10 m 15 m 20 m 01 m 03 m 05 m 10 m 15 m 20 m

JZSP-CLN21-01-E JZSP-CLN21-03-E JZSP-CLN21-05-E JZSP-CLN21-10-E JZSP-CLN21-15-E JZSP-CLN21-20-E JZSP-CLN39-01-E JZSP-CLN39-03-E JZSP-CLN39-05-E JZSP-CLN39-10-E JZSP-CLN39-15-E JZSP-CLN39-20-E JZSP-CLN14-01-E JZSP-CLN14-03-E JZSP-CLN14-05-E JZSP-CLN14-10-E JZSP-CLN14-15-E JZSP-CLN14-20-E JZSP-CLN15-01-E JZSP-CLN15-03-E JZSP-CLN15-05-E JZSP-CLN15-10-E JZSP-CLN15-15-E JZSP-CLN15-20-E

SERVOPACK End

Linear Servomotor End

(1)

*1
SERVOPACK End Linear Servomotor End

(2)

*2
SERVOPACK End Linear Servomotor End

(3)

*3
SERVOPACK End Linear Servomotor End

(4)

*3
(contd)

*1:: Connector by Tyco Electronics AMP K.K. *2: MS connectorInterconnectron GmbH *3 Connector by

202

Linear Servomotors

Selecting Cables
Name Applicable Linear Servomotor Model Length Order No. Specifications
Serial Converter Unit End

Details

Cables for Connecting Linear Scales*

All models

Cables for Connecting Serial Converter Units

All models

Cables for Connecting Hall Sensors

All models

01 m 03 m 05 m 10 m 15 m 01 m 03 m 05 m 10 m 15 m 20 m 01 m 03 m 05 m 10 m 15 m

JZSP-CLL00-01-E JZSP-CLL00-03-E JZSP-CLL00-05-E JZSP-CLL00-10-E JZSP-CLL00-15-E JZSP-CLP70-01-E JZSP-CLP70-03-E JZSP-CLP70-05-E JZSP-CLP70-10-E JZSP-CLP70-15-E JZSP-CLP70-20-E JZSP-CLL10-01-E JZSP-CLL10-03-E JZSP-CLL10-05-E JZSP-CLL10-10-E JZSP-CLL10-15-E

Linear Scale End

(5)

SERVOPACK End

Serial Converter Unit End

(6)

Serial Converter Unit End

Hall Sensor Unit End

(7)

*: When using serial converter unit JZDP-G00--E, the maximum cable length should be 3 m.
(1) Linear Servomotor Main Circuit Cables: JZSP-CLN21--E
SERVOPACK End Linear Servomotor End L Heat-shrinkable Tube Finished Diameter 11.9 Dia. U V W G

Wiring Specifications
SERVOPACK-end Leads Wire Color Red Signal Phase U Phase V Phase W FG Linear Servomotor-end Connector Signal Phase U Phase V Phase W FG Pin No.

8.5 mm

50 mm

35 mm

1 2 3 4

4 27.7

White Blue

M4 Crimped Terminal

Wire Markers

Cable (UL2570) AWG14/4C Cap : 350780-1 (4-pole) Socket: 350537-3 (Chained) by Tyco Electronics AMP K.K.

1 7.6 14.7

Green/yellow

(2) Linear Servomotor Main Circuit Cables: JZSP-CLN39--E A connector is not provided on the linear-servomotor end of the main circuit cable (JZSP-CLN39--E). This connector is provided by the customer. Wiring Specifications
50 mm 8.5 mm
Heat-shrinkable Tube U V M4 Crimped Terminal W G Wire Markers Cable (UL2570) AWG11/4C Finished Diameter 15.8 Dia. Wire Color Red White Blue Green/yellow Signal Phase U Phase V Phase W FG L

35 mm

2 mm
SERVOPACK-end Leads Linear Servomotor-end Connector Signal Phase U Phase V Phase W FG Pin No. A B C D

203

Linear Servomotors

SGLTW (With T-type iron core)

Linear

Selecting Cables
1JZSP-CLN39 Cable Connectors

Applicable Linear Servomotor Model SGLTW-40-80

Attached Connector MS3102A22-22P

Plug Straight MS3106B22-22S or MS3106A22-22A Straight L-shaped MS3108B22-22S

Cable Clamp

(a) MS3106B: Straight Plug with Front-shell and Back-shell Separated


L J W

Units: mm
Shell Size
Y

A Q

Joint Screw A

Joint Length J0.12

Max. Overall Length L

Outer Diameter of Nut


0 Q +-0.38

Cable Clamp Mounting Screw V

Min. Effective Screw Length W

Max. Width Y

22

1 3/8 -18UNEF

18.26

55.57

40.48

1 3/16 -18UNEF

9.53

50

(b) MS3106A: Straight Plug with Solid Shell Units: mm


L J A Q N W

Shell Size

Joint Screw A

Joint Length J0.12

Overall Length L0.5

Outer Diameter of Nut


0 Q +-0.38

Outer Diameter N0.5

Cable Clamp Mounting Screw V

Min. Effective Screw Length W

22
V

1 3/8 -18UNEF

18.26

54

40.48

34.99

1 3/1618UNEF

9.53

(c) MS3108B: L-shaped Plug with Front-shell and Back-shell Separated


L J A Q R

Units: mm
Shell Size
W U

Joint Screw A

Joint Length J0.12

Max. Overall Length L

Outer R U Diameter of Nut


0 Q +-0.38

Cable Clamp Mounting

Min. Effective Screw

0.5

0.5

Screw V Length W

22

1 3/8 -18UNEF

18.26

76.98

24.1

33.3

40.48

1 3/16 -18UNEF

9.53

(d) MS3057-12A: Cable Clamp with Rubber Bushing


A

Units: mm
J Dia. (Bushing Inner Diameter) E Dia. (Cable Clamp Inner Diameter) H (Movable Range on One Side)

1.6 V
Q

Applicable Shell Size

Overall Length A0.7

Effective Screw Length C E G0.7 H J

Mounting Screw V 1 3/16 -18UNEF

Outer Rubber Diameter Bushing Q0.7 Type AN3420 -12

20,22

23.8

10.3

19.0

37.3

4.0

15.9

35.0

204

Linear Servomotors

MS3057-12A

Selecting Cables
(3) Linear Servomotor Main Circuit Cables: JZSP-CLN14--E Wiring Specifications
SERVOPACK End 8.5 mm 50 mm L Heat-shrinkable Tube U V SERVOPACK End M4 Crimped Terminal W G Cable (UL2464) AWG18/4C SPUC06KFSDN236 by Interconnectron GmbH Finished Diameter 6.8 Dia. Linear Servomotor End 51 mm
SERVOPACK-end Leads Wire Color Signal Black (White 1) Phase U Black (White 2) Phase V Linear Servomotor-end Connector Signal Pin No. Phase U Phase V Phase W

28 Dia. 1
1 2 6
P

1 2 3 4 5 6

5 3 4

6 Black (White 3) Phase W 5 FG Green / yellow 4

2 3

FG

Wire Markers

(4) Linear Servomotor Main Circuit Cables: JZSP-CLN15--E Wiring Specifications


SERVOPACK End Linear Servomotor End
SERVOPACK-end Leads

8.5 mm

50 mm

L Heat-shrinkable Tube Finished Diameter 11.9 Dia.

61 mm

27.2 Dia. 5
5 4 6 1 2

Wire Color Signal Red Phase U

Linear Servomotor-end Connector Signal Pin No. Phase U Phase V FG Phase W

1 2 4 5 6

M4 Crimped Terminal

U V W G

1 2

White Black Green / yellow

Phase V Phase W FG

4
Cable (UL2570) AWG14/4C APRA06BFRDN170 by Interconnectron GmbH

Wire Markers

(5) Cables for Connecting Linear Scales: JZSP-CLL00--E


Serial Converter unit End

9
Connector 17JE-23150-02 (D8C) (15-pinsoldered) by DDK Ltd.

L Finished Diameter 9.5 Dia.

Linear Scale End

15

Cable (UL2584) (AWG22 3C + AWG25 6P)

9 Connector 17JE-13150-02 (D8C) (With stud) (15-pinsoldered) 15 by DDK Ltd.

Wiring Specifications
Serial Converter Unit End Pin No. Signal /Cos V1- 1 /Sin V2- 2 Ref V0+ 3 +5V 4 5Vs 5 BID 6 7 Vx 8 Vq Cos V1+ 9 Sin V2+ 10 /Ref V0+ 11 0V 12 0Vs 13 DIR 14 15 Inner Case Shield Linear Scale End Pin No. Signal /Cos V1- 1 /Sin V2- 2 Ref V0+ 3 +5V 4 5Vs 5 BID 6 7 Vx 8 Vq Cos V1+ 9 Sin V2+ 10 /Ref V0- 11 0V 12 0Vs 13 DIR 14 15 Inner Case Shield

205

Linear Servomotors

SGLTW (With T-type iron core)

Linear

Selecting Cables
(6) Cables for Connecting Serial Converter Units: JZSP-CLP70--E
SERVOPACK End L Finished Diameter 6.8 Dia. Serial Converter Unit End

Connector: 55100-0670 (6-pin, soldered) by Molex Japan Co., Ltd.

Cable (UL20276) (AWG222C+AWG242P)

Connector: 17JE-23090-02 (D8C) (9-pin, soldered) by DDK Ltd.

Wiring Specifications
SERVOPACK End Signal Wire Color Pin No. 1 PG5V Red 2 PG0V Black 3 4 5 PS Light blue 6 /PS Light blue/white Shield Shell Serial Converter Unit End Pin No. Signal Wire Color +5V 1 Red 5 0V Black 3 4 2 Phase S output Light blue 6 Phase /S output Light blue/white Case Shield 7 8 9

(7) Cables for Connecting Hall Sensors: JZSP-CLL10--E


Serial Converter Unit End Hall Sensor End L Finished Diameter 6.8 Dia. Cable (UL20276) (AWG222C+AWG242P)

6 Connector: 17JE-23090-02 (D8C) (9-pin, soldered) 9 by DDK Ltd.

6 Connector: 17JE-13090-02 (D8C) (With stud) 9 (9-pin, soldered) by DDK Ltd.

Wiring Specifications
Serial Converter Unit End Signal Pin No. +5V 1 2 Phase U input 3 Phase V input 4 Phase W input 5 0V 6 7 8 9 Case Shield Hall Sensor End Signal Pin No. +5V 1 2 Phase U input 3 Phase V input 4 Phase W input 5 0V 6 7 8 9 Case Shield

206

Linear Servomotors

Linear Servomotors

SGLC
(Cylinder Type)

Model Designations
Combination of Moving Coil and Magnetic Way

S G

C - D16 A 085 A
1st digit 2nd+3rd+ 5th 4th digits digit 6th+7th+ 8th digits 9th digit
6th+7th+8th digits Length of Moving Coil
Code

P - 750 A
10th digit 11th+12th+ 14th 13th digits digit

Linear Series Linear Servomotor

1st digit Servomotor Model


Code C Specifications Cylinder type

9th digit Design Revision Order of Moving Coil


AB

2nd+3rd+4th digits Outer Diameter of Magnetic Way


Code D16 D20 D25 D32 Specifications 16 mm 20 mm 25 mm 32 mm

5th digit Voltage


Code A Specifications 200 VAC

085 100 115 125 135 145 165 170 215 225 285

Specifications 85 mm 100 mm 115 mm 125 mm 135 mm 145 mm 165 mm 170 mm 215 mm 225 mm 285 mm

Outer Diameter Code of Magnetic Way D16 D20 D16 D25 D20 D16 D32 D20, D25 D25 D32 D32

10th digit Hall Sensor


Code P Specifications With hall sensor (all models)

11th+12th+13th digits Length of Magnetic Way (See the next page) 14th digit Design Revision Order of Magnetic Way
AB

Moving Coil

Magnetic Way

SGL C W
Linear Series Linear Linear Servomotor
1st digit 2nd digit

D16 A 085 A P
3rd+4th+ 5th digits 6th digit 7th+8th+ 9th digits 10th digit 11th digit

SGL C M
Linear Series P : Linear Servomotor

1st digit 2nd digit

D16 750 A
3rd+4th+ 5th digits 6th+7th+ 8th digits 9th digit

1st digit Servomotor Model 3rd+4th+5th digits Outer Diameter of Magnetic Way (Same as above combination.) (Same as above combination.)
2nd digit Moving Coil/ Magnetic Way Code : W Specifications
W Moving Coil

10th digit Design Revision Order AB A, B

1st digit Servomotor Model 3rd+4th+5th digits Outer Diameter of Magnetic Way (Same as above combination.) (Same as above combination.) 2nd digit Moving Coil/ Magnetic Way
Code M Specifications Magnetic Way

9th digit Design Revision Order


AB

6th digit Voltage (Same as above combination.)

11th digit Hall Sensor

Code P Specifications With hall sensor (all models) 200V A : AC

6th+7th+8th digits Length of Magnetic Way (See the next page)

7th+8th+9th digits Length of Moving Coil ( mm D16 : 16mm D20 : 20Same as above combination.) D25 : 25mm D32 : 32mm

207

Note: Order the moving coil and magnetic way as a set. Contact your Yaskawa representative before purchasing them separately.

SGLGW( )
Features
Both coil assemblies supported, easy switching from ball screws. Compared to ball screw systems, high-speed and high-precision positioning greatly reduces tact time. Unlike ball screws, no contact with machines, no lubrication oil, easy maintenance.

Application Examples
Semiconductor equipment Electronic parts assembly Food packaging machines Metal processing machines
Linear Servomotors
r e

General handling machines

Magnetic Way Lengths


Magnetic Way Dimensions mm Moving Coil Model SGLCWStandard Specifications Code= mm
w e r t

Special Orders Length of Magnetic Way mm Min. to Max.


q w e r

300 085AP 115AP 145AP

D16A

510

750

350 100AP 135AP 170AP

D20A

590

870

450 125AP 170AP 215AP

D25A

750

1110

600 165AP 225AP 285AP

D32A

1020

1500

85 115 145 85 115 145 85 115 145 100 135 170 100 135 170 100 135 170 125 170 215 125 170 215 125 170 215 165 225 285 165 225 285 165 225 285

30

37.5

45

52.5

35

45

50

60

45

57.5

60

72.5

60

75

90

105

140 110 80 320 290 260 560 530 500 160 125 90 370 335 300 650 615 580 210 165 120 480 435 390 840 795 750 285 225 165 645 585 525 1125 1065 1005

240 to 420 (30 mm increments)

Length of Magnetic Way Length of Moving Coil Position of Support Section Range Outside the Guaranteed Force t Effective Strokes

480 to 750 (30 mm increments)

Range Within the Guaranteed Force

280 to 490 (35 mm increments)

w q

555 to 870 (35 mm increments)

360 to 630 (45 mm increments)

Note: Range outside the guaranteed force: If any part of the moving coil is located within this range, characteristics indicated in Force and Speed Characteristics on page 210 cannot be satisfied.

< Calculating Length of Magnetic Way >


705 to 1110 (45 mm increments)
wLength of Moving Coil (mm) rRange Outside the

Guaranteed Force (mm)


tEffective Strokes (mm)

480 to 840 (60 mm increments)

Formula

960 to 1500 (60 mm increments)

Length of Magnetic Way


( + 2 + mm)

208

Ratings and Specifications


Time Rating: Continuous Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C Excitation: Permanent magnet
Linear Servomotor Model SGLCPeak Speed*3 Rated Force*1 Rated Current*1 Instantaneous Peak Force*1 Instantaneous Peak Current*1 Moving Coil Mass Force Constant BEMF Constant Motor Constant Electrical Time Constant Mechanical Time Constant Thermal Resistance With Heat Sink Thermal Resistance Without Heat Sink m/s N Arms N Arms kg N / Arms V / (m/s) N/Q w ms ms K/W K/W D16A

Withstand Voltage: 1500 VAC for one minute Enclosure: Self-cooled Ambient Humidity: 20% to 80% (no condensation) Allowable Winding Temperature: 130C (Thermal class B)
D20A D25A D32A

085A 4. 0 17 0.59 60 2.07 0. 3 31.2 10.4 4. 8 0.18 13.1 3.35 6.79 0


R70A

115A 4. 0 25 0.53 90 2.07 0. 4 46.8 15.6 5. 9 0.18 11.7 2. 9 5.24 0


R70A

145A 4.0 34 0.66 120 2.52 0.5 51.3 17.1 6.7 0.17 11.3 1.64 4.26 0
R90A

100A 4.0 30 0.98 150 4.90 0.6 33.0 11.0 7.5 0.38 10.70 1.66 4.35 0 1R 6A

135A 4.0 45 0.98 225 4.90 0.8 49.5 16.5 9.2 0.32 9.50 1.45 3.38 0 1R 6A

170A 4.0 60 1.19 300 5.95 1.0 54.3 18.1 10.4 0.41 9.30 1.29 2.76 0 2R8A

125A 4.0 70 1.42 280 5.68 1.0 53.1 17.7 10.0 0.18 10.1 1.00 2.99 0 1R6A

170A 4.0 105 1.75 420 6.98 1.4 64.8 21.6 12.4 0.59 9.2 0.68 2.29 0 2R8A

215A 4.0 140 3.49 560 12.96 1.8 43.2 14.4 15.4 0.65 7.6 0.61 1.81 0 5R5A

165A 4. 0 90 1.57 420 7.32 1. 8 61.8 20.6 16.2 0.76 6. 9 0.77 1.87 0 2R8A

225A 4.0 135 2.79 630 13.01 2.5 52.2 17.4 20.0 1.18 6.3 0.53 1.43 0 5R5A

285A 4.0 180 2.79 840 13.01 3.2 69.6 23.2 23.0 1.58 6.0 0.49 1.16 0 5R5A

N Magnetic Attraction*2 Applicable SERVOPACK SGDV-

These items and Characteristics are the values at a motor winding temperature of 100C during operation in combination with a *1: SERVOPACK. TheForce and SpeedC. others are at 20 the moving *2: Logical magnetic attraction acting betweengenerated. coil and the magnetic way. Because of the gap imbalance created after installing the moving coil and the magnetic way, a magnetic attraction is *3: The rated speed during operation by speed control with an analog voltage reference must be set to 1.5 m/s. Note: These specifications show the values under the cooling conditions when a heat sink (aluminum board) listed in the following table is mounted on the moving coil. Heat Sink Size 100 mm 200 mm 12 mm : SGLC-D16A085A, -D16A115A 200 mm 300 mm 12 mm : SGLC-D16A145A, -D20A100A, -D20A135A, -D20A170A 300 mm 400 mm 12 mm : SGLC-D25A125A, -D32A165A 400 mm 500 mm 12 mm : SGLC-D25A170A, -D25A215A, -D32A225A, -D32A285A

209

Linear Servomotors

SGLC (Cylinder Type)

Linear

Ratings and Specifications


1Force
5.0 4.0 3.0 2.0 1.0 0.0
A B

and Speed Characteristics


Motor Speed (m/s)

: Continuous Duty Zone B : Intermittent Duty Zone


5.0 4.0 3.0 2.0 1.0 0.0
A B

SGLC-D16A085AP

Motor Speed (m/s)

4.0 3.0 2.0 1.0 0.0


A B

20

Motor Speed (m/s)

Motor Speed (m/s)

4.0 3.0 2.0 1.0 0.0 A 0 50 100 150 Force (N) 200
B

4.0 3.0 2.0 1.0 0.0 A 0 100 200 Force (N) 300
B

Motor Speed (m/s)

5.0

SGLC-D20A100AP

5.0

SGLC-D20A135AP

5.0 4.0 3.0 2.0 1.0 0.0

SGLC-D20A170AP

100 200 300 Force (N)

400

Motor Speed (m/s)

Motor Speed (m/s)

4 .0 3 .0 2 .0 1 .0 0 .0
A B

4.0 3.0 2.0 1.0


B

Motor Speed (m/s)

5 .0

SGLC-D25A125AP

5.0

SGLC-D25A170AP
5.0 4.0 3.0

SGLC-D25A215AP

2.0 1.0 0.0


A

100 200 Force (N)

300

0.0 A 0 100 200 300 400 500 Force (N)

200 400 Force (N)

600

Motor Speed (m/s)

Motor Speed (m/s)

4 .0 3 .0 2 .0 1 .0 0 .0
A B

4.0 3.0 2.0 1.0 0.0


A B

Motor Speed (m/s)

5 .0

SGLC-D32A165AP

5.0

SGLC-D32A225AP

5.0 4.0 3.0 2.0 1.0 0.0

SGLC-D32A285AP

B A

100 200 300 400 500 Force (N)

200 400 600 Force (N)

800

250 500 750 1000 Force (N)

Notes: 1 The characteristics of the intermittent duty zone differ depending on the supply voltages. The solid, dotted, and dashed-dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations: The solid line: With a three-phase 200 V SERVOPACK The dotted line: With a single-phase 200 V SERVOPACK The dashed-dotted line: With a single-phase 100 V SERVOPACK SGLC-D16A085AP and SGLC-20A100AP servomotors combined with single-phase 200 V SERVOPACKs have the same characteristics as those combined with three-phase ones. 2 When the effective force is within the rated force, the servomotor can be used within the intermittent duty zone.

1Mechanical Specifications of Linear Servomotors


(1) Impact Resistance Impact acceleration: 98 m/s2 Impact occurrences: twice (2) Vibration Resistance The linear servomotors will withstand the following vibration acceleration in three directions: Vertical, side to side, and front to back. Vibration acceleration: Moving Coil24.5 m/s2 Magnetic Way24.5 m/s2 in axis direction 4.9 m/s2 in vertically and horizontally

210

Linear Servomotors

40 60 Force (N)

80

25

50 75 Force (N)

100

Motor Speed (m/s)

5.0

SGLC-D16A115AP

SGLC-D16A145AP

50 100 Force (N)

150

External Dimensions
(1) SGLC-D16

Units: mm

3Moving Coil: SGLCW-D16AAP (With a connector by Tyco Electronics AMP K.K.)


Hall Sensor-end Connector Servomotor-end Connector

4-M3 Mounting Screw, Depth 5 (Outer Frame Material: Aluminum Alloy)

2-Screw #4-40 UNC


Cable UL20276, AWG26 Moving Coil Nameplate (16 Dia.: Outer Diameter of Magnetic Way)

220.2

5 12 10

L20.2 L10.3 The moving coil moves in the direction indicated by the arrow when current flows in the order of phases U, V, and W.

5.3 Dia. 50050 50050


Reco Radiu mmende s: R1 d Ben ding 5

320.3

340.3 (18)

Re Ra comm diu en s: R de 18 d B Cable end UL2517, AWG25 ing

5 Dia.

26

Moving Coil Model SGLCWD16A085AP D16A115AP D16A145AP

) Dia ter .1 iame 0 18 llow D (Ho

L1

L2

Approx. Mass* kg

85 115 145

75 105 135

0.3 0.4 0.5

: The values indicate the mass of moving coil with a hall sensor unit.

Hall Sensor Connector Specifications


9 6

Pin Connector: 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector


Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1

Pin No. 1 2 3 4 5 6 7 8 9

Name +5V (Power supply) Phase U Phase V Phase W 0V (Power supply) Not used Not used Not used Not used

Linear Servomotor Connector Specifications

Pin No.

Name Phase U Phase V Phase W FG

Wire Color Red White Blue Green

Plug: 350779-1 Pin : 350690-3 or 350561-3 (No.1 to 3) 770210-1 (No.4) by Tyco Electronics AMP K.K. The Mating Connector
Cap: 350780-1 Socket: 350925-1 or 770673-1

1 2 3 4

Hall Sensor Output Signals


When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below.

Vu Inverse Power Vv (V) Vw

Su

Sv

Sw

180 360 Electrical Angle ( )

540

211

Linear Servomotors

SGLC (Cylinder Type)

Linear

External Dimensions

Units: mm

3Magnetic Way: SGLCM-D16A


Warning Label Thickness: 0.1 L6 (Force Assurance Range) (L7)
Moving Coil

Reference Side (Mounting Side) (32) Moving Coil (18) (34) L5

Magnetic Way Nameplate Thickness: 0.1

160.1 Dia.

5
(Length of Weld)

(Length of Support Section)

(1: Gap)

L4
ia.) ( 18 D

(Length of Support Section)

L4

L2 L3 (Position of Support Section) (Section where moving coil can drive) L1

(L2) (Position of Support Section)

(5) (Length of Weld)

Notes: 1 The magnetic way will become deformed if a magnetic attraction with the moving coil is generated. Take measures over the entire driving range to prevent any interference between the magnetic way and the moving coil after installation. 2 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor.

Magnetic Way Model SGLCMD16240A D16270A D16300A D16330A D16360A D16390A D16420A D16480A D16510A D16540A D16570A D16600A D16630A D16660A D16690A D16720A D16750A

L1

L2

L3

L4

L5

L6

L7

Approx. Mass kg

Remarks Standard

2401.6 2701.6 3001.6 3301.6 3601.6 3901.6 4201.6 4802.5 5102.5 5402.5 5702.5 6002.5 6302.5 6602.5 6902.5 7202.5 7503.0

30 30 30 30 30 30 30 45 45 45 45 45 45 45 45 45 45

180 210 240 270 300 330 360 390 420 450 480 510 540 570 600 630 660

25 25 25 25 25 25 25 40 40 40 40 40 40 40 40 40 40

37.50.3 37.50.3 37.50.3 37.50.3 37.50.3 37.50.3 37.50.3 52.50.3 52.50.3 52.50.3 52.50.3 52.50.3 52.50.3 52.50.3 52.50.3 52.50.3 52.50.3

1651.2 1951.2 2251.2 2551.2 2851.2 3151.2 3451.2 3752.1 4052.1 4352.1 4652.1 4952.1 5252.1 5552.1 5852.1 6152.1 6452.5

37.5 37.5 37.5 37.5 37.5 37.5 37.5 52.5 52.5 52.5 52.5 52.5 52.5 52.5 52.5 52.5 52.5

0.38 0.43 0.48 0.53 0.58 0.63 0.68 0.75 0.80 0.85 0.90 0.95 1.00 1.05 1.10 1.15 1.20

Standard

Standard

212

Linear Servomotors

External Dimensions
(2) SGLC-D20

Units: mm

3Moving Coil: SGLCW-D20AAP (With a connector by Tyco Electronics AMP K.K.)


Hall Sensor-end Connector Servomotor-end Connector

4-M4 Mounting Screw, Depth 7 (Outer Frame Material: Aluminum Alloy)

2-Screw #4-40 UNC


Cable UL20276, AWG26

300.2

5.3 Dia. 50050 50050

Moving Coil Nameplate (20 Dia.: Outer Diameter of Magnetic Way)

5 15

L20.2 L10.3 The moving coil moves in the direction indicated by the arrow when current flows in the order of phases U, V, and W.

420.3 440.3 (23)

Rec Bend omme ing R nde adiu d s: R 1 5

Re Ra comm diu en s: R de 18 d Be Cable ndi ng UL2517, AWG25

5 Dia.

34

12 11

Moving Coil Model SGLCWD20A100AP D20A135AP D20A170AP

. ) Dia eter 0.1 am .5 Di 22 llow (Ho

L1

L2

Approx. Mass* kg

100 135 170

90 125 160

0.6 0.8 1.0

: The values indicate the mass of moving coil with a hall sensor unit.

Hall Sensor Connector Specifications


9 6

Pin Connector: 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector


Socket Connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1

Pin No. 1 2 3 4 5 6 7 8 9

Name +5V (Power supply) Phase U Phase V Phase W 0V (Power supply) Not used Not used Not used Not used

Linear Servomotor Connector Specifications

Pin No.

Name Phase U Phase V Phase W FG

Wire Color Red White Blue Green

Plug: 350779-1 Pin : 350690-3 or 350561-3 (No.1 to 3) 770210-1 (No.4) by Tyco Electronics AMP K.K. The Mating Connector
Cap: 350780-1 Socket: 350925-1 or 770673-1

1 2 3 4

Hall Sensor Output Signals


When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below.

Vu Inverse Power Vv (V) Vw

Su

Sv

Sw

180 360 Electrical Angle ( )

540

213

Linear Servomotors

SGLC (Cylinder Type)

Linear

External Dimensions

Units: mm

3Magnetic Way: SGLCM-D20A


Warning Label Thickness: 0.1 L6 (Force Assurance Range) Moving
Coil

Reference Side (Mounting Side) (42) Moving Coil (23) L5

Magnetic Way Nameplate Thickness: 0.1

(L7)

(44)

200.1 Dia.

L4

5 (Length of Weld)

(Length of Support Section)

L4 (5) (Length (L2) of Weld) (Position of Support Section)


(Length of Support Section)

L2 (Position of Support Section)

L3 (Section where moving coil can drive) L1

Notes: 1 The magnetic way will become deformed if a magnetic attraction with the moving coil is generated. Take measures over the entire driving range to prevent any interference between the magnetic way and the moving coil after installation. 2 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor.

Magnetic Way Model SGLCMD20280A D20315A D20350A D20385A D20420A D20455A D20490A D20555A D20590A D20625A D20660A D20695A D20730A D20765A D20800A D20835A D20870A

L1

L2

L3

L4

L5

L6

L7

Approx. Mass kg

Remarks Standard

2801.6 3151.6 3501.6 3851.6 4201.6 4551.6 4901.6 5552.5 5902.5 6252.5 6602.5 6952.5 7302.5 7652.5 8002.5 8352.5 8703.0

35 35 35 35 35 35 35 50 50 50 50 50 50 50 50 50 50

210 245 280 315 350 385 420 455 490 525 560 595 630 665 700 735 770

30 30 30 30 30 30 30 45 45 45 45 45 45 45 45 45 45

450.3 450.3 450.3 450.3 450.3 450.3 450.3 600.3 600.3 600.3 600.3 600.3 600.3 600.3 600.3 600.3 600.3

1901.2 2251.2 2601.2 2951.2 3301.2 3651.2 4001.2 4352.1 4702.1 5052.1 5402.1 5752.1 6102.1 6452.1 6802.1 7152.1 7502.5

45 45 45 45 45 45 45 60 60 60 60 60 60 60 60 60 60

0.68 0.77 0.86 0.95 1.00 1.10 1.20 1.35 1.45 1.55 1.60 1.70 1.80 1.90 2.00 2.10 2.20

Standard

Standard

214

Linear Servomotors

(1.25: Gap)

5D ( 22.
) ia.

External Dimensions
(3) SGLC-D25

Units: mm

3Moving Coil: SGLCW-D25AAP (With a connector by Tyco Electronics AMP K.K.)


4-M5 Mounting Screw, Depth 9 (Outer Frame Material: Aluminum Alloy) 380.2 6
Hall Sensor-end Connector Servomotor-end Connector

50050

Cable UL20276, AWG26

Moving Coil Nameplate

(25 Dia.: Outer Diameter of Magnetic Way)

2-Screw #4-40 UNC

7.5

L20.2 L10.3 The moving coil moves in the direction indicated by the arrow when current flows in the order of phases U, V, and W.

5.3 Dia. 50050

500.3

15

540.3 (29)

6.1 Dia.

Cable UL2517, AWG19

43

Rec Rad ommen ius: ded R15 Ben ding

Rec Rad ommen ius: ded R20 Ben din

15 12

Moving Coil Model SGLCWD25A125AP D25A170AP D25A215AP

*: The values indicate the mass of moving coil with a hall sensor unit.
Hall Sensor Connector Specifications
9 6

) . er Dia et .1 Diam 0 28 llow (Ho

L1

L2

Approx. Mass* kg

125 170 215

110 153 200

1.0 1.4 1.8

Pin Connector: 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector


Socket connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1

Pin No. 1 2 3 4 5 6 7 8 9

Name +5V (Power supply) Phase U Phase V Phase W 0V (Power supply) Not used Not used Not used Not used

Linear Servomotor Connector Specifications

Pin No.

Name Phase U Phase V Phase W FG

Wire Color Red White Blue Green

Plug: 350779-1 Pin: (No. 1 to 3) 350561-3 or 350690-3 (No. 4) 350654-1 or 350669-1 by Tyco Electronics AMP K.K. The Mating Connector
Cap : 350780-1 Socket: 350925-1 or 770673-1

1 2 3 4

Hall Sensor Output Signals


When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below.

Vu

Su

Inverse Power (V)

Vv

Sv

Vw

Sw

180 360 540 Electrical Angle ( )

215

Linear Servomotors

SGLC (Cylinder Type)

Linear

External Dimensions

Units: mm

3Magnetic Way: SGLCM-D25A


Warning Label Thickness: 0.1 L6 (Force Assurance Range) Moving
Coil

(50)

(29) (54)

250.1 Dia.

Reference Side (Mounting Side) Moving Coil

L5

Magnetic Way Nameplate Thickness: 0.1

(L7)

8
(Length of Weld)

(Length of Support Section)

L4

L2 (Position of Support Section)

L3 (Section where moving coil can drive) L1

(8) (Length (L2) of Weld) (Position of ) Support Section

(Length of Support Section)

L4

Notes: 1 The magnetic way will become deformed if a magnetic attraction with the moving coil is generated. Take measures over the entire driving range to prevent any interference between the magnetic way and the moving coil after installation. 2 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor.

Magnetic Way Model SGLCMD25360A D25405A D25450A D25495A D25540A D25585A D25630A D25705A D25750A D25795A D25840A D25885A D25930A D25975A D251020A D251065A D251110A

L1

L2

L3

L4

L5

L6

L7

Approx. Mass kg

Remarks Standard

3601.6 4051.6 4501.6 4951.6 5401.6 5851.6 6301.6 7052.5 7502.5 7952.5 8402.5 8852.5 9302.5 9752.5 10202.5 10652.5 11103.0

45 45 45 45 45 45 45 60 60 60 60 60 60 60 60 60 60

270 315 360 405 450 495 540 585 630 675 720 765 810 855 900 945 990

37 37 37 37 37 37 37 52 52 52 52 52 52 52 52 52 52

57.50.3 57.50.3 57.50.3 57.50.3 57.50.3 57.50.3 57.50.3 72.50.3 72.50.3 72.50.3 72.50.3 72.50.3 72.50.3 72.50.3 72.50.3 72.50.3 72.50.3

2451.2 2901.2 3351.2 3801.2 4251.2 4701.2 5151.2 5602.1 6052.1 6502.1 6952.1 7402.1 7852.1 8302.1 8752.1 9202.1 9652.5

57.5 57.5 57.5 57.5 57.5 57.5 57.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5

1.50 1.65 1.80 1.95 2.10 2.25 2.40 2.85 3.00 3.15 3.30 3.45 3.60 3.75 3.90 4.05 4.20

Standard

Standard

216

Linear Servomotors

(1.5: Gap)

( 28 .) Dia

External Dimensions
(4) SGLC-D32

Units: mm

3Moving Coil: SGLCW-D32AAP (With a connector by Tyco Electronics AMP K.K.)


N-M6 Mounting Screw, Depth 10
(Outer Frame Material: Aluminum Alloy)

Added only to Model SGLCW-D32A285AP

2-Screw #4-40 UNC


Cable UL20276, AWG26

50050

(32 Dia.: Outer Diameter 51 of Magnetic Way) 15

5.3 Dia. 50050

Moving Coil Nameplate

450.2 10 19

Hall Sensor-end Connector

Servomotor-end Connector

7.5

L20.2 L10.3 The moving coil moves in the direction indicated by the arrow when current flows in the order of phases U, V, and W.

600.3 640.3 (34)

Rec Ben omm R15 ding R ended adiu s:

Cable UL2517, AWG19

Re Ra comm diu en s: R de 20 d Be ndi ng

6.1 Dia.

15

Moving Coil Model SGLCWD32A165AP D32A225AP D32A285AP

*: The values indicate the mass of moving coil with a hall sensor unit.
Hall Sensor Connector Specifications
9 6

.5 35 ollow (H

D .1 ) ia. eter m

Dia

L1

L2

Approx. Mass* kg

165 225 285

145 205 265

4 4 6

1.8 2.5 3.2

Pin Connector: 17JE-23090-02 (D8C) by DDK Ltd. The Mating Connector


Socket connector: 17JE-13090-02 (D8C) Stud: 17L-002C or 17L-002C1

Pin No. 1 2 3 4 5 6 7 8 9

Name +5V (Power supply) Phase U Phase V Phase W 0V (Power supply) Not used Not used Not used Not used

Linear Servomotor Connector Specifications

Pin No.

Name Phase U Phase V Phase W FG

Wire Color Red White Blue Green

Plug: 350779-1 Pin: (No. 1 to 3) 350561-3 or 350690-3 (No. 4) 350654-1 or 350669-1 by Tyco Electronics AMP K.K. The Mating Connector
Cap: 350780-1 Socket: 350925-1 or 770673-1

1 2 3 4

Hall Sensor Output Signals


When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below.

Vu

Su

Inverse Power Vv (V) Vw

Sv

Sw

180

360

540

Electrical Angle ( )

217

Linear Servomotors

SGLC (Cylinder Type)

Linear

External Dimensions

Units: mm

3Magnetic Way: SGLCM-D32A


Warning Label Magnetic Way Thickness: 0.1 Nameplate Thickness: 0.1 L6 (Force Assurance Range) Moving Coil

(60)

Reference Side (Mounting Side) Moving Coil (34)

L5

(L7)

(1.75: Gap) 320.1 Dia.

(64)

L4

L4 (8) (Length (L2) of Weld) (Position of Support Section)


(Length of Support Section)

(Length of Support Section)

(Length L2 of Weld) (Position of Support Section)

L3 (Section where moving coil can drive) L1

Notes: 1 The magnetic way will become deformed if a magnetic attraction with the moving coil is generated. Take measures over the entire driving range to prevent any interference between the magnetic way and the moving coil after installation. 2 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor.

Magnetic Way Model SGLCMD32480A D32540A D32600A D32660A D32720A D32780A D32840A D32960A D321020A D321080A D321140A D321200A D321260A D321320A D321380A D321440A D321500A

L1

L2

L3

L4

L5

L6

L7

Approx. Mass kg

Remarks Standard

4801.6 5401.6 6001.6 6601.6 7201.6 7801.6 8401.6 9602.5 10202.5 10802.5 11402.5 12002.5 12602.5 13202.5 13802.5 14402.5 15003.0

60 60 60 60 60 60 60 90 90 90 90 90 90 90 90 90 90

360 420 480 540 600 660 720 780 840 900 960 1020 1080 1140 1200 1260 1320

52 52 52 52 52 52 52 82 82 82 82 82 82 82 82 82 82

750.3 750.3 750.3 750.3 750.3 750.3 750.3 1050.3 1050.3 1050.3 1050.3 1050.3 1050.3 1050.3 1050.3 1050.3 1050.3

3301.2 3901.2 4501.2 5101.2 5701.2 6301.2 6901.2 7502.1 8102.1 8702.1 9302.1 9902.1 10502.1 11102.1 11702.1 12302.1 12902.5

75 75 75 75 75 75 75 105 105 105 105 105 105 105 105 105 105

3.0 3.4 3.8 4.2 4.6 5.0 5.4 5.9 6.3 6.7 7.1 7.5 7.9 8.3 8.7 9.1 9.5

Standard

Standard

218

Linear Servomotors

32 D ia.

( 35.5 ) Dia.

Selecting Cables
1Cables Connections
SGDV SERVOPACK

eCable for Connecting Serial Converter Unit*

Serial Converter Unit (See page 221.)

qLinear Servomotor Main Circuit Cable

wCable for Connecting Linear Scale

rCable for Connecting Hall Sensor

Linear Scale (To be provided by users.)

Cylinder-type Linear Servomotor

*: A serial converter unit can be connected directly to an absolute linear scale.


1Cables
Name Applicable Linear Servomotor Model Length Order No. JZSP-CLN11-01-E JZSP-CLN11-03-E JZSP-CLN11-05-E JZSP-CLN11-10-E JZSP-CLN11-15-E JZSP-CLL00-01-E JZSP-CLL00-03-E JZSP-CLL00-05-E JZSP-CLL00-10-E JZSP-CLL00-15-E JZSP-CLP70-01-E JZSP-CLP70-03-E JZSP-CLP70-05-E JZSP-CLP70-10-E JZSP-CLP70-15-E JZSP-CLP70-20-E JZSP-CLL10-01-E JZSP-CLL10-03-E JZSP-CLL10-05-E JZSP-CLL10-10-E JZSP-CLL10-15-E
Serial Converter Unit End Hall Sensor Unit End SERVOPACK End Serial Converter Unit End Linear Scale End

Specifications

Details

Linear Servomotor Main Circuit Cables

All models

Cables for Connecting Linear Scales*

All models

Cables for Connecting Serial Converter Units

All models

Cables for Connecting Hall Sensors

All models

1m 3m 5m 10 m 15 m 1m 3m 5m 10 m 15 m 1m 3m 5m 10 m 15 m 20 m 1m 3m 5m 10 m 15 m

SERVOPACK End

Linear Servomotor End

(1)

(2)

Serial Converter Unit End

(3)

(4)

*
219

: When using serial converter unit JZDP-G00--E, the maximum cable length should be 3 m.

Linear Servomotors

SGLC (Cylinder Type)

Linear

Selecting Cables
(1) Linear Servomotor Main Circuit Cables: JZSP-CLN11--E
SERVOPACK End Linear Servomotor End L Heat-shrinkable Tube Finished Diameter 6.8 Dia.

(2) Cables for Connecting Linear Scales: JZSP-CLL00--E


Serial Converter Unit End Linear Scale End L Finished Diameter 9.5 Dia.

8.5 mm

50 mm

35 mm

27.7

M4 Crimped Terminal

U V W G

4 15 1 7.6 14.7 8
Connector : 17JE-23150-02 (D8C) (15-pin, soldered) by DDK Ltd. Cable (UL2584) (AWG223C+AWG256P)

8
Connector : 17JE-13150-02 (D8C) (With stud) (15-pin, soldered) by DDK Ltd.

15

Wiring Specifications
SERVOPACK-end Leads Wire Color Red White Blue Green/yellow Signal Phase U Phase V Phase W FG Linear Servomotor-end Connector Signal Phase U Phase V Phase W FG Pin. No.

Wiring Specifications
Serial Converter Unit End Pin No. Signal /Cos(V1) 1 /Sin(V2) 2 Ref(V0+) 3 Linear Scale End Pin No. Signal /Cos(V1) 1 /Sin(V2) 2 Ref(V0+) 3

1 2 3 4

4 5 6 7 8 9 10 11 12 13 14 15 Case

+5V 5Vs BID Vx Vq Cos(V1+) Sin(V2+) /Ref(V0+) 0V 0Vs DIR Inner Shield

4 5 6 7 8 9 10 11 12 13 14 15 Case

+5V 5Vs
BID Vx Vq Cos(V1+) Sin(V2+) /Ref(V0) 0V 0Vs DIR Inner Shield

(3) Cables for Connecting Serial Converter Units: JZSP-CLP70--E


SERVOPACK End L Finished Diameter 6.8 Dia. Serial Converter Unit End

(4) Cables for Connecting Hall Sensors JZSP-CLL10--E

Serial Converter Unit End L

Hall Sensor End Finished Diameter 6.8 Dia. Cable (UL20276) (AWG222C+AWG242P)

6 9

6 9

Connector : 55100-0670 (6-pin, soldered) by Molex Japan Co., Ltd.

Cable (UL20276) (AWG222C+AWG242P)

Connector : 17JE-23090-02 (D8C) (9-pin, soldered) by DDK Ltd.

Connector : 17JE-23090-02 (D8C) (9-pin, soldered) by DDK Ltd.

Connector : 17JE-13090-02 (D8C) (With stud) (9-pin, soldered) by DDK Ltd.

Wiring Specifications
SERVOPACK End Pin No. Signal Wire Color 1 Red PG5V 2 Black PG0V 3 4 5 Light blue PS 6 Light blue/white /PS Shell Shield Serial Converter Unit End Pin No. Signal Wire Color +5V 1 Red 5 0V Black 3 4 2 Phase S output Light blue 6 Phase /S output Light blue/white Shield Case 7 8 9 -

Wiring Specifications
Serial Converter Unit End Pin No. Signal +5V 1 2 Phase U input 3 Phase V input 4 Phase W input 5 0V 6 7 8 9 Case Shield Hall Sensor End Pin No. Signal +5V 1 2 Phase U input 3 Phase V input 4 Phase W input 5 0V 6 7 8 9 Case Shield

220

Linear Servomotors

Wire Markers

Cable (UL2464) AWG18/4C Cap: 350780-1 (4-pole) Socket: 350536-3 (Chained) by Tyco Electronics AMP K.K.

Linear Servomotor General Instructions


Serial Converter Unit (Model: JZDP-00--E)
1Characteristics and Specifications
Items Power Supply Voltage Electrical Characteristics Current Consumption*1 Signal Resolution Max. Response Frequency Analog lnput Signals*2 (cos, sin, Ref) Hall Sensor lnput Signal Output Signals*3 Output Method Output Circuit
Mechanical Characteristics

JZDP-G00--E + 5.0 V 5%, ripple content 5% max. 120 mA Typ. 350 mA max. Input two-phase sine wave: 1/4096 pitch Input two-phase sine wave: 1/256 pitch 250 kHz 100 kHz Differential input amplitude: 0.4 to 1.2 V Input signal level: 1.5 to 3.5 V CMOS level Position data, hall sensor information, and alarms Serial data transmission Balanced transceiver (SN75LBC176 or the equivalent) Internal terminal resistance: 120

JZDP-D00--E

Approx. Mass Vibration Resistance Impact Resistance Ambient Temperature Storage Temperature Humidity

150 g 98 m/s2 max. (10 to 2500 Hz) in three directions 980 m/s2, (11 ms) two times in three directions 0 to 55C 20 to +80C 20% to 90% RH (no condensation)

* * *

221

Environmental Conditions

1: The current consumption of the linear scale and hall sensor is not included in this value. The current consumption of linear scale and hall sensor must be taken into consideration for the current capacity of host controller that supplies the power. The current consumption of hall sensor: Approx. 40 mA. 2: Input a value within the specified range. Otherwise, incorrect position information is output, and the device may be damaged. 3: The power is turned on, and the transmission is enabled after 100 ms to 300 ms.

Linear Servomotors

General Instructions

Linear

Serial Converter Unit (Model: JZDP-00--E)


1Model Designations

JZDP - 00 - - E
Serial Converter Unit Model Code Appearance Applicable Linear Scale Manufactured by HEIDENHAIN Corp. Hall Sensor Applicable Linear Servomotor Servomotor Model Symbol Servomotor Model Symbol

30A050C 30A080C
None SGLGW(Coreless) When a standardforce magnetic way is used.

250 251 252 253 254 258 259 260 264 265 266 255 256 257 261 262 263 017 018 019 020 181 182 183 184 211 212 189 190 191 192
SGLC( Cylinder type) SGLTW(Iron core, T-type)

20A170A 20A320A 20A460A 35A170A 35A320A 35A460A 35A170H 35A320H 50A170H 50A320H 40A400B 40A600B 80A400B 80A600B 35D170H 35D320H 50D170H 50D320H 40D400B 40D600B 80D400B 80D600B
D16A085AP D16A115AP D16A145AP D20A100AP D20A135AP D20A170AP D25A125AP D25A170AP D25A215AP D32A165AP D32A225AP D32A285AP

011 012 013 014 015 016 105 106 108 109 185 186 187 188 193 194 195 196 197 198 199 200 354 373 356 357 358 359 360 374 362 363 364 365

G003

40A140C 40A253C 40A365C 60A140C 60A253C 60A365C 90A200C 90A370C 90A535C

D005 G005

Manufactured by RENISHAW plc.

None

D006 G006

Manufactured by HEIDENHAIN Corp.

Provided SGLGW+ SGLGM-M (Coreless) When a high-force magnetic way is used

40A140C 40A253C 40A365C 60A140C 60A253C 60A365C 20A090A 20A120A 35A120A 35A230A 50A200B 50A380B

D008 G008

Manufactured by RENISHAW plc.

Provided

SGLFW(Iron core, F-type)

1ZA200B 1ZA380B 35D120A 35D230A 50D200B 50D380B 1ZD200B 1ZD380B

222

Linear Servomotor General Instructions

D003

Serial Converter Unit (Model: JZDP-00--E)


1Analog Signal Input Timing
The following figure shows the input timing of the analog signals. When the cos and sin signals are shifted 180 degrees, the differential signals are the /cos and /sin signals. The specifications of the cos, /cos, sin, and /sin signals are identical except for the phase. Input the signals Ref and /Ref so that they shall cross each other as shown in the figure because they are input into the converter. When they are crossed, the output data will be counted up.
100%

0.2 to 0.6 V 45 0.2 V Min. 5% to 75% 5% to75%


Zero Point Count Up Direction

cos (A+)

cos /cos sin /sin Input Voltage Range: 1.5 to 3.5 V

/cos (A)

sin (B+)

/Ref Ref Input Voltage Range: 1.5 to 3.5 V

/Ref (R) Ref (R+)

*:If the analog signal amplitude declines to about 0.35 V because of differential amplitude, the serial converter outputs an alarm.

IMPORTANT

Precautions

1 Never perform insulation resistance and withstand voltage tests. 2 When analog signals are input to the serial converter unit, noise influence on the analog signals affects the unit's ability to output correct position information. The analog cable must be as short as possible and shielded. 3 Use the serial converter unit without gases such as H2S. 4 Do not connect or disconnect the unit while power is being supplied, or the unit may be damaged. 5 When using multiple axes, use a shield cable for each axis. Do not use a shield cable for multiple axes.

223

0.2 V Min.

/sin (B)

Linear Servomotors

General Instructions

Linear

Serial Converter Unit (Model: JZDP-00--E)


1Without Cable for Hall Sensor (For Linear Scale by HEIDENHAIN Corporation) Serial Converter Unit Model: JZDP-003--E (1) Connection Example
SERVOPACK SGDV- CN2 Serial Converter Unit JZDP-003--E CN1 CN2 JZSP-CLL00--E* Connection Cable by HEIDENHAIN Corp.

JZSP-CLP70--E

Linear Scale by HEIDENHAIN Corp.

(2) External Dimensions (Units: mm)


4-4.2 Dia. Holes 2-#4-40 UNC Tapped Holes
SERVOPACK End Serial Data Output Connector (CN1) Linear Scale End Analog Signal Input Connector (CN2)

2-4.2 Dia. Holes

Nameplate

1.5 3 14.350.3

650.3 72 820.3 90

2-#4-40 UNC Tapped Holes

4-M5 Tapped Holes, Depth 10

Pin No.

Signal

1 2 3 4 5 6 7 8 9 Case

+5V
Phase S output Not used Not used

CN1 SERVOPACK End Serial Data Output 5 9

Pin No.

22.5

Signal cos input (A+) 0V sin input (B+)

0V Phase /S output Not used Not used Not used Shield

17-series Connector: 17LE-13090-27-FA (Socket) by DDK Ltd.

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Case

CN2 Linear Scale End Analog Signal Input 1 9

+5V
Not used Not used /Ref input (R) Not used /cos input (A)
17-series Connector: 17LE-13150-27-FA (Socket) by DDK Ltd. 8 15

0V sensor
/sin input (B) 5V sensor Not used Ref input (R+) Not used Shield

Notes: 1 2 3 4

Do not use the unused pins. Contact HEIDENHAIN Corporation for details of connection cables (analog 1 Vp-p output, D-sub 15-pin, male) by HEIDENHAIN Corporation. Use the same terminal for 5-V sensor and phase-W input. Phase U, V, and W input are internally pulled up at 10 k.

224

Linear Servomotor General Instructions

*: When using serial converter unit JZDP-G00--E, the maximum cable length should be 3 m.

33.320.4

24.990.3

520.3 60

10

Serial Converter Unit (Model: JZDP-00--E)


1Without Cable for Hall Sensor (For Linear Scale by Renishaw plc.) Serial Converter Unit Model: JZDP-005--E (1) Connection Example
SERVOPACK SGDV- CN2 CN1 Serial Converter Unit JZDP-005--E CN2 JZSP-CLL00--E* Connection Cable by Renishaw plc.

JZSP-CLP70--E

Linear Scale by Renishaw plc.

*: When using serial converter unit JZDP-G00--E, the maximum cable length should be 3 m.
(2) External Dimensions (Units: mm)
2-#4-40 UNC Tapped Holes
SERVOPACK End Serial Data Output Connector (CN1)

2-4.2 Dia.Holes

4-4.2 Dia.Holes Nameplate

Linear Scale End Analog Signal Input Connector (CN2)

24.99 0.4

60 52 0.3

10

1.5 3 14.35 0.4

65 0.3 72 82 0.3 90

300 30

4-M5 Tapped Holes, Depth 10

Pin No.

Signal

1 2 3 4 5 6 7 8 9 Case

+ 5V
Phase S output Not used Not used

CN1 SERVOPACK End Serial Data Output 5 9

Pin No.

Signal cos input (V1) sin input (V2) Ref input (V0+)

22.5

0V Phase /S output Not used Not used Not used Shield

17-series Connector: 17LE-13090-27-FA (Socket) by DDK Ltd.

SERVOPACK does not have the function to process Vq signals.

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Case

CN2 Linear Scale End Analog Signal Input 1 9

+ 5V 5Vs
Not used Not used Not used cos input (V1+) sin input (V2+) /Ref input (V0) 0V

15

17-series Connector: 17JE-13150-02 (D8C) A-CG (Socket) by DDK Ltd.

0Vs
Not used inner (0V) Shield

Notes: 1 Do not use the unused pins. 2 Contact Renishaw plc. for details of connection cables (analog 1 Vp-p output, D-sub 15-pin, male) by Renishaw plc. However, the BID and DIR signals are not connected. 3 Use the linear scale-end connector to change the zero point specifications of the linear scale.

225

Linear Servomotors

General Instructions

Linear

Serial Converter Unit (Model: JZDP-00--E)


1With Cable for Hall Sensor (For Linear Scale by HEIDENHAIN Corporation) Serial Converter Unit Model: JZDP-006--E (1) Connection Example
Serial Converter Unit JZDP-006--E SERVOPACK SGDV- CN2 CN1 CN2 JZSP-CLL00--E* Connection Cable by HEIDENHAIN Corp. CN3 JZSP-CLL10--E Hall sensor

JZSP-CLP70--E

*: When using serial converter unit JZDP-G00--E, the maximum cable length should be 3 m.
(2) External Dimensions (Units: mm)
Linear Servomotor End Hall Sensor Signal Input Connector (CN3)

2-#4-40 UNC Tapped Holes


SERVOPACK End Serial Data Output Connector (CN1)

2-4.2 Dia. Holes

4-4.2 Dia. Holes

Nameplate

1.5 3 14.35 0.4

65 0.3 72 82 0.3 90

300 30
Linear Scale End Analog Signal Input Connector (CN2)

4-M5 Tapped Holes, Depth 10

CN1 SERVOPACK End Serial Data Output

CN2 Linear Scale End Analog Signal Input

22.5

CN3 Linear Servomotor End Hall Sensor Signal Input

1 9 5

15

17-series Connector: 17LE-13090-27-FA (Socket) by DDK Ltd.

17-series Connector: 17JE-13150-02 (D8C) A-CG (Socket) by DDK Ltd.

Pin No. 1 2 3 4 5 6 7 8 9 Case

Signal

+5V
Phase S output Not used Not used 0V Phase /S output Not used Not used Not used Shield

Pin No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Case

Signal cos input (A+)

0V
sin input (B+) +5V Not used Not used /Ref input (R) Not used /cos input (A) 0V sensor /sin input (B)

17-series Connector: 17JE-13090-02 (D8C) A-CG by DDK Ltd.

5V sensor Not used Ref input (R+)


Not used Shield

Pin No. 1 2 3 4 5 6 7 8 9 Case

Signal

+5V
Phase U input Phase V input Phase W input 0V Not used Not used Not used Not used Shield

Notes: 1 Do not use the unused pins. 2 Contact HEIDENHAIN Corporation for details of connection cables (analog 1 Vp-p output, D-sub 15-pin, male) by HEIDENHAIN Corporation. 3 Phase U, V, and W input are internally pulled up at 10 k.

226

Linear Servomotor General Instructions

Linear Scale by HEIDENHAIN Corp.

24.99 0.4

60 520.3 10

Serial Converter Unit (Model: JZDP-00--E)


1With Cable for Hall Sensor (For Linear Scale by Renishaw plc.) Serial Converter Unit Model: JZDP-008--E (1) Connection Example
Serial Converter Unit JZDP-008--E SERVOPACK SGDV- CN2 CN1 CN2 JZSP-CLL00--E* Connection Cable by Renishaw plc. CN3 JZSP-CLL10--E Hall Sensor

JZSP-CLP70--E

Linear Scale by Renishaw plc.

*: When using serial converter unit JZDP-G00--E, the maximum cable length should be 3 m.
(2) External Dimensions (Units: mm)
Linear Servomotor End Hall Sensor Signal Input Connector (CN3)

2-#4-40 UNC Tapped Holes


SERVOPACK End Serial Data Output Connector (CN1)

2-4.2 Dia. Holes

4-4.2 Dia. Holes

Nameplate

24.99 0.4

60 52 0.3 10

1.5 3 14.35 0.4

65 0.3 72 82 0.3 90

300 30
Linear Scale End Analog Signal Input Connector (CN2)

4-M5 Tapped Holes, Depth 10

CN1 SERVOPACK End Serial Data Output

CN2 Linear Scale End Analog Signal Input

22.5

CN3 Linear Servomotor End Hall Sensor Signal Input

1 9 5

15

17-series Connector: 17LE-13090-27-FA (Socket) by DDK Ltd.

17-series Connector: 17JE-13150-02 (D8C) A-CG (Socket) by DDK Ltd.

Pin No. 1 2 3 4 5 6 7 8 9 Case

Signal

+5V
Phase S output Not used Not used 0V Phase /S output Not used Not used Not used Shield

Pin No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Case

Signal /cos input (V1) /sin input (V2) Ref input (V0+)

17-series Connector: 17JE-13090-02 (D8C) A-CG by DDK Ltd.

+5V 5Vs
Not used Not used Not used cos input (V1+) sin input (V2+) /Ref input (V0) Pin No. 1 2 3 4 5 6 7 8 9 Case Signal

+5V
Phase U input Phase V input Phase W input 0V Not used Not used Not used Not used Shield

0V 0 Vs Not used Inner Shield

227

Notes: 1 Do not use the unused pins. 2 Contact Renishaw plc. for details of connection cables (analog 1 Vp-p output, D-sub 15-pin, male) by Renishaw plc. However, the BID and DIR signals are not connected. 3 Use the linear scale-end connector to change the zero point specifications of the linear scale. 4 Phase U, V, and W input are internally pulled up at 10 k.

Linear Servomotors

General Instructions

Linear

Flexible Cables
1Life of Flexible Cable The flexible cable supports 10,000,000 or more operations of bending life with the recommended bending radius R. The following table shows the recommended bending radius R of each cable.
Cable Type Model JZSP-CLN11--E Linear Servomotor Main Circuit Cables JZSP-CLN21--E JZSP-CLN39--E JZSP-CLN14--E JZSP-CLL00--E JZSP-CLL10--E JZSP-CLP70--E Recommended Bending Radius mm

Cables for Connecting Linear Scales Cables for Connecting Hall Sensors Cables for Connecting Serial Converter Units

1Conditions

1Repeat moving one end of the cable forward and backward for 320 mm with using the test equipment shown in the following figure. 2Connect the lead wires in parallel, and count the number of cable return motion times until a lead wire is disconnected. Note that one reciprocating is counted as one test.
Shifting Distance 320 mm

Shifting End Bending Radius R

Fixed End

Notes: 1 The life of flexible cable differs largely depending on the amount of mechanical shocks, mounting to the cable, and fixing methods. The life of flexible cable is limited under the specified conditions. 2 The life of flexible cable indicates the number of bending times in which lead wires are electrically conducted and by which no cracks and damages that affects the performance of cable sheathing are caused. Disconnecting the shield wire is not taken into account.

1Wiring Precautions

Even if the recommended bending radius R is respected in the mechanical design, incorrect wiring may cause early disconnection. Observe the following precautions when wiring. (1) Cable twisting Straighten the flexible cables before wiring. Twisted cables cause early disconnection. Check the indication on the cable surface to make sure that the cable is not twisted. (2) Fixing method Do not fix the moving points of the flexible cable. Stress on the fixed points may cause early disconnection. Fix the cable at the minimum number of points. (3) Cable length If the cable length is too long, it may cause the cable's sagging. Besides the cable length is too short, it may cause the excessive tension on the fixed points that will cause early disconnection. Use a flexible cable with the optimum length. (4) Interference between cables Avoid interference between cables. Interference limits the motion of flexible cable, which causes early disconnection. Keep enough distance between cables, or provide a partition when wiring.
228

Linear Servomotor General Instructions

35 38 50 35 57 46 46

Linear Sliders

-Trac

Model Designations

S G
-Trac Series Linear Slider

1 F3 1 1st digit 2nd+3rd digits 4th digit

030 A
5th+6th+ 7th digits 8th digit

H 20 - 0
9th 10th+11th digit digits 12th digit

1st digit Linear Slider Type


Code Specifications Standard (Aluminum base) High-rigidity (Steel or iron base)

5th+6th+7th digits Stroke Length


Code

10th+11th digits Linear Scale Resolution


Code Specifications

1 2

007

Specifications 70 mm

20 04

20 m 4 m

195

1950 mm

2nd+3rd digits Mounted Linear Servomotor


Code F3 F4 F9 FA GD GE GF GG GH GI Moving Coil Model SGLFW-35A120A SGLFW-35A230A SGLFW-50A200B SGLFW-50A380B SGLGW-40A140C SGLGW-40A253C SGLGW-40A365C SGLGW-60A140C SGLGW-60A253C SGLGW-60A365C

12th digit Surface Treatment 8th digit Linear Scale Output Form
Code A Specifications Analog output 1 Vp-p Code Specifications Aluminum base Steel or iron base Aluminum base Clear anodized aluminum coating Black paint Black anodized aluminum coating Electroless nickel plating or Raydent processing

9th digit Linear Scale Manufacturer


Code H R Specifications HEIDENHAIN Corporation Renishaw plc.

Steel or iron base

4th digit Number of Tables (per Axis)


Code

1 2

Specifications 1 table 2 tables

n tables

229

SGLGW( )
Features
For long strokes and high-speed, high-accuracy positioning (repetitive positioning accuracy less than 1.0 m). Several tables can be mounted on one magnetic way, and each table can be driven independently. Standard and high-precision models are available.

Model Classification
Force
SERVOPACK Model SGDVSingle-phase 100 VAC Three-phase 200 VAC

-Trac Series Linear Sliders


Model SGTF3- SGTF4- SGTF9- SGTFA- SGTGD- SGTGE- SGTGF- SGTGG- SGTGH- SGTGI- Force

200 N

400 N

600 N

800 N

1000 N
Rated force

1200 N
Peak force

2R1F R90F 2R1F 2R8F 2R1F 2R8F

1R6A 3R8A 5R5A 120A R90A 1R6A 2R8A 1R6A 2R8A 5R5A

Stroke Length
Model SGTF3- SGTF4- SGTF9- SGTFA- Stroke Length

500 mm

1000 mm

1500 mm

80 mm 180 mm

2000 mm 1950 mm 1830 mm 1830 mm 1650 mm

70 mm 170 mm SGTGD- 90 mm SGTGE- 120 mm SGTGF- 140 mm SGTGG- 90 mm SGTGH- 120 mm SGTGI- 140 mm

1300 mm 1200 mm 1080 mm 1300 mm 1200 mm 1080 mm

Contact your Yaskawa representative for information on strokes other than those listed.

230

Linear Sliders

SGT1F3 and SGT1F4 Linear Sliders


1Ratings and Specifications
Time Rating: Continuous Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C Excitation: Permanent magnet Withstand Voltage: 1500 VAC for one minute
Linear Slider Model*1 Mounted Linear Servomotor Model Applicable SERVOPACK Model Applicable Serial Converter Unit Model Maximum Speed Rated Force Peak Force Force Constant Motor Constant Maximum Payload*2, *3 Movable Member Mass Total Mass Effective Stroke Resolution Repeatability*6

Enclosure: Self-cooled Ambient Humidity: 20% to 80% (no condensation) Allowable Winding Temperature: 130C (Thermal class B) Vibration Resistance: 24.5 m/s2 Shock Resistance: 294 m/s2 times 2
SGT1F4-AH20-0

SGT1F3-AH20-0 SGLFWSGDVJZDPm/s N N N / Arms N/Q W kg kg kg mm

35A120AP 2R1F, 1R6A 006-019-E 5.0 80 220 62.4 14.4 30 3.1


See Table 1 on the next page.

35A230AP 3R 8A 006-020-E 160 440 62.4 20.4 70 5.3


See Table 2 on the next page.

m m

0.078 (20 m / 256) *4 0.0049 (20 m / 4096) *5 1.0 1.0

* * * * * *

1: Squares () are used to indicate the stroke length code shown in Tables 1 and 2. 2: Values obtained when the acceleration is 4.9 m/s2. 3: Contact your Yaskawa representative if the expected payload exceeds the value indicated in the table. 4: The value applies when serial converter unit JZDP-D00--E is used. 5: The value applies when serial converter unit JZDP-G00--E is used. 6: Values obtained when the ambient temperature is constant.

1Performance Curves
Force - Speed
A : Continuous Duty Zone B : Intermittent Duty Zone

Effective Force - Ambient Temperature


When the linear scale temperature is 50C or less Average speed (m/s) : 0 1 2
Note: Average speedTotal movement distance (m)/ cycle time (s)

Load Mass - Acceleration

Ambient Temperature (C)

5.0

4.0 3.0 2.0 1.0 0

50 100 150 200 250 Force (N)

0 20 40 60 80 100 Effective Force [Load Ratio] (%)

Acceleration (m/s2)

(1) SGT1F3
Speed (m/s)

6.0

45 40 35 30 25 20 15 10 5 0

80 70 60 50 40 30 20 10 0

10 20 Load Mass (kg)

30

Ambient Temperature (C)

5.0

Acceleration (m/s2)

(2) SGT1F4
Speed (m/s)

6.0 4.0 3.0 2.0 1.0 0

100 200 300 400 500 Force (N)

0 20 40 60 80 100 Effective Force [Load Ratio] (%)

45 40 35 30 25 20 15 10 5 0

100 80 60 40 20 0

0 10 20 30 40 50 60 70 Load Mass (kg)

Note: When the effective force is within the rated force, the servomotor can be used within the intermittent duty zone.

231

Linear Sliders

-Trac

Linear

SGT1F3 and SGT1F4 Linear Sliders


1External Dimensions (1) SGT1F31
(Units: mm)
Table 1
500 (From the cable inlet on the motor)
Stroke X X Code Length L1 mm L2 mm L3 mm L4 mm L5 mm Total N Mass kg

The moving coil moves in the direction indicated by the arrow when current flows in the following order: phase U, V, and W.

Y Y 500 (From the hall sensor unit) Z Z 500 (From the cable inlet on the encoder head)

MODEL SGT MOTOR SGL -

**** ******* ** ********

YASKAWA
TYPE:

O/N S/N MADE IN JAPAN DATE

YASKAWA
TYPE:

O/N S/N MADE IN JAPAN DATE

32.5 2.5

11

(L4)

29

50

50

158 (180)
L3

L5 29 2N-7 Dia. (Pitch) 22 Mounting Holes 14 Dia. Counter Boring 0.5

L4

6-M6 Tapped Holes, Depth 12

008 030 041 052 063 074 085 096 107 118 129 140 151 162 173 184 195 32.5

80 300 410 520 630 740 850 960 1070 1180 1290 1400 1510 1620 1730 1840 1950
(1)

360 580 690 800 910 1020 1130 1240 1350 1460 1570 1680 1790 1900 2010 2120 2230

295 515 625 735 845 955 1065 1175 1285 1395 1505 1615 1725 1835 1945 2055 2165
(165) 100.5

270 440 550 660 770 880 990 1100 1210 1320 1430 1540 1650 1760 1870 1980 2090

45

70

4 5 6 7 8 9 10 11 110 12 13 14 15 16 17 18 19 20 10.5

90

9.1 13.0 14.9 16.8 18.6 20.5 22.5 24.5 26.3 28.3 30.1 32.0 34.0 35.9 37.8 39.7 41.5

170

148

100 165

32.5 2.5

10

Linear Scale

Scale Head

L1

29.5

A 111 170

Section A

When installing the linear slider, the surface should be flat with a maximum discrepancy of 0.02/200 mm (reference value) or an equivalent.

(2) SGT1F41

2.5 32.5

The moving coil moves in the direction Table 2 indicated by the arrow when current flows Stroke in the following order: phase U, V, and W. See the section enclosed with dotted lines in the drawing of the SGT1F31 for cables. Code Length

L1 mm

L2 mm

L3 mm

L4 mm

L5 mm

Total N Mass kg

MODEL SGT MOTOR SGL -

**** ******* ** ********

YASKAWA
TYPE:

O/N S/N MADE IN JAPAN DATE

YASKAWA
TYPE:

O/N S/N MADE IN JAPAN DATE

11

2.5 32.5

(L4)

50 30 Pitch 50 4=200 33 263 (285) L3 22

L5 10-M6 Tapped (Pitch) Holes, Depth 12 2N-7 Dia. Mounting Holes 14 Dia. Counter Boring 0.5

L4

018 029 040 051 062 073 084 095 106 117 128 139 150 161 172 183 32.5

180 290 400 510 620 730 840 950 1060 1170 1280 1390 1500 1610 1720 1830
(1)

580 690 800 910 1020 1130 1240 1350 1460 1570 1680 1790 1900 2010 2120 2230

515 625 735 845 955 1065 1175 1285 1395 1505 1615 1725 1835 1945 2055 2165

440 550 660 770 880 990 1100 1210 1320 1430 1540 1650 1760 1870 1980 2090

70

5 6 7 8 9 10 11 110 12 13 14 15 16 17 18 19 20 10.5

15.1 17.0 18.9 20.7 22.7 24.6 27.1 28.5 30.4 32.2 34.2 36.1 38.1 39.9 41.9 42.6

170

148

165 100

10

L1 Linear Scale LIDA487 (by HEIDENHAIN Corporation): 1 Vp-p signal, one zero-point signal at the scale center

29.5

A 111 170

Section A

*: When installing the linear slider, the surface should be flat with a maximum discrepancy of 0.02/200 mm (reference value) or an equivalent.
Connector Specifications for the
View X-X
For Motor Cable
4 3 2 1

-Trac Series Linear Sliders (All Models)


View Z-Z
For Hall Sensor Cable

For Encoder Cable Pin No. 1 1 2 Connector 3 Plug: 4 (by Tyco 205206-3 5 Electronics AMP K.K.) 6 Housing: 7 8 745172-3 (by Tyco 8 Electronics AMP K.K.) Signal Cos output (A+) 0V Sin output (B+) +5 V Not used Not used /Ref (R) Not used Pin No. 9 10 11 12 13 14 15 Case Signal /Cos output (A) 0 V sensor /Sin output (B) 5 V sensor Not used /Ref (R+) Not used Shield

View Y-Y
Pin No. Signal 1 Phase-U output 2 Phase-V output 3 Phase-W output 4 FG

Plug : 350779-1 (by Tyco Electronics AMP K.K.) Pins : 350924-1 or 770672-1 (by Tyco Electronics AMP K.K.)

Pin Pin Signal No. Connector (pin connector): No. 1 +5V (power supply) 6 17JE-23090-02 (D8C) 2 7 Phase-U output (by DDK Ltd.) 3 8 Phase-V output 4 Phase-W output 9 5 5 0V (power supply) Case

9
Signal Not used Not used Not used Not used Shield

15

3.5

35 43

77.5

78 12

6.3

Stopper

78

Stopper

15

32.5

(L2)

(165) 100.5

3.5

35 43

77.5

78 12

6.3

Stopper

78

Stopper

15

32.5

232

Linear Sliders

(L2)

SGT1F9 and SGT1FA Linear Sliders


1Ratings and Specifications
Time Rating: Continuous Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C Excitation: Permanent magnet Withstand Voltage: 1500 VAC for one minute
Linear Slider Model*1 Mounted Linear Servomotor Model Applicable SERVOPACK Model Applicable Serial Converter Unit Model Maximum Speed Rated Force Peak Force Force Constant Motor Constant Maximum Payload*2, *3 Movable Member Mass Total Mass Effective Stroke Resolution Repeatability*6 SGLFWSGDVJZDPm/s N N N / Arms N/Q W kg kg kg mm

Enclosure: Self-cooled Ambient Humidity: 20% to 80% (no condensation) Allowable Winding Temperature: 130C (Thermal class B) Vibration Resistance: 24.5 m/s2 Shock Resistance: 294 m/s2 times 2
SGT1F9-AH20-0 SGT1FA-AH20-0

50A200BP 5R5A 006-181-E 5.0 280 600 60.2 34.3 100 7.2
See Table 1 on the next page.

50A380BP 120A 006-182-E 560 1200 60.2 48.5 215 12.9


See Table 2 on the next page.

m m

0.078 (20 m / 256) *4 0.0049 (20 m / 4096) *5 1.0

* * * * * *

1: Squares () are used to indicate the stroke length code shown in Tables 1. 2: Values obtained when the acceleration is 4.9 m/s2. 3: Contact your Yaskawa representative if the expected payload exceeds the value indicated in the table. 4: The value applies when serial converter unit JZDP-D00--E is used. 5: The value applies when serial converter unit JZDP-G00--E is used. 6: Values obtained when the ambient temperature is constant.

1Performance Curves
Force - Speed
A : Continuous Duty Zone B : Intermittent Duty Zone

Effective Force - Ambient Temperature


When the linear scale temperature is 50C or less Average speed (m/s) : 0 1 2
Note: Average speedTotal movement distance (m)/ cycle time (s)

Load Mass - Acceleration

Ambient Temperature (C)

5.0
Speed (m/s)

Acceleration (m/s2)

(1) SGT1F9

6.0 4.0 3.0 2.0 1.0 0 0 200 400 600 800 Force (N)

A B

0 20 40 60 80 100 Effective Force [Load Ratio] (%)

45 40 35 30 25 20 15 10 5 0

100 80 60 40 20 0

20 40 60 80 100 Load Mass (kg)

Ambient Temperature (C)

5.0
Speed (m/s)

Acceleration (m/s2)

(2) SGT1FA

6.0 4.0 3.0 2.0 1.0 0 0 500 1000 Force (N) 1500
A B

45 40 35 30 25 20 15 10 5 0

100 80 60 40 20 0

20

40

60

80 100

50

100 150 200

Effective Force [Load Ratio] (%)

Load Mass (kg)

Note: When the effective force is within the rated force, the servomotor can be used within the intermittent duty zone.

233

Linear Sliders

-Trac

Linear

SGT1F9 and SGT1FA Linear Sliders


1External Dimensions (Units: mm) See page 232 for details on (1) SGT1F91
500 (From the cable inlet on the motor)
Y Y Z Z

each connector specifications.

Table 1 Table 1 Stroke


X X Stroke Code Length Code Length 007 70 70 007 035 350 350 035 048 480 480 048 062 620 620 062 075 750 750 075 089 890 890 089 102 1020 102 1020 116 1160 116 1160 129 1290 129 1290 143 1430 143 1430 156 1560 156 1560 170 1700 170 1700 183 1830 183 1830

The moving coil moves in the direction indicated by the arrow when current flows in the following order: phase U, V, and W.

500 (From the hall sensor unit) 500 (From the cable inlet on the encoder head)

33.5

2.5

12

33

60

L4

8-M8 Tapped Holes, Depth 12

180 243 (265) L3


L2

30

L5 (Pitch) 22 2N-9 Dia. Mounting Holes 18 Dia. Counter Boring 0.5

L4

L1 mm L1 440 440 720 720 850 850 990 990 1120 1120 1260 1260 1390 1390 1530 1530 1660 1660 1800 1800 1930 1930 2070 2070 2200 2200

L2 mm L2 375 375 655 655 785 785 925 925 1055 1055 1195 1195 1325 1325 1465 1465 1595 1595 1735 1735 1865 1865 2005 2005 2135 2135

L3 mm L3 300 300 540 540 675 675 810 810 945 945 1080 1080 1215 1215 1350 1350 1485 1485 1620 1620 1755 1755 1890 1890 2025 2025

L4 mm L4 70 70 90 90 .5 87 87.5 90 90 87.5 87.5 90 90 87. 87.55 90 90 87.55 87. 90 90 87.55 87. 90 90 87.5 87.5

Total L5 Total N Mass mm L5 N Mass kg kg 100 4 15.9 100 4 21.3 5 15.9 5 24.1 6 21.3 6 24.1 7 26.9 7 26.9 8 29.5 8 29.5 9 32.2 9 32.2 10 10 35.0 . 135 135 11 11 37.7 12 40.3 12 13 43.0 13 43.0 14 45.8 14 45.8 15 48.5 15 48.5 16 51.2 16 51.2

192 168

187

120

33.5

2.5

2.5 20 32.5
Stopper

32.5
Stopper

187 117

2.5 10.5 45.5 48

93.5 21.5

*
Linear Scale Scale Head L1

11

128 192

Section A

: When installing the linear slider, the surface should be flat with a maximum discrepancy of 0.02/200 mm (reference value) or an equivalent.

(2) SGT1FA1
The moving coil moves in the direction indicated by the arrow when current flows See the section enclosed with dotted lines in in the following order: phase U, V, and W. the drawing of the SGT1F91 for cables. See page 232 for details on each connector specifications. 10-M8 Tapped Holes Depth 12

Table 2
Total L1 L2 L3 L4 L5 N Mass mm mm mm mm mm Code Length kg 017 170 720 655 540 90 5 27.0 6 29.8 030 300 850 785 675 87.5 044 440 990 925 810 90 7 32.6 057 570 1120 1055 945 87.5 8 35.2 071 710 1260 1195 1080 90 9 37.9 10 40.7 084 840 1390 1325 1215 87.5 135 098 980 1530 1465 1350 90 11 43.4 111 1110 1660 1595 1485 87.5 12 46.0 13 48.7 125 1250 1800 1735 1620 90 14 51.5 138 1380 1930 1865 1755 87.5 152 1520 2070 2005 1890 90 15 54.2 165 1650 2200 2135 2025 87.5 16 56.9 Stroke

192 168

187 120

2.5 33.5

2.5 33.5

12

50

80

320 423 445


L3

L5

L4

22

Pitch

L4

2N-9 Dia. Mounting Holes 18 Dia. Counter Boring 0.5

93.5

2.5
Stopper

Stopper

93.5 21.5 20

32.5

L2

32.5

187 117

2.5 45.5 48 10.5 9

*
L1 Linear Scale LIDA487 (by HEIDENHAIN Corporation): 1 Vp-p signal, one zero-point signal at the scale center

11

128 192

Section A

*: When installing the linear slider, the surface should be flat with a maximum discrepancy of 0.02/200 mm (reference value) or an equivalent.

3.5

6.3

3.5

6.3

234

Linear Sliders

SGT1GD, SGT1GE, and SGT1GF Linear Sliders


1Ratings and Specifications
Time Rating: Continuous Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C Excitation: Permanent magnet Withstand Voltage: 1500 VAC for one minute
Linear Slider Model*1 Mounted Linear Servomotor Model Applicable SERVOPACK Model Applicable Serial Converter Unit Model Maximum Speed Rated Force Peak Force Force Constant Motor Constant Maximum Payload*2, *3 Movable Member Mass Total Mass Effective Stroke Resolution Repeatability*6 SGLGWSGDVJZDPm/s N N N / Arms N/Q W kg kg kg mm

Enclosure: Self-cooled, fan-cooled Ambient Humidity: 20% to 80% (no condensation) Allowable Winding Temperature: 130C (Thermal class B) Vibration Resistance: 24.5 m/s2 Shock Resistance: 294 m/s2 times 2
SGT1GE-AH20-0 SGT1GF-AH20-0

SGT1GD-AH20-0

40A140CP R90F, R90A 006-252-E 47 140 61.5 7.8 25 2.8

40A253CP 2R1F, 1R6A 006-253-E 5. 0 93 280 61.5 11 50 3. 7


See Table 1 on the next page.

40A365CP 2R8F, 2R8A 006-254-E 140 420 61.5 13.5 80 5. 5

m m
1.0

0.078 (20 m / 256) *4 0.0049 (20 m / 4096) *5 1.0

1.0

* * * * * *

1: Squares () are used to indicate the stroke length code shown in Table 1. 2: Values obtained when the acceleration is 4.9 m/s2. 3: Contact your Yaskawa representative if the expected payload exceeds the value indicated in the table. 4: The value applies when serial converter unit JZDP-D00--E is used. 5: The value applies when serial converter unit JZDP-G00--E is used. 6: Values obtained when the ambient temperature is constant.

1Performance Curves
Force - Speed
A : Continuous Duty Zone B : Intermittent Duty Zone

Effective Force - Ambient Temperature


When the linear scale temperature is 50C or less Average speed (m/s) : 0 1 2
Note: Average speedTotal movement distance (m)/ cycle time (s)

Load Mass - Acceleration

Ambient Temperature (C)

5 .0
Speed (m/s)

Acceleration (m/s2)

(1) SGT1GD

6.0 4 .0 3 .0 2 .0 1 .0 0 0
A B

50 100 150 200 Force (N)

0 20 40 60 80 100 Effective Force [Load Ratio] (%) 45 40 35 30 25 20 15 10 5 0


Acceleration (m/s2)

45 40 35 30 25 20 15 10 5 0

60 50 40 30 20 10 0 0 5 10 15 20 Load Mass (kg) 25

5 .0

4 .0 3 .0 2 .0 1 .0 0

A B

100 200 300 400 Force (N)

Ambient Temperature (C)

(2) SGT1GE
Speed (m/s)

6.0

0 20 40 60 80 100 Effective Force [Load Ratio] (%) 45 40 35 30 25 20 15 10 5 0


Acceleration (m/s2)

80 70 60 50 40 30 20 10 0

10 20 30 40 Load Mass (kg)

50

5 .0
Speed (m/s)

Ambient Temperature (C)

(3) SGT1GF

6.0 4 .0 3 .0 2 .0 1 .0 0 0
A B

100 80 60 40 20 0 0 20 40 60 Load Mass (kg) 80

150 300 450 600 Force (N)

0 20 40 60 80 100 Effective Force [Load Ratio] (%)

Note: When the effective force is within the rated force, the servomotor can be used within the intermittent duty zone.

235

Linear Sliders

-Trac

Linear

SGT1GD, SGT1GE, and SGT1GF Linear Sliders


1External Dimensions <Table Side View> 3SGT1GD1
(Units: mm)

3SGT1GE1
3-M4 Mounting Screws, Length 8 (by Yaskawa)

3SGT1GF1
3-M4 Mounting Screws, Length 8 (by Yaskawa) 5

3-M4 Mounting Screws, Length 8 (by Yaskawa)

15 10

15

10

15

10

65

40

60

170

40

60

285

40

60

See page 232 for details on each connector specifications.

500 (From the cable inlet on the motor)

31

65 61

35 (L5)

182 60 60

9 108 164 (190) 182 138 80

**** ******* ** ********

MODEL SGT MOTOR SGL -

164 162 108 80

28

90

90

(L1) (L4) 2N-7 Dia. Mounting Holes (Pitch: 90) 11 Dia. Counter Boring

The moving coil moves in the direction indicated by the arrow when current flows in the following order: phase U, V, and W.

X Y Y 500 (From the hall sensor unit) Z 500 Z (From the cable inlent on the encoder head) 22 M8 Tapped Holes

5
X

90

L6

N2-M5 Tapped Holes, Depth 10 Stopper 35 (L3)

L8 L9 L10

L6

25

65

35

*
15
(L2) Linear Scale LIDA487 (by HEIDENHAIN Corporation): 1 Vp-p signal, one zero-point signal at the scale center

slider, the surface should *: When installing 0the linearmm (reference value) or anbe flat with a maximum discrepancy of .02/200 equivalent.

Table 1
Linear Slider Model (Mounted Linear Servomotor Model) Stroke Code Length L1 L2 L3 L4 Dimensions mm L5 L6 L7 L8 L9 L10 N N2 Total Mass kg

(1)

61

SGT1GD1-*AH20-0 SGLGW-40A140CP

SGT1GE1-*AH20-0 SGLGW-40A253CP

SGT1GF1-*AH20-0 SGLGW-40A365CP

009 022 036 049 063 076 090 103 117 130 012 025 039 052 066 079 093 106 110 120 014 027 041 054 068 081 095 108

90 220 360 490 630 760 900 1030 1170 1300 120 250 390 520 660 790 930 1060 1100 1200 140 270 410 540 680 810 950 1080

410 545 680 815 950 1085 1220 1355 1490 1625 545 680 815 950 1085 1220 1355 1490 1535 1625 680 815 950 1085 1220 1355 1490 1625

380 515 650 785 920 1055 1190 1325 1460 1595 515 650 785 920 1055 1190 1325 1460 1505 1595 650 785 920 1055 1190 1325 1460 1595

340 475 610 745 880 1015 1150 1285 1420 1555 475 610 745 880 1015 1150 1285 1420 1465 1555 610 745 880 1015 1150 1285 1420 1555

140 275 410 545 680 815 950 1085 1220 1355 170 305 440 575 710 845 980 1115 1160 1250 190 325 460 595 730 865 1000 1135

25 47.5 25 47.5 25 47.5 25 47.5 25 47.5 47.5 25 47.5 25 47.5 25 47.5 25 47.5 47.5 25 47.5 25 47.5 25 47.5 25 47.5

(8) 22

15 (L5)

31

L7

15

15

26 65

32.5

55

110

175

200

50

60

180

280

305

47.5

60

300

395

420

5 6 8 9 11 12 14 15 17 18 6 8 9 11 12 14 15 17 17 18 8 9 11 12 14 15 17 18

28

7.5

12

18

12.3 15.3 18.4 21.5 24.5 27.6 30.6 33.7 36.8 39.8 16.8 19.9 22.9 26.0 29.0 32.1 35.2 38.2 39.3 41.3 21.1 24.2 27.3 30.3 33.4 36.4 39.5 42.6

*: Squares () are used to indicate the stroke length code shown in Table 1.
236

Linear Sliders

SGT1GG, SGT1GH, and SGT1GI Linear Sliders


1Ratings and Specifications
Time Rating: Continuous Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C Excitation: Permanent magnet Withstand Voltage: 1500 VAC for one minute
Linear Slider Model*1 Mounted Linear Servomotor Model Applicable SERVOPACK Model Applicable Serial Converter Unit Model Maximum Speed Rated Force Peak Force Force Constant Motor Constant Maximum Payload*2, *3 Movable Member Mass Total Mass Effective Stroke Resolution Repeatability*6 SGLGWSGDVJZDPm/s N N N / Arms N/Q W kg kg kg mm

Enclosure: Self-cooled, fan-cooled Ambient Humidity: 20% to 80% (no condensation) Allowable Winding Temperature: 130C (Thermal class B) Vibration Resistance: 24.5 m/s2 Shock Resistance: 294 m/s2 times 2
SGT1GH-AH20-0 SGT1GI-AH20-0

SGT1GG-AH20-0

60A140CP 2R1F, 1R6A 006-258-E 70 220 66.6 11.1 40 2.9

60A253CP 2R8F, 2R8A 006-259-E 5.0 140 440 66.6 15.7 80 3.9
See Table 1 on the next page.

60A365CP 5R5A 006-260-E 210 660 66.6 19.2 110 5. 7

m m
2

1.0

0.078 (20 m / 256) *4 0.0049 (20 m / 4096) *5 1.0

1.0

are used *1:: Squares () when the to indicate the stroke length code shown in Table 1. acceleration is 4.9 m/s . *2: Values obtained payload exceeds the *3: Contact your Yaskawa representative if the expected00--E is used. value indicated in the table. *4: The value applies when serial converter unit JZDP-D00--E is used. G *5: The value applies when serial converter unit JZDP-constant. *6 Values obtained when the ambient temperature is

1Performance Curves
Force - Speed
A : Continuous Duty Zone B : Intermittent Duty Zone

Effective Force - Ambient Temperature


When the linear scale temperature is 50C or less Average speed (m/s) : 0 1 2
Note: Average speedTotal movement distance (m)/ cycle time (s)

Load Mass - Acceleration

Ambient Temperature (C)

5.0
Speed (m/s)

4.0 3.0 2.0 1.0 0 0


B A

100 200 Force (N)

300

0 20 40 60 80 100 Effective Force [Load Ratio] (%) 45 40 35 30 25 20 15 10 5 0


Acceleration (m/s2)

Acceleration (m/s2)

(1) SGT1GG

6.0

45 40 35 30 25 20 15 10 5 0

80 70 60 50 40 30 20 10 0

10 20 30 Load Mass (kg)

40

5.0
Speed (m/s)

Ambient Temperature (C)

(2) SGT1GH

6.0 4.0 3.0 2.0 1.0 0 0


B A

120 100 80 60 40 20 0 0 20 40 60 Load Mass (kg) 80

200 400 Force (N)

600

0 20 40 60 80 100 Effective Force [Load Ratio] (%) 45 40 35 30 25 20 15 10 5 0


Acceleration (m/s2)

5 .0
Speed (m/s)

4 .0 3 .0 2 .0 1 .0 0 0
B A

Ambient Temperature (C)

(3) SGT1GI

6 .0

300 600 Force (N)

900

0 20 40 60 80 100 Effective Force [Load Ratio] (%)

140 120 100 80 60 40 20 0

20 40 60 80 100 Load Mass (kg)

237

Note: When the effective force is within the rated force, the servomotor can be used within the intermittent duty zone.

Linear Sliders

-Trac

Linear

SGT1GG, SGT1GH, and SGT1GI Linear Sliders


1External Dimensions <Table Side View> 3SGT1GG1
(Units: mm)

3SGT1GH1
3-M4 Mounting Screws, Length 8 (by Yaskawa)

3SGT1GI1

3-M4 Mounting Screws, Length 8 (by Yaskawa)

6-M4 Mounting Screws, Length 8 (by Yaskawa) (Used for connector box etc.) 5

15

10

15

10

15

65

40

60

170

10

40

60

20

10

100

See page 232 for details on each connector specifications.

500 (From the cable inlet on the motor)


Y

X X

(L1)

The moving coil moves in the direction indicated by the arrow when current flows in the following order: phase U, V, and W.

31

65 61

35 (L5)

(L4)

182 60 60

9 108 164 (190) 182 138 80

**** ******* ** ********

MODEL SGT MOTOR SGL -

164 162 108 80

28

90

90

2N-7 Dia. Mounting Holes (Pitch: 90) 11 Dia. Counter Boring

500 (From the hall sensor unit) 500 (From the cable inlet on the encoder head)

Y Z Z

( 8) 22

15 (L5)
Stopper 35

31

90

L6

L7

N2-M5 Tapped Holes, Depth 10 (L3)

L8 L9 L10

L6

15 25

15

26 65

65

35

*
15
(L2) Linear Scale LIDA487 (by HEIDENHAIN Corporation): 1 Vp-p signal, one zero-point signal at the scale center

*
Table 1

: When installing the linear slider, the surface should be flat with a maximum discrepancy of 0.02/200 mm (reference value) or an equivalent.

(1)

61

Linear Slider Model (Mounted Linear Servomotor Model)

Stroke Code Length L1 L2 L3 L4

Dimensions mm L5 L6 L7 L8 L9 L10 N N2

28

7.5

Total Mass kg

SGT1GG1-*AH20-0 SGLGW-60A140CP

SGT1GH1-*AH20-0 SGLGW-60A253CP

SGT1GI1-*AH20-0 SGLGW-60A365CP

009 022 036 049 063 076 090 103 117 130 012 025 039 052 066 079 093 106 110 120 014 027 041 054 068 081 095 108

90 220 360 490 630 760 900 1030 1170 1300 120 250 390 520 660 790 930 1060 1100 1200 140 270 410 540 680 810 950 1080

410 545 680 815 950 1085 1220 1355 1490 1625 545 680 815 950 1085 1220 1355 1490 1535 1625 680 815 950 1085 1220 1355 1490 1625

380 515 650 785 920 1055 1190 1325 1460 1595 515 650 785 920 1055 1190 1325 1460 1505 1595 650 785 920 1055 1190 1325 1460 1595

340 475 610 745 880 1015 1150 1285 1420 1555 475 610 745 880 1015 1150 1285 1420 1465 1555 610 745 880 1015 1150 1285 1420 1555

140 275 410 545 680 815 950 1085 1220 1355 170 305 440 575 710 845 980 1115 1160 1250 190 325 460 595 730 865 1000 1135

25 47.5 25 47.5 25 47.5 25 47.5 25 47.5 47.5 25 47.5 25 47.5 25 47.5 25 47.5 47.5 25 47.5 25 47.5 25 47.5 25 47.5

32.5

55

110

175

200

50

60

180

280

305

47.5

60

300

395

420

5 6 8 9 11 12 14 15 17 18 6 8 9 11 12 14 15 17 17 18 8 9 11 12 14 15 17 18

12

18

12.3 15.4 18.5 21.5 24.6 27.7 30.7 33.8 36.9 39.9 17.0 20.0 23.1 26.1 29.2 32.3 35.3 38.4 39.4 41.5 21.4 24.4 27.5 30.5 33.6 36.7 39.7 42.8

*: Squares () are used to indicate the stroke length code shown in Table 1.
238

Linear Sliders

Selecting Cables and Connectors


1Connection diagrams
Reference Input Form from Host Controller
To CN5 Analog Monitor Cable

For Analog Voltage/ Pulse Train Reference


Digital Operator JUSP-OP05A-1-E Personal Computer

For MECHATROLINK Communications


To Other Stations Using MECHATROLINK/ MECHATROLINK-2/ MECHATROLINK-3. MECHATROLINK Communications Cable

CN6

Power Supply

With Front Cover Open (For Analog Voltage/ Pulse Train Reference)

Molded-case Circuit Breaker

CN3 CN5
Personal Computer Cable Host Controller

CN3

Digital Operator Cable

Noise Filter

With Front Cover Open (SERVOPACK for MECHATROLINK Communications)


DF0300413 PC
S/N D0024B958810004
ON

Digital Operator To External Devices such as LED Indicators

CN1
I/O Signal Cable

CN1
I/O Signal Cable

CN5

POWER COM

Magnetic Contactor

Linear Scale
Incremental
To CN2 Cable for Connecting Serial Converter Unit Serial Converter Unit

CN3

UVW

CN1

Cable for Connecting Linear Scales

Linear Servomotor Main Circuit Cable Cable for Connecting Hall Sensor

Regenerative Resistor Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient.

CN2

UVW

1Applicable Cables and Connectors


Linear Scale Type Motor Type Servo Drive SERVOPACK Model SGDVMotor Cable SERVOPACK Motor Linear Servomotor Main Circuit Cable (Flexible Type) JZSP-CLN11--E JZSP-CLN11--E JZSP-CLN21--E JZSP-CLN21--E JZSP-CLN11--E JZSP-CLN11--E JZSP-CLN11--E JZSP-CLN11--E JZSP-CLN11--E JZSP-CLN11--E Serial Converter Unit Model JZDP006-019-E 006-020-E 006-181-E 006-182-E 006-252-E 006-253-E 006-254-E 006-258-E 006-259-E 006-260-E

Linear Scale Connection Cables [CN2] Serial Converter Unit Serial Converter Unit Linear Scale Cable for Connecting Serial Converter Unit (Flexible Type) Cable for Connecting Linear Scales (Flexible Type)

-Trac Series Model

Single-phase 100 V

Three-phase 200 V

SGTF3-AH20-0 SGTF4-AH20-0 SGTF9-AH20-0 Moving Coil (MC) SGT FA - AH20-0 Incremental SGTGD-AH20-0 SGTGE-AH20-0 SGTGF-AH20-0 SGTGG-AH20-0 SGTGH-AH20-0 SGTGI-AH20-0

2R1F
R90F

1R6A 3R8A 5R5A 120A


R90A

JZSP-CLP70--E The numbers in the boxes() indicate the cable length. 01 = 1 m 03 = 3 m 05 = 5 m 10 = 10 m 15 = 15 m 20 = 20 m

JZSP-CLL00--E*1 The numbers in the boxes() indicate the cable length.

2R1F 2R8F 2R1F 2R8F

1R6A 2R8A 1R6A 2R8A 5R5A

01 = 1 m 03 = 3 m 05 = 5 m 10 = 10 m 15 = 15 m

239

Linear Sliders

-Trac

Linear

Selecting Cables and Connectors


1Detail Drawings: Serial Converter Units for Linear Scales

by HEIDENHAIN Corporation
3JZDP-006--E
(With Hall Sensor Cable)
CN1 CN3

3JZDP-003--E
(Without Hall Sensor Cable)
4-4.2 Dia. Holes 2-#4-40 UNC Tapped Holes 2-4.2 Dia. Holes Nameplate CN1
CN2

2-#4-40 4-4.2 Dia. Holes UNC Tapped Holes 2-4.2 Dia. Holes Nameplate

24.99 0.4

24.99 0.3

60 52 0.3 10

1.5 3 14.35 0.4

65 0.3 72 82 0.3 90

300 30
CN2

1.5 3 14.35 0.3

65 0.3 72 82 0.3 90

22.5

52 0.3

4-M5 Tapped Holes, Depth 10

4-M5 Tapped Holes, Depth 10

1Details on Connectors
CN1 SERVOPACK End 9 Serial Data Output 6 CN2 CN3

5 1

Linear Scale End Analog Signal Input

1 8

9 15

17-series Connector : 17LE-13090-27-FA (Socket) by DDK Ltd.

17-series Connector : 17JE-13150-02 (D8C) A-CG (Socket) by DDK Ltd.


Signal Pin No. Signal cos input (A+) Pin No. Signal /cos input (A-)

5 17-series Connector : 17JE-13090-02 (D8C) A-CG (Socket) by DDK Ltd.

Linear Scale End Hall Sensor Signal Input

6 9

Pin No.

Signal

Pin No.

Pin No.

Signal

Pin No.

Signal Not used Not used Not used Not used Shield

1 2 3 4 5

+5V
PhaseS output Not used Not used 0V

6 7 8 9 Case

Phase/S output Not used Not used Not used Shield

1 2 3 4 5 6 7 8

0V sin input (B+) +5V


Not used Not used /Ref input (R-)

0V

9 10 11 12 13 14 15 Case

1 2 3 4 5

+5V
Phase-U output Phase-V output Phase-W output

6 7 8 9
Case

0V sensor /sin input (B-) 5V sensor Not used Ref input (R+)
Not used Shield

0V

Serial Converter Unit Hall Sensor Cable for Connecting Hall Sensor (Flexible Type)

Analog Voltage/Pulse Train Reference Type SERVOPACK I/O Signal Connector [CN1] Connector Terminal Block Converter Unit Cable with Loose Wires at One End

MECHATROLINK Communications Reference Type SERVOPACK I/O Signal Connector [CN1] MECHATROLINK-2 MECHATROLINK-3 Connector Terminal Block Converter Unit Cable with Loose Wires at One End Communications Connector [CN6A] or [CN6B] Communications Cable [CN6A] or [CN6B] The numbers in the boxes () indicate the cable length. JEPMC-W6012--E A2 = 0.2 m 05 = 5 m A5 = 0.5 m 10 = 10 m 01 = 1 m 20 = 20 m 02 = 2 m 30 = 30 m 03 = 3 m 50 = 50 m 04 = 4 m JEPMC-6013--E*3 10 = 10 m 50 = 50 m 20 = 20 m 75 = 75 m 30 = 30 m JEPMC-6014- -E A5 = 0.5 m 10 =10 m 01 = 1 m 30 = 30 m 03 = 3 m 50 = 50 m 05 = 5 m

Cables for Setting Devices/Monitors [CN5] Analog Monitor Cable

JZSP-CLL10--E The numbers in the boxes() indicate the cable length. 01 = 1 m 03 = 3 m 05 = 5 m 10 = 10 m 15 = 15 m

JUSPTA50PG--E*2 The number in the box () indicates the cable length. None = 0.5 m 1=1m 2=2m

JZSPCSI01--E*2 The number in the box () indicates the cable length. 1=1m 2=2m 3=3m

JUSPTA26P--E*2 The number in the box () indicates the cable length. None = 0.5 m 1=1m 2=2m

JZSPCSI02--E*2 The number in the box () indicates the cable length. 1=1m 2=2m 3=3m

MECHATROLINK communications cable: JEPMC-W6002--E The numbers in the boxes() indicate the cable length. A5 = 0.5 m 20 = 20 m 01 = 1 m 30 = 30 m 03 = 3 m 40 = 40 m 05 = 5 m 50 = 50 m 10 = 10 m MECHATROLINK terminator: JEPMC-W6022-E

JZSP-CA01-E
1 m

cable length should be 3 m. *1:: When using serial converter unit JZDP-G00--E, the maximumFor details, refer to SERVOPACKs in this catalog. kit *2: A connectorpre-and cable materials are required to assemble cables. *3 Currently in release. Will be available soon.

240

Linear Sliders

65 0.3

65 0.3

52 0.3

22.5

52 0.3 60

2-#4-40 UNC Tapped Holes

33.32 0.4

10

Linear Sliders

-Trac-
Model Designations

S G

T M M 03 1st digit 2nd 3rd+4th digit digits

065 A
5th+6th+ 7th digits 8th digit

H 20 A
9th 10th+11th 12th digit digits digit

13th digit

-Trac Series Linear Slider 1st digit


Code M

5th+6th+7th digits Effective Stroke


Specifications Moving Magnet Type Code

10th+11th digits Linear Scale Resolution


Code Specifications

2nd digit
Code M Specifications Integrally Molded Armature Type

010 025 030 065

Specifications 10 mm 25 mm 30 mm 65 mm

20 04

20 m 4 m

12th digit Design Revision Order


A, B, C

8th digit Linear Scale Output Form


Code A Specifications Analog output 1 Vp-p

3rd+4th digits Peak Force


Code Specifications

13th digit Options


Code Blank P Specifications Without Hall Sensor With hall sensor

03 01

25 N 10 N

9th digit Linear Scale Manufacturer


Code H M Specifications HEIDENHAIN Corporation MicroE International Inc.

241

Features
1Ultra-flat profile reduces floorspace requirements. 1For applications requiring short strokes (10 mm

Application Examples
1Semiconductor mounters 1Equipment for biomedical 1Optical testing devices

to 65 mm)

1Vibration-free transmission device enables high-

precision positioning with a repetitive positioning accuracy of 0.5 m max.


1Locations of armature coils on fixed side of the

stationary member reduce effects of heat on table or workpiece.

Model Classification
2Force
SERVOPACK Model SGDVSingle-phase 100 VAC Three-phase 200 VAC R70F R90F R70A R90A

-Trac- Series Linear Sliders Model Force SGTMM01 SGTMM03

10 N

20 N

30 N
Rated force Peak force

2Stroke Length
Model SGTMM01 SGTMM03 Stroke Length

10 mm

50 mm 30 mm 25 mm

100 mm 65 mm

150 mm

200 mm

242

Linear Sliders

SGTMM Linear Sliders


1Ratings and Specifications
Time Rating: Continuous Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0C to 40C Excitation: Permanent magnet Withstand Voltage: 1500 VAC for one minute
Linear Slider Model Applicable SERVOPACK Model SGDVApplicable Serial Converter Unit Model JZDPMaximum Speed Rated Force Peak Force Force Constant Motor Constant Maximum Payload*1 Effective Stroke m/s N N N/Arms N/Q W kg mm SGTMM01-

Enclosure: Self-cooled Ambient Humidity: 20% to 80% (no condensation) Allowable Winding Temperature: 130C (Thermal class B) Vibration Resistance: 24.5 m/s2 Shock Resistance: 294 m/s2, 2 times
SGTMM03025AH20AP SGTMM03SGTMM03SGTMM03025AH04AP 065AH20A 065AH04AP R90F, R90A 00-221-E 00-220-E 1.0 1.5 7 7 7 7 25 25 25 25 13.2 13.2 12.3 12.3 2.29 2.29 1.58 1.58 3 3 3 3 25 25 65 65

SGTMM01010AM20A 030AM20A R70F, R70A 003-242-E 1.5 3.5 3.5 10 10 9 9 1.78 1.26 1 1 10 30

Resolution

0.078 (20 m/256)*2 0.0049 (20 m/4096) *3 0. 1 0.35 0.5


2

0.016 (4 m/256)*2 0.00098 (4 m/4096) *3 0.215 0.62 0.5 0.215 0.62 0.5

0.078 (20 m/256)*2 0.0049 (20 m/4096) *3 0.19 0.63 0.5

0.016 (4 m/256)*2 0.00098 (4 m/4096) *3 0.19 0.63 0.5

Movable Member Mass Total Mass (excluding cables) Repeatability*4

kg kg m

0.1 0.31 0.5

1Performance Curves

4. m/s *1:: Values obtained when the acceleration isunit9JZDP.-D00--E is used. *2: The value applies when serial converter unit JZDP-G00--E is used. *3: The value applies when serial converter *4 Values obtained when the ambient temperature is constant.

Force - Speed
A : Continuous Duty Zone B : Intermittent Duty Zone

Effective Force - Ambient Temperature


When the linear scale temperature is 50 C or less Ambient temperature

Load Mass - Acceleration

Acceleration (m/s2)

Speed (m/s)

(1) SGTMM01-010, -030

1.6 1.4 1.2 1 0.8 0.6 0.4 0.2 0

Ambient Temperature (C)

5 10 Force (N)

15

45 40 35 30 25 20 15 10 5 0

120 100 80 60 40 20 0 0 0.2 0.4 0.6 0.8


Load Mass (kg)

20

40

60

80 100

Effective Force [Load Ratio] (%) Ambient Temperature (C)

Acceleration (m/s2)

(2) SGTMM03-025
Speed (m/s)

1.2 1 0.8 0.6 0.4 0.2 0 0 10 20 Force (N) 30


A B

45 40 35 30 25 20 15 10 5 0

120 100 80 60 40 20 0 0 0.5 1 1.5 2 2.5 3 Load Mass (kg)

0 20 40 60 80 100 Effective Force [Load Ratio] (%)


Acceleration (m/s2)

1.6 1.4 1.2 1 0.8 0.6 0.4 0.2 0

Ambient Temperature (C)

(3) SGTMM03-065
Speed (m/s)

10 20 Force (N)

30

45 40 35 30 25 20 15 10 5 0

20

40

60

80 100

140 120 100 80 60 40 20 0

0 0.5 1 1.5 2 2.5 3


Load Mass (kg)

Effective Force [Load Ratio] (%)

243

Note: When the effective force is within the rated force, the servomotor can be used within the intermittent duty zone.

Linear Sliders

-Trac-

Linear

SGTMM Linear Sliders


1External Dimensions (Units: mm) (1) SGTMM01-010AM20A, -030AM20A
13

47 L3 5
L4 L5 L1 L2 L6 47

L7

L8

14 6 3 4 42 42 50 60

*1

2N- 3.5 Dia. Holes 6 Dia. Counter Boring 3 5 100050


Name plate
Plug 350779-1(Tyco Electronics AMP K.K.) 350924-1 or 770672-1 Pin

2.5

21

21

2.5

*1

50050

The moving coil moves in the direction Encoder indicated by the arrow when current flows sin+ advance Signal advance Mercury1000 Series cos+ Head: M1020 (with 2 m Cable) in the following order: phase U, V, and W. (Phase B) (Phase A)

6-N3 Screws, Depth 4

Linear Scale (by MicroE International Inc.)

12.7

*3
15-pin Plug*2
L9

Scale: L45 (Measurement Length: 40 mm) Output Signal/Cycle: 1 Vp-p/20 m Zero-point Position: One Position at the Scale Center

30

L9

See the for the connector specifications. *1:: A signal next page cable (JZSP-CLL40) is required between this connector and a cable for connecting the linear scale. converter *2: When installing the linear slider, the surface should be flat with a maximum discrepancy of 0.01 mm (reference value) or an equivalent. *3

Linear Slider Model SGTMM01-

L1 mm

L2 mm

L3 mm

L4 mm

L5 mm

L6 mm

L7 mm

L8 mm

L9 mm

010AM20A 030AM20A

80 100

75 95

63 83

14 10.5

42 16

8 42

16

11 10.5

22.5 32.5

3 4

(2) SGTMM03-025AH20AP
150

16

15 7.5
Plug 350779-1 (Tyco Electronics AMP K.K.) Pin 350924-1or 770672-1 7.5 100050

105 135 4-M3 Screws, Depth 3.5 150 75 2 30

15 7.5

4-3.6 Dia. Holes 30 10


R3 .2

*1

7.5

16 2

1.5

Name plate

0.3 30 30

49.5

27.5

50

27.5

50 60

*1
500 50 Connector for Hall Sensor Cable (Pin Connector) 17JE-23090-02 (D8C) (DDK Ltd.)

*1

19

17 500 50
Connector (Plug) for Encoder Cable 205206-3 (Tyco Electronics AMP K.K.)

53 105

35

Linear Scale 4-3.6 Dia. Holes LIDA489 (by HEIDENHAIN Corporation) 6.4 Counter Boring 2 1 Vp-p Signal, One Zero-point Signal at the Scale Center 3

the next page for the *1:: See moving coil moves in connector specifications. the arrow when current flows in the following order: phase U, V, and W. the direction indicated by *2: The installing the linear slider, the surface should be flat with a maximum discrepancy of 0.02 mm (reference value) or an equivalent. *3 When

65

19.5

15

75

244

Linear Sliders

3 4

SGTMM Linear Sliders


1External Dimensions (Units: mm) (3) SGTMM03-025AH04AP
3 18

Plug: 350779-1 (Tyco 7.5 Electronics AMP K.K.) Pin: 350924-1 or 770672-1 Motor Cable 100050 10

15

105 (Table Length) 135 (Distance between Mechanical Stoppers) 8-3.6 Dia. Holes 40 10

15 7.5 18 2 3

4-M3 Screws, Depth 3.5 150 50 40

10

1.5

*
30 22.5 60

Name plate

0.5 30 16
10

50

22.5

100050
6.3

Connector (Socket) for Hall Sensor Cable 17JE-23090-02 (D8C) (DDK Ltd.)

22.5 100050

105

22.5

*2
Connector (Plug) for Encoder Cable

62

26

moves in the direction indicated by the arrow flows in the order: phase *1:: The moving coil the linear slider, the surface should be flat withwhen current discrepancyfollowingmm (referenceU, V, and W. equivalent. a maximum of 0.02 value) or an *2 When installing

16

(4) SGTMM03-065AH20A

36 16
Plug 350779-1 (Tyco Erectoronics AMP K.K.) Pin 350924-1 or 770672-1

72 (Table Length)

36 10

144 (Distance between Mechanical Stoppers) 4-3.6 Dia. Holes 4-M3 Screws, Depth 3.5 170

1.5

25

30

75

30

9.3

Linear Scale LIF481 (by HEIDENHAIN Corporation) 1 Vp-p Signal/4 m, One Zero-point Signal at the Scale Center

75.3

60

66

3 0.3 30

*1
14.5 30 10
2 R3.

100050 49.5
Name plate

50
7

60 15

50050 Connector (Plug) for Encoder Cable 205206-3 (Tyco Electronics AMP K.K.)

19

14

72 92

4-3.6 Dia. Holes 6.4 Counter Boring 2

*2
65 4

Linear Scale LIDA489 (by HEIDENHAIN Corporation) 1 Vp-p Signal, One Zero-point Signal at the Scale Center

moves in the direction indicated by the arrow flows in the order: phase *1:: The moving coil the linear slider, the surface should be flat withwhen current discrepancyfollowingmm (referenceU, V, and W. equivalent. a maximum of 0.02 value) or an *2 When installing

Connector Specifications for the


For SGTMM01 Linear Sliders
For Motor Cable
Pin No. Name Lead Color 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 FG Green

-Trac- Series of Linear Sliders (All Models)


For SGTMM03 Linear Sliders
For Motor Cable
Signal N/C N/C N/C +5 V GND CosSinPin No. Name Lead Color

For Encoder Cable


Pin No.
1 2 3 4 5 6 7 8

For Encoder Cable


Pin No. Signal Pin No. Signal

75

50

7.5

For Hall Sensor Cable


Pin No. Signal

Signal IWIW+ Test Transmit Receive Reset Cos+ Sin+

Pin No.
9 10 11 12 13 14 15

1 Phase U Red 2 Phase V White 3 Phase W Blue FG 4 Green

1 Cos output (A+) 9 2 10 0V 3 Sin output (B+) 11 4 12 +5 V 5 Not used 13 6 Not used 14 7 /Ref (R-) 15 8 Not used Case

/Cos output (A-) 0 V sensor /Sin output (B-) 5 V sensor Not used /Ref (R+) Not used Shield

245

1 +5V (power supply) 2 Phase-U output 3 Phase-V output 4 Phase-W output 5 0V (power supply) 6 Not used 7 Not used 8 Not used 9 Not used

Linear Sliders

-Trac-

Linear

SGTMM Linear Sliders


1External Dimensions (Units: mm) (5) SGTMM03-065AH20AP
16

56

56

(58)

16

72(Table length) 36 36 144 (Distance between Mechanical Stoppers) 170 56 72 26.5

10

Connector (Socket) for Hall Sensor Cable 17JE-23090-02 (D8C) (DDK Ltd.) 56 14 50050

4-M3 Screws, Depth 3.5 6


(58)

4-3.6 Dia. Holes 3 15

16 7.5 3

17

3 30 100050
Name plate Plug: 350779-1 (Tyco Electronics AMP K.K.) Pin: 350924-1 or 770672-1

0.3 50 60 75 14.5 50
(7.5)

19

(7) (15)

30 60 68.5

.2 R3

49

50050
Connector (Plug) for Encoder Cable 205206-3 (Tyco Electronics AMP K.K.)

14 25 30

72 92 75

6 30

4-3.6 Dia. Holes 6.4 Counter (10) Boring 2

*2
65 4

Linear Scale LIDA489 (by HEIDENHAIN Corporation) 1 Vp-p Signal, One Zero-point Signal at the Scale Center

moves in the direction indicated by the arrow flows in the order: phase *1:: The moving coil the linear slider, the surface should be flat withwhen current discrepancyfollowingmm (referenceU, V, and W. equivalent. a maximum of 0.02 value) or an *2 When installing

(6) SGTMM03-065AH04AP
18

50 30

64

Plug 350779-1 (Tyco Electronics AMP K.K.) Pin 350924-1 or 770672-1

10 24

6.5

Connector (Socket) for Hall 16 Sensor Cable 17JE-23090-02 (D8C) 20 (DDK Ltd.) 100050

10 10 72 (Table Length) 36 36 144 (Distance between Mechanical Stoppers) 170 30 70 1 30

10 8-3.6 Dia. Holes


20

18 3

0.5
(87.8)

Name plate Motor Cable 100050

60

60

72

10

72 92

42
Connector (Plug) for Encoder Cable

(36)

(9.3)

100050

(10)

*2
75 26

Linear Scale LIF481 (by HEIDENHAIN Corporation) 1 Vp-p Signal/4 m, One Zero-point Signal at the Scale Center

moves in the direction indicated by the arrow flows in the order: phase *1:: The moving coil the linear slider, the surface should be flat withwhen current discrepancyfollowingmm (referenceU, V, and W. equivalent. a maximum of 0.02 value) or an *2 When installing

6.3

30

4-M3 Screws, Depth 3.5

246

Linear Sliders

Selecting Cables and Connectors


1Connection diagrams
Reference Input Form from Host Controller
To CN5 Analog Monitor Cable

For Analog Voltage/ Pulse Train Reference


Digital Operator JUSP-OP05A-1-E Personal Computer

For MECHATROLINK Communications


To Other Stations Using MECHATROLINK/ MECHATROLINK-2/ MECHATROLINK-3. MECHATROLINK Communications Cable

CN6

Power Supply

With Front Cover Open (For Analog Voltage/ Pulse Train Reference)

Molded-case Circuit Breaker

CN3 CN5
Personal Computer Cable Host Controller

CN3

Digital Operator Cable

Noise Filter

With Front Cover Open (SERVOPACK for MECHATROLINK Communications)


DF0300413 PC
S/N D0024B958810004
ON

Digital Operator To External Devices such as LED Indicators

CN1
I/O Signal Cable

CN1
I/O Signal Cable

CN5

POWER COM

Magnetic Contactor

Linear Scale
Incremental
To CN2 Cable for Connecting Serial Converter Unit Serial Converter Unit

CN3

UVW

CN1

Cable for Connecting Linear Scales

Linear Servomotor Main Circuit Cable Cable for Connecting Hall Sensor

Regenerative Resistor Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient.

CN2

UVW

1Applicable Cables and Connectors


Linear Scale Type Motor Type Servo Drive SERVOPACK Model SGDVMotor Cable SERVOPACK Motor Linear Servomotor Main Circuit Cable (Flexible Type) JZSP-CLN11--E JZSP-CLN11--E JZSP-CLN11--E JZSP-CLN11--E JZSP-CLN11--E JZSP-CLN11--E JZSP-CLN11--E Serial Converter Unit Model JZDP003-242-E 003-242-E 006-221-E 006-221-E 003-220-E 006-220-E 006-220-E

Linear Scale Connection Cables [CN2] Serial Converter Unit Serial Converter Unit Linear Scale Cable for Connecting Serial Converter Unit (Flexible Type) Cable for Connecting Linear Scales (Flexible Type)

-Trac- Series Model

Single-phase 100 V R70F R70F R90F R90F R90F R90F R90F

Three-phase 200 V R70A R70A R90A R90A R90A R90A R90A

SGTMM01-010AM20A SGTMM01-030AM20A Moving Magnet (MM) SGTMM03-025AH20AP Incremental SGTMM03-025AH04AP SGTMM03-065AH20A SGTMM03-065AH20AP SGTMM03-065AH04AP

JZSP-CLP70--E The numbers in the boxes () indicate the cable length. 01 = 1 m 03 = 3 m 05 = 5 m 10 = 10 m 15 = 15 m 20 = 20 m

JZSP-CLL00--E*1 The numbers in the boxes () indicate the cable length. 01 = 1 m 03 = 3 m 05 = 5 m 10 = 10 m 15 = 15 m


Note: For SGTMM01 linear sliders, a JZSPCLL40 -E cable (length: 0.2 m) is also required.

247

Linear Sliders

-Trac-

Linear

Selecting Cables and Connectors


1Detail Drawings: Serial Converter Units for Linear Scales by HEIDENHAIN Corporation 2JZDP-006--E 2JZDP-003--E
(With Hall Sensor Cable)
CN2
2-#4-40 4-4.2 Dia. Holes UNC Tapped Holes 2-4.2 Dia. Holes Nameplate 2-#4-40 UNC Tapped Holes

(Without Hall Sensor Cable)


CN1

4-4.2 Dia. Holes 2-4.2 Dia. Holes Nameplate

CN2
33.320.4

24.990.4

24.990.3

CN1

60 520.3 10

1.5 3 14.350.4

650.3 72 820.3 90

30030

CN3
22.5

1.5 3 14.350.3

650.3 72 820.3 90

4-M5 Tapped Holes, Depth 10

4-M5 Tapped Holes, Depth 10

22.5

520.3 60

10

2-#4-40 UNC Tapped Holes

1Details on Connectors
CN1
9 5 1

CN2
Linear Scale End Analog Signal Input

CN3

6 9

SERVOPACK End Serial Data Output 6 by DDK Ltd. 17-series Connector: 17LE-13090-27-FA (Socket)

15 8 by DDK Ltd. 17-series Connector: 17JE-13150-02 (D8C)A-CG (Socket)

Linear Servomotor End 5 Hall Sensor Signal Input


by DDK Ltd. 17-series Connector: 17JE-13090-02(D8C) A-CG (Socket)

Pin No.

Signal

Pin No.

Signal

Pin No.

Signal cos input (A+)

Pin No.

Signal

Pin No.

Signal

Pin No.

Signal Not used Not used Not used Not used Shield

1 2 3 4 5

+5V 6 Phase-/S output Phase-S output 7 Not used Not used 8 Not used Not used 9 Not used 0V Case Shield

1 2 3 4 5 6 7 8

0V sin input (B+) +5V

/cos input (A-) 9 10 0 V sensor 11 /sin input (B-) 12 5 V sensor Not used 13 Not used Not used 14 Ref input (R+) /Ref input (R-) 15 Not used Not used Case Shield

1 2 3 4 5

+5V
Phase-U input Phase-V input Phase-W input 0V

6 7 8 9 Case

Analog Voltage/Pulse Train Reference Type SERVOPACK Serial Converter Unit Hall Sensor Cable for Connecting Hall Sensor (Flexible Type) I/O Signal Connector [CN1] Connector Terminal Block Converter Unit Cable with Loose Wires at One End

MECHATROLINK Communications Reference Type SERVOPACK I/O Signal Connector [CN1] Connector Terminal Cable with Loose Block Converter Unit Wires at One End MECHATROLINK-2 Communications Connector [CN6A] or [CN6B] MECHATROLINK-3 Communications Cable [CN6A] or [CN6B] The numbers in the boxes () indicate the cable length. JEPMC-W6012--E A2 = 0.2 m 05 = 5 m A5 = 0.5 m 10 = 10 m 01 = 1 m 20 = 20 m 02 = 2 m 30 = 30 m 03 = 3 m 50 = 50 m 04 = 4 m JEPMC-6013--E*3 10 = 10 m 50 = 50 m 20 = 20 m 75 = 75 m 30 = 30 m JEPMC-6014- -E A5 = 0.5 m 10 =10 m 01 = 1 m 30 = 30 m 03 = 3 m 50 = 50 m 05 = 5 m

Cables for Setting Devices/Monitors [CN5] Analog Monitor Cable

JZSP-CLL10--E The numbers in the boxes() indicate the cable length. 01 = 1 m 03 = 3 m 05 = 5 m 10 = 10 m 15 = 15 m


Note: For SGTMM01 and SGTMM03-065AH20A servomotors, a cable for connecting the hall sensor is not required.

JUSPTA50PG--E*2 The number in the box() indicates the cable length. None = 0.5 m 1=1m 2=2m

JZSPCSI01--E*2 The number in the box() indicates the cable length. 1=1m 2=2m 3=3m

JUSPTA26P--E*2 The number in the box() indicates the cable length. None = 0.5 m 1=1m 2=2m

JZSPCSI02--E*2 The number in the box() indicates the cable length. 1=1m 2=2m 3=3m

MECHATROLINK communications cable: JEPMC-W6002--E The numbers in the boxes() indicate the cable length. A5 = 0.5 m 20 = 20 m 01 = 1 m 30 = 30 m 03 = 3 m 40 = 40 m 05 = 5 m 50 = 50 m 10 = 10 m MECHATROLINK terminator: JEPMC-W6022-E

JZSPCA01-E 1m

cable length should be 3 m. *1:: When using serial converter unit JZDP-G00--E, the maximumFor details, refer to SERVOPACKs in this catalog. A connector kit *2: Currently in pre-and cable materials are required to assemble cables. release. Will be available soon. *3

248

Linear Sliders

Linear Sliders

-Trac-MAG

Model Designations
2With Incremental Linear Scales

S G
1st digit
Code M

T M F4 A 1st digit 2nd+3rd digits 4th digit

027 A
5th+6th+ 7th digits 8th digit

H 20 A
9th 10th+11th 12th digit digits digit
10th+11th digits Linear Scale Resolution
Code Specifications

-Trac Series Linear Slider

5th+6th+7th digits Peak Force


Specifications Moving Magnet Type Code

Armature Code 2nd+3rd digits (Armature not integrally mounted)


Code F4 F5 Specifications SGLFW-35A230A-F SGLFW-50A380A-F

027 036 054 072

Specifications 270 N 360 N 540 N 720 N

20

20 m

12th digit Design Revision Order


A, B, C

8th digit Linear Scale Output Form


Code Specifications A Effective Stroke 100 mm 185 mm 65 mm 110 mm

4th digit Table Length


Code A B Specifications Short Long Armature Code F4 F5 F4 F5

Analog output 1 Vp-p

9th digit Linear Scale Manufacturer


Code H Specifications

HEIDENHAIN Corporation

2With Absolute (ABS) Linear Scales

S G

T M F4 A 1st digit 2nd+3rd digits 4th digit

027
5th+6th+ 7th digits

ABS
8th+9th+ 10th digits

1
11th digit

A
12th digit

-Trac Series Linear Slider

1st digit (Same as that of the incremental type.)


Armature Code 2nd+3rd digits (Armature not integrally mounted) (Same as that of the incremental type.)

5th+6th+7th digits Peak Force (Same as that of the incremental type.) 8th+9th+10th digits
Code ABS Specifications With an absolute linear scale

11th digit Linear Scale


Code Specifications

1 2

ST781A (by Mitutoyo Corporation, resolution: 0.5 m)


ST783A (by Mitutoyo Corporation, resolution: 0.1 m)

249

4th digit Table Length (Same as that of the incremental type.)

12th digit Design Revision Order


A, B, C

Linear Sliders

-Trac-MAG
Features
2Optimum drive for high-acceleration and high-tact operations

Linear

because of its lightweight moving member.


2For short strokes (65 mm to 185 mm) 2Cooling units (pipes, etc.) for forced-air or liquid cooling

systems can be placed on the fixed side.


2Linear scale options: Incremental or absolute. 2Improved stroke efficiency*

*:Ratio of effective stroke to the total length of drive system

Model Classification
2Force
SERVOPACK Model SGDVSingle-phase 100 VAC Three-phase 200 VAC

-Trac-MAG Series Linear Sliders


Model SGTMF4A-027 SGTMF4B-036 SGTMF5A-054 SGTMF5B-072 Force

200 N

400 N

600 N

800 N

1000 N
Rated force Peak force

2R1F 2R1F

1R6A 1R6A 5R5A 5R5A

2Stroke Length
Model SGTMF4A-027 SGTMF4B-036 SGTMF5A-054 SGTMF5B-072 Stroke Length

50 mm 65 mm

100 mm 100 mm

150 mm

200 mm

185 mm 110 mm

250

Linear Sliders

SGTMF4 Linear Sliders


1Ratings and Specifications
Time Rating: Continuous Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0C to 40C Excitation: Permanent magnet Withstand Voltage: 1500 VAC for one minute
Linear Slider Model SGDVApplicable Serial Converter Unit Model JZDPApplicable SERVOPACK Model Maximum Speed Rated Force Peak Force Force Constant Motor Constant Maximum Payload* Effective Stroke Resolution Movable Member Mass Total Mass (excluding cables) Repeatability*2
1

Enclosure: Self-cooled Ambient Humidity: 20% to 80% (no condensation) Allowable Winding Temperature: 130C (Thermal class B) Vibration Resistance: 24.5 m/s2 Shock Resistance: 294 m/s22 times
SGTMF4A-027ABS1A

SGTMF4A-027AH20A
003-243-E

With Incremental Linear Scales SGTMF4B-036AH20A


003-244-E

With Absolute Linear Scales SGTMF4B-036ABS1A

2R1F, 1R6A 3 90 120 270 360 66.9 89.2 11 14.6 40 55 100 65 Incremental linear scale: 0.078 (20 m/256) 1.72 2.52 6.8 8.05 1.0 1.0
2

m/s N N N/Arms
W N/Q

kg mm
m

kg kg
m

90 120 270 360 66.9 89.2 11 14.6 40 55 100 65 Absolute linear scale*3: 0.5 1.72 2.52 6.8 8.05 1.0 1. 0

*1:: Values obtained when the acceleration is 4.9 m/s .constant. is *2: Values obtained when the ambient temperature m is also available. Contact your Yaskawa representative for details. *3 An absolute linear scale with a resolution of 0.1
1Performance Curves
Force - Speed
A : Continuous Duty Zone B : Intermittent Duty Zone

Effective Force - Ambient Temperature

Load Mass - Acceleration

When the linear scale temperature is 50 C or less Ambient temperature Ambient Temperature (C)

Acceleration (m/s2)

(1) SGTMF4A-027
Speed (m/s)

3 .5 3 2 .5 2 1 .5 1 0 .5 0

A B

100 200 Force (N)

300

40 60 80 100 Effective Force [Load Ratio] (%)


Ambient Temperature (C)

45 40 35 30 25 20 15 10 5 0

250 200 150 100 50 0 0 10 20 30 40

20

Load Mass (kg)

Acceleration (m/s2)

(2) SGTMF4B-036
Speed (m/s)

3 .5 3 2 .5 2 1 .5 1 0 .5 0

100 200 300 Force (N)

400

40 60 80 100 Effective Force [Load Ratio] (%)

45 40 35 30 25 20 15 10 5 0

250 200 150 100 50 0 0 10 20 30 40 50 Load Mass (kg)

20

Note: When the effective force is within the rated force, the servomotor can be used within the intermittent duty zone.

251

Linear Sliders

-Trac-MAG

Linear

SGTMF4 Linear Sliders


1External Dimensions
(Units: mm)
270
L2

2With Incremental Linear Scale


6 15 80
L9

80 23

80

23.5 15

the direction by *1: The moving coil moves infollowing orderindicatedU, V,the arrow : phase when current flows in the and W. : When installing the linear slider, the surface should be flat with *2 a maximum discrepancy of 0.02 mm (reference value) or an equivalent. Plug: 350779-1 (Tyco Electronics AMP K.K.) Pin: 350924-1 or 770672-1

L10 L3 L4

145
L5

L11 L6

160 145

108

L8

(500)

L7

15

80 24-7 Holes
L1 (Full Stroke)

27

Nameplate Encoder Cable (500 mm)

*1

N-M6 Screws, Depth 12 (23.5)

Connector (Plug) for Encoder: 205206-3 (Tyco Electronics AMP K.K.)

19

27

23 17

*2
54 133 270
Linear Scale LIDA489 (by HEINDENHAIN Corporation) One Zero-point Signal at the Scale Center

(2)

9 15

145 160

Linear Slider Model SGTMF 4A-027AH20A

L1 mm

L2 mm

L3 mm

L4 mm

L5 mm

L6 mm

L7 mm

L8 mm

L9 mm

L10 mm

L11 mm

4B-036AH20A

107 71

120 156

20 18

40 40

80 120

20 18

41

80

37

5.5

145

6 12

2With Absolute Linear Scale


270 133 80 59 39 20

*2 * when current flows in the following order: phase U, V, and W. the surface should be *2: When installing the linear slider,02 mm (reference valueflatorwith ) a maximum discrepancy of 0. an
equivalent.

1: The moving coil moves in the direction indicated by the arrow

(19) L11

L1 (Full Stroke) L2 (Table Length) 227 (between Stoppers)

(23.5)

60

(32.7)

23

L8

L9 L4 L3 L7

L10 L5 L3

1000 (from the Head) D-sub Connector (9-pin, Female) Plug: 350779-1 (Tyco Electronics AMP K.K.) Pin: 350924-1 or 770672-1
500

160 145

158 108

23

108

L6

Nameplate

27

24-7 Holes 80 (Pitch) 15 240 (Pitch 803)

27

74

N-M6 Screws, Depth 12

17 15

29 60

14

Linear Slider Model SGTMF 4A-027ABS1A

L1 mm

L2 mm

L3 mm

L4 mm

L5 mm

L6 mm

L7 mm

L8 mm

L9 mm

L10 mm

L11 mm

145 160

6 (32.7)

Linear Scale ST781A (by Mitutoyo Corporation)

58

*1

L12

L12 mm

14

74

4B-036ABS1A

107 71

120 156

20 18

40 40

80 120

10.5

6.5

41

80

37

5.5

145

6 12

252

Linear Sliders

227 (between Stoppers) L2 (Table Length)

17

158 108

39

60

59

20

(39)

29

SGTMF5 Linear Sliders


1Ratings and Specifications Time Rating: Continuous Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0C to 40C Excitation: Permanent magnet Withstand Voltage: 1500 VAC for one minute
Linear Slider Model SGDVApplicable Serial Converter Unit Model JZDPApplicable SERVOPACK Model Maximum Speed Rated Force Peak Force Force Constant Motor Constant Maximum Payload*1 Effective Stroke Resolution Movable Member Mass Total Mass (excluding cables) Repeatability*2 m/s N N N/Arms
W N/Q

Enclosure: Self-cooled Ambient Humidity: 20% to 80% (no condensation) Allowable Winding Temperature: 130C (Thermal class B) Vibration Resistance: 24.5 m/s2 Shock Resistance: 294 m/s22 times
With Absolute Linear Scales SGTMF5A-054ABS1A SGTMF5B-072ABS1A

With Incremental Linear Scales SGTMF5A-054AH20A SGTMF5B-072AH20A


003-245-E 003-246-E

5R5A 4 150 200 540 720 59.4 79.1 18.5 24.7 85 110 185 110 Incremental linear scale: 0.078 (20 m/256) 4.2 6.84 19.8 22.5 1.0 1.0
2

3.7 150 200 540 720 59.4 79.1 18.5 24.7 85 110 185 110 Absolute linear scale*3: 0.5 4.2 6.84 19.8 22.5 1. 0 1.0

kg mm

m
kg kg

*1:: Values obtained when the acceleration is 4.9 m/s .constant. is *2: Values obtained when the ambient temperature m is also available. Contact your Yaskawa representative for details. *3 An absolute linear scale with a resolution of 0.1
1Performance Curves
Force - Speed
A : Continuous Duty Zone B : Intermittent Duty Zone

Effective Force - Ambient Temperature

Load Mass - Acceleration

When the linear scale temperature is 50 C or less Ambient temperature Ambient Temperature (C)
45 40 35 30 25 20 15 10 5 0

Acceleration (m/s2)
0 20 40 60 80 100

(1) SGTMF5A-054
Speed (m/s)

4.5 4 3.5 3 2.5 A 2 1.5 1 0.5 0 0

140 120 100 80 60 40 20 0

200

400

600

20

40

60

80

Force (N) Ambient Temperature (C)

Effective Force [Load Ratio] (%)

Load Mass (kg)

Acceleration (m/s2)
0 20 40 60 80 100

(2) SGTMF5B-072
Speed (m/s)

4 3.5 3 2.5 2 1.5 1 0.5 0

200

400

600

800

45 40 35 30 25 20 15 10 5 0

140 120 100 80 60 40 20 0

20

40

60

80 100

Force (N)

Effective Force [Load Ratio] (%)

Load Mass (kg)

Note: When the effective force is within the rated force, the servomotor can be used within the intermittent duty zone.

253

Linear Sliders

-Trac-MAG

Linear

SGTMF5 Linear Sliders


1External Dimensions (Units: mm) 2With Incremental Linear Scale
25-9 Holes 17 Counter Boring, 10

L7

145

*1

4-M6 Screws, Depth 12


(L7)

the direction indicated by *1: The moving coil moves in following order: phase U, V,the arrow when current flows in the and W. : When installing the linear slider, the surface should be flat *2 with a maximum discrepancy of 0.02 mm (reference value) or an equivalent.

48

53

196

136

86

80

Plug: 350779-1 (Tyco Electronics AMP K.K.) Pin : 350924-1 or 770672-1

26.3 136

500 (From the Motor)


Encoder Cable (500 mm) Connector (Plug) for Encoder 205206-3 (Tyco Electronics AMP K.K.)

57

55

12

90 (Pitch) 40
(25) (5) L1 (Full Stroke)

L4

L5(Pitch)

N-M8 Screws, Depth 16


L6 (Pitch 60*4) L4

(500)

360 (Pitch 90*4) 390 (between Stoppers)


L2 (Table Length) L3

40
(25) (5)

10.2 65

190 71

*2
(20.5)

54 220 440

Linear Scale
LIDA489 (by HEINDENHAIN Corporation) One Zero-point Signal at the Scale Center

12 (12.5)

80 136 196

48

2.7

Linear Slider Model SGTMF 5A-054AH20A 5B-072AH20A

L1 mm

L2 mm

L3 mm

L4 mm

L5 mm

L6 mm

L7 mm

185 110

195 270

220 145

37.5 15

60 60

120 240

25 62.5

6 10

2With Absolute Linear Scale


440 220

*2
88
Linear Scale
ST781A (by Mitutoyo Corporation)

The moving the direction indicated by *1: when currentcoil moves in following order: phase U, V,the arrow flows in the and W. When installing surface should be *2: with a maximum the linear slider,0.the mm (reference value)flat discrepancy of 02 or an equivalent.

(5) (25)

L1(Full Stroke)

L2 (Table Length)

(5) (25) (25.7)

390 (between Stoppers)

17 Counter Boring, 10

L7

D-sub Connector (9-pin, Female)

48

53

196

190

80

136

136

500 (from the Motor)

57

55

26.3

4-M6 Screws, Depth 12

8.7

12

90 (Pitch) 40

L3

N-M8 Screws, Depth 16

23

33 90

34

L5

360 (Pitch 90*4)

40

Linear Slider Model SGTMF -054ABS1A 5A 5B-072ABS1A

L1 mm

L2 mm

L3 mm

L4 mm

L5 mm

L6 mm

L7 mm

185 110

195 270

37.5 15

60 60

120 240

25 62.5

12.5

6 10

12

L6

145 L4

L6 L3

65

136

196

Plug: 350779-1 (Tyco Electronics AMP K.K.) Pin : 350924-1 or 770672-1

86

71

80

48

(35.4)

2*5 - 9 Holes

L7

1000 (from the Head)

34

66 21

11

254

Linear Sliders

88

90

39

34

33

23

Selecting Cables and Connectors


1Connection diagrams
Reference Input Form from Host Controller
To CN5 Analog Monitor Cable

For Analog Voltage/ Pulse Train Reference


Digital Operator JUSP-OP05A-1-E Personal Computer

For MECHATROLINK Communications


CN6
To Other Stations Using MECHATROLINK/ MECHATROLINK-2/ MECHATROLINK-3.

Power Supply

With Front Cover Open (For Analog Voltage/ Pulse Train Reference)

MECHATROLINK Communications Cable

Molded-case Circuit Breaker

CN3 CN5
Personal Computer Cable Host Controller

CN3

Digital Operator Cable

Noise Filter

With Front Cover Open (SERVOPACK for MECHATROLINK Communications)


DF0300413 PC
S/N D0024B958810004
ON

Digital Operator To External Devices such as LED Indicators

CN1
I/O Signal Cable

CN1
I/O Signal Cable

CN5

POWER COM

Magnetic Contactor

Linear Scale
Incremental
To CN2 Cable for Connecting Serial Converter Unit Serial Converter Unit UVW

Absolute
CN2 Cable for Connecting Serial Converter Unit*

CN3

UVW

CN1

Cable for Connecting Linear Scales

Regenerative Resistor Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient.

Linear Servomotor Main Circuit Cable

CN2

Linear Servomotor Main Circuit Cable

UVW

A serial converter unit can be connected *: directly to an absolute linear scale.

1Applicable Cables and Connectors


Linear Scale Type Motor Type Servo Drive SERVOPACK Model SGDVMotor Cable SERVOPACK Motor Linear Servomotor Main Circuit Cable (Flexible Type) Serial Converter Unit Model JZDPLinear Scale Connection Cables [CN2] Serial Converter Unit Serial Converter Unit linear scale Cable for Connecting Serial Converter Unit (Flexible Type) JZSP-CLP70--E The numbers in the boxes() indicate the cable length. 01 = 1 m 03 = 3 m 05 = 5 m 10 = 10 m 15 = 15 m 20 = 20 m Cable for Connecting Linear Scales (Flexible Type) JZSP-CLL00--E*1 The numbers in the boxes() indicate the cable length. 01 = 1 m 03 = 3 m 05 = 5 m 10 = 10 m 15 = 15 m

-Trac-MAG Series Model

Single-phase 100 V

Three-phase 200 V

SGTMF4A-027AH20A Incremental SGTMF4B-036AH20A SGTMF5A-054AH20A SGTMF5B-072AH20A SGTMF4A-027ABS1A Absolute SGTMF4B-036ABS1A SGTMF5A-054ABS1A SGTMF5B-072ABS1A

2R1F 2R1F

1R6A 1R6A 5R5A 5R5A 1R6A 1R6A 5R5A 5R5A

JZSP-CLN11--E 003-243-E JZSP-CLN11--E 003-244-E JZSP-CLN21--E 003-245-E JZSP-CLN21--E 003-246-E JZSP-CLN11--E JZSP-CLN11--E JZSP-CLN21--E JZSP-CLN21--E

Moving Magnet (MM)

2R1F 2R1F

JZSP-CLP70-E
CN2 Linear Scale

255

Linear Sliders

-Trac-MAG

Linear

Selecting Cables and Connectors


1Detail Drawings: Serial Converter Units for Linear Scales by HEIDENHAIN Corporation 2JZDP-006--E 2JZDP-003--E
(With Hall Sensor Cable)
CN2
2-#4-40 4-4.2 Dia. Holes UNC Tapped Holes 2-4.2 Dia. Holes Nameplate

(Without Hall Sensor Cable)


CN1

4-4.2 Dia. Holes 2-#4-40 UNC Tapped Holes 2-4.2 Dia. Holes Nameplate

CN2
33.320.4

24.990.4

24.990.3

CN1

60 520.3 10

1.5 3 14.350.4

650.3 72 820.3 90

30030

CN3
22.5

1.5 3 14.350.3

650.3 72 820.3 90

4-M5 Tapped Holes, Depth 10

4-M5 Tapped Holes, Depth 10

22.5

520.3 60

10

2-#4-40 UNC Tapped Holes

1Details on Connectors
CN1
9 5 1

CN2
Linear Scale End Analog Signal Input

CN3

6 9

SERVOPACK End Serial Data Output 6 by DDK Ltd. 17-series Connector: 17LE-13090-27-FA (Socket)

15 8 by DDK Ltd. 17-series Connector: 17JE-13150-02 (D8C)A-CG (Socket)

Linear Servomotor End 5 Hall Sensor Signal Input


by DDK Ltd. 17-series Connector: 17JE-13090-02(D8C) A-CG (Socket)

Pin No.

Signal

Pin No.

Signal

Pin No.

Signal cos input (A+)

Pin No.

Signal

Pin No.

Signal

Pin No.

Signal Not used Not used Not used Not used Shield

1 2 3 4 5

+5V Phase-S output


Not used Not used 0V

6 Phase-/S output 7 Not used 8 Not used 9 Not used Case Shield

1 2 3 4 5 6 7 8

/cos input (A-) 9 0V 10 0 V sensor sin input (B+) 11 /sin input (B-) +5V 12 5 V sensor Not used 13 Not used Not used 14 Ref input (R+) /Ref input (R-) 15 Not used Not used Case Shield

1 2 3 4 5

+5V 6 Phase-U input 7 Phase-V input 8 Phase-W input 9 0V Case

Analog Voltage/Pulse Train Reference Type SERVOPACK I/O Signal Connector [CN1] Connector Terminal Block Converter Unit Cable with Loose Wires at One End

MECHATROLINK Communications Reference Type SERVOPACK I/O Signal Connector [CN1] Connector Terminal Block Converter Unit Cable with Loose Wires at One End MECHATROLINK-2 Communications Connector [CN6A] or [CN6B] MECHATROLINK-3 Communications Cable [CN6A] or [CN6B] The numbers in the boxes () indicate the cable length. JEPMC-W6012--E A2 = 0.2 m 05 = 5 m A5 = 0.5 m 10 = 10 m 01 = 1 m 20 = 20 m 02 = 2 m 30 = 30 m 03 = 3 m 50 = 50 m 04 = 4 m JEPMC-6013--E*3 10 = 10 m 50 = 50 m 20 = 20 m 75 = 75 m 30 = 30 m JEPMC-6014- -E A5 = 0.5 m 10 =10 m 01 = 1 m 30 = 30 m 03 = 3 m 50 = 50 m 05 = 5 m

Cables for Setting Devices/Monitors [CN5] Analog Monitor Cable

JUSPTA50PG--E*2 The number in the box( ) indicates the cable length. None = 0.5 m 1=1m 2=2m

JZSPCSI01--E*2 The number in the box() indicates the cable length. 1=1m 2=2m 3=3m

JUSPTA26P--E*2 The number in the box() indicates the cable length. None = 0.5 m 1=1m 2=2m

JZSPCSI02--E*2 The number in the box( ) indicates the cable length. 1=1m 2=2m 3=3m

MECHATROLINK communications cable: JEPMC-W6002--E The numbers in the boxes () indicate the cable length. A5 = 0.5 m 20 = 20 m 01 = 1 m 30 = 30 m 03 = 3 m 40 = 40 m 05 = 5 m 50 = 50 m 10 = 10 m MECHATROLINK terminator: JEPMC-W6022-E

JZSP-CA01-E (1 m )

cable length should be 3 m. *1:: When using serial converter unit JZDP-G00--E, the maximumFor details, refer to SERVOPACKs in this catalog. A connector kit *2: Currently in pre-and cable materials are required to assemble cables. release. Will be available soon. *3

256

Linear Sliders

Analog Voltage/Pulse Train Reference Type SERVOPACKs

SGDV-01
(For Rotary Servomotors)

SGDV-05
(For Linear Servomotors)
Model Designations

SGDV
v Series
SGDV SERVOPACK

R70 A
1st+2nd+ 3rd digits 4th digit

01
5th+6th digits

A 000
7th digit 8th+9th+ 10th digits

00
11th+12th digits

0
13th digit

1st+2nd+3rd digits Current


Voltage Singlephase 100 V Code R70 R90 Applicable Servomotor Max. Capacity kW

4th digit Power Supply Voltage


Code F A D Specifications Single-phase 100 VAC Three-phase 200 VAC Three-phase 400 VAC

8th+9th+10th digits Options (hardware)


Code

Threephase 200 V

Threephase 400 V

257

2R1 2R8 R70*1 R90*1 1R6*1 2R8*1 3R8 5R5*1 7R6 120*2 180 200 330 470 550 590 780 1R9 3R5 5R4 8R4 120 170 210 260 280 370

0.05 0.1 0.2 0.4 0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5 2.0 3.0 5.0 6.0 7.5 11 15 0.5 1.0 1.5 2.0 3.0 5.0 6.0 7.5 11 15

000 001 002 003 008 020

Specifications Base-mounted (standard) Rack-mounted*3 Varnished Rack-mounted*3 and Varnished Single-phase 200 VAC input
Model: SGDV-120A01A008000

5th+6th digits Interface


Code Specifications Analog voltage/pulse train reference type (for rotary servomotors) Analog voltage/pulse train reference type (for linear servomotors)

Dynamic brake (400 V SERVOPACKs only )

01 05

11th+12th digits Options (software)


Code Specifications Standard

00

7th digit Design Revision Order


A, B

13th digit Options (parameter)


Code Specifications Standard

powered with single or three-phase. *1:: These-amplifiers can beSERVOPACKs are also available. (Model: SGDV-120A01A008000) *2: Single phase 2006VAC or more are duct-ventilated. *3 SERVOPACKs of kW Note: If the option codes digits 8 to 13 are all zeros, they are omitted.

SGLGW
Features
Unprecedented ease-of-use through cutting-edge technology
New tuning-less function means no adjustment needed. Impressive load regulation with strengthened vibration suppression function.

Setup wizard function and wiring conformation function of engineering tool SigmaWin+

Slashed setup time

allows easy setup just by watching the monitor.

High response characteristics at 1 kHz min.


New advanced autotuning. Reduced positioning time through model following control, and smooth machine

control enabled by vibration suppression function.

Ratings
Single-phase 100 V
SERVOPACK Model SGDV- Applicable Servomotor Max. Capacity kW Continuous Output Current Arms Max. Output Current Arms Regenerative Resistors Main Circuit Control Circuit R90F 2R 1F 2R8F 0. 1 0. 2 0. 4 0.91 2. 1 2. 8 2. 9 6. 5 9. 3 None or external Single-phase 100 to 115 VAC+10% to -15% 50/60 Hz Single-phase 100 to 115 VAC+10% to -15% 50/60 Hz R70F 0.05 0.66 2.1

Single-phase 200 V
SERVOPACK Model SGDV- R70A R90A 1R6A 2R8A 5R5A 120A* Applicable Servomotor Max. Capacity kW 0.05 0.1 0.2 0.4 0.75 1.5 Continuous Output Current Arms 0.66 0.91 1.6 2.8 5.5 11.6 Max. Output Current Arms 2.1 2.9 5.8 9.3 16.9 28 Regenerative Resistors None or external Built-in or external Single-phase 200 to 230 VAC+10% to -15% 50/60 Hz Main Circuit* Single-phase 200 to 230 VAC+10% to -15% 50/60 Hz Control Circuit*

Three-phase 200 V

*: The rated voltage is 220 to 230 VAC for the SGDV-120A01A008000 SERVOPACK.

SERVOPACK Model SGDV- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A 470A 550A 590A 780A Applicable Servomotor Max. Capacity kW 0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5 2.0 3.0 5.0 6 7.5 11 15 Continuous Output Current Arms 0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6 32.9 46.9 54.7 58.6 78 Max. Output Current Arms 2.1 2.9 5.8 9.3 11 16.9 17 28 42 56 84 110 130 140 170 Regenerative Resistors None or external Built-in or external External Three-phase 200 to 230 VAC+10% to -15% 50/60 Hz Main Circuit Single-phase 200 to 230 VAC+10% to -15% 50/60 Hz Control Circuit

Three-phase 400 V
SERVOPACK Model SGDV- Applicable Servomotor Max. Capacity kW Continuous Output Current Arms Max. Output Current Arms Regenerative Resistors Main Circuit Control Circuit
Note: The entire over voltage category is 3.

1R9D 0.5 1.9 5.5

3R5D 1.0 3.5 8.5

5R4D 8R4D 120D 170D 210D 260D 280D 1. 5 2.0 3.0 5.0 6 7.5 11 5. 4 8.4 11.9 16.5 20.8 25.7 28.1 14 20 28 42 55 65 70 Built-in or external External Three-phase 380 to 480 VAC+10% to -15% 50/60 Hz 24 VDC 15%

370D 15 37.2 85

1SERVOPACK Overload Characteristics


10000 10000 10000
SGMGV-03A, -05A, -09A, -13A20A, -30A, -1AA, -1EA SGMGV-D SGMSV-

Detecting time (s)

Detecting time (s)

1000

1000 10 SGMAV-02, 04, 06, 08 SGMPS

Detecting time (s)

1000

100
SGMJV

100

100

*
SGMGV-44A, -55A, -75A

10

10
SGMAV-A5, 01, C2

10

1 100

200

300

350

1 100

200

300

Torque reference(percent of rated torque) Torque reference(percent of rated torque) (%) (%) Note: Overload characteristics shown above do not guarantee continuous duty of 100% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics. : The dotted line indicates the characteristics of a combination of SGDV-200A SERVOPACKs and SGMGV-30A servomotors.

1 80% torque Rated Approx. Rated torque + Max. torque Max. torque (percent of torque 2 rated torque)

258

Analog/Pulse Type SERVOPACKs

Specifications
Items Control Method Rotary Servomotors Feedback With Linear Servomotors Ambient Temperature Storage Temperature Ambient Humidity Storage Humidity Vibration Resistance Operating Conditions Shock Resistance Protection Class Pollution Degree Altitude Others Applicable Standards Mounting Speed Control Range Speed Regulation*1 Load Fluctuation Voltage Fluctuation Specifications IGBT PWM control, sine-wave driven Serial encoder: 13-bit (incremental encoder) : 17-bit (incremental/absolute encoder) : 20-bit (incremental/absolute encoder) Absolute linear scale (The signal resolution varies depending on the absolute linear scale.) Incremental linear scale (The signal resolution varies depending on the incremental linear scale or serial converter unit.)

0 to +55C 20 to +85C 90%RH or less 90%RH or less 4.9 m/s2 19.6 m/s2
IP10 With no freezing or condensation

2 1000 m or less

An environment that satisfies the following conditions. Free of corrosive or flammable gases Free of exposure to water, oil, or chemicals Free of dust, salts, or iron dust

Do not use SERVOPACKs in the following locations: Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity UL508C EN50178, EN55011/A2 group1 classA, EN61000-6-2, EN61800-3, EN61800-5-1, EN954-1, IEC61508-1 to 4 Standard: Base-mounted Optional: Rack-mounted, Duct-ventilated 1:5000 (The lower limit of the speed control range must be lower than the point at which the rated torque does not cause the servomotor to stop.)

Performance

Temperature Fluctuation Torque Control Tolerance (Repeatability) Soft Start Time Setting RS-422A Communications USB Communications Display Interface 1:N communications Axis address setting Interface Communications Standard

Communications

Analog Monitor

Dynamic Brake (DB) Regenerative Processing Overtravelling (OT) Prevention Protective Functions Utility Functions Input Safety Functions Option Module
defined as follows: *1: Speed regulation isNo-load motor speed Total load motor speed Speed regulation =

0% to 100% load: 0.01% max. (at rated speed) Rated voltage: 10% : 0% (at rated speed) 25 25C : 0.1% max. (at rated speed) 1% 0 to 10 s (can be set individually for acceleration and deceleration.) Digital operator (JUSP-OP05A-1-E), personal computer (can be connected with SigmaWin+) RS-422A port: N=15 max. available Set by parameters Personal computer (can be connected with SigmaWin+.) Compliant with USB1.1 standard (12 Mbps) CHARGE indicator Number of points: 2 Output voltage: 10 VDC (linearity effective range 8 V) Resolution: 16 bit Accuracy: 20 mV (Typ) Max. output current: 10 mA Settling time ( 1%): 1.2 ms (Typ) Activated when a servo alarm or overtravelling (OT) occurs, or when the power supply for the main circuit or servomotor is OFF.
Included For more information, refer to the previous page. Dynamic brake stop at P-OT or N-OT, deceleration to a stop, or free run to a stop

Overcurrent, Overvoltage, low voltage, overload, regeneration error , etc. Gain adjustment, alarm history, JOG operation, origin search, etc. /HWBB1, /HWBB2: Baseblock signal for power module EDM1: Status monitor (fixed output) of built-in safety circuit
2

Output Applicable Standards*

EN954 category 3IEC61508 SIL2 Fully-closed Module

259

100% Rated motor speed The motor speed may change due to voltage fluctuation or temperature fluctuation. The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature fluctuations. : Perform risk assessment for the system and confirm that the safety requirements for the standards are fulfilled before using the HWBB function. 2

Analog/Pulse Type SERVOPACKs

SGDV-01/05

Specifications
1Rotary Servomotors
Items Encoder Output Pulses Fixed Input Specifications Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. SEN signal Number of Channels

7 channels

Sequence Input

Input Signals which can be allocated

I/O Signal Fixed Output

Servo ON (/S-ON) Internal set speed selection (/SPD-D, /SPD-A, /SPD-B) Proportional control (/P-CON) Forward run prohibited (P-OT), reverse run prohibited (N-OT) Control selection (/C-SEL) Zero clamping (/ZCLAMP) Functions Alarm reset (/ALM-RST) Reference pulse inhibit (/INHIBIT) Forward external torque limit (/P-CL), reverse external torque limit (/N-CL) Gain selection (/G-SEL) Positive and negative logic can be changed. Servo alarm (ALM), alarm code (ALO1, ALO2, ALO3) outputs Number of Channels

3 channels

Sequence Output

Output Signals which can be allocated

Panel Operator

Display Unit Switch Reference Voltage

Four push switches Max. input voltage: 12 V (forward torque reference with positive reference) Factory setting: 3 VDC at rated torque (Input gain setting can be changed.) About 14 k 16 s 0 to 10 s (can be set individually for acceleration and deceleration.) Max. input voltage: 12 V (forward speed reference with positive reference) Factory setting: 6 VDC at rated speed (Input gain setting can be changed.) About 14 k 30 s With P control signal With forward/reverse external torque limit signal (speed 1 to 3 selection). Servomotor stops or another control method is used when both are OFF.

Torque Control

Input Signals

Input Impedance Circuit Time Constant

Soft Start Time Setting Reference Voltage Input Signals Speed Control Internal Set Speed Control Input Impedance Circuit Time Constant Rotation Direction Selection Speed Selection

Feedforward Compensation Positioning Completed Width Setting Type Form Position Control Reference Input Signals Pulse Max. Input Pulse Frequency*

0 to 100% 0 to 1073741824 reference units Select one of them:


Sign + pulse train, CW + CCW pulse train, or two-phase pulse train with 90phase differential For line driver, open collector Line driver Sign + pulse train, CW + CCW pulse train: 4 Mpps phase differential:1 Mpps Two-phase pulse train with 90 Open Collector Sign + pulse train, CW + CCW pulse train: 200 kpps phase differential: 200 kpps Two-phase pulse train with 90

Clear Signal

Position error clear For line driver, open collector

: If the maximum reference frequency exceeds 1 Mpps, use a shielded cable for I/O signals and ground both ends of the shield. Connect the shield at the SERVOPACK to the connector shell.

260

Analog/Pulse Type SERVOPACKs

Positioning completion (/COIN) Speed limit detection (/VLT) Speed coincidence detection (/V-CMP) Brake (/BK) Rotation detection (/TGON) Functions Warning (/WARN) Servo ready (/S-RDY) Near (/NEAR) Torque limit detection (/CLT) Positive and negative logic can be changed. Five 7-segment LEDs

Specifications
1Linear Servomotors
Items Encoder Output Pulses Fixed Input Specifications Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. SEN signal Number of Channels

7 channels
Servo ON (/S-ON) Internal set speed selection (/SPD-D, /SPD-A, /SPD-B) Proportional control (/P-CON) Forward run prohibited (P-OT)Reverse run prohibited (N-OT) Control selection (/C-SEL) Zero clamping (/ZCLAMP) Alarm reset (/ALM-RST) Reference pulse inhibit (/INHIBIT) Forward external force limit (/P-CL), Reverse external force limit (/N-CL) Gain selection (/G-SEL) Polarity detection (P-DET) Positive and negative logic can be changed.

Sequence Input

Input Signals which can be allocated Functions

I/O Signal

Fixed Output

Servo alarm (ALM), alarm code (ALO1, ALO2, ALO3) outputs Number of Channels

3 channels
Positioning completion (/COIN) Speed limit detection (/VLT) Speed coincidence detection (/V-CMP) Brake (/BK) Servomotor movement detection (/TGON) Warning (/WARN) Servo ready (/S-RDY) Near (/NEAR) Force limit detection (/CLT) Positive and negative logic can be changed.

Sequence Output

Output Signals which can be allocated Functions

Panel Operator

Display Unit Switch Reference Voltage

Five 7-segment LEDs Four push switches Max. input voltage: 12 V (forward force reference with positive reference) Factory setting: 3 VDC at rated force (Input gain setting can be changed.) About 14 k 16 s 0 to 10 s (can be set individually for acceleration and deceleration.) Max. input voltage: 12 V (forward speed reference with positive reference) Factory setting: 6 VDC at rated speed (Input gain setting can be changed.) About 14 k 30 s With P control signal With forward/reverse external force limit signal (speed 1 to 3 selection). Servomotor stops or another control method is used when both are OFF.

Force Control

Input Signals

Input Impedance Circuit Time Constant

Soft Start Time Setting Reference Voltage Input Signals Speed Control Internal Set Speed Control Input Impedance Circuit Time Constant Movement Direction Selection Speed Selection

Feedforward Compensation Positioning Completed Width Setting Type Form Position Control Input Signals Reference Pulse Max. Input Pulse Frequency*

0 to 100% 0 to 1073741824 reference units


Select one of them: Sign + pulse train, forward + reverse pulse train, two-phase pulse train with 90 phase differential For line driver, open collector Line driver Sign + pulse train, forward + reverse pulse train: 4 Mpps phase differential:1 Mpps Two-phase pulse train with 90 Open Collector Sign + pulse train, forward + reverse pulse train: 200 kpps phase differential: 200 kpps Two-phase pulse train with 90 Position error clear For line driver, open collector

Clear Signal

If the maximum reference frequency exceeds *: Connect the shield at the SERVOPACK to the 1 Mpps, use a shielded cable for I/O signals and ground both ends of the shield. connector shell.

261

Analog/Pulse Type SERVOPACKs

SGDV-01/05

Power Supply Capacities and Power Losses


The following table shows SERVOPACK's power supply capacities and power losses at the rated output.
Main Circuit Power Supply Applicable Servomotor Max. Capacity kW Signal-phase SERVOPACK Model SGDVR70F R90F 2R1F 2R8F R70A R90A 1R6A 2R8A 5R5A 120A R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A 470A 550A 590A 780A 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D 370D Power Supply Capacity kVA Main Circuit Power Loss W Regenerative Resistor Power Loss W Control Circuit Power Loss W Total Power Loss W

Output Current Arms

100 V

Single-phase

200 V

200 V

10 16 36 (180)*1
(350)*2

22 27 33 48

14

21

Three-phase

28 36
180 3 * 350 4 *

25 24 27 30

400 V

*1:: For the optional JUSP-RA04-E regenerative resistor unit. *2: For the optional JUSP-RA05-E regenerative resistor unit. *3: For the optional JUSP-RA18-E regenerative resistor unit *4 For the optional JUSP-RA19-E regenerative resistor unit. Notes: 1 SGDV-R70F, -R90F, -2R1F, -2R8F, -R70A, -R90A, -1R6A, and -2R8A SERVOPACKs do not have built-in regenerative resistors.
If the regenerative energy exceeds the specified value, connect an external regenerative resistor (optional). 2 SGDV-470A, -550A, -590A, -780A, -210D, -260D, -280D, -370D SERVOPACKs do not have built-in regenerative resistors. Be sure to connect a regenerative resistor unit (optional) or an external regenerative resistor (optional). For selection details, refer to page 349. 3 Regenerative resistor power losses are allowable losses. Take the following action if this value is exceeded. Remove the lead or short bar that is short-circuiting the SERVOPACK main circuit terminal B2 and B3. (SGDV-3R8A, -5R5A, -7R6A, -120A, -180A, -200A, -330A, or 400-V class SERVOPACKs.) Install an external regenerative resistor (optional). For selection details, refer to page 349.

262

Analog/Pulse Type SERVOPACKs

Three-phase

0.05 0. 1 0. 2 0. 4 0.05 0.1 0.2 0.4 0.75 1.5 0.05 0.1 0.2 0.4 0.5 0.75 1.0 1. 5 2. 0 3. 0 5. 0 6. 0 7.5 11 15 0. 5 1.0 1.5 2.0 3.0 5.0 6.0 7.5 11 15

0.2 0.3 0.7 1.4 0.2 0.3 0.7 1.2 1.9 4 0.2 0.3 0.6 1 1.4 1.6 2.3 3.2 4 5.9 7.5 10.7 14.6 21.7 29.6 1.1 2.3 3.5 4.5 7.1 11.7 12.4 14.4 21.9 30.6

0.66 0.91 2.1 2.8 0.66 0.91 1.6 2.8 5.5 11.6 0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6 32.9 46.9 54.7 58.6 78 1.9 3.5 5.4 8.4 11.9 16.5 20.8 25.7 28.1 37.2

5. 4 7. 8 14.4 25.6 5. 2 7. 4 13.7 24.9 52.7 68.2 5. 1 7. 3 13.5 24.0 20.1 43.8 53.6 65.8 111.9 113.8 263.7 279.4 357.8 431.7 599.0 24.6 46.1 71.3 77.9 108.7 161.1 172.7 218.6 294.6 403.8

17

17

8 10

22

17 8

22.4 24.8 31.4 42.6 22.2 24.4 30.7 41.9 77.7 100.2 22.1 24.3 30.5 41.0 45.1 68.8 78.6 97.8 149.9 161.4 326.7 312.4 390.8 479.7 647.0 59.6 81.1 106.3 130.9 161.7 221.1 199.7 245.6 324.6 433.8

Selecting Cables
1Cables for CN1 CN3 CN5 CN7 CN8 (Analog Voltage/Pulse Train Reference Type SERVOPACKs)

CN5

Cable for Analog Monitor

CN3

Digital Operator Converter Cable

Digital Operator

REF

CN7

Connection Cable for Personal Computer

YASKAWA

ALARM

SVON

READ
SERVO

WRITE
SERVO

DIGITAL OPERATOR

Cable for I/O Signals CN1

Host Controller

CN8 Cable for Safety Function Device

Name Connector Kit

Length

Order No.
Soldered

Specifications

Details
1

JZSP-CSI9-1-E JUSP-TA50PG-E JUSP-TA50PG-1-E JUSP-TA50PG-2-E JZSP-CSI01-1-E JZSP-CSI01-2-E JZSP-CSI01-3-E


With Connection Cable (1 m)

0.5 m
CN1 Cables for I/O Signals Connector Terminal Converter Unit

Terminal Block and Connection Cable

1m 2m 1m

Cable with Loose Wires at Peripheral Devices

Cables with Loose Wires at One End

2m 3m

REF

Digital Operator CN3

JUSP-OP05A-1-E

YASKAWA

ALARM

SVON

READ
SERVO

WRITE
SERVO

DIGITAL OPERATOR

Cable with Connectors at Both Ends

Digital Operator Converter Cable*1 CN7 Connection Cables for Personal Computer CN5 Cables for Analog Monitor Cables with Connector*2 CN8 Cable for Safety Function Device

0.3 m

JZSP-CVS05-A3-E

JZSP-CVS05-A3-E

Cable with Connectors at Both Ends

3 10314

2.5 m 1m 3m

JZSP-CVS06-02-E JZSP-CA01-E JZSP-CVH03-03-E

JZSP-CVS06-02-E

SERVOPACK End

Connector Kit*3

Contact Tyco Electronics AMP K.K. Product name: Industrial Mini I/O D-shape Type1 Plug Connector Kit Model: 2013595-1

263

operators model: *1 :: A converter cable is required to use series digital the safety (devices.JUSP-OP05A) for series SERVOPACKs. When using the safety function, connect *2 Even when not using the safety function, this cable to use SERVOPACKs with the Safe Jumper Connector (model: JZSP-CVH05-E) connected. *3 : Use the connector kit when you make cables yourself.

Analog/Pulse Type SERVOPACKs

SGDV-01/05

Selecting Cables
(1) Connector Kit for CN1
8 .5
2.9 6.8

Use the following connector and cable to assemble the cable. The CN1 connector kit includes one case and one connector.
Connector Kit Model JZSP-CSI9-1-E Case Model Qty Connector Model Qty

External Dimensions of Case (Units: mm)


17.0 14.0 46.5 39.0 23.8

41.1

10350-52Z0-008*

1 set

10150-3000PE* (Soldered)

5.2

* : Manufactured by Sumitomo 3M Ltd.


Cable Size
Item Cable Applicable Wires Cable Finished Diameter Specifications Use twisted-pair or twisted-pair shielded wire. AWG24262830 16 dia. max.

52.4

12.7

External Dimensions of Connector (Units: mm)


2.54 1.27 2.3 5.1
Pin No.1 Pin No.2 Pin No.24 Pin No.25 Pin No.49 Pin No.26 Pin No.50 Pin No.27

12.7

19.5

41.1
Pin No.1

Pin No.26

1.27 30.48 36.7

15

(2) Connector Terminal Converter Unit for CN1 Configurations


SERVOPACK
CN1

External Dimensions of Terminal Block (Units: mm)


15.5
Terminal Block (50P) Connector Plug (50P) 7 M3.5 Screw MR-50RMD2G+ 7

29.5

Cable Length 500 +50 mm -0

1 1 2

49 50

247.5

3.5
62

Model JUSP-TA50PG-E
1 2 49 50

Can be fixed on DIN rail

External Dimensions of Cable (Units: mm)


SERVOPACK End Connector (50P) 10150-6000EL (Sumitomo 3M Ltd.) Terminal Converter Unit-end Connector (50P) Shell 10350-52Z0-008 (Sumitomo 3M Ltd.) MRP-50F01(Honda Tsushin Kogyo Co., Ltd.) Case MR-50L+ (Honda Tsushin Kogyo Co., Ltd.) Cable (Black) AWG#28, 25P UL20276 VW-1SC

Model JUSP-TA50PG-E JUSP-TA50PG-1-E JUSP-TA50PG-2-E

Cable Length (L)

0.5 m 1m 2m

Note: The pin numbers in the SERVOPACK connector and the pin numbers in the terminal block are the same. If assembling cables, refer to 1 Cable with Loose Wires at One End for CN1 Connection Diagram of JZSP-CSI01- -E Cable on the next page.

20.5

43.5

1 19 33

16 32 50

With Terminal Block Cover Open

2-3.5 Dia. 3.5

45

1 19 33

16 32 50

264

Analog/Pulse Type SERVOPACKs

9.1 7.5

Selecting Cables
(3) Cable with Loose Wires at One End for CN1 External Dimensions of Cable (Units: mm)
SERVOPACK End Connector 10150-6000EL (50P)* 10350-52Z0-008* Case Sleeve F2 (Black) Cable (Black) SSRFPVV-SBAWG#28 25P UL20276VW 1SC Wire Markers

1Cable with Loose Wires at One End for CN1

Connection Diagram of JZSP-CSI01--E Cable


SERVOPACK End
Wire Pin No. Signal Color SG 1 Orange PL1 3 Orange SG 2 Gray SEN 4 Gray V-REF White 5 SG 6 White PULS Yellow 7 /PULS Yellow 8 T-REF Pink 9 SG 10 Pink SIGN Orange 11 /SIGN Orange 12 PL2 13 Gray /CLR White 14 CLR 15 White 16 Gray 17 Yellow PL3 18 Yellow PCO 19 Pink /PCO 20 Pink BAT + Orange 21 BAT Orange 22 23 Gray 24 Gray /V-CMP+ White 25 /V-CMP White 26 /TGON+ Yellow 27 /TGON Yellow 28 /S-RDY+ Pink 29 /S-RDY Pink 30 ALM+ Orange 31 ALM Orange 32 PAO Gray 33 /PAO Gray 34 PBO White 35 /PBO White 36 ALO1 Yellow 37 ALO2 Yellow 38 ALO3 Pink 39 /S-ON Pink 40 /P-CON Orange 41 P-OT Orange 42 N-OT Gray 43 /ALM-RST Gray 44 /P-CL White 45 /N-CL White 46 +24V-IN Yellow 47 Pink 48 Pink 49 Yellow 50 Case Marking Dots Color 1 Red 1 Black 1 Red 1 Black 1 Red 1 Black 1 Red 1 Black 1 Red 1 Black 2 Red 2 Black 2 Red 2 Red 2 Black 2 Black 2 Red 2 Black 2 Red 2 Black 3 Red 3 Black 3 Red 3 Black 3 Red 3 Black 3 Red 3 Black 3 Red 3 Black 4 Red 4 Black 4 Red 4 Black 4 Red 4 Black 4 Red 4 Black 4 Red 4 Black 5 Red 5 Black 5 Red 5 Black 5 Red 5 Black 5 Red 5 Red 5 Black 5 Black

Host Controller End


Lead Marker

100+10 -0

* : Manufactured by Sumitomo 3M Ltd.


Model JZSP-CSl01-1-E JZSP-CSl01-2-E JZSP-CSl01-3-E Cable Length (L)

1m 2m 3m

1 3 2 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50
Represents

Shield

twisted-pair wires.

265

Analog/Pulse Type SERVOPACKs

SGDV-01/05

Selecting Cables
(4) Digital Operator (Model: JUSP-OP05A-1-E) (Units: mm)
70

2-M3 Screws, Depth 5 (For mounting digital operator)

REF

YASKAWA

120

ALARM

SVON

READ
SERVO

WRITE
SERVO

DIGITAL OPERATOR

Connector: HDR-E14MAG1+(Honda Tsushin Kogyo Co., Ltd.) Case: HDR-E14LPA5(Honda Tsushin Kogyo Co., Ltd.)

17.8

57

30 1000 +0

(5) Digital Operator Converter Cable for CN3 (Model: JZSP-CVS05-A3-E)


3External Dimensions (Units: mm)
(39) (12.7)

300 +30 0
(4.8 Dia.)

(35) (8)

JZSP-CVS05-A3-E

Connector (14-pole) 10214-6202PL (Sumitomo 3M Ltd.) Cover FA458036 (Yasco Components Co., Ltd.)

Connector (14-pole) HDR-E14MAG1 + (Honda Tsushin Kogyo Co., Ltd.) Cover HDR-E14LPA5 (Honda Tsushin Kogyo Co., Ltd.)

(6) Connection Cable for Personal Computer for CN7 (Model: JZSP-CVS06-02-E)
3External Dimensions (Units: mm)
2,500 +100 0 10 to 20

JZSP-CVS06-02-E

(100)

(55)

IMPORTANT

Use a cable specified by Yaskawa. When using other cables, operation cannot be guaranteed.

266

Analog/Pulse Type SERVOPACKs

A converter cable is required to use

series digital operators (model: JUSP-OP05A) for

111

Nameplate

series SERVOPACKs.

(29.5)

(21)

3 10314

Selecting Cables
(7) Cable for Analog Monitor for CN5 (Model: JZSP-CA01-E)
3External Dimensions (Units: mm)
Socket 11-4DS-2C* DF Contact DF11-2428SCF* Black Black

Specifications
Pin No. Cable Color Red White Black (2 cables) Signal Analog Monitor 2 Analog Monitor 1 GND(0V) Standard Settings Motor speed : 1V/1000 min-1 Torque reference : 1V/100 rated torque

1 2

1000 -0

+20

3 1

4 2
White Red

* : Manufactured by Hirose Electric Corporation.

3, 4

View from Cable End

Note : The specifications above are factory settings. Monitor specifications can be changed by changing parameters Pn006 and Pn007.

(8) Cable with Connector for CN8 (Model: JZSP-CVH03-03-E)


3External Dimensions (Units: mm)
(33) (20)

Specifications
Pin No.
(8)

3000 +150

Signal Not used Not used /HWBB1 /HWBB1 /HWBB2 /HWBB2 EDM1 EDM1

Lead Color

Marking Color

1 2 3 4 5 6 7 8

White White Gray Gray Orange Orange

Black Red Black Red Black Red

(11) Connector Kit2013595-1 (Tyco Electronics AMP K.K.)

267

MECHATROLINK-2 Communications Reference Type SERVOPACKs

SGDV-11) (
For Rotary Servomotors

SGDV-15
(For Linear Servomotors)
Model Designations

SGDV
v Series
SGDV SERVOPACK

R70 A
1st+2nd+ 3rd digits 4th digit

11
5th+6th digits

A 000
7th digit 8th+9th+ 10th digits

00
11th+12th digits

0
13th digit

1st+2nd+3rd digits Current


Voltage Singlephase 100 V Code R70 R90 Applicable Servomotor Max. Capacity kW

4th digit Power Supply Voltage


Code F A D Specifications Single-phase 100 VAC Three-phase 200 VAC Three-phase 400 VAC

8th+9th+10th digits Options (hardware)


Code

Threephase 200 V

Threephase 400 V

269

2R1 2R8 R70*1 R90*1 1R6*1 2R8*1 3R8 5R5*1 7R6 120*2 180 200 330 470 550 590 780 1R9 3R5 5R4 8R4 120 170 210 260 280 370

0.05 0. 1 0. 2 0. 4 0.05 0. 1 0. 2 0. 4 0. 5 0.75 1.0 1.5 2.0 3.0 5.0 6.0 7.5 11 15 0.5 1.0 1.5 2.0 3.0 5.0 6.0 7.5 11 15

000 001 002 003 008 020

Specifications Base-mounted (standard) Rack-mounted*3 Varnished Rack-mounted*3 and Varnished Single-phase 200 VAC input
Model: SGDV-120A11A008000

5th+6th digits Interface


Code Specifications MECHATROLINK-2 communications Reference Type (for rotary servomotors) MECHATROLINK-2 communications Reference Type (for linear servomotors)

Dynamic brake (400 V SERVOPACKs only )

11 15

11th+12th digits Options (software)


Code Specifications Standard

00

7th digit Design Revision Order


A, B

13th digit Options (parameter)


Code Specifications Standard

powered with single or three-phase. *1:: These-amplifiers can beSERVOPACKs are also available. (Model: SGDV-120A11A008000) *2: Single phase 2006VAC or more are duct-ventilated. *3 SERVOPACKs of kW Note: If the option codes digits 8 to 13 are all zeros, they are omitted.

M-2 Type SERVOPACKs

SGDV-11/15
Features
1Real-time communications
MECHATROLINK-2 communications enable high-speed control for 30 stations at a maximum transmission speed of 10 Mbps in a transmission cycle from 250 s to 4 ms (set by the host controller). Such a high transmission speed allows real-time transmission of various data required for control. Thirty stations can be connected to a single MECHATROLINK-2 transmission line, so wiring costs and time are greatly reduced. Also, only one signal connector is required on the host controller. And, the all-digital network eliminates the need for conversion from digital to analog for speed/torque references and for a pulse generator to generate position references. The SGDV SERVOPACK when connected to the host controller in the MECHATROLINK-2 network provides not only torque, position, and speed control but also synchronized phase control that requires advanced control technology. The control mode can be changed online so that the machine can move smoothly in complex motions with great efficiency.

1Cost savings

1High-precision motion control

Ratings
Single-phase 100 V
SERVOPACK Model SGDV- Applicable Servomotor Max. Capacity kW Continuous Output Current Arms Max. Output Current Arms Regenerative Resistors Main Circuit Control Circuit R90F 2R 1F 2R8F 0. 1 0. 2 0. 4 0.91 2. 1 2. 8 2. 9 6. 5 9. 3 None or external Single-phase 100 to 115 VAC+10% to -15% 50/60 Hz Single-phase 100 to 115 VAC+10% to -15% 50/60 Hz R70F 0.05 0.66 2.1

Single-phase 200 V
SERVOPACK Model SGDV- R70A R90A 1R6A 2R8A 5R5A 120A* Applicable Servomotor Max. Capacity kW 0.05 0.1 0.2 0.4 0.75 1.5 Continuous Output Current Arms 0.66 0.91 1.6 2.8 5.5 11.6 Max. Output Current Arms 2.1 2.9 5.8 9.3 16.9 28 Regenerative Resistors None or external Built-in or external Single-phase 200 to 230 VAC+10% to -15% 50/60 Hz Main Circuit* Single-phase 200 to 230 VAC+10% to -15% 50/60 Hz Control Circuit*

Three-phase 200 V

*: The rated voltage is 220 to 230 VAC for the SGDV-120A11A008000 SERVOPACK.

SERVOPACK Model SGDV- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A 470A 550A 590A 780A Applicable Servomotor Max. Capacity kW 0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5 2.0 3.0 5.0 6 7.5 11 15 Continuous Output Current Arms 0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6 32.9 46.9 54.7 58.6 78 Max. Output Current Arms 2.1 2.9 5.8 9.3 11 16.9 17 28 42 56 84 110 130 140 170 Regenerative Resistors None or external Built-in or external External Three-phase 200 to 230 VAC+10% to -15% 50/60 Hz Main Circuit Single-phase 200 to 230 VAC+10% to -15% 50/60 Hz Control Circuit

Three-phase 400 V
SERVOPACK Model SGDV- Applicable Servomotor Max. Capacity kW Continuous Output Current Arms Max. Output Current Arms Regenerative Resistors Main Circuit Control Circuit
Note: The entire over voltage category is 3.

1R9D 0.5 1.9 5.5

3R5D 1.0 3.5 8.5

5R4D 8R4D 120D 170D 210D 260D 280D 1. 5 2.0 3.0 5.0 6 7.5 11 5. 4 8.4 11.9 16.5 20.8 25.7 28.1 14 20 28 42 55 65 70 Built-in or external External Three-phase 380 to 480 VAC+10% to -15% 50/60 Hz 24 VDC 15%

370D 15 37.2 85

1SERVOPACK Overload Characteristics


10000
Detecting time (s)

10000

10000

Detecting time (s)

1000

1000 10 SGMAV-02, 04, 06, 08 SGMPS

Detecting time (s)

1000

SGMGV-03A, -05A, -09A, -13A20A, -30A, -1AA, -1EA SGMGV-D SGMSV-

100
SGMJV

100

100

*
SGMGV-44A, -55A, -75A

10

10
SGMAV-A5, 01, C2

10

1 1 1 100 200 300 100 200 300 350 80% torque Rated Approx. Rated torque + Max. torque Max. torque Torque reference(percent of rated torque) (percent of Torque reference(percent of rated torque) torque 2 (%) (%) rated torque) Note: Overload characteristics shown above do not guarantee continuous duty of 100% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics. : The dotted line indicates the characteristics of a combination of SGDV-200A SERVOPACKs and SGMGV-30A servomotors.

270

M-2 Type SERVOPACKs

Specifications
Items Control Method Rotary Servomotors Feedback With Linear Servomotors Ambient Temperature Storage Temperature Ambient Humidity Storage Humidity Vibration Resistance Operating Conditions Shock Resistance Protection Class Pollution Degree Altitude Others Applicable Standards Mounting Speed Control Range Speed Regulation*1 Load Fluctuation Voltage Fluctuation Temperature Fluctuation Specifications IGBT PWM control, sine-wave driven Serial encoder: 13-bit (incremental encoder) : 17-bit (incremental/absolute encoder) : 20-bit (incremental/absolute encoder) Absolute linear scale (The signal resolution varies depending on the absolute linear scale.) Incremental linear scale (The signal resolution varies depending on the incremental linear scale or serial converter unit.)

0 to +55C 20 to +85C 90%RH or less 90%RH or less 4.9 m/s2 19.6 m/s2
IP10

With no freezing or condensation

2 1000 m or less

An environment that satisfies the following conditions. Free of corrosive or flammable gases Free of exposure to water, oil, or chemicals Free of dust, salts, or iron dust

Do not use SERVOPACKs in the following locations: Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity UL508C EN50178, EN55011/A2 group1 classA, EN61000-6-2, EN61800-3, EN61800-5-1, EN954-1, IEC61508-1 to 4 Standard: Base-mounted Optional: Rack-mounted, Duct-ventilated 1:5000 (The lower limit of the speed control range must be lower than the point at which the rated torque does not cause the servomotor to stop.)

Performance

0% to 100% load: 0.01% max. (at rated speed) Rated voltage: 10% : 0% (at rated speed) 25 25C : 0.1% max. (at rated speed)

Torque Control Tolerance (Repeatability) Soft Start Time Setting RS-422A Communications USB Communications Display Interface 1:N communications Axis address setting Interface Communications Standard

Communications

1% 0 to 10 s (can be set individually for acceleration and deceleration.) Digital operator (JUSP-OP05A-1-E), personal computer (can be connected with SigmaWin+) RS-422A port: N=15 max. available Set by parameters Personal computer (can be connected with SigmaWin+.) Compliant with USB1.1 standard (12 Mbps)
CHARGE indicator Number of points: 2 Output voltage: 10 VDC (linearity effective range 8 V) Resolution: 16 bit Accuracy: 20 mV (Typ) Max. output current: 10 mA Settling time ( 1%): 1.2 ms (Typ) Activated when a servo alarm or overtravelling (OT) occurs, or when the power supply for the main circuit or servomotor is OFF.
Included For more information, refer to the previous page.

Analog Monitor

Dynamic Brake (DB) Regenerative Processing Overtravelling (OT) Prevention Protective Functions Utility Functions Input Safety Functions Option Module
Speed regulation =

Dynamic brake stop at P-OT or N-OT, deceleration to a stop, or free run to a stop Overcurrent, Overvoltage, low voltage, overload, regeneration error, etc. Gain adjustment, alarm history, JOG operation, origin search, etc. Output Applicable Standards*2 /HWBB1, /HWBB2: Baseblock signal for power module EDM1: Status monitor (fixed output) of built-in safety circuit EN954 category 3, IEC61508 SIL2 Fully-closed Module

defined as follows: *1: Speed regulation isNo-load motor speed Total load motor speed

271

100% Rated motor speed The motor speed may change due to voltage fluctuation or temperature fluctuation. The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature fluctuations. 2: Perform risk assessment for the system and confirm that the safety requirements for the standards are fulfilled before using the HWBB function.

M-2 Type SERVOPACKs

SGDV-11/15

Specifications
1Rotary Servomotors
Items Encoder Output Pulses Fixed Input Specifications Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. SEN signal Number of Channels

Sequence Input

Input Signals which can be allocated

Function

7 channels Homing deceleration switch signal (/DEC) External latch signals (/EXT 1 to 3) Forward run prohibited (P-OT), reverse run prohibited (N-OT) Forward external torque limit (/P-CL), reverse external torque limit (/N-CL)
Positive and negative logic can be changed.

Fixed Output I/O Signal

Servo alarm (ALM) Number of Channels

Sequence Output

Output Signals which can be allocated

Function

3 channels Positioning completion (/COIN) Speed limit detection (/VLT) Speed coincidence detection (/V-CMP) Brake (/BK) Rotation detection (/TGON) Warning (/WARN) Servo ready (/S-RDY) Near (/NEAR) Torque limit detection (/CLT)

Panel Operator

MECHATROLINK Communications

Command Method

Command Input

Position control, speed control, and torque control through MECHATROLINK communications MECHATROLINK commands (for sequence, motion, data setting/reference, monitor, adjustment, and other commands.)

1Linear Servomotors
Items Encoder Output Pulses Fixed Input Specifications Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. SEN signal Number of Channels 7 channels Homing deceleration switch signal (/DEC) External latch signals (/EXT 1 to 3) Forward run prohibited (P-OT), reverse run prohibited (N-OT) Forward external force limit (/P-CL), reverse external force limit (/N-CL) Positive and negative logic can be changed.

Sequence Input

Input Signals which can be allocated

Function

Fixed Output I/O Signal

Servo alarm (ALM) Number of Channels

Sequence Output

Output Signals which can be allocated

Function

3 channels Positioning completion (/COIN) Speed limit detection (/VLT) Speed coincidence detection (/V-CMP) Brake (/BK) Servomotor movement detection (/TGON) Warning (/WARN) Servo ready (/S-RDY) Near (/NEAR) Force limit detection (/CLT)

Panel Operator

MECHATROLINK Communications

Display Unit Switch Communications Protocol Transmission Speed Transmission Cycle Number of Words for Link Transmission Station Address Performance Command Input

Positive and negative logic can be changed. One 7-segment LED Rotary switch: 16 positions, piano switch: 4 poles MECHATROLINK-2 MECHATROLINK-1

10 Mbps 250 s, 0.5 to 4.0 ms (multiple of 0.5 ms) Can be switched between 17-bytes /station and 32-bytes / station. 41H to 5FH (max. number of slaves: 30)

4 Mbps 2 ms 17-bytes /station

Command Method

Position control, speed control, and force control through MECHATROLINK-2 communications MECHATROLINK commands and MECHATROLINK-2 commands (for sequence, motion, data setting/reference, monitor, adjustment, and other commands.)

272

M-2 Type SERVOPACKs

Display Unit Switch Communications Protocol Transmission Speed Transmission Cycle Number of Words for Link Transmission Station Address Performance

Positive and negative logic can be changed. One 7-segment LED Rotary switch: 16 positions, DIP switch: 4 poles MECHATROLINK-2 MECHATROLINK-1

10 Mbps 250 s, 0.5 to 4.0 ms (multiple of 0.5 ms) Can be switched between 17-bytes /station and 32-bytes / station. 41H to 5FH (max. number of slaves: 30)

4 Mbps 2 ms 17-bytes /station

Power Supply Capacities and Power Losses


The following table shows SERVOPACK's power supply capacities and power losses at the rated output.
Main Circuit Power Supply Applicable Servomotor Max. Capacity kW Signal-phase Regenerative SERVOPACK Model SGDVR70F R90F 2R 1F 2R 8F R70A R90A 1R6A 2R8A 5R5A 120A R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A 470A 550A 590A 780A 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D 370D Power Supply Capacity kVA Output Current Arms Main Circuit Power Loss W Resistor Power Loss W Control Circuit Power Loss W Total Power Loss W

100 V

Single-phase

200 V

Three-phase

200 V

Three-phase

400 V

0.05 0.1 0.2 0.4 0.05 0.1 0.2 0.4 0.75 1.5 0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5 2.0 3.0 5.0 6.0 7.5 11 15 0.5 1.0 1.5 2.0 3.0 5.0 6.0 7.5 11 15

0.2 0.3 0.7 1.4 0.2 0.3 0.7 1.2 1.9 4 0.2 0.3 0.6 1 1.4 1.6 2.3 3.2 4 5.9 7.5 10.7 14.6 21.7 29.6 1.1 2.3 3.5 4.5 7.1 11.7 12.4 14.4 21.9 30.6

0.66 0.91 2.1 2.8 0.66 0.91 1.6 2.8 5.5 11.6 0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6 32.9 46.9 54.7 58.6 78 1.9 3.5 5.4 8.4 11.9 16.5 20.8 25.7 28.1 37.2

5.4 7.8 14.4 25.6 5.2 7.4 13.7 24.9 52.7 68.2 5.1 7.3 13.5 24.0 20.1 43.8 53.6 65.8 111.9 113.8 263.7 279.4 357.8 431.7 599.0 24.6 46.1 71.3 77.9 108.7 161.1 172.7 218.6 294.6 403.8

17

17

8 10

22

17 8 10 16 36 (180)*1
(350)*2

22 27 33 48

14

21

28 36
180 3 * 350 4 *

25 24 27 30

22.4 24.8 31.4 42.6 22.2 24.4 30.7 41.9 77.7 100.2 22.1 24.3 30.5 41.0 45.1 68.8 78.6 97.8 149.9 161.4 326.7 312.4 390.8 479.7 647.0 59.6 81.1 106.3 130.9 161.7 221.1 199.7 245.6 324.6 433.8

*1:: For the optional JUSP-RA04-E regenerative resistor unit. *2: For the optional JUSP-RA05-E regenerative resistor unit. *3: For the optional JUSP-RA18-E regenerative resistor unit. *4 For the optional JUSP-RA19-E regenerative resistor unit. Notes: 1 SGDV-R70F, -R90F, -2R1F, -2R8F, -R70A, -R90A, -1R6A, and -2R8A SERVOPACKs do not have built-in regenerative resistors.
If the regenerative energy exceeds the specified value, connect an external regenerative resistor (optional). 2 SGDV-470A, -550A, -590A, -780A, -210D, -260D, -280D, -370D SERVOPACKs do not have built-in regenerative resistors. Be sure to connect a regenerative resistor unit (optional) or an external regenerative resistor (optional). For selection details, refer to page 349. 3 Regenerative resistor power losses are allowable losses. Take the following action if this value is exceeded. Remove the lead or short bar that is short-circuiting the SERVOPACK main circuit terminal B2 and B3. (SGDV-3R8A, -5R5A, -7R6A, -120A, -180A, -200A, -330A, or 400-V class SERVOPACKs.) Install an external regenerative resistor (optional). For selection details, refer to page 349.

273

M-2 Type SERVOPACKs

SGDV-11/15

Selecting Cables
1Cables for CN1 CN3 CN5 CN6 CN7 CN8 (MECHATROLINK-2 Communications Reference Type SERVOPACKs)
Cable for Analog Monitor
CN5

MECHATROLINK-2 Communication Cable


CN6

Connect to the MECHATROLINK-2 Digital Operator Converter Cable Digital Operator


CN3

REF

YASKAWA

CN7

ALARM

Connection Cable for Personal Computer Cable for I/O Signals

SVON

READ
SERVO

WRITE
SERVO

DIGITAL OPERATOR

CN1

LED Indicator for External Device

CN8

Cable for Safety Function Device

Name Connector Kit

Length

Order No. JZSP-CSI9-2-E


Soldered

Specifications

Details
1

Connector Terminal Converter Unit

1m 2m 1m 2m 3m

JUSP-TA26P-1-E JUSP-TA26P-2-E JZSP-CSI02-1-E JZSP-CSI02-2-E JZSP-CSI02-3-E


With Connection Cable (1 m)

Cable with Loose wire at One End

REF

Digital Operator CN3 Digital Operator Converter Cable*1 CN7 Connection Cables for Personal Computer Cables with Connectors at Both Ends CN6A CN6B MECHATROLINK-2 Communication Cable Cables with Connectors at Both Ends (with Ferrite Core) Terminator CN5 Cables for Analog Monitor CN8 Cable for Safety Function Device Cables with Connector*2 Connector kit*3

JUSP-OP05A-1-E

YASKAWA

ALARM

SVON

READ
SERVO

WRITE
SERVO

DIGITAL OPERATOR

Cable with Connectors at Both Ends

0.3 m 2.5 m 0.5 to 50 m 0.5 to 50 m

JZSP-CVS05-A3-E JZSP-CVS06-02-E JEPMC-W6002--E

JZSP-CVS05-A3-E

Cable with Connectors at Both Ends


JZSP-CVS06-02-E

10

JEPMC-W6003--E JEPMC-W6022-E

9
SERVOPACK End

1m 3m

JZSP-CA01-E JZSP-CVH03-03-E

6 11

Contact Tyco Electronics AMP K.K. Product name : Industrial Mini I/O D-shape Type1 Plug Connector Kit Model : 2013595-1

* * *

1 : A converter cable is required to use series digital operators (model: JUSP-OP05A) for series SERVOPACKs. 2 : When using the safety function, connect this cable to the safety devices. (model: JZSP-CVH05-E) connected. Even when not using the safety function, use SERVOPACKs with the Safe Jumper Connector 3 : Use the connector kit when you make cables yourself.

274

M-2 Type SERVOPACKs

CN1 Cables for I/O Signals

0.5 m

JUSP-TA26P-E

Terminal Block and Connection Cable

3 10314

Selecting Cables
(1) Connector Kit for CN1 Use the following connector and cable to assemble the cable. The CN1 connector kit includes one case and one connector.
Connector Kit Model JZSP-CSI9-2-E Case Model Qty Connector Model Qty
39.0 23.8 25.8 14.0 31.3

External Dimensions of Case (Units: mm)


10.0
2.9 6.8

12.0

10326-52A0-008*

1 set

10126-3000PE* (Soldered)

5.2

* : Manufactured by Sumitomo 3M Ltd.


Cable Size
Item Cable Applicable Wires Cable Finished Diameter Specifications Use twisted-pair or twisted-pair shielded wire. AWG24262830 16 dia. max.

37.2

12.7

External Dimensions of Connector (Units: mm)


2.54 1.27 2.3 5.1
Pin No.1 Pin No.2 Pin No.12 Pin No.13 Pin No.25 Pin No.14 Pin No.26 Pin No.15

25.8
Pin No.1

9.1 7.5

Pin No.14

1.27 15.24 21.5

15

(2) Connector Terminal Converter Unit for CN1 Configurations External Dimensions of Terminal Block (Units: mm)
SERVOPACK CN1
Cable Length 500 +-50 mm 0

Terminal Block (40P) M3.5 Screw

Connector Plug (40P) FCN-364P040-AU

7 29.5
B1 A1 B20 A20

15.5

1 2

39 40

Model JUSP- TA26 P


B1 A1 B20 A20

2-3.5 Dia. 3.5

202.5

3.5 43

1 2

39 40

Can be fixed on DIN rail

External Dimensions of Cable (Units: mm)


Terminal Converter Unit-end Connector (40P) SERVOPACK End Connector (26P) FCN-361J040-AU (Fujitsu Ltd.) 10126-6000EL (Sumitomo 3M Ltd.) Shell Cover 10326-52A0-008 (Sumitomo 3M Ltd.) FCN-360C040-B (Fujitsu Ltd.) Cable (Black) AWG#28, 18P SSRFPVV-SB

20.5

Model JUSP-TA26P-E JUSP-TA26P-1-E JUSP-TA26P-2-E

45

Cable Length (L)

12.7

Approx. Mass

0.5 m 1m 2m

100 g 200 g 400 g

37.2

39

47

275

Note: The pin number in the SERVOPACK connector and the pin number in the terminal block are the same. Pin numbers 1 to 26 are used in the terminal block. Do not use a pin number of 27 or higher. If assembling cables, refer to 1 Cable with Loose Wires at One End for CN1 Connection Diagram of JZSP-CSI02- -E Cable on the next page.

73

19.5

M-2 Type SERVOPACKs

SGDV-11/15

Selecting Cables
(3) Cable with Loose Wires at One End for CN1 External Dimensions of Cable (Units: mm)
SERVOPACK End Connector 10126-6000EL (by Sumitomo 3M Ltd.) 10326-52A0-008 Shell Cable (Ivory) SSRFPVV-SB AWG#28 13P UL20276 VW-1SC

1Cable with Loose Wires at One End for CN1 Connection Diagram of JZSP-CSI02--E Cable
SERVOPACK End
Pin No. Signal Wire Color /BK+(/SO1+) Blue /BK(/SO1) Blue ALM+ Pink ALM Pink 5 Green +24VIN Green P-OT Orange N-OT Orange /DEC Gray /EXT1 Gray /EXT2 Blue /EXT3 Blue /SI0 Pink BAT + Green BAT Green SG Pink PAO Orange /PAO Orange PBO Gray /PBO Gray PCO Blue /PCO Blue /SO2+ Pink /SO2 Pink /SO3+ Green /SO3 Green Marking Dots Color 1 Red 1 Black 1 Red 1 Black 1 Red 1 Black 1 Red 1 Black 1 Red 1 Black 2 Red 2 Black 2 Red 2 Red 2 Black 2 Black 2 Red 2 Black 2 Red 2 Black 3 Red 3 Black 3 Red 3 Black 3 Red 3 Black

Host Controller End


Lead Marker

3 Dia. Wire Markers 37.2

14

100 +10 -0

Model JZSP-CSI02-1-E JZSP-CSI02-2-E JZSP-CSI02-3-E

Cable Length

1m 2m 3m

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26

(4) Digital Operator (Model: JUSP-OP05A-1-E)


(Units: mm)
70 2-M3 Screws, Depth 5 (For mounting digital operator)

REF

(5) Digital Operator Converter Cable for CN3 (Model: JZSP-CVS05-A3-E) A converter cable is required to use series digital series operators (model: JUSP-OP05A) for SERVOPACKs. 3External Dimensions (Units: mm)
(39)

300 +30 0
(4.3 Dia)

(35) (8)
JZSP-CVS05-A3-E

120

Nameplate

111

YASKAWA

ALARM

(12.7) (29.5)
3 10314

SVON

READ
SERVO

WRITE
SERVO

DIGITAL OPERATOR

17.8
30 1000 +0

57

Connector (14-pole) 10214-6202PL (Sumitomo 3M Ltd.) Cover FA458036 (Yasco Components Co., Ltd.) Connector (14-pole) HDR-E14MAG1+ (Honda Tsushin Kogyo Co., Ltd.) Cover HDR-E14LPA5 (Honda Tsushin Kogyo Co., Ltd.)

Connector: HDR-E14MAG1+(Honda Tsushin Kogyo Co., Ltd.) Case: HDR-E14LPA5(Honda Tsushin Kogyo Co., Ltd.)

(21)

276

M-2 Type SERVOPACKs

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 Represents twisted-pair wires.

(6.3 Dia.)

Selecting Cables
(6) Cable for Analog Monitor for CN5 (Model: JZSP-CA01-E)
3External Dimensions (Units: mm)
Socket DF11-4DS-2C* Contact 11-2428SCF* DF

Black Black

1000

+20 -0

3 1

4 2
White Red

* : Manufactured by Hirose Electric Corporation.


Specifications
Pin No. Cable Color Red White Black (2 cables) Signal

View from Cable End

Standard Settings Motor speed : 1V/1000 min-1 Torque reference : 1V/100 rated torque

1 2 3, 4

Analog Monitor 2 Analog Monitor 1 GND(0V)

Note : The specifications above are factory settings. Monitor specifications can be changed by changing parameters Pn006 and Pn007.

(7) MECHATROLINK-2 Communications Cable for CN6 (Model: JEPMC-W6002--E) 3External Dimensions (Units: mm) Cable with Connectors at Both Ends
L

(8) MECHATROLINK-2 Communications Cable for CN6 (Model: JEPMC-W6003- -E) 3External Dimensions (Units: mm) Cable with Connectors at Both Ends (with Ferrite Core)
L

Model JEPMC-W6002-A5-E JEPMC-W6002-01-E JEPMC-W6002-03-E JEPMC-W6002-05-E JEPMC-W6002-10-E JEPMC-W6002-20-E JEPMC-W6002-30-E JEPMC-W6002-40-E JEPMC-W6002-50-E

Cable Length(L)

0.5 1.0 3.0 5.0 10.0 20.0 30.0 40.0 50.0

Model JEPMC-W6003-A5-E JEPMC-W6003-01-E JEPMC-W6003-03-E JEPMC-W6003-05-E JEPMC-W6003-10-E JEPMC-W6003-20-E JEPMC-W6003-30-E JEPMC-W6003-40-E JEPMC-W6003-50-E

Cable Length (L)

0. 5 1. 0 3. 0 5. 0 10.0 20.0 30.0 40.0 50.0

IMPORTANT Use a MECHATROLINK-2 communications cable specified by Yaskawa. When using other cables, noise
resistance may be reduced, and operation cannot be guaranteed.

(9) MECHATROLINK-2 Terminator for CN6 (Model : JEPMC-W6022-E) 3External Dimensions (Units: mm)
(8)

21

46

277

M-2 Type SERVOPACKs

SGDV-11/15

Selecting Cables
(10) Connection Cable for Personal Computer for CN7 (Model: JZSP-CVS06-02-E)
3External Dimensions (Units: mm)
2,500 +100 0

10 to 20

JZSP-CVS06-02-E

(100)

(55)

IMPORTANT Use a cable specified by Yaskawa. When using other cables, operation cannot be guaranteed. (11) Cable with Connector for CN8 (Model: JZSP-CVH03-03-E)
3External Dimensions (Units: mm)
(33) (20)

Specifications
Pin No.
(8)

3000 +150

Signal Not used Not used /HWBB1 /HWBB1 /HWBB2 /HWBB2 EDM1 EDM1

Lead Color

Marking Color

1 2 3 4 5 6 7 8

(11) Connector Kit2013595-1 (Tyco Electronics AMP K.K.)

White Gray Gray Orange Orange

Red Black Red Black Red

278

M-2 Type SERVOPACKs

White

Black

MECHATROLINK-3 Communications Reference Type SERVOPACKs

SGDV-21) (
For Rotary Servomotors

SGDV-25
Model Designations

(For Linear Servomotors)

SGDV
v Series
SGDV SERVOPACK

R70 A
1st+2nd+ 3rd digits 4th digit

21
5th+6th digits

A 000
7th digit 8th+9th+ 10th digits

00
11th+12th digits

0
13th digit

1st+2nd+3rd digits Current


Voltage Singlephase 100 V Code R70 R90 Applicable Servomotor Max. Capacity kW

4th digit Power Supply Voltage


Code F A D Specifications Single-phase 100 VAC Three-phase 200 VAC Three-phase 400 VAC

8th+9th+10th digits Options (hardware)


Code

Threephase 200 V

Threephase 400 V

279

2R1 2R8 R70*1 R90*1 1R6*1 2R8*1 3R8 5R5*1 7R6 120*2 180 200 330 470 550 590 780 1R9 3R5 5R4 8R4 120 170 210 260 280 370

0.05 0. 1 0. 2 0. 4 0.05 0. 1 0. 2 0. 4 0. 5 0.75 1.0 1.5 2.0 3.0 5.0 6.0 7.5 11 15 0.5 1.0 1.5 2.0 3.0 5.0 6.0 7.5 11 15

000 001 002 003 008 020

Specifications Base-mounted (standard) Rack-mounted*3 Varnished Rack-mounted*3 and Varnished Single-phase 200 VAC input
Model: SGDV-120A21A008000

5th+6th digits Interface


Code Specifications MECHATROLINK-3 communications Reference Type (for rotary servomotors) MECHATROLINK-3 communications Reference Type (for linear servomotors)

Dynamic brake (400 V SERVOPACKs only )

21 25

11th+12th digits Options (software)


Code Specifications Standard

00

7th digit Design Revision Order


A, B

13th digit Options (parameter)


Code Specifications Standard

powered with single or three-phase. *1:: These-amplifiers can beSERVOPACKs are also available. (Model: SGDV-120A21A008000) *2: Single phase 2006VAC or more are duct-ventilated. *3 SERVOPACKs of kW Note: If the option codes digits 8 to 13 are all zeros, they are omitted.

M-3 Type SERVOPACKs

SGDV-21/25
Features
1Real-time communications
MECHATROLINK-3 communications enable high-speed control for 62 stations at a transmission speed of 100 Mbps in a transmission cycle from 125 s to 4 ms (set by the host controller). Such a high transmission speed allows real-time transmission of various data required for control. The 62 stations can be connected to a single MECHATROLINK-3 transmission line, so wiring costs and time are greatly reduced. Also, only one signal connector is required on the host controller. And, the all-digital network eliminates the need for conversion from digital to analog for speed/torque references and for a pulse generator to generate position references. The SGDV SERVOPACK when connected to the host controller in the MECHATROLINK-3 network provides not only torque, position, and speed control but also synchronized phase control that requires advanced control technology. The control mode can be changed online so that the machine can move smoothly in complex motions with great efficiency.

1Cost savings

1High-precision motion control

Ratings
Single-phase 100 V
SERVOPACK Model SGDV- Applicable Servomotor Max. Capacity kW Continuous Output Current Arms Max. Output Current Arms Regenerative Resistors Main Circuit Control Circuit R90F 2R 1F 2R8F 0. 1 0. 2 0. 4 0.91 2. 1 2. 8 2. 9 6. 5 9. 3 None or external Single-phase 100 to 115 VAC+10% to -15% 50/60 Hz Single-phase 100 to 115 VAC+10% to -15% 50/60 Hz R70F 0.05 0.66 2.1

Single-phase 200 V
SERVOPACK Model SGDV- R70A R90A 1R6A 2R8A 5R5A 120A* Applicable Servomotor Max. Capacity kW 0.05 0.1 0.2 0.4 0.75 1.5 Continuous Output Current Arms 0.66 0.91 1.6 2.8 5.5 11.6 Max. Output Current Arms 2.1 2.9 5.8 9.3 16.9 28 Regenerative Resistors None or external Built-in or external Single-phase 200 to 230 VAC+10% to -15% 50/60 Hz Main Circuit Single-phase 200 to 230 VAC+10% to -15% 50/60 Hz Control Circuit

Three-phase 200 V

*: The rated voltage is 220 to 230 VAC for the SGDV-120A21A008000 SERVOPACK.
M-3 Type SERVOPACKs
280

SERVOPACK Model SGDV- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A 470A 550A 590A 780A Applicable Servomotor Max. Capacity kW 0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5 2.0 3.0 5.0 6 7.5 11 15 Continuous Output Current Arms 0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6 32.9 46.9 54.7 58.6 78 Max. Output Current Arms 2.1 2.9 5.8 9.3 11 16.9 17 28 42 56 84 110 130 140 170 Regenerative Resistors None or external Built-in or external External Three-phase 200 to 230 VAC+10% to -15% 50/60 Hz Main Circuit Single-phase 200 to 230 VAC+10% to -15% 50/60 Hz Control Circuit

Three-phase 400 V
SERVOPACK Model SGDV- Applicable Servomotor Max. Capacity kW Continuous Output Current Arms Max. Output Current Arms Regenerative Resistors Main Circuit Control Circuit
Note: The entire over voltage category is 3.

1R9D 0.5 1.9 5.5

3R5D 1.0 3.5 8.5

5R4D 8R4D 120D 170D 210D 260D 280D 1. 5 2.0 3.0 5.0 6 7.5 11 5. 4 8.4 11.9 16.5 20.8 25.7 28.1 14 20 28 42 55 65 70 Built-in or external External Three-phase 380 to 480 VAC+10% to -15% 50/60 Hz 24 VDC 15%

370D 15 37.2 85

1SERVOPACK Overload Characteristics


10000
Detecting time (s)

10000

10000

Detecting time (s)

1000

1000 10 SGMAV-02, 04, 06, 08 SGMPS

Detecting time (s)

1000

SGMGV-03A, -05A, -09A, -13A20A, -30A, -1AA, -1EA SGMGV-D SGMSV-

100
SGMJV

100

100

*
SGMGV-44A, -55A, -75A

10

10
SGMAV-A5, 01, C2

10

1 1 1 100 200 300 100 200 300 350 80% torque Rated Approx. Rated torque + Max. torque Max. torque (percent of Torque reference(percent of rated torque) Torque reference(percent of rated torque) torque 2 (%) (%) rated torque) Note: Overload characteristics shown above do not guarantee continuous duty of 100% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics. : The dotted line indicates the characteristics of a combination of SGDV-200A SERVOPACKs and SGMGV-30A servomotors.

Specifications
Items Control Method Rotary Servomotors Feedback With Linear Servomotors Ambient Temperature Storage Temperature Ambient Humidity Storage Humidity Vibration Resistance Operating Conditions Shock Resistance Protection Class Pollution Degree Altitude Others Applicable Standards (Pending) Mounting Speed Control Range Speed Regulation*1 Load Fluctuation Voltage Fluctuation Temperature Fluctuation Specifications IGBT PWM control, sine-wave driven Serial encoder: 13-bit (incremental encoder) : 17-bit (incremental/absolute encoder) : 20-bit (incremental/absolute encoder) Absolute linear scale (The signal resolution varies depending on the absolute linear scale.) Incremental linear scale (The signal resolution varies depending on the incremental linear scale or serial converter unit.)

0 to +55C 20 to +85C 90%RH or less 90%RH or less 4.9 m/s2 19.6 m/s2
IP10 With no freezing or condensation

2 1000 m or less

An environment that satisfies the following conditions. Free of corrosive or flammable gases Free of exposure to water, oil, or chemicals Free of dust, salts, or iron dust

Do not use SERVOPACKs in the following locations: Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity UL508C EN50178, EN55011/A2 group1 classA, EN61000-6-2, EN61800-3, EN61800-5-1, EN954-1, IEC61508-1 to 4 Standard: Base-mounted Optional: Rack-mounted, Duct-ventilated 1:5000 (The lower limit of the speed control range must be lower than the point at which the rated torque does not cause the servomotor to stop.)

Performance

0% to 100% load: 0.01% max. (at rated speed) Rated voltage: 10% : 0% (at rated speed) 25 25C : 0.1% max. (at rated speed)

Torque Control Tolerance (Repeatability) Soft Start Time Setting RS-422A Communications USB Communications Display Interface 1:N communications Axis address setting Interface Communications Standard

Communications

1% 0 to 10 s (can be set individually for acceleration and deceleration.) Digital operator (JUSP-OP05A-1-E), personal computer (can be connected with SigmaWin+) RS-422A port: N=15 max. available Set by parameters Personal computer (can be connected with SigmaWin+.) Compliant with USB1.1 standard (12 Mbps)
CHARGE indicator Number of points: 2 Output voltage: 10 VDC (linearity effective range 8 V) Resolution: 16 bit Accuracy: 20 mV (Typ) Max. output current: 10 mA Settling time ( 1%): 1.2 ms (Typ) Activated when a servo alarm or overtravelling (OT) occurs, or when the power supply for the main circuit or servomotor is OFF.
Included For more information, refer to the previous page.

Analog Monitor

Dynamic Brake (DB) Regenerative Processing Overtravelling (OT) Prevention Protective Functions Utility Functions Input Safety Functions Option Module
Speed regulation =

Dynamic brake stop at P-OT or N-OT, deceleration to a stop, or free run to a stop Overcurrent, Overvoltage, low voltage, overload, regeneration error, etc. Gain adjustment, alarm history, JOG operation, origin search, etc. Output Applicable Standards (Pending)*2 /HWBB1, /HWBB2: Baseblock signal for power module EDM1: Status monitor (fixed output) of built-in safety circuit EN954 category 3, IEC61508 SIL2 Fully-closed Module

defined as follows: *1: Speed regulation isNo-load motor speed Total load motor speed

281

100% Rated motor speed The motor speed may change due to voltage fluctuation or temperature fluctuation. The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature fluctuations. 2: Perform risk assessment for the system and confirm that the safety requirements for the standards are fulfilled before using the HWBB function.

M-3 Type SERVOPACKs

SGDV-21/25

Specifications
1Rotary Servomotors
Items Encoder Output Pulses Fixed Input Specifications Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. SEN signal 7 channels Number of Channels Homing deceleration switch signal (/DEC) External latch signals (/EXT 1 to 3) Function Forward run prohibited (P-OT), reverse run prohibited (N-OT) Forward external torque limit (/P-CL), reverse external torque limit (/N-CL) Positive and negative logic can be changed. Fixed Output I/O Signal Servo alarm (ALM) Number of Channels

Sequence Input

Input Signals which can be allocated

Sequence Output

Output Signals which can be allocated

Function

3 channels Positioning completion (/COIN) Speed limit detection (/VLT) Speed coincidence detection (/V-CMP) Brake (/BK) Rotation detection (/TGON) Warning (/WARN) Servo ready (/S-RDY) Near (/NEAR) Torque limit detection (/CLT)

Panel Operator

MECHATROLINK Communications

Display Unit Switch Communications Protocol Transmission Speed Transmission Cycle Number of Words for Link Transmission Station Address Performance Command Input

Positive and negative logic can be changed. One 7-segment LED (red) and three LED indicators for MECHATROLINK communications (green) Rotary switch: 16 positions2, DIP switch: 4 poles MECHATROLINK-3

100 Mbps 125 s, 250 s, 500 s,750 s, 1 ms to 4 ms (increments of 0.5 ms)


Can be switched between 16-bytes/station, 32-bytes/station and 48-bytes/station.

Command Method

03H to EFH (max. number of slaves: 62) Position control, speed control, and torque control through MECHATROLINK communications MECHATROLINK commands (for sequence, motion, data setting/reference, monitor, adjustment, and other commands.)

Items Encoder Output Pulses Fixed Input

Specifications Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. SEN signal Number of Channels 7 channels Homing deceleration switch signal (/DEC) External latch signals (/EXT 1 to 3) Forward run prohibited (P-OT), reverse run prohibited (N-OT) Forward external force limit (/P-CL), reverse external force limit (/N-CL) Positive and negative logic can be changed.

Sequence Input

Input Signals which can be allocated

Function

Fixed Output I/O Signal

Servo alarm (ALM) Number of Channels

Sequence Output

Output Signals which can be allocated

Function

3 channels Positioning completion (/COIN) Speed limit detection (/VLT) Speed coincidence detection (/V-CMP) Brake (/BK) Servomotor movement detection (/TGON) Warning (/WARN) Servo ready (/S-RDY) Near (/NEAR) Force limit detection (/CLT)

Panel Operator

MECHATROLINK Communications

Display Unit Switch Communications Protocol Transmission Speed Transmission Cycle Number of Words for Link Transmission Station Address Performance Command Input

Positive and negative logic can be changed. One 7-segment LED (red) and three LED indicators for MECHATROLINK communications (green) Rotary switch: 16 positions2, DIP switch: 4 poles MECHATROLINK-3

100 Mbps 125 s, 250 s, 500 s,750 s, 1 ms to 4 ms (increments of 0.5 ms)


Can be switched between 16-bytes/station, 32-bytes/station and 48-bytes/station.

Command Method

03H to EFH (max. number of slaves: 62) Position control, speed control, and force control through MECHATROLINK communications MECHATROLINK commands (for sequence, motion, data setting/reference, monitor, adjustment, and other commands.)

282

M-3 Type SERVOPACKs

1Linear Servomotors

Power Supply Capacities and Power Losses


The following table shows SERVOPACK's power supply capacities and power losses at the rated output.
Main Circuit Power Supply Applicable Servomotor Max. Capacity kW Signal-phase Regenerative SERVOPACK Model SGDVR70F R90F 2R 1F 2R 8F R70A R90A 1R6A 2R8A 5R5A 120A R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A 470A 550A 590A 780A 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D 370D Power Supply Capacity kVA Output Current Arms Main Circuit Power Loss W Resistor Power Loss W Control Circuit Power Loss W Total Power Loss W

100 V

Single-phase

200 V

Three-phase

200 V

Three-phase

400 V

0.05 0.1 0.2 0.4 0.05 0.1 0.2 0.4 0.75 1.5 0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5 2.0 3.0 5.0 6.0 7.5 11 15 0.5 1.0 1.5 2.0 3.0 5.0 6.0 7.5 11 15

0.2 0.3 0.7 1.4 0.2 0.3 0.7 1.2 1.9 4 0.2 0.3 0.6 1 1.4 1.6 2.3 3.2 4 5.9 7.5 10.7 14.6 21.7 29.6 1.1 2.3 3.5 4.5 7.1 11.7 12.4 14.4 21.9 30.6

0.66 0.91 2.1 2.8 0.66 0.91 1.6 2.8 5.5 11.6 0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6 32.9 46.9 54.7 58.6 78 1.9 3.5 5.4 8.4 11.9 16.5 20.8 25.7 28.1 37.2

5.4 7.8 14.4 25.6 5.2 7.4 13.7 24.9 52.7 68.2 5.1 7.3 13.5 24.0 20.1 43.8 53.6 65.8 111.9 113.8 263.7 279.4 357.8 431.7 599.0 24.6 46.1 71.3 77.9 108.7 161.1 172.7 218.6 294.6 403.8

17

17

8 10

22

17 8 10 16 36 (180)*1
(350)*2

22 27 33 48

14

21

28 36
180 3 * 350 4 *

25 24 27 30

22.4 24.8 31.4 42.6 22.2 24.4 30.7 41.9 77.7 100.2 22.1 24.3 30.5 41.0 45.1 68.8 78.6 97.8 149.9 161.4 326.7 312.4 390.8 479.7 647.0 59.6 81.1 106.3 130.9 161.7 221.1 199.7 245.6 324.6 433.8

*1:: For the optional JUSP-RA04-E regenerative resistor unit. *2: For the optional JUSP-RA05-E regenerative resistor unit. *3: For the optional JUSP-RA18-E regenerative resistor unit *4 For the optional JUSP-RA19-E regenerative resistor unit. Notes: 1 SGDV-R70F, -R90F, -2R1F, -2R8F, -R70A, -R90A, -1R6A, and -2R8A SERVOPACKs do not have built-in regenerative resistors.
If the regenerative energy exceeds the specified value, connect an external regenerative resistor (optional). 2 SGDV-470A, -550A, -590A, -780A, -210D, -260D, -280D, -370D SERVOPACKs do not have built-in regenerative resistors. Be sure to connect a regenerative resistor unit (optional) or an external regenerative resistor (optional). For selection details, refer to page 349. 3 Regenerative resistor power losses are allowable losses. Take the following action if this value is exceeded. Remove the lead or short bar that is short-circuiting the SERVOPACK main circuit terminal B2 and B3. (SGDV-3R8A, -5R5A, -7R6A, -120A, -180A, -200A, -330A, or 400-V class SERVOPACKs.) Install an external regenerative resistor (optional). For selection details, refer to page 349.

283

M-3 Type SERVOPACKs

SGDV-21/25

Selecting Cables
1Cables for CN1 CN3 CN5 CN6 CN7 CN8 (MECHATROLINK-3 Communications

Reference Type SERVOPACKs)


CN5

Cable for Analog Monitor MECHATROLINK-3 Communication Cable Connect to the MECHATROLINK-3 Digital Digital Operator Operator Converter Cable

CN6

CN3 CN7

REF

YASKAWA

Connection Cable for Personal Computer

ALARM

Cable for I/O Signals

SVON

READ
SERVO

WRITE
SERVO

DIGITAL OPERATOR

CN1

LED Indicator for External Device

CN8

Cable for Safety Function Device

Name Connector Kit

Length

Order No.
Soldered

Specifications

Details
1

JZSP-CSI9-2-E

CN1 Cables for I/O Signals

0.5 m
Connector Terminal Converter Unit

JUSP-TA26P-E JUSP-TA26P-1-E JUSP-TA26P-2-E JZSP-CSI02-1-E JZSP-CSI02-2-E JZSP-CSI02-3-E

Terminal Block and Connection Cable

1m 2m

Cable with Loose wire at One End

With Connection Cable (1 m)


REF

Digital Operator

JUSP-OP05A-1-E

YASKAWA

ALARM

SVON

READ
SERVO

WRITE
SERVO

DIGITAL OPERATOR

CN3 Digital Operator Converter Cable

Cable with Connectors at Both Ends

JZSP-CVS05-A3-E*1

JZSP-CVS05-A3-E

0.3 m
JZSP-CVS07-A3-E*2

With Lock Screws


JZSP-CVS07-A3-E

CN7 Connection Cables for Personal Computer Cables with Connectors at Both Ends CN6A CN6B MECHATROLINK-3 Communication Cable Cables with Connectors at Both Ends (With Ferrite Core) Cable with Loose Wire at One End CN5 Cables for Analog Monitor CN8 Cable for Safety Function Device Cables with Connector*3 Connector kit*4

Cable with Connectors at Both Ends

2.5 m 0.2 to 50 m 10 to 50 m 0.5 to 50 m 1m 3m

JZSP-CVS06-02-E JEPMC- 6012-- JEPMC-W6013--E JEPMC-W6014--E JZSP-CA01-E JZSP-CVH03-03-E

JZSP-CVS06-02-E

7 8 9 10

SERVOPACK End

11 12

Contact Tyco Electronics AMP K.K. Product name : Industrial Mini I/O D-shape Type1 Plug Connector Kit Model : 2013595-1

1 series digital operators (model: JUSP-OP05A for *2 :: A converter cable is required to useis required to securely connect the digital operator)cable. series SERVOPACKs. lock screws *3 : A converter cable with function, connect this cable to the safety devices. using the safety * Whenwhen not using the safety function, use SERVOPACKs with the Safe Jumper Connector (model: JZSP-CVH05-E) connected. Even *4 : Use the connector kit when you make cables yourself.

284

M-3 Type SERVOPACKs

1m 2m 3m

3 10314

Selecting Cables
(1) Connector Kit for CN1 Use the following connector and cable to assemble the cable. The CN1 connector kit includes one case and one connector.
Connector Kit Model JZSP-CSI9-2-E Case Model Qty Connector Model Qty
39.0 23.8

External Dimensions of Case (Units: mm)


10.0
2.9 6.8

12.0 14.0 31.3

25.8

10326-52A0-008*

1 set

10126-3000PE* (Soldered)

5.2

* : Manufactured by Sumitomo 3M Ltd.


Cable Size
Item Cable Applicable Wires Cable Finished Diameter Specifications Use twisted-pair or twisted-pair shielded wire. AWG24262830 16 dia. max.

37.2

12.7

External Dimensions of Connector (Units: mm)


2.54 1.27 2.3 5.1
Pin No.1 Pin No.2 Pin No.12 Pin No.13 Pin No.25 Pin No.14 Pin No.26 Pin No.15

25.8
Pin No.1

9.1 7.5

Pin No.14

1.27 15.24 21.5

15

(2) Connector Terminal Converter Unit for CN1 Configurations External Dimensions of Terminal Block (Units: mm)
SERVOPACK CN1
Cable Length 500 +-50 mm 0

Terminal Block (40P) M3.5 Screw

Connector Plug (40P) FCN-364P040-AU

7 29.5
B1 A1 B20 A20

15.5

1 2

39 40

Model JUSP- TA26 P


B1 A1 B20 A20

2-3.5 Dia. 3.5

202.5

3.5 43

1 2

39 40

Can be fixed on DIN rail

External Dimensions of Cable (Units: mm)


Terminal Converter Unit-end Connector (40P) SERVOPACK End Connector (26P) FCN-361J040-AU (Fujitsu Ltd.) 10126-6000EL (Sumitomo 3M Ltd.) Shell Cover 10326-52A0-008 (Sumitomo 3M Ltd.) FCN-360C040-B (Fujitsu Ltd.) Cable (Black) AWG#28, 18P SSRFPVV-SB

20.5

Model JUSP-TA26P-E JUSP-TA26P-1-E JUSP-TA26P-2-E

45

Cable Length (L)

12.7

Approx. Mass

0.5 m 1m 2m

100 g 200 g 400 g

37.2

39

47

Note: The pin number in the SERVOPACK connector and the pin number in the terminal block are the same. Pin numbers 1 to 26 are used in the terminal block. Do not use a pin number of 27 or higher. If assembling cables, refer to 1 Cable with Loose Wires at One End for CN1 Connection Diagram of JZSP-CSI02- -E Cable on the next page.

285

73

19.5

M-3 Type SERVOPACKs

SGDV-21/25

Selecting Cables
(3) Cable with Loose Wires at One End for CN1 External Dimensions of Cable (Units: mm)
SERVOPACK End Connector 10126-6000EL (by Sumitomo 3M Ltd.) 10326-52A0-008 Shell Cable (Ivory) SSRFPVV-SB AWG#28 13P UL20276 VW-1SC

1Cable with Loose Wires at One End for CN1 Connection Diagram of JZSP-CSI02--E Cable
SERVOPACK End
Pin No. Signal Wire Color /BK+(/SO1+) Blue /BK(/SO1) Blue ALM+ Pink ALM Pink 5 Green +24VIN Green P-OT Orange N-OT Orange /DEC Gray /EXT1 Gray /EXT2 Blue /EXT3 Blue /SI0 Pink BAT + Green BAT Green SG Pink PAO Orange /PAO Orange PBO Gray /PBO Gray PCO Blue /PCO Blue /SO2+ Pink /SO2 Pink /SO3+ Green /SO3 Green Marking Dots Color 1 Red 1 Black 1 Red 1 Black 1 Red 1 Black 1 Red 1 Black 1 Red 1 Black 2 Red 2 Black 2 Red 2 Red 2 Black 2 Black 2 Red 2 Black 2 Red 2 Black 3 Red 3 Black 3 Red 3 Black 3 Red 3 Black

Host Controller End


Lead Marker

3 Dia. Wire Markers 37.2

14

100 +10 -0

Model JZSP-CSI02-1-E JZSP-CSI02-2-E JZSP-CSI02-3-E

Cable Length

1m 2m 3m

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 Represents twisted-pair wires.

(4) Digital Operator (Model: JUSP-OP05A-1-E)


(Units: mm)
70 2-M3 Screws, Depth 5 (For mounting digital operator)

(6.3 Dia.)

REF

(39)
Nameplate

300 +30 0
(4.3 Dia.)

(35) (8)
JZSP-CVS05-A3-E

111

120

YASKAWA

ALARM

(12.7) (29.5)
3 10314

SVON

READ
SERVO

WRITE
SERVO

DIGITAL OPERATOR

17.8
30 1000 +0

57

Connector (14-pole) 10214-6202PL (Sumitomo 3M Ltd.) Cover FA458036 (Yasco Components Co., Ltd.) Connector (14-pole) HDR-E14MAG1+ (Honda Tsushin Kogyo Co., Ltd.) Cover HDR-E14LPA5 (Honda Tsushin Kogyo Co., Ltd.)

Connector: HDR-E14MAG1+ (Honda Tsushin Kogyo Co., Ltd.) Case: HDR-E14LPA5(Honda Tsushin Kogyo Co., Ltd.)

(6) Digital Operator Converter Cable for CN3 (Model: JZSP-CVS07-A3-E) A converter cable is required when connecting the digital operator cable while using MECHATROLINK3 Communications SERVOPACK. 3External Dimensions (Units: mm)
300
(4.8 Dia.)

JZSP-CVS07-A3-E
Cable: 30AWG7P-SB-U UL20276 (Sanyo Co., Ltd) Connector: HDR-E14FAG1+ (Honda Tsushin Kogyo Co., Ltd.) Cover: HDR-E14LPHD+ (Honda Tsushin Kogyo Co., Ltd.) Connector: HDR-E14MAG1+ (Honda Tsushin Kogyo Co., Ltd.) Cover: HDR-E14LPH (Honda Tsushin Kogyo Co., Ltd.)

286

M-3 Type SERVOPACKs

(5) Digital Operator Converter Cable for CN3 (Model: JZSP-CVS05-A3-E) A converter cable is required to use series digital series operators (model: JUSP-OP05A) for SERVOPACKs. 3External Dimensions (Units: mm)

(21)

Selecting Cables
(7) Connection Cable for Personal Computer for CN7 (Model: JZSP-CVS06-02-E)
3External Dimensions (Units: mm)
2,500 +100 0

10 to 20

JZSP-CVS06-02-E

(100)

(55)

IMPORTANT Use a cable specified by Yaskawa. When using other cables, operation cannot be guaranteed.

(8) MECHATROLINK-3 Communications Cable for CN6 (Model: JEPMC-W6012--E)


3External Dimensions (Units: mm)

(9) MECHATROLINK-3 Communications Cable for CN6 (Model: JEPMC-W6013--E)


3External Dimensions (Units: mm)

Cables with Connectors at Both Ends


L

Cables with Connectors at Both Ends (With Ferrite Core)


L

Model JEPMC-W6012-A2-E JEPMC-W6012-A5-E JEPMC-W6012-01-E JEPMC-W6012-02-E JEPMC-W6012-03-E JEPMC-W6012-04-E JEPMC-W6012-05-E JEPMC-W6012-10-E JEPMC-W6012-20-E JEPMC-W6012-30-E JEPMC-W6012-50-E

Cable Length (L)

0.2 m 0.5 m 1m 2m 3m 4m 5m 10 m 20 m 30 m 50 m

Model JEPMC-W6013-10-E JEPMC-W6013-20-E JEPMC-W6013-30-E JEPMC-W6013-50-E

Cable Length (L)

10 m 20 m 30 m 50 m

(10) MECHATROLINK-3 Communications Cable for CN6 (Model: JEPMC-W6014--E) 3External Dimensions (Units: mm) Cable with Loose Wire at One End
L

Model JEPMC-W6014-A5-E JEPMC-W6014-01-E JEPMC-W6014-03-E JEPMC-W6014-05-E JEPMC-W6014-10-E JEPMC-W6014-30-E JEPMC-W6014-50-E

Cable Length (L)

0. 5 m 1m 3m 5m 10 m 30 m 50 m

IMPORTANT Use a MECHATROLINK-3 communications cable specified by Yaskawa. When using other cables,
noise resistance may be reduced, and operation cannot be guaranteed.

287

M-3 Type SERVOPACKs

SGDV-21/25

Selecting Cables
(11) Cable for Analog Monitor for CN5 (Model: JZSP-CA01-E)
3External Dimensions (Units: mm)
Socket DF11-4DS-2C* Contact DF11-2428SCF* Black Black

1000

+20 -0

3 1

4 2
White Red

* : Manufactured by Hirose Electric Corporation.


Specifications
Pin No. Cable Color Red White Black (2 cables) Signal Analog Monitor 2 Analog Monitor 1 GND(0V)

View from Cable End

Standard Settings Motor speed : 1V/1000 min-1 Torque reference : 1V/100 rated torque

1 2 3, 4

Note : The specifications above are factory settings. Monitor specifications can be changed by changing parameters Pn006 and Pn007.

(12) Cable with Connector for CN8 (Model: JZSP-CVH03-03-E)


3External Dimensions (Units: mm)
(33) (20)

Specifications
Pin No.
(8)

3000 +150

Signal Not used Not used /HWBB1 /HWBB1 /HWBB2 /HWBB2 EDM1 EDM1

Lead Color

Marking Color

1 2 3 4 5 6 7 8

White White Gray Gray Orange Orange

Black Red Black Red Black Red

(11) Connector Kit2013595-1 (Tyco Electronics AMP K.K.)

288

M-3 Type SERVOPACKs

INDEXER Module Type SERVOPACK


SGDVE1
Model Number for SERVOPACK and Module Set

Model Designations

SGDV
v Series
SGDV SERVOPACK

*1

R70 A E1 A 000 00 0
1st+2nd+ 3rd digits 4th digit 5th+6th 7th digits digit 8th+9th+ 11th+12th 13th 10th digits digits digit

100
14th +15th+ 16th digits

1st+2nd+3rd digits Current


Voltage Singlephase 100 V Code R70 R90 2R1 2R8 R70*2 R90*2 1R6*2 2R8*2 3R8 5R5*2 7 R6 120*3 180 200 330 470 550 590 780 1R9 3R5 5R4 8R4 120 170 210 260 280 370 Applicable Servomotor Max. Capacity kW 0.05 0.1 0.2 0.4 0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5 2.0 3.0 5.0 6.0 7.5 11 15 0.5 1.0 1.5 2.0 3.0 5.0 6.0 7.5 11.0 15.0

4th digit Power Supply Voltage


Code F A D Specifications Single-phase 100 VAC Three-phase 200 VAC Three-phase 400 VAC

11th+12th digits Options (software)


Code 00 Specifications Standard

13th digit Options (parameter)


Code 0 Specifications Standard

5th+6th digits Interface


Code E1 E5*4 Specifications Command Option Attachable Type (For rotary servomotors) Command Option Attachable Type (For linear servomotors)

14th +15th +16th digits Option Modules


Code 100 101 Specifications INDEXER Module INDEXER Module + Fully-closed Module

Threephase 200 V

7th digit Design Revision Order


A, B

8th+9th+10th digits Options (hardware)


Code 000 001 002 003 Specifications Base-mounted (standard) Rack-mounted*5 Varnished Rack-mounted*5 and Varnished Single-phase 200 VAC input (Model: SGDV120AE1A008000) Dynamic brake (400 V SERVOPACKs only)

Threephase 400 V

008 020

289

a *1:: The model number ofbe SERVOPACK with option modules is not hyphenated after SGDV. powered with single or three-phase. *2: These-amplifiers can SERVOPACKs are also available. (Model: SGDV120AE1A008000) phase 200 VAC *3: Single development *4: Under *5 SERVOPACKs of 6 kW or more are duct-ventilated.

Features
Simple
Program tables for easy programming and serial commands for easy realization of motion control. The setup support tool (SigmaWin+) for Windows enables easy start-up. Simple connection to the host controller can be established via the I/O module.

Smart
By using program tables, all required operations (including positioning) can be simplified. For positioning, up to 256 steps can be programmed. Various functions, including external positioning, JOG table operation, homing, and programmable signal outputs are provided. I/O points: Input 19 points, Output 16 points

Speedy
Reliable high-speed, high-precision positioning when combined with high-performance drives. Motion control is accomplished without using motion controllers.

v series servo

Nameplate

Nameplate for SERVOPACK with INDEXER Module (For the set) Model: SGDVE1 Nameplate for INDEXER Module Nameplate for Command Option Attachable Type SERVOPACK Model: SGDV-EA

Nameplate for the Fully-closed Module (when Fully-closed Module is attached) Model: SGDV-OFA01A

290

INDEXER Module Type SERVOPACK

Model: SGDV-OCA03A

Ratings
Single-phase 100 V
SERVOPACK ModelSGDV Applicable Servomotor Max. Capacity kW Continuous Output Current Arms Max. Output Current Arms Regenerative Resistors Main Circuit Control Circuit R90F 2R1F 2R8F 0.1 0.2 0.4 0.91 2.1 2.8 2.9 6.5 9.3 None or external Single-phase 100 to 115 VAC+10% to 15% 50/60 Hz Single-phase 100 to 115 VAC+10% to 15% 50/60 Hz R70F 0.05 0.66 2.1

Single-phase 200 V
SERVOPACK ModelSGDV R70A R90A 1R6A 2R8A 5R5A 120A* Applicable Servomotor Max. Capacity kW 0.05 0.1 0.2 0.4 0.75 1.5 Continuous Output Current Arms 0.66 0.91 1.6 2.8 5.5 11.6 Max. Output Current Arms 2.1 2.9 5.8 9.3 16.9 28 Regenerative Resistors None or external Built-in or external Main Circuit* Single-phase 200 to 230 VAC+10% to 15% 50/60 Hz Control Circuit* Single-phase 200 to 230 VAC+10% to 15% 50/60 Hz

Three-phase 200 V
Applicable Servomotor Max. Capacity Continuous Output Current Max. Output Current Regenerative Resistors Main Circuit Control Circuit kW Arms Arms

* : The SGDV120AE1A008000 SERVOPACK rated voltage range is 220 to 230 VAC.


0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5 2.0 3.0 5.0 6 0.66 0.91 1.6 2.8 3.8 5. 5 7.6 11.6 18.5 19.6 32.9 46.9 2.1 2.9 5.8 9.3 11 16.9 17 28 42 56 84 110 None or external Built-in or external Three-phase 200 to 230 VAC+10% to 15% 50/60 Hz Single-phase 200 to 230 VAC+10% to 15% 50/60 Hz 1R9D 0. 5 1. 9 5. 5 3R5D 1.0 3.5 8.5 7. 5 11 54.7 58.6 130 140 External 15 78 170

SERVOPACK ModeSGDV R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A 470A 550A 590A 780A

Three-phase 400 V
SERVOPACK ModelSGDV Applicable Servomotor Max. Capacity Max. Output Current Regenerative Resistors Main Circuit Control Circuit
Note: The entire over voltage category is III.

kW Arms

Continuous Output Current Arms

5R 4D 8R4D 120D 170D 210D 260D 280D 1.5 2. 0 3.0 5. 0 6 7.5 11 5.4 8. 4 11.9 16.5 20.8 25.7 28.1 14 20 28 42 55 65 70 Built-in or external External Three-phase 380 to 480 VAC+10% to 15% 50/60 Hz 24 VDC 15%

370D 15 37.2 85

1SERVOPACK Overload Characteristics


10000
Detecting time (s)

10000

10000

Detecting time (s)

Detecting time (s)

1000

1000
SGMAV-02, 04, 06, 08 10 SGMPS

1000

SGMGV-03A, -05A, -09A, -13A20A, -30A, -1AA, -1EA SGMGV-D SGMSV-

100
SGMJV

100

100

*
SGMGV-44A, -55A, -75A

10

10
SGMAV-A5, 01, C2

10

1 100

200

300

350

Torque reference(percent of rated torque) (%)

1 80% torque Rated Approx. Rated torque + Max. torque Max. torque ( torque 2 Torque reference(percent of rated torque) percent of rated torque) (%)

1 100

200

300

Note: Overload characteristics shown above do not guarantee continuous duty of 100% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics. : The dotted line indicates the characteristics of a combination of SGDV-200A SERVOPACKs and SGMGV-30A servomotors.

Specifications
SERVOPACK Specifications
Items Control Method Rotary Servomotors Feedback Linear Servomotors*1 Specifications IGBT PWM control, sine-wave driven Serial encoder: 13-bit (incremental encoder) : 17-bit (incremental/absolute encoder) : 20-bit (incremental/absolute encoder) Absolute linear scale (The signal resolution varies depending on the absolute linear scale.) Incremental linear scale (The signal resolution varies depending on the incremental linear scale or serial converter unit.)
(cont'd)

291

INDEXER Module Type SERVOPACK

SGDVE1

Specifications
1SERVOPACK Specifications (continued from previous page)
Specifications 0 to + 55C 20 to + 85C 90%RH or less With no freezing or condensation 90%RH or less 2 4.9 m/s 19.6 m/s2 Operating An environment that satisfies the following conditions. Conditions Protection Class IP10 Free of corrosive or flammable gases Free of exposure to water, oil, or chemicals Pollution Degree 2 Free of dust, salts, or iron dust Altitude 1000 m or less Do not use SERVOPACKs in the following locations: Others Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity UL508C EN50178, EN55011/A2 group1 classA, EN61000-6-2, EN61800-3, EN61800-5Applicable Standards 1, EN954-1, IEC61508-1 to 4 Standard: Base-mounted Configuration Optional: Rack-mounted, Duct-ventilated 1:5000 (The lower limit of the speed control range must be lower than the point Speed Control Range at which the rated torque does not cause the servomotor to stop.) Load Fluctuation 0% to 100% load: 0.01% max. (at rated speed) Performance Speed Voltage Fluctuation Rated voltage : 10% : 0% (at rated speed) Regulation*2 Temperature Fluctuation 25 25C : 0.1% max. (at rated speed) 1% Torque Control Tolerance (Repeatability) Phase A, phase B, phase C: line driver output Encoder Output Pulses The number of dividing pulse: Any setting ratio is available. Number of Channels 7 channels Input Signals For more information on input signals used with the Sequence Input which can be Functions SERVOPACK, refer to the specifications for the INDEXER allocated Module on page 293. I/O Signal Fixed Output Servo alarm (ALM) Number of Channels 3 channels Output Signals Sequence Output For more information on output signals used with the which can be Functions SERVOPACK, refer to the specifications for the INDEXER allocated Module on page 293. Interface Digital operator (JUSP-OP05A-1-E), personal computer (can be connected with SigmaWin+) RS-422A 1:N communications RS-422A port: N= 15 max. available Communications Communications Axis address setting Set by parameters Interface Personal computer (can be connected with SigmaWin+.) USB Communications Communications Standard Compliant with USB1.1 standard (12 Mbps) Ambient Temperature Storage Temperature Ambient Humidity Storage Humidity Vibration Resistance Shock Resistance Display One 7-segment LED, CHARGE, and POWER indicators Number of points: 2 Output voltage: 10 VDC (linearity effective range 8 V) Resolution: 16 bit Accuracy: 20 mV (Typ) Max. output current: 10 mA Settling time ( 1%): 1.2 ms (Typ) Activated when the power supply for the main circuit or the servomotor power is OFF (Servo OFF), when overtravel (OT) or a servo alarm occurs, or during a hardwired base block Included For more information, refer to the previous page. Dynamic brake stop at P-OT or N-OT, deceleration to a stop, or free run to a stop Overcurrent, Overvoltage, low voltage, overload, regeneration error, etc. Gain adjustment, alarm history, JOG operation, origin search, etc. /HWBB1, /HWBB2: Baseblock signal for power module EDM1: Status monitor (fixed output) of built-in safety circuit Fully-closed Module Items

Analog Monitor

Dynamic Brake (DB) Regenerative Processing Overtravelling (OT) Prevention Protective Functions Utility Functions Safety Functions Option Module Input Output

* *

1: Under development 2: Speed regulation is defined as follows: No-load motor speed Total load motor speed Speed regulation = 100% Rated motor speed The motor speed may change due to voltage fluctuation or temperature fluctuation. The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature fluctuations.

292

INDEXER Module Type SERVOPACK

Specifications
1INDEXER Module
Items Program Table Method Max. Number of Steps Max. Number of Tables Max. Number of Stations Serial Communications Method Other Functions Display LED Specifications Program table positioning in which steps are executed sequentially by commands given through contact input or serial communications Positioning in which station numbers are specified by commands given through contact input or serial communications 256

Control Method

SERVOPACK End

Input I/O Signal Module End

SERVOPACK End Output Module End

256 256 Serial command by 1-channel ASCII code Communications specifications: RS-422/485 (50 m max.) Connection topology: Multi-drop connection (16 axes max.) Baud rate: 9600, 19200, 38400 bps Registration (positioning by external signal), homing Lit during parameter setting, monitoring, executing utility functions, etc. Servo ON (/S-ON) Forward run prohibited (P-OT), reverse run prohibited (N-OT) Homing deceleration limit switch (/DEC) Alarm reset (/ALM-RST) Registration latch (/RGRT) Mode selection (/MODE0/1) Mode 1 Mode 0 Starts or interrupts program table operation (/START-STOP) Starts homing (/HOME) Resets program table operation (/PGMRES) Starts forward JOG operation (/JOGP) Program table selection 0 (/SEL0) Starts reverse JOG operation (/JOGN) JOG speed table selection 0 (/JOG0) to (/SEL7) Program table selection 7 to JOG speed table selection 3 (/JOG3) Servo alarm (ALM) Servo ready (/S-RDY) Error/warning (/WARN) Alarm code output 0 to 2 (ALO0 to ALO2) Braking (/BK) Positioning completed (/INPOSITION) Programmable output 0 to 7 (/POUT0 to /POUT7)

Program Table Functions


Function PGMSTEP POS SPD RDST RSPD ACC Program step Target position Positioning speed External positioning distance External positioning speed Acceleration Setting Range

Setting Unit

Description Program step number (0 to 255) Specifies the target position. Absolute position (A), relative distance (I), infinite length (INFINITE), Stop (STOP), no motion command () Specifies the positioning speed. Specifies registration distance. For no registration, set . Specifies registration speed. Specifies acceleration for positioning or registration. To continue with the acceleration specified in the previously executed program step, set : . Specifies deceleration for positioning or registration. To continue with the deceleration specified in the previously executed program step, set : . Specifies the operation of programmable output signals /POUT0 to /POUT7. Active (A), inactive (N), ZONE signal (Z), maintain previous condition ( : ) Sets waiting time (Tn) and any one of the following in tandem: Positioning completion signal (I), position reference distribution completed signal (D), positioning near signal (N), or selection signal (SELn) Specifies the number of executions from positioning start to pass condition (EVENT). Specifies the program step (PGMSTEP) to be executed next. To end program table operation, set END .

99,999,999 to +99,999,99
1 to 99,999,999 0 to 99,999,999 1 to 99,999,999 1 to 99,999,999

Reference unit
1000 reference units/min

Reference unit
1000 reference units/min 1000 reference

units/min/ms
1000 reference

DEC

Deceleration Programmable output signals Pass condition Number of executions Program step to be executed next

1 to 99,999,999

units/min/ms

POUT

EVENT LOOP NEXT

0 to 99,999 (Waiting time settings) 1 to 99,999 0 to 255

ms

293

INDEXER Module Type SERVOPACK

SGDVE1

Power Supply Capacities and Power Losses

Main Circuit Power Supply

Applicable Servomotor Max. Capacity kW

SERVOPACK Model SGDV R70F R90F

Power Supply Capacity kVA

Output Current Arms

Main Circuit Power Loss W

Regenerative Resistor Power Loss W

Control Circuit Power Loss W

Total Power Loss W

Signal-phase

100 V

Single-phase

200 V

Three-phase

200 V

14

21

Three-phase

28 36
180 *
3

25 24 27 30

400 V

350 4 *

*1:: For the optional JUSP-RA04-E regenerative resistor unit. *2: For the optional JUSP-RA05-E regenerative resistor unit. *3: For the optional JUSP-RA18-E regenerative resistor unit. *4 For the optional JUSP-RA19-E regenerative resistor unit. Notes: 1 SGDVR70F, R90F, 2R1F, 2R8F, R70A, R90A, 1R6A, and 2R8A SERVOPACKs do not have built-in regenerative resistors.
If the regenerative energy exceeds the specified value, connect an external regenerative resistor (optional). 2 SGDV470A, 550A, 590A, 780A, 210D, 260D, 280D, 370D SERVOPACKs do not have built-in regenerative resistors. Be sure to connect a regenerative resistor unit (optional) or an external regenerative resistor (optional). For selection details, refer to page 349. 3 Regenerative resistor power losses are allowable losses. Take the following action if this value is exceeded. Remove the lead or short bar that is short-circuiting the SERVOPACK main circuit terminal B2 and B3. (SGDV3R8A, 5R5A, 7R6A, 120A, 180A, 200A, 330A, or 400-V class SERVOPACKs.) Install an external regenerative resistor (optional). For selection details, refer to page 349.

294

INDEXER Module Type SERVOPACK

0.05 0. 1 0. 2 0. 4 0.05 0.1 0.2 0.4 0.75 1.5 0.05 0.1 0.2 0.4 0.5 0.75 1.0 1. 5 2. 0 3. 0 5. 0 6. 0 7. 5 11 15 0. 5 1.0 1.5 2.0 3.0 5.0 6.0 7.5 11 15

2R1F 2R8F R70A R90A 1R6A 2R8A 5R5A 120A R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A 470A 550A 590A 780A 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D 370D

0.2 0.3 0.7 1.4 0.2 0.3 0.7 1.2 1.9 4 0.2 0.3 0.6 1 1.4 1.6 2.3 3.2 4 5.9 7.5 10.7 14.6 21.7 29.6 1.1 2.3 3.5 4.5 7.1 11.7 12.4 14.4 21.9 30.6

0.66 0.91 2.1 2.8 0.66 0.91 1.6 2.8 5.5 11.6 0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6 32.9 46.9 54.7 58.6 78 1.9 3.5 5.4 8.4 11.9 16.5 20.8 25.7 28.1 37.2

5. 4 7. 8 14.4 25.6 5. 2 7. 4 13.7 24.9 52.7 68.2 5. 1 7. 3 13.5 24.0 20.1 43.8 53.6 65.8 111.9 113.8 263.7 279.4 357.8 431.7 599.0 24.6 46.1 71.3 77.9 108.7 161.1 172.7 218.6 294.6 403.8

17

17

8 10

22

17 8 10 16 36
180 1 * 350 2 *

22 27 33 48

22.4 24.8 31.4 42.6 22.2 24.4 30.7 41.9 77.7 100.2 22.1 24.3 30.5 41.0 45.1 68.8 78.6 97.8 149.9 161.4 326.7 312.4 390.8 479.7 647.0 59.6 81.1 106.3 130.9 161.7 221.1 199.7 245.6 324.6 433.8

Selecting Cables
1Cables for CN1 CN3 CN5 CN7 CN8 CN11 CN12 INDEXER Module Type SERVOPACKs
CN5

Cable for Analog Monitor

CN3 CN7

Digital Operator Converter Cable

Digital Operator

REF

YASKAWA

Connection Cable for Personal Computer Cable for I/O Signals

ALARM

SVON

READ
SERVO

WRITE
SERVO

DIGITAL OPERATOR

CN11 CN12

Cable for Serial Command Communications Cable for I/O Signals LED Indicator for External Device Cable for Safety Function Device

CN1

CN8

Name Connector Kit CN1 Cables for I/O Signals

Length

Order No.
Soldered

Specifications

Details
1

JZSP-CSI9-2-E

Connector Terminal Converter Unit Cable with Loose wire at One End

0.5 m 1m 2m 1m 2m 3m

JUSP-TA26P-E JUSP-TA26P-1-E JUSP-TA26P-2-E JZSP-CSI02-1-E JZSP-CSI02-2-E JZSP-CSI02-3-E

Terminal Block and Connection Cable

3
With Connection Cable (1 m)

REF

YASKAWA

Digital Operator CN3

JUSP-OP05A-1-E

ALARM

SVON

READ
SERVO

WRITE
SERVO

DIGITAL OPERATOR

Cable with Connectors at Both Ends

Digital Operator Converter Cable*1 CN7 Connection Cables for Personal Computer CN5 Cables for Analog Monitor CN8 Cable for Safety Function Device Cables with Connector*2 Connector kit*3

0.3 m

JZSP-CVS05-A3-E

JZSP-CVS05-A3-E

Cable with Connectors at Both Ends

3 10314

2.5 m 1m 3m

JZSP-CVS06-02-E JZSP-CA01-E JZSP-CVH03-03-E

JZSP-CVS06-02-E

6 7 8

SERVOPACK End

Contact Tyco Electronics AMP K.K. Product name : Industrial Mini I/O D-shape Type1 Plug Connector Kit : 2013595-1 Model DP9420007-E
9

Connector Kit CN11 Cable for I/O Signals

Cable with Loose wire at One End Cable with Terminal Block at One End

1m 2m 3m 0.5 m 1m 2m

JZSP-CVI01-1-E JZSP-CVI01-2-E JZSP-CVI01-3-E JUSP-TA36V-E JUSP-TA36V-1-E JUSP-TA36V-2-E JZSP-CHI9-1

10

11

CN12 Cable for Serial Command Communications

Connector kit*3

12

295

operators model: *1 :: A converter cable is required to use series digital the safety (devices.JUSP-OP05A) for series SERVOPACKs. using the safety function, connect *2 Whenwhen not using the safety function, this cable to Even use SERVOPACKs with the Safe Jumper Connector (model: JZSP-CVH05-E) connected. *3 : Use the connector kit when you make cables yourself.

INDEXER Module Type SERVOPACK

SGDVE1

Selecting Cables
(1) Connector Kit for CN1 Use the following connector and cable to assemble the cable. The CN1 connector kit includes one case and one connector.
Connector Kit Model JZSP-CSI9-2-E Case Model Qty Connector Model Qty
25.8 14.0 31.3 39.0 23.8

External Dimensions of Case (Units: mm)


10.0
2.9 6.8

12.0

10326-52A0-008*

1 set

10126-3000PE* (Soldered)

* : Manufactured by Sumitomo 3M Ltd.


Cable Size
Item Cable Applicable Wires Cable Finished Diameter Specifications Use twisted-pair or twisted-pair shielded wire. AWG24262830

5.2

37.2

12.7

External Dimensions of Connector (Units: mm)


2.54 1.27 2.3 5.1
Pin No.1 Pin No.2 Pin No.12 Pin No.13 Pin No.25 Pin No.14 Pin No.26 Pin No.15

16 dia. max.

25.8
Pin No.1

9.1 7.5

Pin No.14

1.27 15.24 21.5

15

12.7

19.5

(2) Connector Terminal Converter Unit for CN1 Configurations


SERVOPACK

External Dimensions of Terminal Block (Units: mm)


Terminal Block (40P) M3.5 Screw Connector Plug (40P) FCN-364P040-AU

CN1

Cable Length 500 +-50 mm 0

7 29.5
B1 A1 B20 A20

1 2

39 40

Model JUSP- TA26 P


B1 A1 B20 A20

2-3.5 Dia. 3.5

202.5

3.5 43

1 2

39 40

Can be fixed on DIN rail

External Dimensions of Cable (Units: mm)


Terminal Converter Unit-end Connector (40P) SERVOPACK End Connector (26P) FCN-361J040-AU (Fujitsu Ltd.) 10126-6000EL (Sumitomo 3M Ltd.) Shell Cover 10326-52A0-008 (Sumitomo 3M Ltd.) FCN-360C040-B (Fujitsu Ltd.) Cable (Black) AWG#28, 18P SSRFPVV-SB

Model JUSP-TA26P-E JUSP-TA26P-1-E JUSP-TA26P-2-E

Cable Length (L)

Approx. Mass

0. 5 m 1m 2m

100 g 200 g 400 g

37.2

39

47

Note: The pin number in the SERVOPACK connector and the pin number in the terminal block are the same. Pin numbers 1 to 26 are used in the terminal block. Do not use a pin number of 27 or higher. If assembling cables, refer to Cable with Loose Wires at One End for CN1 Connection Diagram of JZSP-CSI02- -E Cable on the next page.

73

296

INDEXER Module Type SERVOPACK

15.5 20.5 45

Selecting Cables
(3) Cable with Loose Wires at One End for CN1 External Dimensions of Cable (Units: mm)
SERVOPACK End Connector 10126-6000EL (by Sumitomo 3M Ltd.) 10326-52A0-008 Shell Cable (Ivory) SSRFPVV-SB AWG#28 13P UL20276 VW-1SC

1Cable with Loose Wires at One End for CN1 Connection Diagram of JZSP-CSI02--E Cable
SERVOPACK End
Pin No. Signal Wire Color
/WARN+ /SO1+ Blue /WARN /SO1 Blue ALM+ Pink ALM Pink 5 Green +24VIN Green /ALMRST Orange P-OT Orange N-OT Gray /DEC Gray 11 Blue /RGRT Blue /S-ON Pink BAT + Green BAT Green SG Pink PAO Orange /PAO Orange PBO Gray /PBO Gray PCO Blue /PCO Blue /BK+ /SO2+ Pink /BK /SO2 Pink /SRDY+ /SO3+ Green /SRDY /SO3 Green

Host Controller End


Lead Marker

3 Dia. Wire Markers

14

100 +10 -0

Model JZSP-CSI02-1-E JZSP-CSI02-2-E JZSP-CSI02-3-E

Cable Length

1m 2m 3m

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26

Marking Color Dots 1 Red 1 Black 1 Red 1 Black 1 Red 1 Black 1 Red 1 Black 1 Red 1 Black 2 Red 2 Black 2 Red 2 Red 2 Black 2 Black 2 Red 2 Black 2 Red 2 Black 3 Red 3 Black 3 Red 3 Black 3 Red 3 Black

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 Represents twisted-pair wires.

37.2

(6.3 Dia.)

(4) Digital Operator (Model: JUSP-OP05A-1-E)


(Units: mm)
70
2-M3 Screws, Depth 5 (For mounting digital operator)

REF

(5) Digital Operator Converter Cable for CN3 (Model: JZSP-CVS05-A3-E) A converter cable is required to use series digital series operators (model: JUSP-OP05A) for SERVOPACKs. 3External Dimensions (Units: mm)
39 12.7 29.5
3 10314

120

ALARM

(4.3 Dia.)

Nameplate

111

YASKAWA

300 +30 0

35 8 21

SVON

JZSP-CVS05-A3-E

READ
SERVO

WRITE
SERVO

DIGITAL OPERATOR

17.8
30 1000 +0

57

Connector (14-pole) 10214-6202PL (Sumitomo 3M Ltd.) Cover FA458036 (Yasco Components Co., Ltd.) Connector (14-pole) HDR-E14MAG1+ (Honda Tsushin Kogyo Co., Ltd.) Cover HDR-E14LPA5 (Honda Tsushin Kogyo Co., Ltd.)

Connector: HDR-E14MAG1+ (Honda Tsushin Kogyo Co., Ltd.) Case: HDR-E14LPA5 (Honda Tsushin Kogyo Co., Ltd.)

297

INDEXER Module Type SERVOPACK

SGDVE1

Selecting Cables
(6) Connection Cable for Personal Computer for CN7 (Model: JZSP-CVS06-02-E)
3External Dimensions (Units: mm)
2,500 +100 0

10 to 20

JZSP-CVS06-02-E

100

55

IMPORTANT Use a cable specified by Yaskawa. When using other cables, operation cannot be guaranteed. (7) Cable for Analog Monitor for CN5 (Model: JZSP-CA01-E) 3External Dimensions (Units: mm)
Socket DF11-4DS-2C* Contact DF11-2428SCF* Black Black

1000

+20 -0

3 1

4 2
White Red

* : Manufactured by Hirose Electric Corporation.


Specifications
Pin No. Cable Color Red White Black (2 cables) Signal Analog Monitor 2 Analog Monitor 1 GND(0V)

View from Cable End

Standard Settings Torque reference : 1V/100 rated torque

2 3, 4

Note : The specifications above are factory settings. Monitor specifications can be changed by changing parameters Pn006 and Pn007.

(8) Cable with Connector for CN8 (Model: JZSP-CVH03-03-E) 3External Dimensions (Units: mm)
33 20

Specifications
Pin No. Signal Not used Not used /HWBB1 /HWBB1 /HWBB2 /HWBB2 EDM1 EDM1 Lead Color

Marking Color

3000 +150
8

1 2 3 4 5 6 7 8

White White Gray Gray Orange Orange

Black Red Black Red Black Red

11

Connector Kit2013595-1 (Tyco Electronics AMP K.K.)

298

INDEXER Module Type SERVOPACK

Motor speed : 1V/1000 min-1

Selecting Cables
(9) Connector Kit for CN11 Use the following connector and cable to assemble the cable. The CN11 connector kit includes one case and one connector.
Connector Kit Model DP9420007-E Case Model Qty Connector Model Qty

External Dimensions of Connector (Units: mm)


2.54 1.27 2.3
Pin No.35 Pin No.19 Pin No.36 Pin No.20

10336-52A0-008*

1 set

10136-3000PE* (Soldered)

* : Manufactured by Sumitomo 3M Ltd.


Cable Size
Item Cable Applicable Wires Cable Finished Diameter Specifications Use twisted-pair or twisted-pair shielded wire. AWG24262830

Pin No.1 Pin No.2 Pin No.17 Pin No.18

5.1

2.9

6.8

32.2
Pin No.1

16 dia. max.
9.1 7.5

External Dimensions of Case (Units: mm)


10.0 12.0 25.8 14.0 31.3 39.0 23.8

Pin No.19

1.27 21.59 27.8

15

5.2

37.2

12.7

(10) Cable with Loose Wires at One End for CN11 External Dimensions of Cable (Units: mm)

1Cable with Loose Wires at One End for CN11 Connection Diagram of JZSP-CVI01--E Cable
SERVOPACK End
Signal Pin No. MODE0 MODE1 COM+ 1 2 /MODE0/1 3 4 STR-STP /HOME 5 6 PGMRES /JOGP 7 8 /JOGN SEL0 9 10 /JOG0 SEL1 11 12 /JOG1 SEL2 13 SEL5 14 SEL3 /JOG2 15 SEL6 16 SEL4 /JOG4 17 SEL7 18 INPOS+ 19 INPOS 20 POUT0+ 21 POUT0 22 POUT1+ 23 POUT1 24 POUT2+ 25 POUT2 26 POUT3+ 27 POUT3 28 POUT4+ 29 POUT4 30 POUT5+ 31 POUT5 32 POUT6+ 33 POUT6 34 POUT7+ 35 POUT7 36 Shield Case Wire Color Orange Gray White Yellow Pink Orange Gray White Yellow Pink Orange Gray White White Yellow Yellow Pink Pink Orange Orange Gray Gray White White Yellow Yellow Pink Pink Orange Orange Marking Color Dots Red 1 Red 1 Red 1 Red 1 Red 1 Red 2 2 Red 2 Red 2 Red 2 Red 3 Red 3 Red 3 Red 3 Black 3 Red 3 Black 3 Red 3 Black 4 Red 4 Black 4 Red 4 Black 4 Red 4 Black 4 Red 4 Black 4 Red 4 Black Red 5 or more Black 5 or more -

12.7

Host Controller End


Lead Marker

SERVOPACK End Connector (36P) 10136-6000EL (Sumitomo 3M Ltd.) Shell 10336-52A0-008 Cable FA375440 AWG2825P (Taiyo Cabletec Corporation)

3 Dia. Wire Markers 43.5

14

100+10 -0

Model JZSP-CVI01-1-E JZSP-CVI01-2-E JZSP-CVI01-3-E

Cable Length

1m 2m 3m

1 3 5 7 9 11 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36
Represents twisted-pair wires.

299

(8.1 Dia.)

19.5

INDEXER Module Type SERVOPACK

SGDVE1

Selecting Cables
11 Cable with Terminal Block at One End (for CN11)

Configurations
SERVOPACK

External Dimensions of Terminal Block (Units: mm)


7 29.5
Nameplate
B1 A1

Terminal block converter unit 7


B20 A20

1 2

39 40

2-3.5 Dia.

3.5
ModelJUSP- TA36 V
B1 A1 B20 A20

202.5

3.5 43

1 2

39 40

Can be fixed on DIN rail

External Dimensions of Cable (Units: mm)


Cover10136-6000EL(Sumitomo 3M Ltd.) Shell 10336-52A0-008(Sumitomo 3M Ltd.)
FCN-361J040-AU(Fujitsu Ltd.) Cover ConnectorFCN-360C040-B(Fujitsu Ltd.)

20.5

Model JUSP-TA36V-E JUSP-TA36V-1-E JUSP-TA36V-2-E

45

CN11

15.5

Cable Length (L)

Approx. Mass

Cable (Black) AWG2818P (72.72) (43.5)

0. 5 m 1m 2m

100 g 200 g 400 g

(39)

Heat-shrinkable tube (black) (20) (10) L

(47)

Note: The pin number in the SERVOPACK connector and the pin number in the terminal block are the same. Pin numbers 1 to 36 are used in the terminal block. Do not use a pin number of 37 or higher. If assembling cables, refer to the Cable with Loose Wires at One End for CN11 Connection Diagram of JZSP-CVI01- -E Cable on the previous page.

(12) Connector Kit for CN12 Use the following connector and cable to assemble the cable. The CN12 connector kit includes one case and one connector.
Connector Kit Model JZSP-CHI9-1 Case Model Qty Connector Model Qty

External Dimensions of Connector (Units: mm)

10314-52A0-008*

1 set

10114-3000PE* (Soldered)

1
Pin No.1 Pin No.2 Pin No.6 Pin No.7

* : Manufactured by Sumitomo 3M Ltd.


Cable Size
Item Cable Applicable Wires Cable Finished Diameter Specifications Use twisted-pair or twisted-pair shielded wire. AWG24262830 16 dia. max.
9.1 7.5

18.2
Pin No.1

External Dimensions of Case (Units: mm)


7.0 8.5

Pin No.8

1.27 7.62 13.6

15

23.6 18.2

5.2

39.0 23.8

29.5

12.7

300

INDEXER Module Type SERVOPACK

2.54 1.27

2.3

Pin No.13 Pin No.8 Pin No.14 Pin No.9

5.1

2.9

6.8

12.7

19.5

Components
Command Option Attachable Type SERVOPACK (SGDV- E1/E5)
1Model Designations When ordering a SERVOPACK and a INDEXER module separately, use the following SERVOPACK model number:

SGDV
Series SGDV SERVOPACK

R70 A E1 A 000 00 0
1st+2nd+ 3rd digits 4th digit 5th+6th 7th digits digit 8th+9th+ 11th+12th 13th 10th digits digits digit

1st+2nd+3rd digits Current


Voltage Singlephase 100 V Code R70 R90 Applicable Servomotor Max. Capacity kW

4th digit Power Supply Voltage


Code F A D Specifications Single-phase 100 VAC Three-phase 200 VAC Three-phase 400 VAC

8th+9th+10th digits Options (hardware)


Code

Threephase 200 V

Threephase 400 V

2R1 2R8 R70*1 R90*1 1R6*1 2R8*1 3R8 5R5*1 7R6 120*2 180 200 330 470 550 590 780 1R9 3R5 5R4 8R4 120 170 210 260 280 370

0.05 0. 1 0. 2 0. 4 0.05 0. 1 0. 2 0. 4 0. 5 0.75 1.0 1.5 2.0 3.0 5.0 6.0 7.5 11 15 0.5 1.0 1.5 2.0 3.0 5.0 6.0 7.5 11 15

000 001 002 003 008 020

Specifications Base-mounted (standard) Rack-mounted*4 Varnished Rack-mounted*4 and Varnished Single-phase 200 VAC input (Model: SGDV-120AE1A008000) Dynamic brake (400 V SERVOPACKs only )

5th+6th digits Interface


Code E1 E5*3 Specifications Command Option Attachable Type (For rotary servomotors) Command Option Attachable Type (For linear servomotors)

11th+12th digits Options (software)


Code Specifications Standard

00

7th digit Design Revision Order


A, B

13th digit Options (parameter)


Code Specifications Standard

powered with single or three-phase. *1:: These-amplifiers can beSERVOPACKs are also available. *2 (Single :phase 200 VAC A008000) Model SGDV-120AE1 *3:: Under developmentkW or more are duct-ventilated. *4 SERVOPACKs of 6 Note: If the option codes digits 8 to 13 are all zeros, they are omitted.

IMPORTANT One option case kit is required for each SERVOPACK. Option case kit model: SGDV-OZA01A

301

INDEXER Module Type SERVOPACK

Description of Components

INDEXER Module (Model: SGDV-OCA03A)


1Model Designations When ordering a SERVOPACK and an INDEXER module separately, use the following INDEXER module model number:

SGDV-OCA03A
1External Dimensions
(Units: mm)
(24)

CN11

CN12

(10)

(60)

(100)

160

75

97

20

Port CN11 CN12

Model

Pin

Manufacturer Sumitomo 3M Ltd. Sumitomo 3M Ltd.

10236-52A2PL 10214-52A2PL

36 14

Note: The connectors above or their equivalents are used for SERVOPACKs.

302

Description of Components

Approx. Mass: 0.2 kg

SERVOPACK External Dimensions

SERVOPACK external dimensions are described for each model, without option module and with option module, in the following pages.
SERVOPACK Analog Voltage/Pulse Train Reference SERVOPACK, MECHATROLINK-2 Communications Reference SERVOPACK, MECHATROLINK-3 Communications Reference SERVOPACK INDEXER Module Type SERVOPACK Mounting Base-mounted Rack-mounted* Base-mounted Rack-mounted* Without Option Module Page 304 to 309 Page 310 to 315

With Option Module Page 316 to 323 Page 324 to 331 Page 316 to 323 Page 324 to 331

*: SERVOPACKs of 6 kW or more are duct-ventilated.


1Dimensional Drawings All drawings on the following pages show the exterior of the analog voltage/pulse train SERVOPACK (page 304 to 331) as examples. Refer to the drawings on this page for information (dimensions of connections and front covers) on specific SERVOPACK models.
Analog Voltage/Pulse Train Reference SERVOPACK
17 15
20

MECHATROLINK-2 Communications Reference SERVOPACK


7

MECHATROLINK-3 Communications Reference SERVOPACK


7

Front Cover CN3 CN7 CN1 CN8 CN2

12

Front Cover CN6 CN3 CN7 CN1 CN8 CN2

12 0

Front Cover CN6A CN6B CN3 CN7 CN1 CN8 CN2

15

12

INDEXER Module Type SERVOPACK


7

Connector
Port CN1* CN2 CN3 CN6 CN6A CN6B CN7 CN8
1

Model

Pin

Manufacturer Sumitomo 3M Ltd. Sumitomo 3M Ltd. Molex Japan Co., Ltd. Honda Tsushin Kogyo Co., Ltd. Tyco Electronics AMP K.K. Tyco Electronics AMP K.K. Tyco Electronics AMP K.K. ADVANCED-CONNECTEK INC. Tyco Electronics AMP K.K.

Front Cover CN3 CN7 CN1 CN8 CN2

CN1*2
)

10250-52A2PL 10226-52A2PL 53984-0671 HDR-EC14LFDTN-SLE-PLUS 1903815-1 1981386-1 1981386-1 MNC23-5K5H00 1981080-1

50 26 6 14 8 8 8 5 8

15

Note: Base-mounted SERVOPACKs can be mounted on a rack by using metal fittings for rack-mounting. Contact your Yaskawa representative for details.

(1

20

For Analog Voltage/Pulse *1:: For MECHATROLINK-2/3 Train Reference Type SERVOPACKs *2 Type SERVOPACKs. Communications Reference Type SERVOPACKs and INDEXER Module Note: The connectors above or their equivalents are used for SERVOPACKs.

303

SERVOPACKs

SERVOPACK External Dimensions

External Dimensions

Units: mm (Without

Option Module)

1Base-Mounted SERVOPACKs (1) Single-phase 100 VAC, Model: SGDV-R70FA, -R90FA, and -2R1FA
Air Flow Cooling Fan

2-M4 Screw Holes 5 1500.5 (Mounting Pitch)

SERVOPACK Rear View

160

Two Terminals

Ground Terminal 2-M4 Screws

160

23 40
Air Flow
75

5 40

170

300.5 (Mounting Pitch)

Mounting Hole Diagram

Approx. Mass: 1.0 kg

(2) Single-phase 100 VAC, Model: SGDV-2R8FA


Air Flow Cooling Fan

3-M4 Screw Holes 5 1500.5 (Mounting Pitch)

160

SERVOPACK Rear View

Air Flow Two Terminals

Ground Terminal 2-M4 Screws

160

23 70
Air Flow
75

180

580.5 (Mounting Pitch) 70

Mounting Hole Diagram

Approx. Mass: 1.5 kg

(3) Three-phase 200 VAC, Model: SGDV-R70AA, -R90AA, and -1R6AA


Air Flow Cooling Fan

2-M4 Screw Holes 5

SERVOPACK Rear View

Two Terminals

Ground Terminal 2-M4 Screws Air Flow

25 23 75

35 40
Mounting Hole Diagram

40

140

Approx. Mass: 0.9 kg

304

SERVOPACK External Dimensions

1500.5 (Mounting Pitch)

160

160

External Dimensions

Units: mm (Without

Option Module)

1Base-Mounted SERVOPACKs (4) Three-phase 200 VAC, Model: SGDV-2R8AA


Air Flow

2-M4 Screw Holes


Cooling Fan

1500.5 (Mounting Pitch)

SERVOPACK Rear View

160

Two Terminals

Ground Terminal Air Flow 2-M4 Screws

160

25 23 75

5 40

300.5 (Mounting Pitch)

40

170

Mounting Hole Diagram

Approx. Mass: 1.0 kg

(5) Three-phase 200 VAC, Model: SGDV-3R8AA, -5R5AA, and -7R6AA


Air Flow Cooling Fan

3-M4 Screw Holes 5 1500.5 (Mounting Pitch)

SERVOPACK Rear View

160

Two Terminals

Ground Terminal 2-M4 Screws

160

Air Flow

25 23

6
4

580.5 (Mounting Pitch) 70

70
Air Flow

75

180

Mounting Hole Diagram

Approx. Mass: 1.5 kg

(6) Three-phase 200 VAC, Model: SGDV-120AA


Cooling Fan

1500.5 (Mounting Pitch)

Air Flow

4-M4 Screw Holes

SERVOPACK Rear View

160

Two Terminals

Ground Terminal 2-M4 Screws

160

25 23

90
Air Flow

75

180

800.5 (Mounting Pitch) 90


Mounting Hole Diagram

Approx. Mass: 2.4 kg

305

SERVOPACKs

SERVOPACK External Dimensions

External Dimensions

Units: mm (Without

Option Module)

7 Single-phase 200 VAC, Model: SGDV-120A1A008000 (1.5kW, single-phase input) Three-phase 200 VAC, Model: SGDV-180AA and -200AA
Air Flow

4-M4 Screw Holes 5

Ground Terminal 2-M4 Screws

1700.5 (Mounting Pitch)

SERVOPACK Rear View

180

180

13 100
Air Flow
75

Cooling Fan

180

900.5 (Mounting Pitch) 100

Mounting Hole Diagram

Approx. Mass: 2.8 kg

(8) Three-phase 200 VAC, Model: SGDV-330AA


Air Flow

238.50.5 (Mounting Pitch)

Cooling Fan

4-M5 Screw Holes

SERVOPACK Rear View

250

Air Flow Ground Terminal 2-M4 Screws

250

110

75

210

110
Mounting Hole Diagram

Approx. Mass: 4.6 kg

306

SERVOPACK External Dimensions

13

Cooling Fan

1000.5 (Mounting Pitch)

External Dimensions

Units: mm (Without

Option Module)

1Base-Mounted SERVOPACKs (9) Three-phase 200 VAC, Model: SGDV-470AA and -550AA
Air Flow Cooling Fan

3350.5 (Mounting Pitch)

7.5

4-M6 Screw Holes

SERVOPACK Rear View

350

Terminal 5-M6 Screws

Terminal 6-M6 Screws Ground Terminal 2-M6 Screws

350

13 170
Air Flow (75)

Cooling Fan

25

210

1200.5 (Mounting Pitch) 170

Mounting Hole Diagram

Approx. Mass: 10.2 kg

(10) Three-phase 200 VAC, Model: SGDV-590AA and -780AA


Cooling Fan

4350.5 (Mounting Pitch)

7.5

Air Flow

4-M6 Screw Holes

450

Terminal 5-M6 Screws Terminal 6-M6 Screws

13
Ground Terminal 2-M6 Screws Cooling Fan

450

SERVOPACK Rear View

30

260
Air Flow

(75)

274

2000.5 (Mounting Pitch) 260

Mounting Hole Diagram

Approx. Mass: 21.3 kg

307

SERVOPACKs

SERVOPACK External Dimensions

External Dimensions

Units: mm (Without

Option Module)

(11) Three-phase 400 VAC, Model: SGDV-1R9DA, -3R5DA, and -5R4DA


5.5
Air Flow

4-M4 Screw Holes

149.50.5 (Mounting Pitch)

160

160

Two Terminals

SERVOPACK Rear View

Ground Terminal 2-M4 Screws

2523

Cooling Fan
4

1000.5 (Mounting Pitch) 110

110
Air Flow

75

180

Mounting Hole Diagram

Approx. Mass: 2.7 kg

(12) Three-phase 400 VAC, Model: SGDV-8R4DA and -120DA


4-M5 Screw Holes 6 238.50.5 (Mounting Pitch)
Air Flow

SERVOPACK Rear View

250

Ground Terminal 2-M4 Screws

Air Flow

13
75

Cooling Fan
4

250

1000.5 (Mounting Pitch) 110

110

180

Mounting Hole Diagram

Approx. Mass: 3.7 kg

(13) Three-phase 400 VAC, Model: SGDV-170DA


4-M5 Screw Holes
Air Flow SERVOPACK Rear View

Air Flow

250

Cooling Fan

13

135

75

230

1250.5 (Mounting Pitch) 135

Mounting Hole Diagram

Approx. Mass: 5.6 kg

308

SERVOPACK External Dimensions

238.50.5 (Mounting Pitch)

250

External Dimensions

Units: mm (Without

Option Module)

1Base-Mounted SERVOPACKs (14) Three-phase 400 VAC, Model: SGDV-210DA and -260DA
Cooling Fan

3350.5 (Mounting Pitch)

7.5

Air Flow

4-M6 Screw Holes

350

Terminal 4-M6 Screws Terminal 6-M6 Screws

350

SERVOPACK Rear View

Terminal 2-M4 Screws

230
Air Flow

Ground Terminal 2-M6 Screws

13 (75)

Cooling Fan 210

25

1800.5 (Mounting Pitch) 230

Mounting Hole Diagram

Approx. Mass: 11.3 kg

(15) Three-phase 400 VAC, Model: SGDV-280DA and -370DA


7 .5
Air Flow Cooling Fan

4-M6 Screw Holes

3850.5 (Mounting Pitch)

SERVOPACK Rear View

400

Terminal 4-M6 Screws Terminal 6-M6 Screws

400

Terminal 2-M4 Screws

230
Air Flow

Ground Terminal 2-M6 Screws

13
(75)

Cooling Fan

25

250

1800.5 (Mounting Pitch) 230

Mounting Hole Diagram

Approx. Mass: 16.2 kg

309

SERVOPACKs

SERVOPACK External Dimensions

External Dimensions

Units: mm (Without

Option Module)

1Rack-mounted SERVOPACKs (6 kW or more models: duct-ventilated) (1) Single-phase 100 VAC, Model: SGDV-R70FA001, -R90FA001, and -2R1FA001
Air Flow

17.5

7.5

Cooling Fan

1800.5 (Mounting Pitch)

36

2-M4 Screw Holes

Two Terminals

Ground Terminal 2-M4 Screws

23 24.5 40
Air Flow
75

166 min.

195 160

SERVOPACK Rear View

195

20 170 40
Mounting Hole Diagram

Approx. Mass: 1.1 kg

(2) Single-phase 100 VAC, Model: SGDV-2R8FA001


Air Flow

17.5

Cooling Fan

1800.5 (Mounting Pitch)

18.5 36

7.5

2-M4 Screw Holes

Air Flow Two Terminals

Ground Terminal 2-M4 Screws

166 min.

195

160

195

SERVOPACK Rear View

23 24.5 70
Air Flow
75

36.5 180 70
Mounting Hole Diagram

Approx. Mass: 1.5 kg

(3) Three-phase 200 VAC, Model: SGDV-R70AA001, -R90AA001, and -1R6AA001


17.5 7.5 2
Air Flow 36 Cooling Fan

1800.5 (Mounting Pitch)

2-M4 Screw Holes

Two Terminals

Ground Terminal 2-M4 Screws

40
Air Flow

2523 24.5 75

166 min.

SERVOPACK Rear View

20 140 40
Mounting Hole Diagram

Approx. Mass: 0.9 kg

310

SERVOPACK External Dimensions

195 160

195

External Dimensions

Units: mm (Without

Option Module)

1Rack-mounted SERVOPACKs (6 kW or more models: duct-ventilated) (4) Three-phase 200 VAC, Model: SGDV-2R8AA001
7.5 17.5 2
Air Flow 36 Cooling Fan

1800.5 (Mounting Pitch)

2-M4 Screw Holes

Two Terminals

Ground Terminal 2-M4 Screws

2 2523 24.5

166 min.

195 160

195

SERVOPACK Rear View

20 170 40
Mounting Hole Diagram

40
Air Flow

75

Approx. Mass: 1.0 kg

(5) Three-phase 200 VAC, Model: SGDV-3R8AA001, -5R5AA001, and -7R6AA001


17.5 7.5
Air Flow 18.5 36 Cooling Fan

1800.5 (Mounting Pitch)

2-M4 Screw Holes

Two Terminals

Ground Terminal 2-M4 Screws

2 2523 24.5

195

Air Flow

166 min.

195 160

SERVOPACK Rear View

70
Air Flow

75

180

36.5 70
Mounting Hole Diagram

Approx. Mass: 1.5 kg

(6) Three-phase 200 VAC, Model: SGDV-120AA001


17.5 7 10 7.5
Cooling Fan Air Flow 70

195 1800.5 (Mounting Pitch) 166 min.

4-M4 Screw Holes


SERVOPACK Rear View

195 160
Two Terminals

Ground Terminal 2-M4 Screws

2 25 23 24.5

20 180 90

90
Air Flow

75

500.5 (Mounting Pitch)

Mounting Hole Diagram

311

Approx. Mass: 2.5 kg

SERVOPACKs

SERVOPACK External Dimensions

External Dimensions

Units: mm (Without

Option Module)

(7) Three-phase 200 VAC, Model: SGDV-180AA001 and -200AA001


17.5 7. 5 7
Air Flow

4-M4 Screw Holes

215 2000.5 (Mounting Pitch) 186 min.

SERVOPACK Rear View

215

Ground Terminal 2-M4 Screws 2.2

180

100 102.2
Air Flow

13
75

24.5

Cooling Fan

27.2
5

180

102.2

500.5 (Mounting Pitch)

Mounting Hole Diagram

Approx. Mass: 3.1 kg

(8) Three-phase 200 VAC, Model: SGDV-330AA001


Air Flow

17.5

7 .5

4-M5 Screw Holes 7

Cooling Fan

285 2700.5 (Mounting Pitch) 256 min.

285

250

SERVOPACK Rear View

Air Flow
2 Cooling Fan

Ground Terminal 2-M4 Screws 2.5

111 116

2.5

13
75

24.5 210
6

30.5 116

500.5 (Mounting Pitch)

Mounting Hole Diagram

312

SERVOPACK External Dimensions

Approx. Mass: 5.0 kg

External Dimensions

Units: mm (Without

Option Module)

1Rack-mounted SERVOPACKs (6 kW or more models: duct-ventilated) (9) Three-phase 200 VAC, Model: SGDV-470AA001 and -550AA001 (duct-ventilated)
7. 5 20
Air Flow Cooling Fan

3350.5 (Mounting Pitch)

8.5

(8)

4-M6 Screw Holes

316 min.

SERVOPACK Rear View Through Hole

350

Terminal 5-M6 Screws

Terminal 6-M6 Screws Ground Terminal 2-M6 Screws

13 170
Air Flow (75)

Cooling Fan 133

310

350

(77)

7.5 5

210

1450.5 (Mounting Pitch) 160 min. 170

Mounting Hole Diagram

Approx. Mass: 8.5 kg

(10) Three-phase 200 VAC, Model: SGDV-590AA001 and -780AA001 (duct-ventilated)

(9)

27

Cooling Fan

7.5

Air Flow

4-M6 Screw Holes 9 415 min.

4350.5 (Mounting Pitch)

450

Terminal 5-M6 Screws Terminal 6-M6 Screws

398

450

Through Hole

SERVOPACK Rear View

Ground Terminal 2-M6 Screws

Cooling Fan

4.5
(106)

260
Air Flow

13
(75)

159 264

2350.5 (Mounting Pitch) 244 min. 260


Mounting Hole Diagram

Approx. Mass: 16.3 kg

313

SERVOPACKs

SERVOPACK External Dimensions

External Dimensions

Units: mm (Without

Option Module)

(11) Three-phase 400 VAC, Model: SGDV-1R9DA001, -3R5DA001, and -5R4DA001


17.5 7.5 37
Air Flow 72

4-M4 Screw Holes 7

1800.5 (Mounting Pitch)

195 160

Ground Terminal 2-M4 Screws

2 2523 24.5

Cooling Fan

195

Two Terminals

166 min.

SERVOPACK Rear View

48

500.5 (Mounting Pitch)

110
Air Flow

75

180

110
Mounting Hole Diagram

Approx. Mass: 2.7 kg

(12) Three-phase 400 VAC, Model: SGDV-8R4DA001 and -120DA001


17.5 7.5 15
Air Flow 80

4-M5 Screw Holes 6

2700.5 (Mounting Pitch)

SERVOPACK Rear View

Ground Terminal 2-M4 Screws

2Cooling Fan

258 min.

285 250

285

13 110
75

24.5 180

30 110

500.5 (Mounting Pitch)

Air Flow

Mounting Hole Diagram

(13) Three-phase 400 VAC, Model: SGDV-170DA001


17.5 20 7.5
Air Flow 80

4-M5 Screw Holes 6


SERVOPACK Rear View

Cooling Fan Air Flow

13 135
75

24.5 230

35 135

500.5 (Mounting Pitch)

Mounting Hole Diagram

Approx. Mass: 5.7 kg

314

SERVOPACK External Dimensions

Approx. Mass: 3.7 kg

2700.5 (Mounting Pitch)

258 min.

285

250

285

External Dimensions

Units: mm (Without

Option Module)

1Rack-mounted SERVOPACKs (6 kW or more models: duct-ventilated) 14 Three-phase 400 VAC, Model: SGDV-210DA001 and -260DA001 (duct-ventilated)
(8)

3350.5 (Mounting Pitch)

7.5

Cooling Fan

7 .5

21

Air Flow

4-M6 Screw Holes

300 min.

294

350

Terminal 4-M6 Screws Terminal 6-M6 Screws

Terminal 2-M4 Screws

230
Air Flow

Ground Terminal 2-M6 Screws

Cooling Fan

350

Through Hole

SERVOPACK Rear View

7.5
(77)

190 min. 2050.5 (Mounting Pitch) 230

13 (75)

133 210

12.5

Mounting Hole Diagram

Approx. Mass: 8.1 kg

15 Three-phase 400 VAC, Model: SGDV-280DA001 and -370DA001 (duct-ventilated)


7 .5 8.5
Air Flow Cooling Fan

(8)

4-M6 Screw Holes

43

3850.5 (Mounting Pitch)

365 min.

SERVOPACK Rear View Through Hole

400

Terminal 4-M6 Screws Terminal 6-M6 Screws

Terminal 2-M4 Screws

230
Air Flow

Ground Terminal 2-M6 Screws

Cooling Fan

325

400

12.5
(109)

13
(75)

141 250

2050.5 (Mounting Pitch) 216 min. 230

Mounting Hole Diagram

Approx. Mass: 13.4 kg

315

SERVOPACKs

SERVOPACK External Dimensions

External Dimensions

Units: mm (With

Option Module)

1Base-Mounted SERVOPACKs (1) Single-phase 100 VAC, Model: SGDVR70FA000000, SGDVR90FA000000, and SGDV2R1FA000000
Air Flow

2-M4 Screw Holes 5 1500.5(Mounting Pitch)


Cooling Fan

SERVOPACK Rear View

160

Two Terminals

Ground Terminal 2-M4 Screws

160

23 60
Air Flow
75

5 60

170

300.5 (Mounting Pitch)

Mounting Hole Diagram

97

Approx. Mass: 1.0 kg*

(2) Single-phase 100 VAC, Model: SGDV2R8FA000000


Air Flow

1500.5(Mounting Pitch)

Cooling Fan

3-M4 Screw Holes

SERVOPACK Rear View

160

Air Flow Two Terminals

160

Ground Terminal 2-M4 Screws

23 90
Air Flow
75

6 180 90 97

580.5 (Mounting Pitch)

Mounting Hole Diagram

Approx. Mass: 1.5 kg*


included *: Approx. mass of option modules are notfollows. in this value. Approx. mass of option modules are as INDEXER Module: 0.2 kg Fully-closed Module: 0.1 kg

316

SERVOPACK External Dimensions

External Dimensions

Units: mm (With

Option Module)

1Base-Mounted SERVOPACKs (3) Three-phase 200 VAC, Model: SGDVR70AA000000, SGDVR90AA000000, and SGDV1R6AA000000
Air Flow

1500.5 (Mounting Pitch)

Cooling Fan

2-M4 Screw Holes

160

SERVOPACK Rear View

Two Terminals

Ground Terminal 2-M4 Screws

(25) 23

(4)

160

35 60
Mounting Hole Diagram

60
Air Flow

(75)

140 2 97

Approx. Mass: 0.9 kg*

(4) Three-phase 200 VAC, Model: SGDV2R8AA000000


Air Flow

1500.5 (Mounting Pitch)

Cooling Fan

2-M4 Screw Holes

SERVOPACK Rear View

160

Two Terminals

160

Ground Terminal 2-M4 Screws

60

(25) 23 (75)

(4)

5 60

170

300.5 (Mounting Pitch)

Air Flow

97

Mounting Hole Diagram

Approx. Mass: 1.0 kg*


included *: Approx. mass of option modules are notfollows. in this value. Approx. mass of option modules are as INDEXER Module: 0.2 kg Fully-closed Module: 0.1 kg

317

SERVOPACKs

SERVOPACK External Dimensions

External Dimensions

Units: mm (With

Option Module)

(5) Three-phase 200 VAC, Model: SGDV3R8AA000000, SGDV5R5AA000000, and SGDV7R6AA000000


Air Flow Cooling Fan
4

3-M4 Screw Holes 5 1500.5(Mounting Pitch)

SERVOPACK Rear View

160

Two Terminals

160

Air Flow

25 23

6 180

Ground Terminal 2-M4 Screws

90
Air Flow

75

580.5 (Mounting Pitch) 90

97

Mounting Hole Diagram

Approx. Mass: 1.5 kg*

(6) Three-phase 200 VAC, Model: SGDV120AA000000


Air Flow

Cooling Fan

4-M4 Screw Holes

Two Terminals

1500.5(Mounting Pitch)

SERVOPACK Rear View

160

160

Ground Terminal 2-M4 Screws

25 23

110
Air Flow

75

180 2 97

800.5 (Mounting Pitch) 110


Mounting Hole Diagram

Approx. Mass: 2.4 kg*


included *: Approx. mass of option modules are notfollows. in this value. Approx. mass of option modules are as INDEXER Module: 0.2 kg Fully-closed Module: 0.1 kg

318

SERVOPACK External Dimensions

External Dimensions

Units: mm (With

Option Module)

1Base-Mounted SERVOPACKs (7) Single-phase 200 VAC, Model: SGDV120A1A008000 (1.5kW, single-phase input) Three-phase 200 VAC, Model: SGDV180AA000000 and SGDV200AA000000
4-M4 Screw Holes 180 1700.5(Mounting Pitch) 5
Air Flow

SERVOPACK Rear View

180

160

Terminal 13-M4 Screws

Terminal Details

Ground Terminal 2-M4 Screws

100 120
Air Flow

13
75

180 97

900.5 (Mounting Pitch) 120

Mounting Hole Diagram

(8) Three-phase 200 VAC, Model: SGDV330AA000000


Air Flow Cooling Fan

238.50.5(Mounting Pitch)

0
Cooling Fan
30

Approx. Mass: 2.8 kg*

4-M5 Screw Holes

250

160

SERVOPACK Rear View

Terminal 13-M4 Screws Air Flow Terminal Details Ground Terminal 2-M4 Screws

250

110 130

13
75

Cooling Fan

210 97

1000.5 (Mounting Pitch) 130

Mounting Hole Diagram

33

10 0

Approx. Mass: 4.6 kg*


included *: Approx. mass of option modules are notfollows. in this value. Approx. mass of option modules are as INDEXER Module: 0.2 kg Fully-closed Module: 0.1 kg

319

SERVOPACKs

SERVOPACK External Dimensions

External Dimensions

Units: mm (With

Option Module)

(9) Three-phase 200 VAC, Model: SGDV470AA000000 and SGDV550AA000000


18

3350.5(Mounting Pitch)

7.5

Air Flow

Cooling Fan

4-M6 Screw Holes

350

160

SERVOPACK Rear View

Terminal 5-M6 Screws

Terminal 6-M6 Screws Ground Terminal 2-M6 Screws

350

170 190
Air Flow

13 75 2 97

210
Cooling Fan

25 1200.5 (Mounting Pitch) 190

Mounting Hole Diagram

Approx. Mass: 10.2 kg*

(10) Three-phase 200 VAC, Model: SGDV590AA000000 and SGDV780AA000000


4-M6 Screw Holes

16

160

Terminal 5-M6 Screws Terminal 6-M6 Screws

4350.5(Mounting Pitch)

450

450

7.5

Air Flow

Cooling Fan

SERVOPACK Rear View

13
Ground Terminal 2-M6 Screws

260 280
Air Flow

(75)

274 97
Cooling Fan

30

2000.5 (Mounting Pitch) 280

Mounting Hole Diagram

Approx. Mass: 21.3 kg*


included *: Approx. mass of option modules are notfollows. in this value. Approx. mass of option modules are as INDEXER Module: 0.2 kg Fully-closed Module: 0.1 kg

320

SERVOPACK External Dimensions

External Dimensions

Units: mm (With

Option Module)

1Base-Mounted SERVOPACKs (11) Three-phase 400 VAC, Model: SGDV1R9DA000000, SGDV3R5DA000000, and SGDV5R4DA000000
Air Flow

5.5

4-M4 Screw Holes

160

Ground Terminal 2-M4 Screws

(25) 23

(4)

130

(75)

180 2 97

1000.5 (Mounting Pitch) 130

Air Flow

Mounting Hole Diagram

Cooling Fan

Approx. Mass: 2.7 kg*

(12) Three-phase 400 VAC, Model: SGDV8R4DA000000 and SGDV120DA000000


4-M5 Screw Holes
Air Flow

238.50.5(Mounting Pitch)

SERVOPACK Rear View

Terminal 14-M4 Screws Terminal Details

250

Ground Terminal 2-M4 Screws

(4)

250

130
Air Flow

13 (75)

5 180

1000.5 (Mounting Pitch) 110 130

97

Mounting Hole Diagram

(40) Cooling Fan

Approx. Mass: 3.7 kg*


included *: Approx. mass of option modules are notfollows. in this value. Approx. mass of option modules are as INDEXER Module: 0.2 kg Fully-closed Module: 0.1 kg

321

160

Two Terminals

149.50.5 (Mounting Pitch)

SERVOPACK Rear View

00

SERVOPACKs

SERVOPACK External Dimensions

External Dimensions

Units: mm (With

Option Module)

(13) Three-phase 400 VAC, Model: SGDV170DA000000


4-M5 Screw Holes
Air Flow SERVOPACK Rear View

Terminal 6-M5 Screws

Terminal Air Flow 5-M4 Screws

Terminal 3-M5 Screws

Ground Terminal 2-M5 Screws Terminal Details

250

250

Cooling Fan

238.50.5(Mounting Pitch) 5 1250.5 (Mounting Pitch) 135 155


Mounting Hole Diagram

135 155

13 (75)

230

97

(1.6)

(14) Three-phase 400 VAC, Model: SGDV210DA000000 and SGDV260DA000000


4-M6 Screw Holes

10 0
(83)

(3.2)

Approx. Mass: 5.6 kg*

350 3350.5(Mounting Pitch)

350

160

7.5

Air Flow

(18)

Cooling Fan

Terminal 2-M4 Screws

230 250 Air Flow

Ground Terminal 2-M6 Screws

13 (75)

210

25

1800.5 (Mounting Pitch) 230 250


Mounting Hole Diagram

97
Cooling Fan

Approx. Mass: 11.3 kg*


included *: Approx. mass of option modules are notfollows. in this value. Approx. mass of option modules are as INDEXER Module: 0.2 kg Fully-closed Module: 0.1 kg

322

SERVOPACK External Dimensions

Terminal 4-M6 Screws Terminal 6-M6 Screws

SERVOPACK Rear View

External Dimensions

Units: mm (With

Option Module)

1Base-Mounted SERVOPACKs (15) Three-phase 400 VAC, Model: SGDV280DA000000 and SGDV370DA000000
4-M6 Screw Holes

3850.5(Mounting Pitch)

160

7.5

Air Flow

(23)

Cooling Fan

400

Terminal 4-M6 Screws Terminal 6-M6 Screws

400

SERVOPACK Rear View

Terminal 2-M4 Screws

230 250
Air Flow

Ground Terminal 2-M6 Screws

13 (75) 2 97

25 250
Cooling Fan

1800.5 (Mounting Pitch) 230 250


Mounting Hole Diagram

Approx. Mass: 16.2 kg*


included *: Approx. mass of option modules are notfollows. in this value. Approx. mass of option modules are as INDEXER Module: 0.2 kg Fully-closed Module: 0.1 kg

323

SERVOPACKs

SERVOPACK External Dimensions

External Dimensions

Units: mm (With

Option Module)

1Rack-mounted SERVOPACKs (6 kW or more models: duct-ventilated) (1) Single-phase 100 VAC, Model: SGDVR70FA001000, SGDVR90FA001000, and SGDV2R1FA001000
17.5 2 7. 5
Air Flow 36 Cooling Fan

2-M4 Screw Holes 7

1800.5(Mounting Pitch)

Two Terminals

Ground Terminal 2-M4 Screws

166 min.

SERVOPACK Rear View

195 160

195

23 24.5 60
Air Flow
75

20 170 60
Mounting Hole Diagram

97

Approx. Mass: 1.1 kg*

(2) Single-phase 100 VAC, Model: SGDV2R8FA001000


17.5 18.5 36 7.5
Air Flow Cooling Fan

1800.5(Mounting Pitch)

2-M4 Screw Holes

SERVOPACK Rear View

Air Flow Two Terminals

166 min.

195

160

195

Ground Terminal 2-M4 Screws

23 24.5 90
Air Flow
75

36.5 180 90
Mounting Hole Diagram

97

Approx. Mass: 1.5 kg*


included *: Approx. mass of option modules are notfollows. in this value. Approx. mass of option modules are as INDEXER Module: 0.2 kg Fully-closed Module: 0.1 kg

324

SERVOPACK External Dimensions

External Dimensions

Units: mm (With

Option Module)

1Rack-mounted SERVOPACKs (6 kW or more models: duct-ventilated) (3) Three-phase 200 VAC, Model: SGDVR70AA001000, SGDVR90AA001000, and SGDV1R6AA001000
Air Flow

17.5

36
Cooling Fan

7 .5

2-M4 Screw Holes 7

1800.5 (Mounting Pitch)

195

160

Two Terminals

(2) Ground Terminal 2-M4 Screws

60
Air Flow

(25) 23 24.5 (75)

140

166 min.

195

SERVOPAC Rear View

20 60

97
Mounting Hole Diagram

Approx. Mass: 0.9 kg*

(4) Three-phase 200 VAC, Model: SGDV2R8AA001000


Air Flow

17.5

36 7
Cooling Fan

1800.5 (Mounting Pitch)

7 .5

2-M4 Screw Holes

Two Terminals

Ground Terminal 2-M4 Screws

(2) (25) 23 24.5

60
Air Flow

166 min.

195

SERVOPACK Rear View

195

160

(75)

170

20 60

97
Mounting Hole Diagram

Approx. Mass: 1.0 kg*


included *: Approx. mass of option modules are notfollows. in this value. Approx. mass of option modules are as INDEXER Module: 0.2 kg Fully-closed Module: 0.1 kg

325

SERVOPACKs

SERVOPACK External Dimensions

External Dimensions

Units: mm (With

Option Module)

(5) Three-phase 200 VAC, Model: SGDV3R8AA001000, SGDV5R5AA001000, and SGDV7R6AA001000


Air Flow 18.5 36 Cooling Fan

17.5

7.5

2-M4 Screw Holes 7

1800.5 (Mounting Pitch)

195 160

Two Terminals

Ground Terminal 2-M4 Screws

25 23 24.5

195

Air Flow

166 min.

SERVOPACK Rear View

36.5 180 90
Mounting Hole Diagram

90

75

Air Flow

97

Approx. Mass: 1.5 kg*

(6) Three-phase 200 VAC, Model: SGDV120AA001000


10
Air Flow 70
Cooling Fan

17.5

7.5

4-M4 Screw Holes

Two Terminals

195 1800.5 (Mounting Pitch) 166 min.

SERVOPACK Rear View

195 160

Ground Terminal 2-M4 Screws

25 23 24.5

110
Air Flow

75

180 2 97

20 500.5(Mounting Pitch) 110


Mounting Hole Diagram

Approx. Mass: 2.5 kg*


included *: Approx. mass of option modules are notfollows. in this value. Approx. mass of option modules are as INDEXER Module: 0.2 kg Fully-closed Module: 0.1 kg

326

SERVOPACK External Dimensions

External Dimensions

Units: mm (With

Option Module)

1Rack-mounted SERVOPACKs (6 kW or more models: duct-ventilated) (7) Three-phase 200 VAC, Model: SGDV180AA001000 and SGDV200AA001000
17.5 4-M4 Screw Holes

Air Flow

215 2000.5 (Mounting Pitch) 186 min.

7.5 7

Terminal 13-M4 Screws Terminal Details

Ground Terminal 2-M4 Screws 2.2

215 180

160

SERVOPACK Rear View

(2 )

100 122.2
Air Flow

13
(75)

24.5 180
( 5)

27.2 97

500.5 (Mounting Pitch) 122.2

Mounting Hole Diagram

(8) Three-phase 200 VAC, Model: SGDV330AA001000


17.5
7
Air Flow

Cooling Fan

285 2700.5 (Mounting Pitch)

7. 5

( 90 )
Cooling Fan

Approx. Mass: 3.1 kg*

30

4-M5 Screw Holes

160

SERVOPACK Rear View

Terminal 13-M4 Screws Ground Terminal Terminal Details 2-M4 Screws 2.5

Air Flow

111 133

2.5

13 (75) 2

(2) Cooling Fan 24.5 210 97

256 min.

285 250

30.5
(6 )

500.5 (Mounting Pitch) 133

Mounting Hole Diagram


(1 00 ) (33)

Approx. Mass: 5.0 kg*


included *: Approx. mass of option modules are notfollows. in this value. Approx. mass of option modules are as INDEXER Module: 0.2 kg Fully-closed Module: 0.1 kg

327

SERVOPACKs

SERVOPACK External Dimensions

External Dimensions

Units: mm (With

Option Module)

(9) Three-phase 200 VAC, Model: SGDV470AA001000 and SGDV550AA001000 (duct-ventilated)

350 3350.5(Mounting Pitch) 316 min.

7.5 8.5

Air Flow

(18)

Cooling Fan

4-M6 Screw Holes

160

SERVOPACK Rear View Through Hole

350

Terminal 5-M6 Screws

Terminal 2-M6 Screws

Terminal 6-M6 Screws

170 190
Air Flow

13 (75) 2

133 210 97

(77)

7.5 5

1450.5 (Mounting Pitch) 160 min. 190

Cooling Fan

Mounting Hole Diagram

154

Approx. Mass: 8.5 kg*

(10) Three-phase 200 VAC, Model: SGDV590AA001000 and SGDV780AA001000 (duct-ventilated)


(16)

Air Flow

27

Terminal 5-M6 Screws Terminal 6-M6 Screws

450 4350.5(Mounting Pitch) 415 min.

160

450

398

7.5 9

Cooling Fan

4-M6 Screw Holes

Through Hole SERVOPACK Rear View

Terminal 2-M6 Screws

260 280
Air Flow

13 (75)

159 264

(106)

4.5 8

2350.5 (Mounting Pitch) 244 min. 280 Mounting Hole Diagram

97

Cooling Fan

Approx. Mass: 16.3 kg*


included *: Approx. mass of option modules are notfollows. in this value. Approx. mass of option modules are as INDEXER Module: 0.2 kg Fully-closed Module: 0.1 kg

328

SERVOPACK External Dimensions

218

21

External Dimensions

Units: mm (With

Option Module)

1Rack-mounted SERVOPACKs (6 kW or more models: duct-ventilated) (11) Three-phase 400 VAC, Model: SGDV1R9DA001000, SGDV3R5DA001000, and SGDV5R4D A001000
17.5 37
Air Flow 72

7.5

4-M4 Screw Holes 7

1800.5(Mounting Pitch)

SERVOPACK Rear View

Two Terminals

(2) Ground Terminal 2-M4 Screws (25) 23

166 min.

195

160

195

24.5 180 97

48

130
Air Flow

(75)

500.5 (Mounting Pitch) 130

Mounting Hole Diagram

Cooling Fan

Approx. Mass: 2.7 kg*

(12) Three-phase 400 VAC, Model: SGDV8R4DA001000 and SGDV120DA001000


Air Flow 80

4-M5 Screw Holes 7.5 6

17.5

15

2700.5(Mounting Pitch)

SERVOPACK Rear View

Terminal 14-M4 Screws Terminal Details

Ground Terminal 2-M4 Screws

130
Air Flow

13 (75)

(2) 24.5

258 min.

285 250

285

30 180 110 130

500.5 (Mounting Pitch)

97

Mounting Hole Diagram

00

Approx. Mass: 3.7 kg*


(40) Cooling Fan

329

included *: Approx. mass of option modules are notfollows. in this value. Approx. mass of option modules are as INDEXER Module: 0.2 kg Fully-closed Module: 0.1 kg

SERVOPACKs

SERVOPACK External Dimensions

External Dimensions

Units: mm (With

Option Module)

(13) Three-phase 400 VAC, Model: SGDV170DA001000


17.5
Terminal 6-M5 Screws

20

Air Flow 80

7.5 6

4-M5 Screw Holes


SERVOPACK Rear View

Terminal 5-M4 Screws

Air Flow Cooling Fan

Terminal 3-M5 Screws

Ground Terminal 2-M5 Screws Terminal Details

135 155

13 (75)

(2) 24.5

285 2700.5(Mounting Pitch) 258 min.

285 250

35 230 135 155

500.5 (Mounting Pitch)

Mounting Hole Diagram

97

(14) Three-phase 400 VAC, Model: SGDV210DA001000 and SGDV260DA001000 (duct-ventilated)


(18) Cooling Fan

21

Air Flow

350 3350.5(Mounting Pitch) 300 min.

160

7.5 7. 5

294

10 0
(83)

Approx. Mass: 5.7 kg*

4-M6 Screw Holes

350

Through Hole

Terminal 4-M6 Screws Terminal 6-M6 Screws

SERVOPACK Rear View

Terminal 2-M4 Screws

230 250
Air Flow

Ground Terminal 2-M6 Screws

13 (75) 2

133 210 97

(77)

7.5 12.5

Cooling Fan

190 min. 2050.5 (Mounting Pitch) 230 250 Mounting Hole Diagram

Approx. Mass: 8.1 kg*


20
included *: Approx. mass of option modules are notfollows. in this value. Approx. mass of option modules are as INDEXER Module: 0.2 kg Fully-closed Module: 0.1 kg

330

SERVOPACK External Dimensions

190

External Dimensions

Units: mm (With

Option Module)

1Rack-mounted SERVOPACKs (6 kW or more models: duct-ventilated) (15) Three-phase 400 VAC, Model: SGDV280DA001000 and SGDV370DA001000 (duct-ventilated)

(23)

43

400 3850.5(Mounting Pitch) 365 min.

160

7 .5 8.5

Air Flow

Cooling Fan

4-M6 Screw Holes

400

Terminal 6-M6 Screws

Terminal 2-M4 Screws

230 250 Air Flow

Ground Terminal 2-M6 Screws

325

Terminal 4-M6 Screws

Through Hole

SERVOPACK Rear View

13 (75)

141 250

(109)

12.5 7

2050.5 (Mounting Pitch) 216 min. 230 250


Mounting Hole Diagram

97
Cooling Fan

212

Approx. Mass: 13.4 kg*

included *: Approx. mass of option modules are notfollows. in this value. Approx. mass of option modules are as INDEXER Module: 0.2 kg Fully-closed Module: 0.1 kg

331

Wiring Main Circuit and Peripheral Devices


Wiring Main Circuit
1Typical Main Circuit Wiring Examples
This section describes the typical main circuit wiring examples.

WARNING
After turning OFF the power, do not touch the power terminals while charge indicator is still ON. High residual voltage may still remain in the SERVOPACK. When the voltage is discharged, the charge indicator will turn OFF. Make sure the charge indicator is OFF before starting wiring or inspection.
2Single-phase 100 V
R T SERVOPACK SGDV-F

1QF 3SA 1FLT 2KM


L1 L2 U V W M

1KM
L1 C L2C (For servo alarm display) CN1 31 +24 V ALM+ ENC

1Ry

B1/ B2

1Ry

1PL
Servo power supply ON Servo power supply OFF

32

ALM-

1D

0V

1KM

1KM 1KM 1Ry

1SA 2KM

1QF : Molded-case circuit breaker 1FLT : Noise filter 1KM : Magnetic contactor (for control power supply) 2KM : Magnetic contactor (for main circuit power supply) 1Ry : Relay 1PL : Indicator lamp 1SA : Surge absorber 2SA : Surge absorber 3SA : Surge absorber 1D : Flywheel diode

2SA

2Single-phase 200 V
R T SERVOPACK SGDV-A

1QF 3SA 1FLT 2KM


L1 L2 L3 U V W M

1KM
L1C L2C (For servo alarm display) +24 V ALM+ ENC

1Ry

B1/ B2 B3 1 2

CN1 31

1Ry

1PL
Servo power supply ON Servo power supply OFF

32

ALM-

1D

0V

1KM

1KM 1KM 1Ry

1SA 2KM

1QF : Molded-case circuit breaker 1FLT : Noise filter 1KM : Magnetic contactor (for control power supply) 2KM : Magnetic contactor (for main circuit power supply) 1Ry : Relay 1PL : Indicator lamp 1SA : Surge absorber 2SA : Surge absorber 3SA : Surge absorber 1D : Flywheel diode

2SA

333

SERVOPACKs

Wiring Main Circuit and Peripheral Devices

Wiring Main Circuit


2Three-phase 200 V
R S T SERVOPACK SGDV-A

1QF 3SA 1FLT 2KM


L1 L2 L3 U V W M

1KM
L1C L2C (For servo alarm display) +24 V ALM+ ENC

1Ry

1PL
Servo power supply ON Main power supply OFF

B1/ B2 B3 1 2

CN1 31

1Ry

32

ALM-

1D

0V

1KM

1KM 1KM 1Ry

1SA 2KM

1QF : Molded-case circuit breaker 1FLT : Noise filter 1KM : Magnetic contactor (for control power supply) 2KM : Magnetic contactor (for main circuit power supply) 1Ry : Relay 1PL : Indicator lamp 1SA : Surge absorber 2SA : Surge absorber 3SA : Surge absorber 1D : Flywheel diode

R90A, -1R6A, *: SGDV-R70A, -short-circuitingand -2R8ABSERVOPACK do not require between 2 and B3. Do not short-circuit B2-B3. Note: Every SERVOPACK of SGDV-470A, -550A-590A and -780A requires a specified external regenerative unit.

2SA

2Three-phase 400 V
R S T SERVOPACK SGDV-D

1QF 3SA 1FLT 2KM

L1 L2 L3

U V W

1KM
DC power supply + (24 VDC) (For servo alarm display)

24V 0V

ENC

1Ry

B1/ B2 B3 1 2

CN1 31

+24 V ALM+

1Ry

Servo power supply ON

Servo power supply OFF

32

ALM-

1D

0V

1KM

1KM 1KM 1Ry

1SA 2KM

2SA

Note: Every SERVOPACK of SGDV-210D, -260D-280D and -370D requires a specified external regenerative unit.

334

Wiring Main Circuit and Peripheral Devices

1PL

1QF : Molded-case circuit breaker 1FLT : Noise filter 1KM : Magnetic contactor (for control power supply) 2KM : Magnetic contactor (for main circuit power supply) 1Ry : Relay 1PL : Indicator lamp 1SA : Surge absorber 2SA : Surge absorber 3SA : Surge absorber 1D : Flywheel diode

Wiring Main Circuit


1General Precautions for Wiring
3Use a molded-case circuit breaker (QF) or fuse to protect the Main Circuit.

IMPORTANT

The SERVOPACK connects directly to a commercial power supply; it is not isolated by a transformer or other device. Always use a molded-case circuit breaker (QF) or fuse to protect the servo system from accidents involving different power system voltages or other accidents. 3Install a ground fault detector. The SERVOPACK does not have a built-in protective circuit for grounding. To configure a safer system, install a ground fault detector against overloads and short-circuiting, or install a ground fault detector combined with a molded-case circuit breaker. 3Do not turn power ON and OFF frequently. The power supply in the SERVOPACK contains a capacitor, which causes a high charging current to flow when power is turned ON. Frequently turning power ON and OFF will causes the main circuit elements in the SERVOPACK to deteriorate.

To ensure safe, stable application of the servo system, observe the following precautions when wiring. Observe the following precautions when wiring the main circuit. Use shielded twisted-pair wires or shielded multi-core twisted-pair wires for signal lines and encoder lines. The maximum wiring length is 3 m for signal lines and 50 m for encoder lines. Observe the following precautions when wiring the ground. Use a cable as thick as possible (at least 2.0 mm2) Ground the 100-V and the 200-V SERVOPACK to a resistance of 100 or less. Ground the 400-V SERVOPACK to a resistance of 10 or less. Be sure to ground at only one point. Ground the servomotor directly if the servomotor is insulated from the machine. The signal cable conductors are as thin as 0.2 mm2 or 0.3 mm2. Do not impose excessive bending force or tension.

1Precautions When Using the SERVOPACK with a DC Power Input


When using the SERVOPACK with a DC power input, refer to 3.1.4 Using the SERVOPACK with a DC Power Input on AC Servo Drives Series USERS MANUAL Design and Maintenance. (manual no. SIEP S800000 45)

335

SERVOPACKs

Wiring Main Circuit and Peripheral Devices

Wiring Main Circuit


1Precautions When Using More Than One SERVOPACK This section shows an example of the wiring when more than one SERVOPACK is used and the precautions.
2Wiring Example
Connect the alarm output (ALM) terminals for the three SERVOPACKs in series to enable alarm detection relay 1RY to operate. When a SERVOPACK alarm is activated, the ALM output signal transistor is turned OFF.
Power supply R S T

1QF 3SA 1FLT

1KM

2KM
L1 L2 SERVOPACK L3 Relay terminal Relay terminal L1C L2C CN1 1Ry 31 ALM+ +24 V Servomotor

1Ry

(For servo alarm display)

32

ALM - 1D

1PL
Servo power Servo power supply OFF supply ON

1KM
Relay terminal Relay terminal

L1 L2 SERVOPACK L3 L1C L2C CN1 31 ALM+

Servomotor

1KM 1KM 1Ry

1SA 2KM

2SA

32

ALM -

L1 L2 SERVOPACK L3

Servomotor

1QF 1FLT 1KM 2KM 1Ry 1PL 1SA 2SA 3SA 1D

: Molded-case circuit breaker : Noise filter : Magnetic contactor (for control power supply) : Magnetic contactor (for main circuit power supply) : Relay : Indicator lamp : Surge absorber : Surge absorber : Surge absorber : Flywheel diode

L1C L2C CN1 31 ALM+

32

ALM -

0V

2Precautions
Multiple servos can share a single molded-case circuit breaker (QF) or noise filter. Always select a QF or noise filter that has enough capacity for the total power capacity (load conditions) of those servos.

336

Wiring Main Circuit and Peripheral Devices

SERVOPACK Main Circuit Wire


1Single-phase, 100 V
Cables Main Circuit Power Cable Servomotor Main Circuit Cable Control Power Cable External Regenerative Resistor Cable Ground Cable Terminal Symbol L1, L2 U, V, W L1C, L2C B1/ , B2 R70F HIV1.25 HIV1.25 HIV1.25 HIV1.25 HIV2.0 min. SERVOPACK Model SGDVR90F

2R1F
HIV2.0

2R8F

1Single-phase, 200 V
Cables Main Circuit Power Cable Servomotor Main Circuit Cable Control Power Cable External Regenerative Resistor Cable Ground Cable Terminal Symbol L1, L2 U, V, W L1C, L2C B1/ , B2 R70A R90A HIV1.25 HIV1.25 HIV1.25 HIV1.25 HIV2.0 min. SERVOPACK Model SGDV-

1R6A

2R8A
HIV2.0

5R5A
HIV2.0

120A*
HIV3.5

*: The official model number is SGDV-120A1A008000.


1Three-phase, 200 V
Cables Main Circuit Power Cable Servomotor Main Circuit Cable Control Power Cable External Regenerative Resistor Cable Ground Cable Terminal Symbol L1, L2, L3 U, V, W L1C, L2C B1/ , B2 HIV1.25 HIV1.25 HIV1.25 SERVOPACK Model SGDVR70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A 470A 550A 590A 780A HIV2.0 HIV2.0 HIV1.25 HIV2.0 HIV3.5 HIV5.5 HIV2.0 min. HIV8 HIV22 HIV3.5 HIV5.5 HIV8 HIV14 HIV14 HIV22 HIV22 HIV3.5 HIV5.5 HIV8.0

1Three-phase, 400 V
Cables Main Circuit Power Cable Servomotor Main Circuit Cable Control Power Cable External Regenerative Resistor Cable Ground Cable Terminal Symbol L1, L2, L3 U, V, W 24V, 0V B1/ , B2

1R9D

3R5D 5R4D HIV1.25 HIV1.25

SERVOPACK Model SGDV8R4D 120D 170D 210D 260D 280D HIV2.0 HIV3.5 HIV5.5 HIV8 HIV2.0 HIV3.5 HIV5.5 HIV8 HIV1.25 HIV1.25 HIV2.0 HIV3.5 HIV5.5 HIV2.0 min.

370D
HIV14 HIV14 HIV8

1Wire Type
Wire Type Code PVC IV HIV Name Polyvinyl chloride insulated wire Allowable Conductor Temperature C

600 V polyvinyl chloride insulated wire 600 V grade heat-resistant polyvinyl chloride insulated wire

60 75

337

SERVOPACKs

Wiring Main Circuit and Peripheral Devices

SERVOPACK Main Circuit Wire


The following table shows the size and allowable currents for the wires. Use a wire whose specifications meet or are less than the values in the table.

3600 V grade heat-resistant polyvinyl chloride insulated wires


Nominal Cross Section Diameter mm2 AWG size Allowable Current at Ambient Temperatures A

30 20

40 5.6 7 7.7 11 20 29 38 49 70 81

50 4.5 5.5 6 8.5 16 24 31 40 57 66

0.5 0.75 0.9 1.25 2.0 3.5 5.5 8.0 14.0 22.0

18 17 to 16 14 12 to 11 10 to 9 8 6 to 5 4 to 3

6.6 8.8 9 12 23 33 43 55 79 91

Note: The values in the table are only for reference.

IMPORTANT

1 Wire sizes are selected for three cables per bundle at 40C ambient temperature with the rated current. 2 Use a wire with a minimum withstand voltage of 600 V for the main circuit. 3 If wires are bundled in PVC or metal ducts, take into account the reduction of the allowable current. 4 Use a heat-resistant wire under high ambient or panel temperatures, where polyvinyl chloride insulated wires will rapidly deteriorate.

338

Wiring Main Circuit and Peripheral Devices

Molded-case Circuit Breaker and Fuse Capacity


Main Circuit Power Supply Single-phase 100 V Applicable Servomotor Max. Capacity kW SERVOPACK Model SGDVR70F R90F Power Supply Capacity per SERVOPACK kVA Current Capacity Main Circuit Arms Control Circuit Arms Inrush Current Main Circuit A0-p Control Circuit A0-p

Single-phase 200 V

Three-phase 200 V

Three-phase 400 V

0.05 0.1 0.2 0.4 0.05 0.1 0.2 0.4 0.75 1.5 0.05 0.1 0.2 0.4 0.5 0.75 1.0 1. 5 2.0 3.0 5.0 6.0 7.5 11 15 0. 5 1. 0 1.5 2.0 3.0 5.0 6.0 7.5 11 15

2R 1F 2R 8F R70A R90A 1R6A 2R8A 5R5A 120A*


R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A 470A 550A 590A 780A 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D 370D

0.2 0.3 0.7 1.4 0.2 0.3 0.7 1.2 1.9 4 0.2 0.3 0.6 1 1.4 1.6 2.3 3.2 4 5.9 7.5 10.7 14.6 21.7 29.6 1.1 2.3 3.5 4.5 7.1 11.7 12.4 14.4 21.9 30.6

1.5 2.5 5 10 2 2 3 5 9 16 1.0 1.0 2.0 3.0 3.0 6.0 6.0 7.3 9.7 15 25 29 37 54 73 1.4 2.9 4.3 5.8 8.6 14.5 17.4 21.7 31.8 43.4

0.38

16.5

35

0.2

70 33 33

0.25

70 0.2 33

0.25

33

0.3

65.5

0.45

109

48

1.2

17

1.4

34 57

1.5 1.7

34 68

: The official model number is SGDV-120A1A008000. Notes: 1 To comply with the low voltage directive, connect a fuse to the input side. Select the fuse or molded-case circuit breaker for the input side from among models that are compliant with UL standards. The table above also provides the net values of current capacity and inrush current. Select a fuse and a molded-case circuit breaker which meet the breaking characteristics shown below. Main circuit, control circuit: No breaking at three-times the current values of the table for 5 s. Inrush current: No breaking at the same current values of the table for 20 ms. 2 In accordance with UL standards, the following restrictions apply. SERVOPACK SGDV120A1A008000, 180A, 200A Restrictions Available rated current for molded-case circuit breaker: 40 A or less Available rated current for non-time delay fuse: 70 A or less Available rated current for time delay fuse: 40 A or less Do not use single wires. Available rated current for molded-case circuit breaker: 60 A or less Available rated current for non-time delay fuse or time delay fuse: 60 A or less Available rated current for molded-case circuit breaker: 100 A or less Available rated current for non-time delay fuse or time delay fuse: 100 A or less (Available rated current for class J non-time delay or faster fuse: 125 A or less) Available rated current for molded-case circuit breaker: 60 A or less Available rated current for non-time delay fuse: 60 A or less Available rated current for time delay fuse: 35 A or less Available rated current for molded-case circuit breaker: 80 A or less Available rated current for non-time delay fuse: 125 A or less Available rated current for time delay fuse: 75 A or less

330A 470A, 550A 590A, 780A

210D, 260D

280D, 370D

339

SERVOPACKs

Wiring Main Circuit and Peripheral Devices

Noise Filters
1Noise Filter Selection
Main Circuit Power Supply Single-phase SERVOPACK Model SGDVR70F,R90F 2R1F 2R8F R70A, R90A, 1R6A 2R8A 5R5A Model FN2070-6/07 FN2070-10/07 FN2070-16/07 FN2070-6/07 FN2070-10/07 FN2070-16/07 FN350-30/33 FN258L-7/07 FN258L-16/07 HF3020C-UQC HF3030C-UQC HF3050C-UQC HF3060C-UQC HF3100C-UQB FN258L-7/07 FN258L-16/07 FMAC-0934-5010 HF3050C-UQC HF3080C-UQC Recommended Noise Filter Specifications Single-phase 250V 6A Single-phase 250V 10A Single-phase 250V 16A Single-phase 250V 6A Single-phase 250V 10A Single-phase 250V 16A Single-phase 250V 30A Three-phase 480V 7A Three-phase 480V 16A Three-phase 480V 20A Three-phase 480V 30A Three-phase 480V 50A Three-phase 480V 60A Three-phase 480V 100A Three-phase 480V 7A Three-phase 480V 16A Three-phase 480V 35A Three-phase 480V 50A Three-phase 480V 80A Leakage Current Details

100 V

0.734 mA 230VAC/50Hz 0.734 mA 230VAC/50Hz 5.4 mA 230VAC/50Hz 0.5 mA 440VAC/50Hz 0.8 mA 440VAC/50Hz

Single-phase

200 V

120A
R70A,R90A,1R6A 2R8A,3R8A

5R5A,7R6A
Three-phase

200 V

120A,180A 200A 330A, 470A 550A 590A, 780A 1R9D,3R5D,5R4D 8R4D,120D 170D 210D, 260D 280D, 370D

10 mA 400VAC/50Hz
3

Three- phase

400 V

0.8 mA 440VAC/50Hz 160 mA 440VAC/50Hz 10 mA 400VAC/50Hz

2 3 2 3

Note: RoHS-compliant models are not available. Contact the manufactures when in need of an RoHS-compliant model.

IMPORTANT Some noise filters have large leakage currents. The grounding measures taken also affect the extent of the leakage current. If necessary, select an appropriate leakage current detector or leakage current breaker taking into account the grounding measures that are used and leakage current from the noise filter. Contact the manufacturer of the noise filter for details.

340

Wiring Main Circuit and Peripheral Devices

Noise Filters
1External Dimensions (Units: mm) (1) FN Type (by Schaffner EMC, Inc.)
Model FN2070-6/07
Top View A F D S

FN2070-10/07
Side View L P Top View

FN2070-16/07
Side View A F D

B Q R

Dimensional Drawings

N C

K M

Connection Lead

P/N/E
5 140 0

Code A B C D F External Dimensions J K L M N P Q R S

Dimensions

113.5 1 57.5 1 45.4 1.2 94 1 103 0.3 25 0.2 8.4 0.5 32.4 0.5 4.4 0.1 6 0.1 0.9 0.1

156 1

130.5 1 143 0.3

119 0.5 85.5 1 57.6 1 98.5 1 109 0.3 40 0.2 8.6 0.5

5.3 0.1

4.4 0.1 7.4 0.1 1.2 0.1 66 0.3 51 0.2

38 0.5
FN350-30/33
Side View

Model

Top View

190.5

60.1

Dimensional Drawings
99.50.5 4.40.1 510.1 790.5

84.51 950.2 1050.5

341

571

J N P

SERVOPACKs

Wiring Main Circuit and Peripheral Devices

Noise Filters
(2) FN Type and HF Type
FN Type [by Schaffner EMC, Inc.] Model FN258L-7/07 FN258L-16/07 HF Type [by SOSHIN ELECTRIC CO., LTD.] HF3020C-UQC HF3050C-UQC HF3030C-UQC HF3060C-UQC
4-J

P
F G

N M M O G1 F1 E5

E A

Ground Marker

K D2 C1 B1 A5 L
P33.6

Dimensional Drawings

H L

H5

O
J

Code A B C D E F G External H Dimensions J K L M N O P Q

Dimensions

Dimensions

255 1 126 0.8 50 0.6 225 0.8 240 0.5 25 0.3 6.5 0.2 300 10 1 0.1

305 1 142 0.8 55 0.6 275 0.8 290 0.5 30 0.3

91

M5 AWG16

AWG14

236 221 206 184 105 90 76 122 5.5 7 Dia. M5 M5 16 13 51.4 13 61.1

256 241 226 204 115 100 86 127 5.5 7 Dia. M5 M5 16 13 51.4 13 61.1

(3) HF Type and FMAC Type


Model HF Type [by SOSHIN ELECTRIC CO., LTD.] HF3080C-UQC HF3100C-UQB FMAC Type [by Schurter, Inc.] FMAC-0934-5010

251 201

130 145

66
(10)

LINE

(41)

External Dimensions

LOAD

135 +0 1

151

6.50.3 1150.3

140

M6

(17)

121

310 330

342

Wiring Main Circuit and Peripheral Devices

Surge Absorber
1Surge Absorber Selection The surge absorber (for lightning surge) absorbs lightning surge and prevents faulty operation in or damage to electronic circuits.
Main Circuit Power Supply Single-phase 100 V Single-phase 200 V Three-phase 200 V Three-phase 400 V SERVOPACK Model SGDVF A A D

Recommended Surge Absorber LT-C12G801WS LT-C12G801WS LT-C32G801WS LT-C35G102WS

1External Dimensions (Units: mm) Model: LT-C32G801WS, LT-C35G102WS, LT-C12G801WS [by SOSHIN ELECTRIC CO., LTD.]
External Dimensions Internal Connection Diagram

4 251.0 33.51.0

Separator Operation Indicator

L1

L2*

L3

ia

4. 3

+ 0 0.3 .1 D

191.0
Lead Line(L3) Lead Line(L2)* Ground Wire(E) Case

40.5

381.0

22.51.0

The wire size for all the lead lines (L1, L2, and L3) and the ground wire (E) is AWG16 (UL1015).

*: No L2 is on the LT-C12G801WS surge absorber.

343

281.0

250 +25 0

Lead Line(L1)

SERVOPACKs

Wiring Main Circuit and Peripheral Devices

Magnetic Contactors
1Magnetic Contactor Selection A magnetic contactor is required to make the AC power to SERVOPACK ON/OFF sequence externally. Be sure to attach a surge absorber (for switching surge) (surge absorber unit etc.) to the excitation coil of the magnetic contactor.
Main Circuit Power Supply Single-phase 100 V Single-phase 200 V SERVOPACK Model SGDVR70FR90F2R1F 2R8F R70A, R90A, 1R6A, 2R8A 5R5A 120A R70AR90A1R6A2R8A3R8A 5R5A7R6A120A 180A200A 330A, 470A 550A 590A 780A 1R9D3R5D5R4D 8R4D120D 170D, 260D 280D, 370D SC-03 SC-4-1 SC-03 SC-4-1 SC-5-1 SC-03 SC-4-1 SC-5-1 SC-N1 SC-N2 SC-N2S SC-N3 SC-4-1/G SC-5-1/G SC-N1/G SC-N2S/G Model Magnetic Contactor Specifications (RoHS) (RoHS)
RoHS RoHS RoHS

(RoHS) (RoHS) (RoHS) (RoHS) (RoHS) (RoHS) (RoHS) Coil 24 VDC (RoHS) Coil 24 VDC (RoHS) Coil 24 VDC (RoHS) Coil 24 VDC (RoHS)

Three-phase 200 V

Three-phase 400 V

Note: Contact Fuji Electric FA Components & Systems Co., Ltd.

1External Dimensions SC-03


90 (Mounting Rail Height: 15) 80 61 8.5
(28)

(Units: mm)
Mounting Hole Dimensions
43 Coil Terminal Aux. Terminal M3.5 M3.5
(20.5)

Main Terminal M3.5

34 30 14.5

Aux. Contact Structure 1/L1 3/L2 5/L3 13 1a A1


2/T1 4/T2 6/T3 14 1/L1 3/L2 5/L3 21

23

18.5

A2

(48 Mounting is available.)

81

43

52

60

1b

A1 A2

2/T1 4/T2 6/T3 22

For front mounting, aux. contact blocks are attached.

7.7 10

35

3Mounting methods : The following methods qwe

are available.
q34 (48 to) 52 w30 48 e35 60 3Mounting screw : 2-M4

SC-4-1
91 (Mounting Rail Height : 15) 81 61 8.5
(28) Main Terminal M4

Approx. Mass : 0.32 kg


53 Coil Terminal M3.5

Mounting Hole Dimensions


Aux. Terminal M3.5

34 52 18.5 (48 Mounting (20.5) is available.) 14.5

Aux. Contact Structure 1/L1 3/L2 5/L3 13 1a A1


2/T1 4/T2 6/T3 14 1/L1 3/L2 5/L3 21

A2

49

81

1b

A1 A2

2/T1 4/T2 6/T3 22

For front mounting, aux. contact blocks are attached.

9.7 8 13 13

7.7

35

3Mounting methods : The following methods qw are available. q34 (48 to) 52 w35 60 3Mounting screw : 2-M4

Use the two mounting holes on the diagonal line to mount a contactor.

Approx. Mass : 0.36 kg

344

Wiring Main Circuit and Peripheral Devices

Use the two mounting holes on the diagonal line to mount a contactor.

20

23

43

60

Magnetic Contactor
SC-5-1
Mounting Hole Dimensions
Main Terminal M4 Coil Terminal M3.5 Aux. Terminal M3.5 (56 Mounting is available.)

91 (Mounting Rail Height : 15) (28) 81 61 8.5

64

Aux. Contact Structure

Aux. Terminal M3.5

20

49

For front mounting, aux. contact blocks are attached.

9.7 13 13

7.7

43 81

23

3Mounting methods : The following methods qw are available. q54 (56 to) 60 w50 60 3Mounting screw : 2-M4

Use the two mounting holes on the diagonal line to mount a contactor.

Approx. Mass: 0.38 kg

SC-4-1/G
118 (Mounting Rail Height : 15) 108 88 8.5
(28) Main Terminal M4

53 Coil Terminal M3.5

Aux. Terminal M3.5

Mounting Hole Dimensions


34 18.5 52 (48 Mounting (20.5) ) is available.

Aux. Contact Structure 1/L1 3/L2 5/L3 13 1a

20

23

14.5

A1 A2

43 81

49

60

1b

2/T1 4/T2 6/T3 14 1/L1 3/L2 5/L3 21 A1 A2

For front mounting, aux. contact blocks are attached.

9.7 8 13 13 7. 7

35

2/T1 4/T2 6/T3 22

3Mounting methods : The following methods qw are available. q34 (48 to) 52 w35 60 3Mounting screw : 2-M4

Use the two mounting holes on the diagonal line to mount a contactor.

Approx. Mass : 0.6 kg

SC-5-1/G
118 (Mounting Rail Height : 15) 108 88 8.5
Aux. Terminal M3.5 (28)

64
Main Coil Terminal Terminal M4 M3.5

Mounting Hole Dimensions


Aux. Terminal M3.5

54 14.5
(16.5)

14.5

Aux. Contact Structure

20

23

2a

13 1/L1 3/L2 5/L3 23

A1 A2

(56 Mounting is available.)

49

60

60

14 2/T1 4/T2 6/T3 24

43 81

1a1b 2b

13 1/L1 3/L2 5/L3 21

A1 A2

14 2/T1 4/T2 6/T3 22 11 1/L1 3/L2 5/L3 21 A1 A2

For front mounting, aux. contact blocks are attached.

9.7 13 13

7.7

(35) 50

12 2/T1 4/T2 6/T3 22

3Mounting methods : The following methods qw are available. q54 (56 to) 60 w50 60 3Mounting screw : 2-M4

Use the two mounting holes on the diagonal line to mount a contactor.

Approx. Mass : 0.62 kg

345

SERVOPACKs

Wiring Main Circuit and Peripheral Devices

Magnetic Contactor
SC-N2S/G
16.5 140 (Mounting Rail Height : 15) (28) 130 91.5 10.5
Main Terminal M6 Aux. Terminal M3.5 (112) 88

Mounting Hole Dimensions


10.5
Coil Terminal M3.5

70

18

Structure
(23)(41) (31) 53 61 13 21 1/L1 3/L2 5/L3 43 31 83 71

78 110

90

75

A1 A2

*
For front mounting, aux. contact blocks are attached.

54 62 14 22 2/T1 4/T2 6/T3 44 32 84 72 (24)(42) (32)

20.5 16.8

(55 to) 60

Approx. Mass: 1.4 kg

*
SC-N1, SC-N2
106 (Mounting Rail Height : 15) (28) 96 65.5 10.5

: For two side mounting, 3Mounting methods : The following methods qw are available. aux. contact blocks are attached. q70 75 w(55 to) 65 90 3Mounting screw : 2-M4 Use the two mounting holes on the diagonal line to mount a contactor.

Main Terminal M5 Aux. Terminal M3.5

Mounting Hole Dimensions


(99)

Structure
(23)(41) (31) 53 61 13 21 1/L1 3/L2 5/L3 43 31 83 71

14.3

74

Coil Terminal M3.5

45 (to 50)

*
A1 A2

59.5

87

54 62 14 22 2/T1 4/T2 6/T3 44 32 84 72 (24)(42) (32)

*
For front mounting, aux. contact blocks are attached.

16.5 12.4

*: For two side mounting, aux. contact blocks attached.


SC-N2S, SC-N3
121 (Mounting Rail Height : 15) (28) 111 72.5 10.5
Main Terminal M6 Aux. Terminal M3.5

and four normally close (NC) contacts. Note: The terminals of the auxiliary contacts are 3Mounting methods : numbered differently than conventional The following methods qw are available. terminals. The numbers in parentheses q70 75 w(55 to) 65 90 use the conventional method. 3Mounting screw : 2-M4 Approx. Mass: 0.59 kg Use the two mounting holes on the diagonal line to mount a contactor.

60 (to 65)

are used if the auxiliary *: These contacts of four normally open (NO) contacts consist

Mounting Hole Dimensions


(112) 88

Structure
(23)(41) (31) 53 61 13 21 1/L1 3/L2 5/L3 43 31 83 71

16.5

10.5

Coil Terminal M3.5

70

*
A1 A2

18

54 62 14 22 2/T1 4/T2 6/T3 44 32 84 72 (24)(42) (32)

78 110

90

75

*
For front mounting, aux. contact blocks are attached.

are used if the auxiliary *: These contacts of four normally open (NO) contacts consist

20.5 16.8

For mounting, *: aux.two side blocks attached. contact

SC-N1/G
131(Mounting Rail Height : 15) 122 91 10.5
28

Main Terminal M5 Aux. Terminal M3.5

Mounting Hole Dimensions


99

Structure
(23)(41) (31) 53 61 13 21 1/L1 3/L2 5/L3 43 31 83 71

14.3

74

Coil Terminal M3.5

to

*
A1 A2

59.5

87

54 62 14 22 2/T1 4/T2 6/T3 44 32 84 72 (24)(42) (32)

*
For front mounting, aux. contact blocks are attached.

16.5 12.4

For mounting, *: aux.two side blocks attached. contact

and four normally close (NC) contacts. Note: The terminals of the auxiliary contacts are : 3Mounting methods numbered differently than conventional The following methods qw are available terminals. The numbers in parentheses q 60 to 70 w45 to 50 70 65 use the conventional method. 3Mounting screw : 2-M4 Use the two mounting holes on the diagonal Approx. Mass: 0.82 kg line to mount a contactor.

to

are used if the auxiliary *: These contacts of four normally open (NO) contacts consist

346

Wiring Main Circuit and Peripheral Devices

and four normally close (NC) contacts. Note: The terminals of the auxiliary contacts are numbered differently than conventional (55 to )60 terminals. The numbers in parentheses use the conventional method. 3Mounting methods : The following methods qw are available. Approx. Mass: 1.1 kg q70 75 w(55 to) 60 90 3Mounting screw : 2-M4 Use the two mounting holes on the diagonal line to mount a contactor.
2-M4 Mounting Holes

AC/DC Reactors
1Selection If power supply harmonic suppression is needed, connect a DC reactor between the three-phase 200 V or threephase 400 V SERVOPACK main circuit terminals 1 and 2. Also, connect an AC reactor to a single-phase 100 V or 200 V SERVOPACK main circuit terminal L1 in series. Select AC/DC reactors according to the rating of the SERVOPACK.
Main Circuit Power Supply Singlephase SERVOPACK SGDVR70F, R90F AC/DC Reactor Model X5053 X5054 X5056 X5071 X5070 X5069 X5079 X5078 X5061 X5060 X5059 X5068

Inductance mH

Rated Current A

100 V
Singlephase

200 V

Threephase

200 V

Threephase

400 V

2R1F 2R8F R70A, R90A 1R6A 2R8A 5R5A 120A R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A 120A, 180A 200A 330A 470A, 550A, 590A, 780A 1R9D 3R5D, 5R4D 8R4D, 120D 170D 210D, 260D, 280D, 370D

20.0 5.0 2.0 40.0 20.0 10.0 4.0 2.5 2.0 1.5 1.0 0.47

2.0 3.0 5.0 0.85 1.65 3.3 5.3 10.5 4.8 8.8 14.0 26.8

X5074 X5075 X5076 X5077

4.7 3.3 2.2 1.5

1.5 4.5 8.6 14.1

Note: RoHS-compliant models are not available. The last digit of an RoHS-compliant model number is R. Contact the manufacturers when selecting an RoHScompliant model.

1External Dimensions
B I Dia. G

(Units: mm) AC/DC Reactor Model X5053 X5054 External Dimensions A B C D E F G H Dia. I Dia. Approx. Mass kg

1 2
Nameplate C D

X5056 X5059 X5060 X5061 X5068 X5069 X5070 X5071 X5074 X5075 X5076 X5077 X5078 X5079

4-H Dia. Notch

E F

35 35 35 50 40 35 50 40 40 35 30 40 50 50 50 50

52 52 52 74 59 52 74 59 59 52 47 59 74 74 74 74

90 80 80 125 105 80 125 105 100 80 70 100 125 125 125 125

105 95 95 140 140 95 155 125 120 95 85 120 140 155 155 140

35 30 30 35 35 35 53 45 35 30 28 40 35 53 60 35

45 40 40 45 45 45 66 60 45 40 38 50 45 66 70 45

50 45 45 60 60 50 75 65 50 45 45 55 60 75 80 60

4 4 4 5 5 4 5 4 4 4 4 4 5 5 5 5

4.3 4.5 4.3 5.3 5.3 4.3 6.4 4.3 4.3 4.3 4.3 4.3 4.3 5.3 5.3 4.3

0.6 0.4 0.4 1.1 1.1 0.5 1.9 1.0 0.8 0.5 0.3 0.9 1.1 1.9 2.0 1.2

347

SERVOPACKs

Wiring Main Circuit and Peripheral Devices

Holding Brake Power Supply Unit


1Holding Brake Power Supply Unit

IMPORTANT

We recommend opening or closing the circuit for the holding brakes power supply so that

switching will occur on the AC side of the holding brake power supply unit. This will reduce brake operation time compared to switching on the DC side. When switching on the DC side, install an extra surge absorber (for lightning surge) apart from the surge absorber (for lightning surge) built in the brake circuit near the brake coil, in order to prevent damage to the brake coil from surge voltage. Holding brake power supply units for 24 VDC are not provided by Yaskawa. Please obtain these from other manufacturers. Do not connect holding brake power supply units for different output voltages to SERVOPACKs. Overcurrent may result in burning.

3Model 200 V input: LPSE-2H01-E 100 V input: LPDE-1H01-E 3Specifications 3External Dimensions (Units: mm) Rated output voltage: 90 VDC 50 Maximum output current: DC 1.0 A 30 Lead wire length: 500 mm each Maximum ambient temperature: 60C Lead wires: Color coded (refer to the table below)
AC input
25

100 V
Blue/white

200 V
Yellow/white

Brake end Red/black

Mounting Holes 2-3 Dia. (5.5 Counter Boring, Depth 4) Nameplate Lead wire

11

3Internal Circuits We recommend opening or closing the circuit for the holding brake s power supply so that switching will occur on the AC side of the holding brake power supply unit. This will reduce brake operation time compared to switching on the DC side. When switching on the DC side, install an extra surge absorber apart from the surge absorber built in the brake circuit near the brake coil, in order to prevent damage to the brake coil from surge voltage.
Brake Power Supply for 200 VAC Internal Circuit for Model: LPSE-2H01-E
Yellow AC side 180 to 230 V White Diode Surge Absorber Red DC (Brake) side No polarity Black

20

Brake Power Supply for 100 VAC Internal Circuit for Model: LPDE-1H01-E
Blue AC side Surge 90 to 120 V Absorber White Diode Bridge Surge Absorber Red DC (Brake) side No polarity Black

348

Wiring Main Circuit and Peripheral Devices

Regenerative Resistors
1Regenerative Power and Regenerative Resistance The rotational energy of driven machine such as servomotor is returned to the SERVOPACK. This is called regenerative power. The regenerative power is absorbed by charging the smoothing capacitor, but when the chargeable energy is exceeded, the regenerative power is further consumed by the regenerative resistor. The servomotor is driven in regeneration state in the following circumstances: While decelerating to a stop during acceleration and deceleration operation. Continuous operation on the vertical axis. During continuous operation with the servomotor rotated from the load side (negative load).
A servomotor may not be operated with an overhanging load, which tends to continuously rotate the motor. following figures show a typical example of such a load.
3DO NOT use the servomotor with the Vertical Axis 3DO NOT use the servomotor with the Feeding

Motor Drive without Counterweight


Servomotor

Motor Drive
Tension

Servomotor Servomotor rotated repeatedly at a constant speed to maintain the tension. Servomotor

IMPORTANT 3Never operate servomotors with an overhanging load. Doing so will cause the SERVOPACKs regenerative brake to be applied continuously and the regenerative energy of the load may exceed the allowable range causing damage to the SERVOPACK. 3The regenerative brake capacity of the SGDV SERVOPACKs is rated for short - term operation approximately equivalent to the time it takes to decelerate to a stop. External regenerative resistors are sometimes required by the AC servo drive capacity selection program SigmaJunmaSize+. When using an external regenerative resistor, parameter Pn600 must be set. For details, refer to 3.6.2 Setting Regenerative Resistor Capacity on Series Users Manual Design and Maintenance. (manual no. SIEP S800000 45)

1Regenerative Resistor Selection Select regenerative resistors in the following manner. External resistors are to be provided by users.
Voltage Single-phase 100 V Singlephase 200 V SERVOPACK Model SGDVF

Built-in Regenerative Resistor None

Necessity of External Regenerative Resistors Basically Not Required Basically Not Required Basically Not Required Basically Not Required Required*2 Basically Not Required Required*2

Necessity of External Regenerative Resistors No built-in regenerative resistor is provided, however, normally an external regenerative resistor is not required. Install external regenerative resistors when the smoothing capacitor in SERVOPACK cannot process all the regenerative power. A built-in regenerative resistor is provided as standard. Install external regenerative resistors when the built-in regenerative resistor cannot process all the regenerative power. No built-in regenerative resistor is provided, however, normally an external regenerative resistor is not required. Install external regenerative resistors when the smoothing capacitor in SERVOPACK cannot process all the regenerative power. A built-in regenerative resistor is provided as standard. Install external regenerative resistors when the built-in regenerative resistor cannot process all the regenerative power. No built-in regenerative resistor is provided, so the external regenerative resistor is required. If the external resistor is not connected with the SERVOPACK, the alarm A.300 is detected as a regeneration error alarm. A built-in regenerative resistor is provided as standard. Install external regenerative resistors when the built-in regenerative resistor cannot process all the regenerative power. No built-in regenerative resistor is provided, so the external regenerative resistor is required. If the external resistor is not connected with the SERVOPACK, the alarm A.300 is detected as a regeneration error alarm.

R70A, R90A, 1R6A, 2R8A

5R5A, 120A

Standard Equipment*1

R70A, R90A, 1R6A, 2R8A Threephase 200 V

None

3R8A, 5R5A7R6A Standard 120A180A200A Equipment*1 330A 470A, 550A 590A, 780A
None

Threephase 400 V

1R9D, 3R5D5R4D Standard 8R4D120D170D Equipment*1 210D260D 280D370D


None

349

regenerative resistors, refer to the next page. *1:: For specifications of built-inare available. For details, refer to page 352. *2 Regenerative resistor units

SERVOPACKs

Wiring Main Circuit and Peripheral Devices

Regenerative Resistors
1Specifications of Built-in Regenerative Resistor The following table shows the specifications of the SERVOPACK built-in resistor and the amount of regenerative s power (average values) that it can process.
Applicable SERVOPACK SGDVSingle-phase 100 V Single-phase
F

Specifications of Built-in Resistor Resistance


Capacity W

Regenerative Power Processed by Built-in Resistor*1 W


Minimum Allowable Resistance

40 40 40 20 40 40 20 12 8 5.8 2.9 73 44 28 18 14.25

R70A, R90A, 1R6A, 2R8A

200 V

Three-phase

200 V

Three-phase

400 V

5R5A 120A R70AR90A 1R6A2R8A 3R8A5R5A7R6A 120A 180A, 200A 330A 470A 550A590A790A 1R9D3R5D5R4D 8R4D, 120D 170D 210D260D 280D370D

50 20

40 50

8 10

50 20 12 8 6.25 2 * 3.13 3 * 108 45 32 18 4 * 14.25 5 *

40 50 80 180 880 2 * 1760 3 * 70 140 180 880 4 * 1760 5 *

8 10 16 36 180 2 * 350 3 * 14 28 36 180 4 * 350 5 *

average regenerative that can be handled is 20 *1:: The the optional JUSP-RApowerregenerative resistor unit. % of the rated capacity of the regenerative resistor built into the SERVOPACK. *2: For the optional JUSP-RA04-E regenerative resistor unit. *3: For the optional JUSP-RA05-E regenerative resistor unit. *4: For the optional JUSP-RA18-E regenerative resistor unit. 19-E *5 For

350

Wiring Main Circuit and Peripheral Devices

Regenerative Resistors
1References for External Resistor
Model RH120 RH150 RH220 RH300C RH500 Specifications

3Specifications
Resistance Tolerance K : 10J : 5H : 3 Temperature Resistance 400PPM / C (20 max.) 260PPM / C (20 min.) Characteristics Withstand Voltage 2000 VAC / min. R: (0.1%+ 0.05 ) Insulation Resistance 500 VDC20 M min. Short-time Overload When 10 times of rated power is applied for five seconds, R: (2%+ 0.05 )

(by Iwaki Musen Kenkyusho Co., Ltd.)


70 W1 to 100 90 W1 to 100 120 W1 to 100 200 W1 to 10 k 300 W1 to 30

Notes: 1 Contact the manufacturers when in need of an RoHS-compliant model. 2 When using an external regenerative resistor, parameter Pn600 must be set. For details, refer to 3.6.2 Setting Regenerative Resistor Capacity on Series Users Manual Design and Maintenance. (manual no. SIEP S800000 45)

Life

1000 hours of repeating the operation ON for 90 minutes and OFF for 30 minutes, R: (5%+ 0.05 )
Not ignite after having applied 10 times of rated power for one minute

RH120(N) Model NNoniductive Winding

10

K Tolerance Tolerance 10% 5% 3%

Heat Resistance

Operating temperature 25C to + 150C

Code K Resistance J H

3External Dimensions (Units: mm) RH120, 150, 220


3.5
G Model RH120 RH150 RH220 Dimensions RH120 RH150 RH220 Rated Power 70 W 90 W 120 W Resistance 1 to 100 1 to 100 1 to 100 E 42 44 60 F 22 24 24 G 20 30 20

RH220B
138 3.0
Lead wire lengthL = 500 Rated power120 W Resistance1 to 100

4.5

30

B A

4.5 Dia.
Lead wire length L = 300

A B C D 182 150 172 16 212 180 202 16 230 200 220 15

170 154

F E

60 54 40

4-4.5 Dia.

RH300C
37 32
Lead wire lengthL = 300 Rated power200 W Resistance1 to 10 k

RH500
250 234 2-M3 80 4.5 3 218 2-4.5 Dia. 60
Lead wire lengthL =450 Rated power300 W Resistance1 to 30

312 270 62 47 33 5.3

300

351

40

4.7

SERVOPACKs

Wiring Main Circuit and Peripheral Devices

External Regenerative Resistor


1Regenerative Resistor Unit
SERVOPACK Model SGDV470A 550A, 590A, 780A 210D, 260D 280D, 370D Regenerative Resistor Unit Model JUSP-RA04-E JUSP-RA05-E JUSP-RA18-E JUSP-RA19-E Specifications Allowable Power Loss

6.25 ,880 W 3.13 ,1760 W 18 ,880 W 14.25 ,1760 W

180 W 350 W 180 W 350 W

Note: Only when using the regenerative resistors above, parameter Pn600 does not need to be set.

3External Dimensions

(1) JUSP-RA04-E, -RA05-E


4-6 Dia. Mounting Holes
Protective Cover

M2 M1 W

D Ground Terminal (M4 Screws)

External Terminals (M5 Screws) Cement Resistor

Units: mm

30

Model JUSP-RA04-E JUSP-RA05-E

W 220 300

H 350 350

D 92 95

M1 180 250

M2 335 335

Approx. Mass

4 kg 7 kg

(2) JUSP-RA18-E
4-M5 Screw Holes

(3) JUSP-RA19-E
4-M5 Screw Holes

Protective Cover

Protective Cover

External Terminal 4-M5 Screws

180 220

Ground Terminal (M4 Screws) Cement Resistor

92

External Terminal 22-M5 Screws

250 300
Ground Terminal (M4 Screws) Cement Resistor

95

30

30

352

Wiring Main Circuit and Peripheral Devices

335 350

335 350

Fully-closed Module
SGDV11
Model number for SERVOPACK and module set

SGDV-OFA01A
Model number for module only

System Configurations
A Fully-closed Module is required when using rotary servomotors with fully-closed loop control. Install the module on SERVOPACK before using it.

SERVOPACK

Fully-closed Module Servomotor Main Circuit Cable Cable for Connecting Serial Converter Unit Encoder Cable Serial Converter Unit*

Rotary Servomotor

External Encoder Cable

External Encoder (Provided by users.)

*: No serial converter unit is required whenorusing external encoders manufactured by Magnescale Co., Ltd. Mitutoyo Corporation.

353

SGLGW
Features
1High-precision and high-response positioning with using position feedback from a

detector (such as an external encoder) installed on the machine.


1High resolution with external encoders (linear scales)

1System Configuration for Fully-closed Loop Control


Name SERVOPACK+Fully-closed Module (Set) Fully-closed Module Option Case Kit SERVOPACK Individual Unit (Sold separately) Analog Voltage/Pulse Train Reference MECHATROLINK-2 Communications Reference MECHATROLINK-3 Communications Reference INDEXER Module Type Model SGDV 1 1 SGDV-OFA01A SGDV-OZA01A
Note: One option case kit is required for each SERVOPACK.

Ref. Page Page 355 Page 355

SGDV-01 SGDV-11 SGDV-21 SGDVE1A100 SGMJV- SGMAV- SGMPS- SGMGV- SGMSV-

Page 257 Page 269 Page 279 Page 289 Page 1 Page 23 Page 47 Page 71 Page 93

Rotary Servomotor

SGMJV model SGMAV model SGMPS model SGMGV model SGMSV model

Cable Serial Converter Units* Cable

Servomotor Main Circuit Cable Encoder Cable Manufactured by HEIDENHAIN Corporation Manufactured by RENISHAW plc. Cable for Connecting Serial Converter Unit

Refer to the page called Selecting Cables in the each , rotary servomotor s chapter in this catalog. JZDP-D003-000-E JZDP-D005-000-E JZSP-CLP70--E Page 357 Page 358

: No serial converter unit is required when using external encoders manufactured by Magnescale Co., Ltd. or Mitutoyo Corporation.

354

Fully-closed Module

Model Designations
1Model Number for SERVOPACK and Module Set When ordering a SERVOPACK with a Fully-closed Module, use the following model number:

S G D V* R70 A
1

01
5th+6th digits

A 000
7th digit 8th+9th+ 10th digits

00
11th+12th digits

0 001
13th digit 14th+15th+ 16th digits

v Series
SGDV SERVOPACK

1st+2nd+ 3rd digits

4th digit

1st+2nd+3rd digits Current


Voltage Singlephase 100 V Code R70 R90 Applicable Servomotor Max. Capacity kW

4th digit Power Supply Voltage


Code F A D Specifications Single-phase 100 VAC Three-phase 200 VAC Three-phase 400 VAC

8th+9th+10th digits Options (hardware)


Code

Threephase 200 V

Threephase 400 V

2R1 2R8 R70*2 R90*2 1R6*2 2R8*2 3R8 5R5*2 7R6 120*3 180 200 330 470 550 590 780 1R9 3R5 5R4 8R4 120 170 210 260 280 370

0.05 0. 1 0. 2 0. 4 0.05 0. 1 0. 2 0. 4 0. 5 0.75 1. 0 1. 5 2.0 3.0 5.0 6.0 7.5 11 15 0. 5 1. 0 1. 5 2. 0 3.0 5.0 6.0 7.5 11 15

000 001 002 003 008 020

Specifications Base-mounted (standard) Rack-mounted*6 Varnished Rack-mounted*6 and Varnished Single-phase 200 VAC input
model: SGDV120A1A008000

5th+6th digits Interface


Code

01*4 11*4 21*4


E1*5

Specifications Analog voltage/pulse train reference (For rotary servomotors) MECHATROLINK-2 Communications Reference (For rotary servomotors) MECHATROLINK-3 Communications Reference (For rotary servomotors) Command Option Attachable Type (For rotary servomotors)

Dynamic brake (400 V SERVOPACKs only )

11th+12th digits Options (software)


Code Specifications Standard

00

13th digit Options (parameter)


Code Specifications Standard

7th digit Design Revision Order


A, B

14th+15th+16th digits Option Modules


Code 001 101 Specifications Fully-closed Module Fully-closed Module + INDEXER Module

a *1:: The model number ofbe SERVOPACK with option modules is not hyphenated after SGDV. powered with single or three-phase. *2: These-amplifiers can SERVOPACKs are also available. VAC *3 Single :phase 200 A1A008000) (Model SGDV120 *4:: Be sure to enter001for the 14,, 15,, and 16th digits ((option module)).. 101 the 14 15 and 16th digits *5: Be sure to enter6 kW for more are duct-ventilated. option module or *6 SERVOPACKs of

1Model Number for Module Only When ordering a SERVOPACK and a Fully-closed Module separately, use the following Fully-closed Module model number.

SGDV-OFA01A

355

SERVOPACK Options

Fully-closed Module

Nameplate

Nameplate for SERVOPACK with a Fullyclosed Module (For the set) Model: SGDV11 Nameplate for INDEXER Module (when INDEXER Module is attached) Model: SGDV-OCA03A Nameplate for SERVOPACK Model: SGDV-1A

Nameplate for the Fully-closed Module Model: SGDV-OFA01A

External Dimensions

Units: mm

23

160

CN31

9.8

20

75

97

Approx. Mass: 0.1 kg

Connector
Port CN31 Model 53984-0671 Pin Manufacturer Molex Japan Co., Ltd.

Note: The connectors above or their equivalents are used for SERVOPACKs.

356

Fully-closed Module

Serial Converter Units


1Model Designations 1Characteristics and Specifications
Items Power Supply Voltage Current Consumption*1 Signal Resolution Max. Response Frequency Analog lnput Signals*2 (cos, sin, Ref) Electrical Characteristics Output Signal*3 Output Method Output Circuit Approx. Mass Vibration Resistance Impact Resistance Surrounding Air Temperature Storage Temperature Humidity JZDP-D00-000-E +5.0 V 5%, ripple content 5% max. 120 mA typ. 350 mA max. Input two-phase sine wave: 1/256 pitch 250 kHz Differential input amplitude: 0.4 to 1.2 V Input signal level: 1.5 to 3.5 V Position data, alarms Serial data communications Balanced type transceiver (SN75LBC176 or the equivalent), internal terminating resistor: 120

JZDP - 00 - 000 - E D
Serial Converter Unit Model Code Appearance Applicable External Encoder Manufactured by HEIDENHAIN Corporation Manufactured by Renishaw plc. Hall Sensor

D003

None

Environmental Mechanical Conditions Characteristics

D005

None

150 g 98 m/s2 max. (10 to 2500 Hz) in three directions 980 m/s2, (11 ms) two times in three directions 0 to 55C 20 to 80C 20% to 90%RH (no condensation)

Note: Using the serial converter unit JZDP-A with SGDV SERVOPACK will void our guarantee.

linear scale not included in *1: The current consumption of thelinear scale and hall sensor is must be takenthis value. The current consumption of and hall sensor into

* *
1Analog Signal Input Timing
The following figure shows the input timing of the analog signals. When the cos and sin signals are shifted 180 degrees, the differential signals are the /cos and /sin signals. The specifications of the cos, /cos, sin, and /sin signals are identical except for the phase. Input the signals Ref and /Ref so that they shall cross each other as shown in the figure because they are input into the converter. When they are crossed, the output data will be counted up.

consideration for the current capacity of host controller that supplies the power. The current consumption of hall sensor: Approx. 40 mA. 2: Input a value within the specified range. Otherwise, incorrect position information is output, and the device may be damaged. 3: The transmission is enabled 100 to 300 ms after the power turns on.

100%

A+

cos

45

/cos cos, /cos, sin, /sin Input Voltage Range: A 1.5 to 3.5 V
B+

sin

/Ref Ref, /Ref R Input Voltage Range: Ref 1.5 to 3.5 V R+

5% to 75% 5% to 75%
Zero Point Count up Direction

IMPORTANT
Precautions 1Never perform insulation resistance and withstand voltage tests.

2 When analog signals are input to the serial converter unit, noise influence on the analog signals affects the units ability to output correct position information. The analog cable must be as short as possible and shielded. 3 Do not connect or disconnect the unit while power is being supplied, or the unit may be damaged. 4 When using multiple axes, use a shield cable for each axis. Do not use a shield cable for multiple axes.

357

0.2 V Min.

0.2 V Min.

/sin

0.2 to 0.6 V

SERVOPACK Options

Fully-closed Module

Serial Converter Units


1External Dimensions (Units: mm) (1) Model: JZDP-D003-000-E
2-#4-40 UNC Tapped Holes SERVOPACK End Serial Data Output Connector (CN1) 4-4.2 Dia. Holes 2-4.2 Dia. Holes External Encoder End Analog Signal Input Connector (CN2) Nameplate

24.990.3

1.5 3 14.350.3

650.3 72 820.3 90

2-#4-40 UNC Tapped Holes

4-M5 Tapped Holes, Depth10

(2) Model: JZDP-D005-000-E


2-#4-40 UNC Tapped Holes SERVOPACK End Serial Data Output Connector (CN1) 2-4.2 Dia. Holes 4-4.2 Dia. Holes Nameplate External Encoder End Analog Signal Input Connector (CN2)

24.990.4

60 520.3

10

22.5

1.5 3 14.350.4

650.3 72 820.3 90

30030

4-M5 Tapped Holes, Depth 10

1Connection Cables
Recommended Cables
Name Cable for Connecting Serial Converter Unit Application Between the CN31 connector for SERVOPACK with the Fully-closed Module and the serial converter unit. Model JZSP-CLP70-03-E JZSP-CLP70-05-E JZSP-CLP70-10-E JZSP-CLP70-15-E JZSP-CLP70-20-E Length

22.5

3m 5m 10 m 15 m 20 m

33.320.4

520.3 60

10

3External Dimensions (Units: mm)


SERVOPACK End (Fully-closed Module end) Serial Converter Unit End L

Plug Connector: 55100-0670 by Molex Japan Co., Ltd.

17-series Connector: Connector: 17JE-23090-02 (D8C)-CG by DDK Ltd.

358

Fully-closed Module

6.8

Serial Converter Units


1Connection Examples (1) Connection Example with External Encoder by HEIDENHAIN Corporation Model: JZDP-D003-000-E
SERVOPACK with Fully-closed Module Serial Converter Unit JZDP-D003-000-E CN1 CN2

External Encoder by HEIDENHAIN Corporation

SGDV01 CN31

JZSP-CLP70--E

Connection Cable by HEIDENHAIN Corporation

Pin No. 1 2 3 4 5 6 7 8 9 Case

Signal +5V Phase S output Not used Not used 0V Phase /S output Not used Not used Not used Shield

CN1 SERVOPACK End Serial Data Output

17-series Connector: 17LE-13090-27-FA (Socket) by DDK Ltd.

Pin No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Case

Signal cos input (A+) 0V sin input (B+) +5V Not used Not used /Ref input (R) Not used /cos input (A)

CN2

External Encoder End Analog Signal Input


1 9

15

0V sensor /sin input (B) 5V sensor Not used Ref input (R+)
Not used Shield

17-series Connector: 17LE-13150-27-FA (Socket) by DDK Ltd.

Notes: 1 Do not use the unused pins. 2 The external encoder (analog 1 Vp-p output, D-sub 15-pin) by HEIDENHAIN Corporation can be directly connected.

(2) Connection Example with External Encoder by Renishaw plc. Model: JZDP-D005-000-E
SERVOPACK with Fully-closed Module Serial Converter Unit JZDP-D005-000-E CN1 CN2

External Encoder by Renishaw plc.

SGDV01 CN31

JZSP-CLP70--E

D-sub 15-pin Connector

Pin No. 1 2 3 4 5 6 7 8 9 Case

Signal

+5V
Phase S output Not used Not used 0V Phase /S output Not used Not used Not used Shield

CN1 SERVOPACK End Serial Data Output

17-series Connector: 17LE-13090-27-FA (Socket) by DDK Ltd.

SERVOPACK does not have the function to process Vq signals.

Pin No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Case

Signal /cos input (V1) /sin input (V2) Ref input (V0+) +5V 5Vs Not used Not used Not used cos input (V1+) sin input (V2+) /Ref input (V0)

CN2 External Encoder End Analog Signal Input

15

17-series Connector: 17JE-13150-02 (D8C) A-CG (Socket) by DDK Ltd.

0V 0Vs Not used Inner (0V) Shield

Notes: 1 Do not use the unused pins. 2 The external encoder (analog 1 Vp-p output, D-sub 15-pin) by Renishaw plc. can be directly connected. However, the BID and DIR signals are not connected. 3 Use the external encoder-end connector to change the home position specifications of the external encoder.

359

SERVOPACK Options

Fully-closed Module

Serial Converter Units


(3) Connection Example with External Encoder by Mitutoyo Corporation (Model: ABS ST78A) When using this external encoders, serial converter units are not required.

SERVOPACK with Fully-closed Module External Encoder by Mitutoyo Corporation (ABS ST78A) SGDV01 CN31 JZSP-CLP70--E Connection Cable by Mitutoyo Corporation

(4) Connection Example with External Encoders by Magnescale Co., Ltd. (Model: SR7, RU77) When using this external encoders, serial converter units are not required.

SERVOPACK with Fully-closed Module

External Encoder by Magnescale Co., Ltd. (SR7, RU77)

SGDV01 CN31 Connection Cable by Magnescale Co., Ltd.

(5) Connection Example with External Encoders by Magnescale Co., Ltd. (Model: SL70) When using this external encoders, serial converter units are not required.

SERVOPACK with Fully-closed Module

SGDV01 CN31 JZSP-CMP00--E

Head with Interpolator PL101-RY

External Encoders by Magnescale Co., Ltd. SL70

Connection Cable by Magnescale Co., Ltd.

360

Fully-closed Module

Safety Module
SGDV1 SGDV-OSA01A
(Model number for module only) (Model number for SERVOPACK and module set)

Applicable Standards and Functions


Compliance with Safety Standards
Safety Standards Applicable Standards EN ISO13849-1:2008 Safety of Machinery EN 954-1 IC 60204-1 IEC 61508 Series Functional Safety EMC IEC 62061 IEC 61800-5-2 IEC 61326-3-1

Products SERVOPACK SERVOPACK + Safety Module

With Functions Defined by IEC61800-5-2


By using the Hard Wire BaseBlock function (HWBB) of SERVOPACKs, the following four safety functions can be achieved.
Safety Function Safe BaseBlock Function (SBB function) Safe BaseBlock with Delay Function (SBB-D function) Safe Position Monitor with Delay Function (SPM-D function) Description This safety function is equivalent to the STO function. It shuts OFF the power supply to the motor. This safety function is equivalent to the SS1 function. It shuts OFF the power supply to the motor after monitoring the deceleration of the motor for the specified length of time. This safety function is equivalent to the SS2 function. It monitors the deceleration of the motor for the specified length of time and the position after the motor has stopped. This safety function is equivalent to the SLS Safely Limit Speed with Delay Function (SLS-D function) function. It monitors the deceleration of the motor for the specified length of time and the motor speed to make sure it is within the allowable range.

Products SERVOPACK SERVOPACK + Safety Module

361

SGLGW
Features
The Safety Module complies with EN ISO 13849-1 ( the standards harmonized with EU Machinery Directive 2006/42/EC) and has safety functions equivalent to those stipulated in IEC 61800-5-2. By using the module in combination with SGDV SERVOPACKs, optimum safety designs can be created for mechanical systems to better meet the needs of the industry.
1 The first product for AC servo drives in Japan that has safety functions equivalent to the following ones stipulated in

the international standard IEC61800-5-2. Optimum safety designs for mechanical systems can be easily created.
Safe Torque Off (STO) Safe Stop 1 (SS1) Safe Stop 2 (SS2) Safely Limited Speed (SLS) 1 Two safety functions (A and B) are provided and stopping functions can be allocated

individually to these safety functions. Settings, including the setting for monitoring time, can be changed by using the safetyrelated module parameters. 1 With the attachable Safety Modules for SERVOPACKs, system configurations are simplified and compact.

System Configurations
1System Configuration When Using the Safety Module
Name SERVOPACK+Safety Module (Set) SERVOPACK Analog Voltage/Pulse Train Reference MECHATROLINK-2 Communications Reference Command Option Attachable Type Safety Module Option Case Kit Rotary Servomotor SGMJV model SGMAV model SGMPS model SGMGV model SGMSV model SGMCS model Cable Linear Servomotors Servomotor Main Circuit Cable Encoder Cable SGLGW model SGLFW model SGLTW model SGLC model Cable Linear Servomotor Main Circuit Cable Cable for Connecting Linear Scales Cable for Connecting Serial Converter Unit Cable for Connecting Hall Sensor Serial Converter Units Encoders by Heidenhain Corporation Encoders by Renishaw Plc. Cable Cable for Connecting Serial Converter Unit JZDP-D003--EJZDP-D006--E JZDP-G003--EJZDP-G006--E JZDP-D005--EJZDP-D008--E JZDP-G005--EJZDP-G008--E JZSP-CLP70--E Refer to Selecting Cables in this catalog for details of cables for individual models of linear servomotors. SGDV-0A SGDV-1A SGDV-EA SGDV-OSA01A SGDV-OZA01A
Note: One option case kit is required for each SERVOPACK.

Model SGDV1

Ref. Page Page 363 Page 257 Page 269 Page 289 Page 361

Individual Unit (Sold separately)

SGMJV- SGMAV- SGMPS- SGMGV- SGMSV- SGMCS-

Page 1 Page 23 Page 47 Page 71 Page 93 Page 121

Refer to Selecting Cables in this catalog for details of cables for individual models of rotary servomotors. SGLGW- SGLFW- SGLTW- SGLC-- Page 139 Page 159 Page 179 Page 207

Page 357

Page 358

Notes: 1 The following encoders cannot be connected to SERVOPACKs with a Safety Module. External encoders by Mitutoyo Corporation: ABS ST78 A External encoders by Magnescale Co., Ltd. (Formerly Sony Manufacturing Systems Corporation) : SL7 0, SR 7, and RU77 2 The following option modules cannot be used with SERVOPACKs with a Safety Module. Option module for fully-closed loop control INDEXER option module 3 MECHATROLINK-3 communications reference SERVOPACKs cannot be used with the Safety Module.

362

Safety Module

Model Designations
1Model Number for SERVOPACK and Module Set When ordering a SERVOPACK with a Safety Module premounted, use the following model number.

S G D V* R70
1

A 01
4th digit 5th+6th digits

A
7th digit

000
8th+9th+ 10th digits

00
11th+12 th digits

0
13th digit

010
14th+15th+ 16th digits

v Series
SGDV SERVOPACK

1st+2nd+ 3rd digits

1st+2nd+3rd digits Current


Voltage Singlephase 100 V Code R70 R90 Applicable Servomotor Max. Capacity kW

4th digit Power Supply Voltage


Code F A D Specifications Single-phase 100 VAC Three-phase 200 VAC Three-phase 400 VAC

8th+9th+10th digits Options (hardware)


Code

Threephase 200 V

Threephase 400 V

2R1 2R8 R70*2 R90*2 1R6*2 2R8*2 3R8 5R5*2 7R6 120*3 180 200 330 470 550 590 780 1R9 3R5 5R4 8R4 120 170 210 260 280 370

0.05 0. 1 0. 2 0. 4 0.05 0. 1 0. 2 0. 4 0. 5 0.75 1. 0 1. 5 2.0 3.0 5.0 6.0 7.5 11 15 0. 5 1. 0 1. 5 2. 0 3.0 5.0 6.0 7.5 11 15

000 001 002 003 008 020

Specifications Base-mounted (standard) Rack-mounted*4 Varnished Rack-mounted*4 and Varnished Single-phase 200 VAC input (model: SGDV120A1A008000) Dynamic brake (400 V SERVOPACKs only)

5th+6th digits Interface (Note)


Code

01 05 11 15

Specifications Analog voltage/pulse train reference (For rotary servomotors) Analog voltage/pulse train reference (For linear servomotors) MECHATROLINK-2 Communications Reference (For rotary servomotors) MECHATROLINK-2 Communications Reference (For linear servomotors)

11th+12 th digits Options (software)


Code Specifications Standard

00

13th digit Options (parameter)


Code Specifications Standard

7th digit Design Revision Order


A, B

14th+15th+16th digits Option Modules (Note)


Code 010 Specifications Safety Module

a SERVOPACK is not *1:: The model number of can be poweredwith option modules-phase.hyphenated after SGDV. with single or three *2: These-SERVOPACKs SERVOPACKs are also available. VAC *3 Single :phase 200 A1A008000) (Model SGDV120 *4: SERVOPACKs of 6 kW or more are duct-ventilated. Note: Only devices compatible with the Safety Module are listed here.

1Model Number for Module Only When ordering a Safety Module only, use the following model number for the Safety Module.

SGDV-OSA01A

363

SERVOPACK Options

Safety Module

Nameplate

Nameplate for SERVOPACK with a premounted Safety Module Model: SGDV1

Nameplate for the Safety Module only Nameplate for SERVOPACK Model: SGDV-A Model: SGDV-OSA01A

External Dimensions

Units: mm
(24) (9.5)

12

160

CN21 CN22

54

20

75

97

Approx. Mass: 0.11 kg

Connector
Port CN21 CN22 Model 1981080-1 1981080-1 Pin Manufacturer Tyco Electronics AMP K.K. Tyco Electronics AMP K.K.

8 8

Note: 1. The connectors above or their equivalents are used for SERVOPACKs. 2. Refer to the user's manual of the Safety Module for information on installation standards.

364

Safety Module

Specifications
Items Ambient Temperature Storage Temperature Ambient Humidity Storage Humidity Vibration Resistance Operating Conditions Shock Resistance Protection Class Pollution Degree Altitude Specifications

0 to 55C 20 to 85C 90% RH or less 90% RH or less 4.9 m/s2 19.6 m/s2
IP10 With no freezing or condensation

An environment that satisfies the following conditions.


Free of corrosive or flammable gases Free of exposure to water, oil, or chemicals

Free of dust, salts, or iron dust 1000 m or less Do not use SERVOPACKs in the following locations: Others Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity Compliance with North American Safety Standards, European Directives, and Safety Standards (SERVOPACK + Safety Module) North American Safety Standards UL508C EN ISO 13849-1: 2008 Machinery Directive (2006/42/EC) EN 954-1 EN 55011/A2 2007 Group 1 Class A EMC Directive European EN 61000-6-2 (2004/108/EC) Directives EN 61800-3 EN 50178 Low Voltage Directive (2006/95/EC) EN 61800-5-1 Safety of Machinery EN ISO 13849-1 954-1 EN IEC 60204-1 Safety Functional Safety IEC 61508-1 to -7 IEC 62061 IEC 61800-5-2 Standards EMC Directive IEC 61326-3-1 IEC 61800-5-2 IEC 60204-1 Safe Torque Off (STO) Stop Category 0 Stop Category 1 Safety Function Safe Stop 1 (SS1) Stop Category 2 Safe Stop 2 (SS2) Safely Limited Speed (SLS) 2 Number of Function Safety Function A Input signal: Two channels (redundant signals), output signal: one channel Safety Function B Input signal: Two channels (redundant signals), output signal: one channel Safe Performance SILCL2 Safety Integrity Level SIL2 Probability of Dangerous PFH 3.3 [1/h] Failure per Hour Category Cat3 Performance Level PLd (Category 2) Mean Time to Dangerous MTTFd: High Failure of Each Channel Average Diagnostic Coverage DCave: Medium 10 years Proof Test Interval

365

SERVOPACK Options

Safety Module

Selecting Cables
1 CN21 CN22 Cable for Safety Function Device

I/O connector for the Safety Function A (CN21) I/O connector for the Safety Function B (CN22)

Name Cable with Connector*1 CN21 CN22 Cable for Safety Function Device

Length

Order No. JZSP-CVH03-03-E

Specifications

Details
1

3m

Connector Kit*2

Contact Tyco Electronics AMP K.K. Product name: Industrial Mini I/O D-shape Type1 Plug Connector Kit Model: 2013595-1

1: When using the safety function, connect this cable to the safety devices. 2: Use the connector kit when you make cables yourself.

(1) Cable with Connector for CN21 and CN22 (Model: JZSP-CVH03-03-E)
External Dimensions
33 20

(Units: mm)

Specifications
3000 +150
8

Pin No.

Signal Not used Not used /SRI-1 /SRI-1 /SRI-2 /SRI-2 EDM- EDM-

Lead Color White White Gray Gray Orange Orange

Marking Color Red Black Red Black Red

1 2 3 4 5 6 7 8

11

Connector Kit: 2013595-1 (Tyco Electronics AMP K.K.)

Note: The signal name varies in accordance with the connector used. Connector CN21: =A Connector CN22: =B

366

Safety Module

Black

Selecting Servomotor Capacity and Regenerative Capacity


Servomotor Capacity Selection Examples
Use the AC servo drive capacity selection program SigmaJunmaSize+ to select servomotor capacity. The program can be downloaded for free from our web site (http://www.e-mechatronics.com/).

1Selection Example for Speed Control


Mechanical Specifications
Linear motion Servomotor

L
Gear Ball screw

Coupling

Load speed: L = 15 m/min Gear + coupling moment of inertia : JG = 0.4010-4 kgm2 Linear motion section mass: m = 250 kg Ball screw length: B = 1.0 m Feeding times: n = 40 times/min Ball screw diameter: dB = 0.02 m Feeding distance: = 0.275 m Ball screw lead: PB = 0.01 m Feeding time: tm = 1.2 s max. Ball screw material density: =7.87103 kg/m3Friction coefficient: = 0.2 Gear ratio: 1/2 (R = 2) Mechanical efficiency: = 0.9 (90%)

(1) Speed Diagram


15
Speed (m/min)
ta tc tm t td

L
Time (s)

60 = 60 = 1.5 (s) n 40 where ta = td


t= ta = tm
L

= 1.2 60

0.275 = 1.2 1.1 = 0.1 (s) 15

tc = 1.2 0.1 2 = 1.0 (s)

(2) Rotation Speed

Load axis rotation speed

nL =

L
PB

= 15 = 1500 (min-1) 0.01

Motor shaft rotation speed Gear ratio 1/R = 1/2 (R=2) Therefore, nM = nLR = 1500 2 = 3000 (min-1)

(3) Load torque

TL =

9.8 mPB 9.8 0.2 250 0.01 = = 0.43 (Nm) 2R 2 2 0.9

(4) Load Moment of Inertia


Linear motion section JL1 = m Ball screw Coupling Load moment of

PB 0.01 = 250 = 1.58 10-4 (kgm2) 2R 2 2

1 1 BdB4 2 = 7.87 103 1.0 (0.02)4 2 = 0.31 10-4 (kgm2) 2 R 32 32 JG = 0.40 10-4 (kg m2)
JB = JL = JL1 + JB + JG = (1.58 + 0.31 + 0.40) 10-4 = 2.29 10-4 (kg m2)

inertia at motor shaft (5) Load Moving Power

PO =

2nMTL 2 3000 0.43 = = 135(W) 60 60

367

Others

Selecting Servomotor Capacity and Regenerative Capacity

Servomotor Capacity Selection Examples


(6) Load Acceleration Power

Pa =

2 nM 60

JL = ta

2 3000 60

2.29 10-4 = 226 (W) 0.1

(7) Servomotor Provisional Selection (a) Selecting Conditions


TL Motor rated torque

< < (Po + Pa) servomotor rated output 2 nM Motor rated speed JL Allowable load moment of inertia
The followings satisfy the conditions.
ServomotorSGMJV-02A

(Po + Pa)

Provisionally selected

(b) Specifications of the Provisionally Selected Servomotor : 200 (W) : 3000 (min-1) : 0.637 (N m) : 2.23 (N m) : 0.259 10-4 (kg m2) Servomotor moment of inertia Allowable load moment of inertia : 0.259 10-4 15 = 3.885 10-4 (kg m2)
Rated output Rated motor speed Rated torque Instantaneous peak torque

(8) Verification on the Provisionally Selected Servomotor


Required acceleration torque: TP =

3000 (0.259 + 2.29) 10-4 2nM(JM + JL) + TL = 2 + 0.43 60ta 60 0.1 1.23 (N m) < Instantaneous peak torque Satisfactory 3000 (0.259 + 2.29) 10-4 2nM(JM + JL) TL = 2 0.43 60td 60 0.1 0.37 (N m) < Instantaneous peak torque Satisfactory
(1.23)2 0.1 + (0.43)2 1.0 + (0.37)2 0.1 1.5 Satisfactory

Required deceleration torque: TS =

Torque effective value: Trms =

(9) Result The provisionally selected servomotor is confirmed to be applicable. The torque diagram is shown below.
Nm

Torque Speed

1.23

0.43 0

-0.37

0.1

1.0 1.5

0.1

368

Selecting Servomotor Capacity and Regenerative Capacity

TP2ta + TL2tc + Ts2td = t 0.483 (N m) < Rated torque

Servomotor Capacity Selection Examples


Use the AC servo drive capacity selection program SigmaJunmaSize+ to select servomotor capacity. The program can be downloaded for free from our web site (http://www.e-mechatronics.com/).

1Selection Example for Position Control


Mechanical Specifications
Linear motion Servomotor

L
Ball screw

Coupling

Load speed: L = 15 m/min Coupling outer diameter: dC = 0.03 m Linear motion section mass: m = 80 kg Positioning times: n = 40 times/min Ball screw length: B = 0.8 m Positioning distance: = 0.25 m Ball screw diameter: dB = 0.016 m Positioning time: tm = 1.2 s max. Ball screw lead: PB = 0.005 m Electrical stop accuracy: = 0.01 mm Ball screw material density: =7.87103 kg/m3Friction coefficient: = 0.2 Coupling mass: mC = 0.3 kg Mechanical efficiency: = 0.9 (90%)

(1) Speed Diagram


15
Speed (m/min)
ta tc tm

Reference pulse Load speed


td ts t

60 = 60 = 1.5(s) n 40 Where ta = td, ts = 0.1(s)


t=

Time(s)

60 0.25 = ta = tm ts = 1.2 0.1 0.1(s) 15 L tc = 1.2 0.1 0.1 2 = 0.9(s)

(2) Rotation Speed

15 = 3000(min-1) 0.005 Motor shaft rotation speed with direct coupling: Gear ratio 1/R = 1/1 Therefore, nM = nLR = 3000 1 = 3000 (min-1)
Load axis rotation speed nL =

PB

(3) Load Torque

TL =

9.8 mPB 9.8 0.2 80 0.005 = = 0.139(Nm) 2R 2 1 0.9

(4) Load Moment of Inertia

PB 0.005 = 80 = 0.507 10-4(kgm2) 2R 2 1 BdB4 = Ball screw JB = 7.87 103 0.8 (0.016)4 = 0.405 10-4(kgm2) 32 32 1 1 Coupling Jc = mCdC 2 = 0.3 (0.03)2 = 0.338 10-4(kgm2) 8 8 Load moment of inertia at the motor shaft JL = JL1 + JB + JC = 1.25 10-4 (kg m2)
Liner motion section

JL1 = m

369

Others

Selecting Servomotor Capacity and Regenerative Capacity

Servomotor Capacity Selection Examples


(5) Load Moving Power

PO =

2nMTL 2 3000 0.139 = = 43.7(W) 60 60

(6) Load Acceleration Power

Pa =

2 nM 60

JL = ta

2 1.25 10-4 3000 = 123.4(W) 60 0.1

(7) Provisionally Servomotor Selection (a) Selecting Conditions TL Motor rated torque

< < (Po + Pa) servomotor rated output 2 nM Motor rated speed JL Allowable load moment of inertia
The followings satisfy the conditions.
Servomotor SGMJV-01A

(Po + Pa)

Provisionally selected

(b) Specifications of Servomotor : 100 (W) Rated output : 3000 (min-1) Rated motor speed : 0.318 (N m) Rated torque : 1.11 (N m) Instantaneous peak torque Servomotor rotor moment of inertia : 0.0665 10-4 (kg m2) Allowable load moment of inertia : 0.0665 10-4 20 = 1.33 10-4 (kg m2) : 20 bit (1048576P/rev) Encoder resolution (8) Verification on Provisionally Selected Servomotor
Required acceleration torque: TP =

2nM(JM + JL) 2 3000 (0.0665 + 1.25) 10-4 + TL = + 0.139 60 0.1 60ta 0.552 (N m) < Instantaneous peak torque Satisfactory

Required deceleration torque: TS =

2 2 2 Torque effective value: Trms = TP ta + TL tc + Ts td =

(0.552)2 0.1 + (0.139)2 0.9 + (0.275)2 0.1 t 1.5 0.192 (N m) < Rated torque Satisfactory

The above confirms that the provisionally selected servomotor is sufficient. In the next step, their performance in position control are checked.

370

Selecting Servomotor Capacity and Regenerative Capacity

3000 (0.0665 + 1.25) 10-4 2nM(JM + JL) TL = 2 0.139 60td 60 0.1 0.275 (N m) < Instantaneous peak torque Satisfactory

Servomotor Capacity Selection Examples


(9) Position Detection Resolution Position detection unit uses a = 0.01 mm/pulse. The number of pulses per motor rotation must be less than resolution of the encoder (P/rev).
PB = 5 mm = 500 < encoder resolution [1048576 (P/rev)] The number of pulses per revolution (pulse) = 0.01 mm

(10) Reference Pulse Frequency

vs =

1000 L

= 1000 15 = 25,000(pps) 0.01 60


, Series USER S MANUAL Design and Maintenance (manual no. SIEP S800000 45).

Confirm that the maximum input pulse frequency* is greater than the reference pulse frequency.

*: Refer to 1.3.3 Speed/Position/Torque Control of

The above results confirm that the selected servomotor is applicable for the position control.

371

Others

Selecting Servomotor Capacity and Regenerative Capacity

Selecting Regenerative Resistors


(1) Simple Calculation When driving a servomotor with the horizontal axis, check the external regenerative resistor requirements using the calculation method shown below. (a) SGDV-F, -R70A, -R90A, -1R6A, and -2R8A SERVOPACKs These SERVOPACKs do not have built-in regenerative resistors. The energy that can be charged with capacitors is shown in the following table. If the rotational energy in the servomotor exceeds these values, then connect an external regenerative resistor.
Voltage Single-phase Applicable SERVOPACK SGDV-R70F, R90F, 2R1F SGDV-2R8F SGDV-R70A, -R90A, -1R6A SGDV-2R8A Regenerative Energy that Can be Processed (joules) Remarks Value when main circuit input voltage is 100 VAC Value when main circuit input voltage is 200 VAC

100 V Three-phase 200V

26.4 44.1 24.2 31.7

Calculate the rotational energy (Es) in the servomotor from the following equation: Es = J (nM )2/182 (joules)
J = JM + JL JMServomotor rotor moment of inertia (kg m2) JLLoad converted to shaft moment of inertia (kg m2) nMRotation speed used by servomotor (min-1)

(b) SGDV-3R8A, -5R5A, -7R6A, -120A, -180A, -200A, -330A, -1R9D, -3R5D, -5R4D, -8R4D, -120D, -170D SERVOPACKs These SERVOPACKs have built - in regenerative resistors. The allowable frequencies for just the servomotor in acceleration and deceleration operation, during the rotation speed cycle from 0 (min-1) to the maximum rotation speed to 0, are summarized in the following table. Convert the data into the values obtained with actual rotation speed and load moment of inertia to determine whether an external regenerative resistor is needed.
Voltage Servomotor Model SGMJV- SGMAV- SGMPS- SGMGV-A Allowable Frequencies in Regenerative Mode (time/min)

Three-phase

200 V

*: This value is "4," when used in combination with SGDV-200A SERVOPACK.

372

Selecting Servomotor Capacity and Regenerative Capacity

SGMSV-A Three-phase SGMGV-D 400V SGMSV-D

03 39 68

05 29 51

06 74

08 15 31 11

09 6 10

10 20 13 24

13 6 8

15 7 21 30

20 7 28 13 49

25 21 38

30 9* 10 7 17

40 16 16

44 6 6

50 12 12

Selecting Regenerative Resistors


Operating Conditions for Allowable Regenerative Frequency Calculation
Load moment of inertia = 0 (servomotor only)

Speed reference

t Maximum rotation speed

Servomotor rotation speed

0
Regeneration mode Maximum torque t Maximum torque T (Operation cycle) Allowable frequency = 1/T (times/min)

Servomotor-generated torque 0

Use the following equation to calculate the allowable frequency for regeneration mode operation Allowable frequency for Servomotor only Max. rotation speed 2 Allowable frequency = (time/min) (1+n) Rotation speed
n = JL / JM JMServomotor rotor moment of inertia (kg m2) JLLoad converted to shaft moment of inertia (kg m2)

(c) SGDV-470A, -550A, -590A, -780A, -210D, -260D, -280D, -370D SERVOPACKs These SERVOPACKs do not have built-in regenerative resistors. The following table shows the allowable regenerative frequencies when the JUSP - RA 04- E, JUSP - RA 05- E, JUSP - RA 18- E or JUSP - RA 19- E regenerative resistor is used together with an applicable SERVOPACK. The servomotor driving conditions and the conversion equation for the allowable regenerative frequencies to the rotation speed and load moment of inertia are the same as that shown in (b) on the previous page.
Voltage Three-phase Servomotor Model SGMGV-A SGMSV-A SGMGV-D Allowable Frequencies in Regenerative Mode (time/min)

200 V
Three-phase

55 24 24

70 124

75 34 17

1A 39 39

1E 31 31

400 V

373

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Selecting Servomotor Capacity and Regenerative Capacity

Selecting Regenerative Resistors


(2) Calculating the Regenerative Energy This section shows the procedure for calculating the regenerative resistor capacity when acceleration and deceleration operation is as shown in the following diagram
nM: Motor rotation speed

Rotation speed

0
tD TL: Load torque

Motor torque

Regenerative torque

3Calculation Procedure

The procedure for calculating the regenerative capacity is as follows:


Step Item Calculate the rotational energy of the servomotor. Calculate the energy consumed by load loss during the deceleration period Calculate the energy lost from servomotor winding resistance. Calculate the SERVOPACK energy that can be absorbed. Calculate the energy consumed by the regenerative resistor. Calculate the required regenerative resistor capacity (W). Symbol Equation
ES EL EM EC EK WK ES = JnM 2 / 182 EL = ( / 60)nMTLt D

1 2 3 4 5 6

(Value calculated from (4) Servomotor Winding Resistance Loss diagrams) t D Calculate from (3) SERVOPACKs Absorbable Energy diagrams.
EK = ES (EL + EM + EC) WK = EK / (0.2 T)

Note: 1 The 0.2 the equation for calculating Wk is the value for when the regenerative resistor utilized load ratio is 20%. in s 2 The units for the various symbols are as follows: ES to EK: Energy joules (J) TL: Load torque (N m) WK : Regenerative resistor required capacity (W) t D: Deceleration stopping time (s) 2) J : (= JM + JL)(kg m T: Servomotor repeat operation period (s) -1) nM : Servomotor rotation speed (min

When the operation period in regeneration mode is continuous, add the following items to the above calculation procedure in order to find the required capacity (W) for the regenerative resistor. Energy for continuous regeneration mode operation period: EG (joules) Energy consumed by regenerative resistor: EK = ES (EL + EM + EC) + EG Required capacity of regenerative resistor: WK = EK /(0.2 T) Here, EG = (2 / 60) nMGTG t G TG Servomotors generated torque in continuous regeneration mode operation period (N m) nMGServomotor rotation speed for same operation period as above (min-1) t G Same operation period as above(s)

374

Selecting Servomotor Capacity and Regenerative Capacity

If the above calculation determines that the amount of regenerative power (Wk) processed by the built-in resistor is not exceeded, then an external regenerative resistor is not required. Refer to Specifications of Built-in Regenerative Resistor on page 350 for regenerative resistors built into SERVOPACKs. If the amount of regenerative power that can be processed by the built-in resistor is exceeded, then install an external regenerative resistor for the capacity (W) obtained from the above calculation. If the energy consumed by load loss (in step 2 above) is unknown, then perform the calculation using EL = 0.

Selecting Regenerative Resistors


(3) SERVOPACKs Absorbable Energy The following diagrams show the relationship between the SERVOPACKs input power supply voltage and its absorbable energy.
60

SERVOPACK for 100 V

Model: SGDVR70F, R90F, 2R1F 2R8F

SERVOPACK for 200 V


70 60

Model: SGDVR70A, R90A, 1R6A 2R8A

50

3R8A 5R5A, 7R6A

Absorbable Energy (J)

40

Absorbable Energy (J)

50 40 30 20

30

20

10 10 0 85 90 95 100 105 110 115 120


Input Voltage (Vrms)

0 170

180

190

200 210

220

230

240

250 260

Input Voltage (Vrms)

160 140 120


Absorbable Energy (J)

SERVOPACK for 200 V

Model: SGDV120A (Single-phase) 120A 180A200A 330A Absorbable Energy (J)

600

SERVOPACK for 200 V

Model: SGDV-

470A 550A 500 590A 780A

100 80 60 40

400

300

200

100 20 0 170 0 170

180

190

200 210

220

230

240

250 260

180

190

200 210

220

230

240

250 260

Input Voltage (Vrms)

Input Voltage (Vrms)

SERVOPACK for 400 V


160 140
Absorbable Energy (J)

Model: SGDV-

1R9D 3R5D, 5R4D 8R4D, 120D 170D


Absorbable Energy (J)

700 600 500

SERVOPACK for 400 V

Model: SGDV-

210D 260D 280D 370D

120 100 80 60 40 20 0 320 340 360 380 400 420 440 460 480 500 520 540
Input Voltage (Vrms)

400 300 200 100 0 320 340 360 380 400 420 440 460 480 500 520 540
Input Voltage (Vrms)

375

Others

Selecting Servomotor Capacity and Regenerative Capacity

Selecting Regenerative Resistors


(4) Servomotor Winding Resistance Loss The following diagrams show the relationship, for each servomotor, between the servomotors generated torque and the winding resistance loss. (a) SGMJV Rotary Servomotors
500 450
Winding Resistance Loss W

Model: SGMJV-

400 350 300 250 200 150 100 50 0 0 100 200


Torque (%)

C2 A

08A 04A 01A 02A


A5A

01A 02A
A5A

300

350

(b) SGMAV Rotary Servomotors


Model: SGMAVModel: SGMAV-

350
Winding Resistance Loss W

C2A
Winding Resistance Loss W

450 400 350 300 250 200 150 100 50 0

06A 04A 08A 10A

300 250 200 150 100 50 0 0 100

01A 02A
A5A

200
Torque (%)

300

100
Torque (%)

200

300

06A

450
Winding Resistance Loss W

04A
04A 15A 02A 01A 08A

Model: SGMPS-

400 350 300 250 200 150 100 50 0 0 100

200

300

Torque (%)

376

Selecting Servomotor Capacity and Regenerative Capacity

(c) SGMPS Rotary Servomotors

Selecting Regenerative Resistors


(d) SGMGV Rotary Servomotors
Model: SGMGV-

600
Winding Resistance Loss W Winding Resistance Loss W

Model: SGMGV-

800 700 600 500 400 300 200 100 100 200
Torque (%)

500 05 400 03 300 200 100 0 0

20 13 09

300

400

0 0

50

100

150
Torque (%)

200

250

300

1200
Winding Resistance Loss W

Model: SGMGV Winding Resistance Loss W

Model: SGMGV-

1400 1200 1000 800 600 400 200 0 0 50 100 150


Torque (%)

75 1000 44 55 800 30 600 400 200 0 0 50 100 150 200 Torque (%) 250 300

1E

1A

200

250

300

(e) SGMSV Rotary Servomotors


Model: SGMSVModel: SGMSV-

1400
Winding Resistance Loss W Winding Resistance Loss W

1600 25 70A 1400 50 1200 1000 800 600 400 200 100 200
Torque (%)

1200 1000 800 600 400 200 0 0 15 10

20

30 40

300

400

0 0

100

200
Torque (%)

300

400

(f) SGMCS Direct Drive Servomotors


700
Winding Resistance Loss W

Model: SGMCS-

Model: SGMCS-

1000
Winding Resistance Loss W

600 500 400 300 200 100 0 0

10C 04C 14C 07B 05B 02B

800

600

16E 35E 25D 08D 17D

400

200

100
Torque (%)

200

300

377

0 0

100
Torque (%)

200

300

Others

Selecting Servomotor Capacity and Regenerative Capacity

Selecting Regenerative Resistors

3000
Winding Resistance Loss W

Model: SGMCS-

2500 2000 1500 1000 500 0 0 100

1EN 2ZN 1AM 80M 80N 45M

200
Torque (%)

300

(g) SGLGW Linear Servomotors


250
Winding Resistance Loss W

Model: SGLGW-30A
Winding Resistance Loss W

1200 365C 1000 800 600 400 200 0 253C

Model: SGLGW-40A

080C 200 050C

150

140C

100 50

0 0 100 200 Torque (%) 300 400

100

200 Torque (%)

300

400

2500
Winding Resistance Loss W

Model: SGLGW-40A
Winding Resistance Loss W

1400 1200 1000 800

Model: SGLGW-60A

365C

365C-M 2000 253C-M

253C

1500

140C 600 400 200

1000 500

140C-M

0 0 100 200 300 Torque (%) 400 500

100

200 Torque (%)

300

400

3000
Winding Resistance Loss W

Model: SGLGW-60A

Model: SGLGW-90A

365C-M
Winding Resistance Loss W

6000 5000 4000 3000 2000 1000 0

2500 2000 1500 1000 500 0 253C-M

535C

370C 200C

140C-M

100

200

300

400

500

100

200

300

400

500

Torque (%)

Torque (%)

378

Selecting Servomotor Capacity and Regenerative Capacity

Selecting Regenerative Resistors


(h) SGLFW Linear Servomotors
300 120A
Winding Resistance Loss W

Model: SGLFW-20A
Winding Resistance Loss W

800 700 600 500 400 300 200 100 0 0 100 200
Torque (%)

Model: SGLFW-35A

250 200 090A 150 100 50 0 0 100 200 300 Torque (%) 400 500

230A

120A

300

400

1200
Winding Resistance Loss W

Model: SGLFW-50A
Winding Resistance Loss W

1800 1600 1400 1200 1000 800 600 400 200 200B 380B

Model: SGLFW-1ZA

1000 800 600 400 200 0 0 100


Torque (%) Model: SGLFW-35D

380B

200B

200

300

0 0

100
Torque (%)

200

300

800
Winding Resistance Loss W

1200
Winding Resistance Loss W

Model: SGLFW-50D

700 600 500 400 300 200 100 0 0 100 200


Torque (%)

1000 800 600 400 200 0 0 380B

230A

120A

200B

300

400

100
Torque (%)

200

300

2000
Winding Resistance Loss W

Model: SGLFW-1ZD

1800 1600 1400 1200 1000 800 600 400 200 0 0 100
Torque (%)

380B

200B

200

300

379

Others

Selecting Servomotor Capacity and Regenerative Capacity

Selecting Regenerative Resistors


(i) SGLTW Linear Servomotors
2500
Winding Resistance Loss W

Model: SGLTW-20A
Winding Resistance Loss W

3500 3000 2500 2000 1500 1000 500 0 320A 460A

Model: SGLTW-35A

2000 460A 1500 320A 1000 170A 500

170A

100

200 Torque (%)

300

400

100

200 Torque (%)

300

400

900
Winding Resistance Loss W

Model: SGLTW-35A
Winding Resistance Loss W

7000 6000 5000 4000 3000 2000 1000 0 0 200


Torque (%)

Model: SGLTW-40A

800 700 600 500 400 300 200 100 0 0 50

320H

600B 400B

170H

100 150 Torque (%)

200

250

400

600

1200
Winding Resistance Loss W

Model: SGLTW-50A
Winding Resistance Loss W

10000 9000 8000 7000 6000 5000 400B

Model: SGLTW-80A

1000 320H 800 170H 600 400 200 0

3000 2000 1000

50

100 150 Torque (%)

200

250

0 0 200
Torque (%)

400

600

380

Selecting Servomotor Capacity and Regenerative Capacity

4000

Selecting Regenerative Resistors


(i) SGLTW Linear Servomotors (contd)
1000
Winding Resistance Loss W

Model: SGLTW-35D
Winding Resistance Loss W

8000 7000 6000 5000 4000 3000 2000 1000 0 400B 600B

Model: SGLTW-40D

900 800 700 600 500 400 300 200 100 0 0 100
Torque (%)

320H

170H

200

300

200
Torque (%)

400

600

1200
Winding Resistance Loss W

Model: SGLTW-50D

12000
Winding Resistance Loss W

Model: SGLTW-80D

1000 320H 800 600 400 200 0

10000 8000 6000 4000 2000 0

600B

400B

170H

50

100

150 Torque (%)

200

250

200
Torque (%)

400

600

(j) SGLC Cylinder Type Linear Servomotors


400
Winding Resistance Loss W

Model: SGLC-D16A
Winding Resistance Loss W

1200 1000 800 600 400 200 0 170AP 135AP 100AP

Model: SGLC-D20A

350 300

145AP 115AP

250 200 150 100 50 0 0 100

085AP

200

300 Torque (%)

400

500

200
Torque (%)

400

600

1600
Winding Resistance Loss W

Model: SGLC-D25A

1600
Winding Resistance Loss W

Model: SGLC-D32A

1400 215AP 1200 1000 800 600 400 200 0 0 100 200 170AP 125AP

1400 285AP 1200 1000 800 600 400 200 0 225AP 165AP

381

300 Torque (%)

400

500

100

200

300

400

500

Torque (%)

Others

Selecting Servomotor Capacity and Regenerative Capacity

Selecting Regenerative Resistors


(k) SGT Linear Sliders
800
Winding Resistance Loss W

Model: SGT
Winding Resistance Loss W

1200 1000 800 600


F9 A

Model: SGT

700
F4

600 500
F3

400 300 200 100 0 0 100 200


Torque (%)

400 200 0

300

400

100
Torque (%)

200

300

1200
Winding Resistance Loss W

Model: SGT

1400
Winding Resistance Loss W

Model: SGT

1000
GF

1200
GI

800
GE

1000 800 600 400 200 0


GH GG

600
GD

400 200 0 0 100 200


Torque (%)

300

400

100

200
Torque (%)

300

400

382

Selecting Servomotor Capacity and Regenerative Capacity

Connection to Host Controller


Example of Connection to Machine Controller MP2
I/O Power supply +24V + Machine controller MP2

+24V 024 V

SGDV-11/15 SERVOPACK (MECHATROLINK-2 Communications Reference) or SGDV-21/25 SERVOPACK (MECHATROLINK-3 Communications Reference)

Other SERVOPACK or terminator 1

CN6B/A CN6A/B

L1C L2C L1 L2 L3

Control power supply

Main circuit power supply

M- //

Servomotor U V W A B C D

+24V-IN
P-OT N-OT

6 7 8 4 3
Connector shell

1Ry

*2

ALM ALM+

CN2

ENC

required using a SERVOPACK. *1:: A terminator is notoutput forwhenseconds MECHATROLINK-3 Communications Referenceinto consideration five or less when the power turned ON. Take this *2 The ALM signal is power ON sequence. The ALM signal actuatesisthe alarm detection relay 1Ry to stop when designing the the main circuit power supply to the SERVOPACK. Notes: 1 Only signals applicable to Machine Controller MP2 and Yaskawas SGDV SERVOPACK are shown in the diagram. 2 The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example. 3 Note that incorrect connection will cause damage to the Machine Controller and SERVOPACK. Take particular care to wire correctly. 4 Open the signal lines not to be used. 5 The above connection diagram shows only X-axis connection. When using another axes, make connection to the SERVOPACK in the same way. 6 The normally closed (N.C.) input terminals not to be used at the Machine Controller I/O connector section must be shortcircuited at the connector. 7 The SERVOPACK has a built-in safety function to protect prevent anyone in the vicinity from being injured by unexpected motion. But, in order to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs with the Safety Jumper Connector connected.

383

Others

Connection to Host Controller

Example of Connection to MP2200 / MP2300 Motion Module SVA-01


Cable for Analog Monitor (Model: JZSP-CA01-E) SGDV CN5 Black 4 GND Black 3 GND White 2 Analog monitor 1 (Torque reference monitor) Red 1 Analog monitor 2 (Speed monitor)

Analog Input Ground Standard analog input Standard analog input

MP2200/MP2300 Series SVA-01 CN1/CN2 7 SG 2 AO_0 (NREF) 3 PA 4 PAL 5 PC 6 PCL 19 SG 9 AI_0 (VTG) 8 AO_1 (TREF) 10 0V (For 24V) 0V (For 24V) 11 12 DO_2 (PCON) 13 DO_4 14 DO_3 15 DI_3 (P-OT) +24V 16 17 DI_0 (SVALM) DI_2 (ZERO/HOME LS)18 1 SG 20 SEN (5V) 21 AI_1 (TMON) 22 23 PB 24 PBL 25 SG 26 AI-GND 27 AO-GND 28 0V (For 24V) 29 0V (For 24V) 30 DO_1 (ALMRST) 31 DO_0 (SV ON) DO_5 (SEN for VS866) 32 33 DI_4 (N-OT) +24V 34 35 DI_1 (SRDY) 36 DI_5 (EXT/DEC) Connector shell

SGDV-01/05 SERVOPACK Analog voltage/pulse train reference type

6 5 33 34 19 20 10 9 32 41 45 46 42 47 31 2 4

CN1 SG V-REF PAO /PAO PCO /PCO SG T-REF ALM

L1C L2C L1 L2 L3

Control power supply Main circuit power supply

/P-CON (Switches the control mode.) /P-CL (Depends on the user settings.) /N-CL (Depends on the user settings.) P-OT +24V IN U ALM+ V SG W SEN CN2

Servomotor A B C D M

35 36 28 27 1 30 44 40 43 29 22 21

PBO /PBO TGON(/BRK) TGON+(/BRK+) SG /S-RDY/ALM RST /S-ON N-OT /S-RDY BAT BAT+

ENC

Connector shell

EXT/DEC input ZERO/HOME LS input P-OT input N-OT input

ABS encoder battery (3.6V) ABS encoder battery (0V) Holding brake interlock output (+)
Holding brake interlock output ()

*:represents shielded twisted-pair wires.


Notes: 1 Connection cables (model: JEPMC-W2040-) to connect the SERVOPACK to the MP2200/MP2300 are provided by Yaskawa. 2 Only signals applicable to MP2200 / MP2300 Motion Module SVA-01 and Yaskawas SGDV SERVOPACK are shown in the diagram. 3 The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example. 4 Note that incorrect connection will cause damage to the Machine Controller and SERVOPACK. Take particular care to wire correctly. 5 Open the signal lines not to be used. 6 The above connection diagram shows only X-axis connection. When using another axes, make connection to the SERVOPACK in the same way. 7 The normally closed (N.C.) input terminals not to be used at the Machine Controller I/O connector section must be shortcircuited at the connector. 8 Make the setting so that the servo can be turned ON/OFF by the /S-ON signal.

9 The SERVOPACK has a built-in safety function to protect prevent anyone in the vicinity from being injured by unexpected motion. But, in order to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs with the Safety Jumper Connector connected.

384

Connection to Host Controller

Example of Connection to MP920 4-axes Analog Module SVA-01


MP920 Series SVA-01 CN1 CN4 2 7 3 4 23 24 5 6 7 SGDV-01/05 SERVOPACK Analog voltage/pulse train reference type

NREF SG PA PAL PB PBL PC PCL SG

CN1 V-REF SG PAO /PAO PBO /PBO PCO /PCO SG

5 6 33 34 35 36 19 20 1 47 40 44 41 43 42

L1C L2C L1 L2 L3

Control power supply

Main circuit power supply

Servomotor U V W A B C D

16 34 31 30 12 13 14 32 11 20 1 28 29 17 10 35 18 22 21
FG

+24V OUT
SVON ALMRST PCON OTR OTF DOSEN

+24V-IN
/S-ON /ALM-RST /P-CON N-OT P-OT

CN2

ENC

0V
SEN SG 0V SEN SG /S-RDY /TGON ALM+ ALM /S-RDY+ /TGON+ BAT(+) BAT()

4 2 30 28 31 32 29 27 21 22
Connector shell

0V
SVALM 0V SVRDY BRK BAT 0BAT

*: represents shielded twisted-pair wires.


Notes: 1 Connection cables (model: JEPMC-W6050- connect the SERVOPACK to the MP920 are provided by to Yaskawa. 2 Only signals applicable to MP920 4-axes Analog Module SVA-01 and Yaskawas SGDV SERVOPACK are shown in the diagram. 3 The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example. 4 Note that incorrect connection will cause damage to the Machine Controller and SERVOPACK. Take particular care to wire correctly. 5 Open the signal lines not to be used. 6 The above connection diagram shows only X-axis connection. When using another axes, make connection to the SERVOPACK in the same way. 7 The normally closed (N.C.) input terminals not to be used at the Machine Controller I/O connector section must be short-circuited at the connector. 8 Make the setting so that the servo can be turned ON/OFF by the /S-ON signal. 9 The SERVOPACK has a built-in safety function to protect prevent anyone in the vicinity from being injured by unexpected motion. But, in order to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs with the Safety Jumper Connector connected.

385

Others

Connection to Host Controller

Example of Connection to OMRONs Motion Control Unit


MC unit manufactured by OMRON Corporation C200H-MC221 (CS1W-MC221 / MC421) (CV500-MC221 / MC421) DRV connector 1 24V input 2 24V input ground 3 X-axis alarm input X-axis run reference output 4 X-axis alarm reset output 5 X-axis SEN signal ground 8 X-axis SEN signal output 9 X-axis feedback ground 10 X-axis phase A input 11 12 X-axis phase /A input 13 X-axis phase B input 14 X-axis phase /B input 15 X-axis phase Z input 16 X-axis phase /Z input 17 X-axis speed reference 18 Axis speed reference ground

SGDV-01/05 SERVOPACK Analog voltage/pulse train reference type

24VDC
ALM+ /S-ON /ALM-RST SG*1 SEN*1 SG PAO /PAO /PBO PBO PCO /PCO V-REF SG CN1 31 40 44 2 4 1 33 34 36 35 19 20 5 6 Connector shell 47 32

L1C L2C L1 L2 L3

Control power supply

Main circuit power supply

*2

Servomotor U V W A B C D

CN2

ENC

24V output 24V output ground

19 20 24VDC

+24V-IN ALM

I/O connector 24V input 1 X-axis CW limit input 2 4 X-axis CCW limit input 6 X-axis immediate stop input X-axis origin proximity input 10 24V input ground 14

Battery*1 * BAT + 1 * BAT 1

21 22

2.8 V to 4.5 VDC


a battery when using an *1: Usebattery is needed for CN1absolute encoder.when using an encoder cable with a battery. (between21, 22) No
Battery for CN1 : ER6VC3N 3.6 V, 2000 mA Battery for battery unit : JZSP-BA01 3.6 V, 1000 mA

*2:represents shielded twisted-pair wires.


Notes: 1 Only signals applicable to OMRON Corporations MC unit and Yaskawas SGDV SERVOPACK are shown in the diagram. 2 The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example. 3 Note that incorrect connection will cause damage to the MC unit and SERVOPACK. Take particular care to wire correctly. 4 Open the signal lines not to be used. 5 The above connection diagram shows only X-axis connection. When using another axes, make connection to the SERVOPACK in the same way. 6 The normally closed (N.C.) input terminals not to be used at the motion control unit I/O connector section must be short-circuited at the connector. 7 Make the setting so that the servo can be turned ON/OFF by the /S-ON signal. 8 The SERVOPACK has a built-in safety function to prevent anyone in the vicinity from being injured by unexpected motion. But, in order to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs with the Safety Jumper Connector connected.

386

Connection to Host Controller

Example of Connection to OMRONs Position Control Unit


I/O power supply Position control unit +24V + CS1W-NC133 / 233 / 433 manufactured by OMRON Corporation

+24V 024 V

5V power supply for pulse output 5V GND for pulse output


CW(+) output CW() output CCW(+) output CCW() output

A4 A3 A5 A6 A7 A8

+5V
*4

SGDV-01/05 SERVOPACK Analog voltage/pulse train reference type

*2
CN1 PULS 7 /PULS 8 SIGN 11 /SIGN 12 CLR 15 /CLR 14 PCO 19 /PCO 20 COIN+ 25 /COIN 26 L1C L2C L1 L2 L3 Control power supply

Main circuit power supply

Error counter reset output A11 Origin input signal A16 Origin input common A14

Servomotor U V W A B C D

24V power supply for output 24V GND for output

A1 A2

+24V-IN
/S-ON P-OT N-OT /ALM-RST ALM 1Ry *1 ALM+

Input common A24

47 40 42 43 44 32 31
Connector shell*3

CN2

ENC

X-axis external interrupt input X-axis origin proximity input X-axis CCW limit input X-axis CW limit input X-axis immediate stop input FG

A19 A21 A23 A22 A20

for five seconds or is turned ON. into consideration when *1: The ALM signal is outputsequence. The ALMless when the poweralarm detectionTake thisRy to stop the main circuit designing the power ON signal actuates the relay 1 Set parameter Pn200.0 or *2:: Connect the shield wire = 1the 6. to connector shell. *3 *4:represents shielded twisted-pair wires. Notes: 1 Only signals applicable to OMRON Corporations position control unit and Yaskawas SGDV SERVOPACK are shown in the diagram. 2 The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example. 3 Note that incorrect connection will cause damage to the position control unit and SERVOPACK. Take particular care to wire correctly. 4 Open the signal lines not to be used. 5 The above connection diagram shows only X-axis connection. When using another axes, make connection to the SERVOPACK in the same way. 6 The normally closed (N.C.) input terminals not to be used at the position control unit I/O connector section must be short-circuited at the connector. 7 Make the setting so that the servo can be turned ON/OFF by the /S-ON signal. 8 The SERVOPACK has a built-in safety function to prevent anyone in the vicinity from being injured by unexpected motion. But, in order to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs with the Safety Jumper Connector connected. power supply to the SERVOPACK.

387

Others

Connection to Host Controller

Example of Connection to Mitsubishis AD72 Positioning Unit (SERVOPACK in Speed Control)


SGDV-01/05 SERVOPACK Analog voltage/pulse train reference type

Positioning unit AD72 manufactured by Mitsubishi Electric Corporation *2

I/O power supply +24V +

+24 V
0 24 V
L1C L2C L1 L2 L3 Control power supply

CONT 1 2 3 SERVO 1 2 3

STOP DOG

SV-ON READY

ON when positioning is cancelled. ON when proximity is detected. +24V-IN /S-ON 1Ry *1 ALM+

Main circuit power supply

CN1 47 40

Servomotor U V W A B C D M

31 32 5 (9) 6 (10) 35 36 33 34 19 20 1
Connector shell*
3

4 5 6
ENCO 4 5 7 8 10 11 3 6 9

1Ry

ALM V-REF (T-REF) SG

Speed reference

CN2

ENC

*4
PULSE A PULSE B PULSE C 0V 0V 0V

PBO /PBO PAO /PAO PCO /PCO SG

CN1 42

P-OT N-OT

43

024 V

for five seconds or is turned ON. into consideration when *1: The ALM signal is outputsequence. The ALMless when the poweralarm detectionTake thisRy to stop the main circuit power designing the power ON signal actuates the relay 1 are the same both for X-axis and *2:: Pin numbers shield wire to the connector shell.Y-axis. 3 Connect the * *4:represents shielded twisted-pair wires. Notes: 1 Only signals applicable to Mitsubishi Electric Corporations AD72 positioning unit and Yaskawas SGDV SERVOPACK are shown in the diagram. 2 The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example. 3 Note that incorrect connection will cause damage to the positioning unit and SERVOPACK. Take particular care to wire correctly. 4 Open the signal lines not to be used. 5 The above connection diagram shows only X-axis connection. When using another axes, make connection to the SERVOPACK in the same way. 6 The normally closed (N.C.) input terminals not to be used at the positioning unit I/O connector section must be shortcircuited at the connector. 7 Make the setting so that the servo can be turned ON/OFF by the /S-ON signal. 8 The SERVOPACK has a built-in safety function to prevent anyone in the vicinity from being injured by unexpected motion. But, in order to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs with the Safety Jumper Connector connected. supply to the SERVOPACK.

388

Connection to Host Controller

Example of Connection to Mitsubishis AD75 Positioning Unit (SERVOPACK in Position Control)


I/O power supply Positioning unit AD75 manufactured by Mitsubishi, Electric Corporation SGDV-01/05 SERVOPACK Analog voltage/pulse train reference type

+24V

+24 V
0 24 V

X-axis(Y-axis)

26 7 14 11 24 25

READY STOP DOG

1Ry
ON when positioning is cancelled. ON when proximity is detected. *1

L1C L2C L1 L2 L3

Control power supply

Main circuit power supply

Servomotor CN1 PCO /PCO U V W A B C D

19 20

PGO

1Ry *2

ALM+ ALM

31 32 7 8 11 12 15 14

CN2

ENC

3 21 4 22 5 23

PULSE

PULS /PULS SIGN /SIGN

CN1

SIGN

2.2k
CLEAR

CLR /CLR

47 40 42 43

+24 V
/S-ON P-OT N-OT

0 24 V

Connector shell FG

*1:represents shielded twisted-pair wires. for five seconds or less when the power is turned ON. into consideration when *2: The ALM signal is outputsequence. The ALM signal actuates the alarm detectionTake thisRy to stop the main circuit power designing the power ON relay 1
supply to the SERVOPACK. Notes: 1 Only signals applicable to Mitsubishi Electric Corporations AD75 positioning unit and Yaskawas SGDV SERVOPACK are shown in the diagram. 2 The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example. 3 Note that incorrect connection will cause damage to the positioning unit and SERVOPACK. Take particular care to wire correctly. 4 Open the signal lines not to be used. 5 The above connection diagram shows only X-axis connection. When using another axes, make connection to the SERVOPACK in the same way. 6 The normally closed (N.C.) input terminals not to be used at the positioning unit I/O connector section must be shortcircuited at the connector. 7 Make the setting so that the servo can be turned ON/OFF by the /S-ON signal. 8 The SERVOPACK has a built-in safety function to prevent anyone in the vicinity from being injured by unexpected motion. But, in order to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs with the Safety Jumper Connector connected.

389

Others

Connection to Host Controller

Example of Connection to Mitsubishis QD75D Positioning Unit (SERVOPACK in Position Control)


Positioning unit QD75D manufactured by Mitsubishi Electric Corporation SGDV-01/05 SERVOPACK Analog voltage/pulse train reference type

3 1 2 4 11 12 6 7

DOG FLS RLS STOP READY READY COM COM COM

ON when proximity is detected.

1Ry

ON when positioning is cancelled.

L1C L2C L1 L2 L3

Control power supply

Main circuit power supply

Servomotor
U V W A B C D

17 18 15 16 9 10 13 14

PULSE R+ PULSE R PULSE F+ PULSE F PG05 PG COM

*1
SIGN /SIGN PULS /PULS PCO /PCO

CN1

11 12 7 8 19 20 15 14 31 32
CN1 CN2 ENC

2.2k
CLEAR CLEAR COM

CLR /CLR

47 40 42 43

+24 V
/S-ON P-OT N-OT

1Ry *2

0 24 V

ALM+ ALM

+24 V + I/O power supply +24V 0 24 V

*1:represents shielded twisted-pair wires. for five seconds or is turned ON. into consideration when *2: The ALM signal is outputsequence. The ALMless when the poweralarm detectionTake thisRy to stop the main circuit power designing the power ON signal actuates the relay 1
supply to the SERVOPACK. Notes: 1 Only signals applicable to Mitsubishi Electric Corporations QD75D positioning unit and Yaskawas SGDV SERVOPACK are shown in the diagram. 2 The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example. 3 Note that incorrect connection will cause damage to the positioning unit and SERVOPACK. Take particular care to wire correctly. 4 Open the signal lines not to be used. 5 The above connection diagram shows only X-axis connection. When using another axes, make connection to the SERVOPACK in the same way. 6 The normally closed (N.C.) input terminals not to be used at the positioning unit I/O connector section must be shortcircuited at the connector. 7 Make the setting so that the servo can be turned ON/OFF by the /S-ON signal. 8 The SERVOPACK has a built-in safety function to prevent anyone in the vicinity from being injured by unexpected motion. But, in order to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs with the Safety Jumper Connector connected.

390

Connection to Host Controller

MEMORead

Before Ordering

(1) Details of Warranty Warranty Period ) The warranty period for a product that was purchased (hereafter calleddelivered product is one year from the time of delivery to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory, whichever is sooner. Warranty Scope Yaskawa shall replace or repair a defective product free of change if a defect attributable to Yaskawa occurs during the warranty period above. This warranty does not cover defects caused by the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service life. This warranty does not cover failures that result from any of the following causes. 1. Improper handling, abuse, or use in unsuitable conditions or in environments not described in product catalogs or manuals, or in any separately agreed-upon specifications 2. Causes not attributable to the delivered product itself 3. Modifications or repairs not performed by Yaskawa 4. Abuse of the delivered product in a manner in which it was not originally intended 5. Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa 6. Events for which Yaskawa is not responsible, such as natural or human-made disasters (2) Limitations of Liability 1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product. 2. Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program execution of the programs provided by the user or by a third party for use with programmable Yaskawa products. 3. The information described in product catalogs or manuals is provided for the purpose of the customer purchasing the appropriate product for the intended application. The use thereof does not guarantee that there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties, nor does it construe a license. 4. Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other proprietary rights of third parties as a result of using the information described in catalogs or manuals. (3) Suitability for Use 1. It is the customer s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products. 2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer. 3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure. 3 Outdoor use, use involving potential chemical contamination or electrical interference, or use in conditions or environments not described in product catalogs or manuals 3 Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle systems, medical equipment, amusement machines, and installations subject to separate industry or government regulations 3 Systems, machines, and equipment that may present a risk to life or property 3 Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity, or systems that operate continuously 24 hours a day 3 Other systems that require a similar high degree of safety 4. Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety with risk warnings and redundancy, and that the Yaskawa product is properly rated and installed. 5. The circuit examples and other application examples described in product catalogs and manuals are for reference. Check the functionality and safety of the actual devices and equipment to be used before using the product. 6. Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to prevent accidental harm to third parties. (4) Specifications Change The names, specifications, appearance, and accessories of products in product catalogs and manuals may be changed at any time based on improvements and other reasons. The next editions of the revised catalogs or manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product.

391

SERIES PRODUCT CATALOG


IRUMA BUSINESS CENTER (SOLUTION CENTER)
480, Kamifujisawa, Iruma, Saitama 358-8555, Japan Phone 81-4-2962-5151 Fax 81-4-2962-6138

YASKAWA AMERICA, INC.


2121 Norman Drive South, Waukegan, IL 60085, U.S.A. Phone (800) YASKAWA (800-927-5292) or 1-847-887-7000 Fax 1-847-887-7310

YASKAWA ELETRICO DO BRASIL LTDA.


Avenida Fagundes Filho, 620 Sao Paulo-SP CEP 04304-000, Brazil Phone 55-11-3585-1100 Fax 55-11-5581-8795

YASKAWA EUROPE GmbH


Hauptstrae 185, Eschborn 65760, Germany Phone 49-6196-569-300 Fax 49-6196-569-398

YASKAWA ELECTRIC UK LTD.


1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom Phone 44-1236-735000 Fax 44-1236-458182

YASKAWA ELECTRIC KOREA CORPORATION


7F, Doore Bldg. 24, Yeoido-dong, Yeoungdungpo-gu, Seoul 150-877, Korea Phone 82-2-784-7844 Fax 82-2-784-8495

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.


151 Lorong Chuan, #04-01, New Tech Park 556741, Singapore Phone 65-6282-3003 Fax 65-6289-3003

YASKAWA ELECTRIC (SHANGHAI) CO., LTD.


No.18 Xizang Zhong Road. 17F, Harbour Ring Plaza Shanghai 200001, China Phone 86-21-5385-2200 Fax 86-21-5385-3299

YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE


Room 1011, Tower W3 Oriental Plaza, No.1 East Chang An Ave., Dong Cheng District, Beijing 100738, China Phone 86-10-8518-4086 Fax 86-10-8518-4082

YASKAWA ELECTRIC TAIWAN CORPORATION


9F, 16, Nanking E. Rd., Sec. 3, Taipei 104, Taiwan Phone 886-2-2502-5003 Fax 886-2-2505-1280

In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply. Specifications are subject to change without notice for ongoing product modifications and improvements. 2007-2010 YASKAWA ELECTRIC CORPORATION. All rights reserved.

LITERATURE NO. KAEP S800000 42F


Published in Japan August 2010 07-6 10-6-3
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