TECHNICAL NOTE

MOTION PRODUCT AND ENGINEERING GROUP

Subject: SUMMARY: Conversion from Sigma to Sigma II

Product: SGD/SGDA and SGM Æ SGDH and SGMAH
Introduction:
The Sigma servo line, including SGM motors and SGD and SGDA amplifiers, was upgraded in
1998 with newer technology (Sigma II product line: SGMAH motors and SGDH amplifiers).
Yaskawa will continue to make the original Sigma series products available, though delivery
times may be longer than those for the Sigma II products. Some users will find it advantageous
to upgrade to Sigma II products. This document will provide users of the original Sigma series
with a summary guideline of requirements to upgrade to Sigma II technology1,2.

Motor Replacement: SGM to SGMAH

• Part Number: Sigma motor type SGM can be directly replaced with Sigma II motor type
SGMAH. The SGMAH motors have the same or better performance than the SGM
motors. The original motor and drive must both be replaced when upgrading to Sigma II
technology.
• Mounting: All mounting dimensions of the SGMAH motor are the same as the SGM
motor. See Appendix A for a typical motor size comparison.
Amplifier Replacement: SGDA3 to SGDH
• Part Number: Sigma amplifier type SGDA can be directly replaced with Sigma II
amplifier SGDH. SGDH replaces both SGDA-XXXS and SGDA-XXXP amplifiers. The
original motor and drive must both be replaced when upgrading to Sigma II technology.
• Mounting: SGDH amplifiers are the same size as the SGDA. Mounting hole locations
are the same for all models except the SGDH-08A. Appendix A shows typical size and
mounting differences.
• Parameters: The SGDA and SGDH have different parameter sets. SigmaWin Lite can
be used to communicate to both amplifiers for parameter setting. Yaskawa provides a
spreadsheet utility to help with parameter conversion.
Wiring
• Motor Wiring: Yaskawa highly recommends the purchase of new pre-wired cables for
the upgrade installation. In most cases, it is more cost effective and less time consuming
to run the new cables than to modify existing cables. While it is possible to re-wire with
the existing cables in place, this will require soldering both in the cabinet and at the
motor. In addition, rewiring cables may require the purchase of special connector
crimping tools2. Again, it is highly recommended to purchase and install new pre-wired
cables.
• I/O Signal Wiring: I/O wiring varies between SGDA and SGDH. If the amplifier being
replaced is an analog speed/torque type (P/N SGDA-XXXS), then Yaskawa can provide
a special adapter cable for temporary use to get the machine running. See Appendix B.
1
Sigma II motors and amplifiers provide high performance motion control in combination. Therefore, a SGM (Sigma)
motor cannot be used with a SGDH (Sigma II) amplifier, and a SGMAH (Sigma II) motor cannot be used with a SGDA
(Sigma) amplifier. Replacement of the motor and amplifier must be made simultaneously.
2
If the decision is made to upgrade, a detailed step-by-step planning guide is available.
3
Although this document references SGDA, the same information applied to SGD series amplifiers.

Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085

(800) YASKAWA - Fax (847) 887-7280

2/19/2002 1 of 7 eng/02.003/MCD
TECHNICAL NOTE
MOTION PRODUCT AND ENGINEERING GROUP

Appendix A – Motor and Amplifier Dimensions

The following pages offer a reference for a typical size comparison between Sigma and Sigma II
motors and amplifiers. If the Sigma II upgrade is desired, Yaskawa can provide a detailed step-
by-step worksheet as a planning guide.
This upgrade documentation is designed to upgrade standard equipment only. For motors with
custom OEM modifications, reference document Service Options for Customized Servos,
available on Yaskawa’s FAQ site: http://faq.yaskawa.com. Custom motors and amps can be
identified by a special code at the end of the part number. The Part Number Converter that is
offered as a companion to this document can be used to determine if a motor is custom.
Example Custom Motors
o SGM-02U3AP04
o SGM-08A3CK11
Example Custom Amplifiers
o SGDA-08ASY134
o SGDA-03BSY92

Motor
The SGMAH series of motors (available in three frame sizes) have the same mounting
dimensions and length as their SGM predecessors. Therefore, upgrading to the Sigma II
technology can be done with little difficulty. As noted in the summary, there are differences in the
motor power and encoder connectors, so cables will need to be reworked or replaced.

In the interest of convenience, the following page shows a typical size comparison between SGM
and SGMAH motors. If the exact motor model is not shown and more detailed information is
required, consult the Sigma II Product Catalog.

Amplifier
SGDH amplifiers generally have the same mounting and overall dimensions as their SGDA
predecessors. If the recommended amplifier spacing of 10 mm was maintained in the original
panel design, the new SGDH amplifiers will fit into the same panel space, and in most cases into
the same mounting holes. The SGDH-08 has mounting dimensions that are different than those
of the equivalent SGDA amplifier, while all others can make use of existing mounting holes. On
all sizes, the SGDH amplifier is now mounted with two screws instead of three.

The following pages (just after the motor comparison) show the typical size difference between
SGDA and SGDH amplifiers, including the SGDH-08 amplifier. If your exact amplifier model is
not shown and more detailed information is required, consult the Sigma II Product Catalog.

Reference:
Sigma II Product Catalog, document number G-MI#99001E-SigmaII
Sigma II User’s Manual, document number YEA-SIA-S800-32.2C

These documents are available on the Yaskawa website at http://www.yaskawa.com on the

Sigma II product page. They can also be ordered from Yaskawa by calling 1-800-YASKAWA or
by e-mailing literature@yaskawa.com.

Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085

(800) YASKAWA - Fax (847) 887-7280

2/19/2002 2 of 7 eng/02.003/MCD
 Encoder cable I 0.24 ( 11.85 (300) ±1.18 (30)
I 6) Encoder plug
U
Sigma II OL20276 55100-0600

Servo motor Motor cable

W
UL1818, UL3534, UL3535
200W (0.27hp) 1.38 (35) Motor plug
350779-1
T
Cross-section Y-Y
400W (0.53hp)
11.85 (300) ±1.18 (30)

0.0016 (0.04) A

0.0016 (0.04) A

0.51 (13) L
LL LR
1.04 (26.5) 0.12 (3) LC
LM
0.79 (20) LG 0.85 (21.5)

0.43 (11)
0.37(9.5)

ΦLA
QK

ΦS*
Y

ΦLB**

LC
Y

A
Serial encoder 4-ΦLZ
0.0008 (0.02)

Approximate Radial Thrust

Type Output
L LL LM LR LG LC ΦLA ΦLZ ΦS* ΦLB** QK U W T Mass Load Load
SGMAH- W (hp)
lb (kg) lb (N) lb (N)
4.98 3.8 2.46 200
02

F4
(126.5) (96.5) (62.5) (0.27)
2.43 (1.1)
1.18 0.24 2.36 2.76 0.22 0.55 1.97 0.79 0.12 0.2 0.2
(30) (6) (60) (70) (5.5) (14) (50) (20) (3) (5) (5) 55 (245) 17 (74)
6.08 4.9 3.56 400
04A
F4
(154.5) (124.5) (90.5) (0.53)
3.75 (1.7)

Encoder leads
Sigma I UL2854 11.81
Servo motor (300)
1.38
Connectors for CE motors
U
200W (0.27hp) (35)

W
400W (0.53hp)
Motor leads T

VIEW Y-Y

11.81 0.0016
(300) (0.04) A
0.0016 A
L (0.04)
2.36
LL (60)
0.83
1.9685 DIA.
1.8898 DIA.
0.5512 DIA.

(48 DIA.)

1.34 LM
(50 DIA.)
(14 DIA.)

(21)
(34) 0.20 0.28 0.47 0.12 0.55 DIA.
(5.2) (7) (12) (3) (14 DIA.)
NAME PLATE
0.67

0.24 QK
(17)

(6) 6
2.7 0)
(7

Y
(39)
1.54

Y 0.22
(4 - 5.5 DIA.)
Fr
0.2
1.54 (5) A
0.2 .3)
(R

(39) Incremental encoder 0.0008

1
5

2048 PPR (0.02)

Allowable Radial Allowable Thrust

Type Output Approx Mass
L LL LM QK U W T Load Load
SGM- W (HP) lb (kg)
lb (N) lb (N)
02
3B2L 4.98 3.8 2.46 Without Keyway 200 2.43
55 (245) 17 (74)
02
3B4L (126.5) (96.5) (62.5) 0.55 (14) 0.12 (3) 0.2 (5) 0.2 (5) (0.27) (1.1)
03
3B2L 6.08 4.9 3.56 Without Keyway 300 3.75
55 (245) 17 (74)
03
3B4L (154.5) (124.5) (90.5) 0.55 (14) 0.12 (3) 0.2 (5) 0.2 (5) (0.40) (1.7)
04
3B2L 6.08 4.9 3.56 Without Keyway 400 3.75
55 (245) 17 (74)
04
3B4L (154.5) (124.5) (90.5) 0.55 (14) 0.12 (3) 0.2 (5) 0.2 (5) (0.53) (1.7)
 Mounting Holes

(5.5)
0.22
Sigma II 2 x M4 screw holes
0.32 (8)
Servo Amplifier SERVOPACK

SGDH-A3 YASKAWA
SGDH
5.89 (149.5) ±0.020 (0.5)
88888

1.54
SGDH-A5

(39)
(Mounting pitch)

SGDH-01
MODE/SET DATA/
CHARGE POWER

L1 C
N
3
L2

6.30 (160)
⊕1

4.17 (106)
⊕2

C
N
L1C 1

L2C
B1
B2

V
C
W N
2

0.20 1.97 (50) Ground terminal

0.20 (5)

(5) 2 x M4 screws
2.95 (75) 5.12 (130)
2.17 (55)
Approximate mass: 1.76lb (0.8kg)

Sigma I Back View

Servo Amplifier 0.2 (5) 0.2 (5)
1.77
SGDA-A3
(45)
SGDA-A5 0.24
SGDA-01 (6)
0.24 (2-Ø6)

6.3
(160)

5.87
(149)

0.2
1.97 (50) (5) 5.12 (130) 2.17 (55)
0.24 (6)

Approximate mass: 1.98lb (0.9kg)

Sigma II 2-Φ0.20 (Φ5) holes
ServoAmplifier Air flow
SGDH-08AE-S (5.5) Mounting Holes
0.22

0.31 (8)
SERVO
SGDH
YASKAWA

2 x M4 88888

1.54
(39)
screw holes
MODE/SET DATA/
CHARGE POWER

6.30 (160)
L1 C
N
5.89 (149.5) ±0.020 (0.5)

3
L2
(Mounting pitch)

L3

4.17 (106)
⊕1
⊕2
C
N
1

Air flow L1C

L2C
B1
B2
B3

0.24 (6)
U C
N
V 2

1.06 2.48 (63) Ground

0.20
(5)

(27)
terminal 2.95 (75) 7.09 (180)
2 x M4 Air flow
screws 1.38 (35) 2.17 (55)
3.54 (90)
Approx. mass: 3.75lb 91.7kg)

Sigma I
ServoAmplifier
SGDA-08

Back View
0.28 (7) 0.31 (8)
3.54
(90) 0.24
(6)

0.24 (2-Ø6)

6.3
(160)

5.87
(149)

0.2
(5)
5.12 (130) 4.13 (105)
0.24 (6) 0.24 (6)
Approx. mass: 3.31 lb (1.5 kg)
TECHNICAL NOTE
MOTION PRODUCT AND ENGINEERING GROUP

Appendix B – I/O interface wiring

The SGDH amplifier has a different wiring configuration than the SGD and SGDA amplifiers. The
following page shows the I/O wiring for Sigma amplifiers (both speed/torque control SGD- or
SGDA-XXXS amplifiers and the position control SGD- or SGDA-XXXP amplifiers) as well as the
SGDH Sigma II amplifier.

For situations where it is imperative to minimize downtime, Yaskawa offers an adapter cable to
convert I/O interface wiring from SGD(A) speed/torque amplifiers to SGDH amplifiers. This is a
temporary solution only and plans should be made for a permanent wiring change during the next
regularly scheduled machine shutdown for maintenance.

If the Sigma II upgrade is desired, Yaskawa can provide a detailed step-by-step worksheet as a
planning guide.

Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085

(800) YASKAWA - Fax (847) 887-7280

2/19/2002 6 of 7 eng/02.003/MCD
TECHNICAL NOTE
MOTION PRODUCT AND ENGINEERING GROUP

Signal SGDA-XXXS SGDA-XXXP SGDH

Name Pin No. Pin No. Pin No.
T-REF Torque Reference 1 - 9
SG-T Signal Ground for T-REF 2 - 10
V-REF Velocity Reference 3 - 5
SG-V Signal Ground for V-REF 4 - 6
SEN Abs. Enc. Sync signal 5 - 4
SEN0 Signal Ground for SEN 6 - 2
/BK Brake Output 7 7 29,30*
/V-CMP (or /COIN) Coincidence Output 8 8 25,26*
/TGON Rotation Detection 9 9 27,28*
SG-COM Signal Ground for 24V ref 10 10 -
/P-CL Fwd. Current Limit 11 11 45
/N-CL Rev. Current Limit 12 12 46
+24VIN I/O Pwr. Supply 13 13 47
/S-ON Servo ON 14 14 40
/P-CON Proportional Control 15 15 41
P-OT Fwd. Overtravel 16 16 42
N-OT Rev. Overtravel 17 17 43
/ALMRST Alarm Reset 18 18 44
SG-PG Signal Ground for enc. output 19 19 1
PAO Encoder output 20 20 33
½PAO Encoder output 21 21 34
PBO Encoder output 22 22 35
½PBO Encoder output 23 23 36
PCO Encoder output 24 24 19
½PCO Encoder output 25 25 20
PSO Abs. Encoder output 26 26 48
½PSO Abs. Encoder output 27 27 49
BAT+ Abs. Enc. Battery + 28 28 21
BAT- Abs. Enc. Battery - 29 29 22
ALO1 Alarm code output 1 30 30 37
ALO2 Alarm code output 2 31 31 38
ALO3 Alarm code output 3 32 32 39
SG-AL Signal Ground for alarm codes 33 33 1
ALM+ Alarm Output 34 34 31
ALM- Signal Ground (Alarm Output) 35 35 32
FG Frame Ground 36 36 Screw
Terminal
PULS Ref. Pulse Input 1 - 1 7
½PULS Ref. Pulse Input 1 (invert) - 2 8
SIGN Ref. Pulse Input 2 - 3 11
½SIGN Ref. Pulse Input 2 (invert) - 4 12
CLR Error Counter Clear Signal - 5 15
½CLR Error Counter Clear (invert) - 6 14
*SGDH Outputs are configurable with Pn50E-Pn510 and have individual signal ground wiring. These parameters will
need to be set to activate brake output. Please consult SGDH User’s Manual.

Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085

(800) YASKAWA - Fax (847) 887-7280

2/19/2002 7 of 7 eng/02.003/MCD